+ python -m lidar_slam --no-model /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 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 0.002414037 Adjusted end_distance from 9.223372036854776e+18 to 289.862414037 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002414037 meters Centerline goodness : 0.986688 Centerline is valid? [0, True] SLAMing on 0.032414037 meters Centerline goodness : 0.986388 Centerline is valid? [True, True] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 0.99987508 0.00855188 0.01329236 0.04412414] [-0.00743793 0.99662879 -0.08170514 0.02674956] [-0.01394629 0.08159606 0.9965679 -0.008677 ] [ 0. 0. 0. 1. ]] SLAMing on 0.062414037 meters Centerline goodness : 0.986980 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.99999373 -0.00283292 -0.00212578 0.04497242] [ 0.00301865 0.99564619 0.0931641 -0.01689972] [ 0.0018526 -0.09316993 0.9956485 -0.01692193] [ 0. 0. 0. 1. ]] SLAMing on 0.09241403699999999 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:0.08, Y:0.02, Z:0.00 [[ 9.99952757e-01 -3.36406241e-03 -9.11956277e-03 7.78010397e-02] [ 3.36995586e-03 9.99994123e-01 6.30953489e-04 2.37093815e-02] [ 9.11738661e-03 -6.61656205e-04 9.99958217e-01 2.64806966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12241403699999999 meters Centerline goodness : 0.987988 Centerline is valid? [True, True] Translation: X:0.11, Y:0.03, Z:-0.00 [[ 9.99988347e-01 -5.19191878e-04 4.79964801e-03 1.06094981e-01] [ 5.47278731e-04 9.99982725e-01 -5.85239673e-03 2.54635433e-02] [-4.79652658e-03 5.85495528e-03 9.99971356e-01 -4.87085740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.152414037 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.01 [[ 9.99991259e-01 -3.35884022e-04 4.16769152e-03 1.35844466e-01] [ 3.00027105e-04 9.99962964e-01 8.60118842e-03 1.90559479e-02] [-4.17042616e-03 -8.59986282e-03 9.99954324e-01 -7.77804862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182414037 meters Centerline goodness : 0.986892 Centerline is valid? [True, True] Translation: X:0.17, Y:0.03, Z:0.00 [[ 9.99993966e-01 1.00783312e-03 3.32436425e-03 1.68258015e-01] [-9.25545580e-04 9.99695413e-01 -2.46622057e-02 3.11727857e-02] [-3.34820708e-03 2.46589800e-02 9.99690314e-01 1.19772223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.212414037 meters Centerline goodness : 0.988235 Centerline is valid? [True, True] Translation: X:0.20, Y:0.02, Z:-0.00 [[ 0.99997915 0.00155531 0.00626768 0.20047588] [-0.00158371 0.99998849 0.00452893 0.0241485 ] [-0.00626056 -0.00453876 0.9999701 -0.00461632] [ 0. 0. 0. 1. ]] SLAMing on 0.242414037 meters Centerline goodness : 0.987694 Centerline is valid? [True, True] Translation: X:0.23, Y:0.04, Z:0.01 [[ 0.99999331 0.00285068 -0.002291 0.22908152] [-0.00290209 0.99973682 -0.02275684 0.03742277] [ 0.00222553 0.02276334 0.9997384 0.0053349 ] [ 0. 0. 0. 1. ]] SLAMing on 0.272414037 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:0.26, Y:0.01, Z:-0.01 [[ 0.99998902 0.00124676 0.00451654 0.25833419] [-0.00142167 0.99924078 0.03893378 0.01462292] [-0.00446457 -0.03893977 0.99923159 -0.01023275] [ 0. 0. 0. 1. ]] SLAMing on 0.30241403699999997 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:0.29, Y:0.03, Z:-0.00 [[ 9.99978952e-01 -5.83392928e-04 -6.46175578e-03 2.90551816e-01] [ 6.47314586e-04 9.99950837e-01 9.89463501e-03 2.79512157e-02] [ 6.45566564e-03 -9.89860954e-03 9.99930169e-01 -2.70888492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33241403699999994 meters Centerline goodness : 0.988033 Centerline is valid? [True, True] Translation: X:0.34, Y:0.06, Z:0.01 [[ 0.99998425 0.00346525 0.00441548 0.34244458] [-0.00298447 0.99451124 -0.10458722 0.06251644] [-0.00475366 0.10457239 0.99450592 0.01170741] [ 0. 0. 0. 1. ]] SLAMing on 0.36241403699999997 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.00, Z:-0.02 [[ 0.9999385 -0.01051302 0.00353152 0.3501599 ] [ 0.01016017 0.99604154 0.08830643 -0.00378053] [-0.00444591 -0.08826512 0.9960871 -0.02182522] [ 0. 0. 0. 1. ]] SLAMing on 0.392414037 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:0.40, Y:0.05, Z:0.01 [[ 0.99991073 -0.01146911 0.00685462 0.39619138] [ 0.0118932 0.9977872 -0.06541608 0.05394581] [-0.00608919 0.06549176 0.99783453 0.00701108] [ 0. 0. 0. 1. ]] SLAMing on 0.42241403699999996 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:0.41, Y:0.01, Z:-0.01 [[ 9.99840656e-01 -1.78132194e-02 -1.16247572e-03 4.11998236e-01] [ 1.78488941e-02 9.98620622e-01 4.93788360e-02 1.21126459e-02] [ 2.81276187e-04 -4.93917167e-02 9.98779445e-01 -1.02297848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45241403699999994 meters Centerline goodness : 0.987885 Centerline is valid? [True, True] Translation: X:0.46, Y:0.05, Z:0.01 [[ 0.99983011 -0.01756723 -0.00557991 0.46070823] [ 0.01708412 0.99686647 -0.07723583 0.05472688] [ 0.00691925 0.07712738 0.99699724 0.01258248] [ 0. 0. 0. 1. ]] SLAMing on 0.48241403699999996 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:0.50, Y:0.02, Z:-0.01 [[ 0.99967675 -0.024954 -0.00486738 0.49955808] [ 0.02499666 0.99964781 0.00891158 0.02154344] [ 0.00464329 -0.00903036 0.99994844 -0.01085475] [ 0. 0. 0. 1. ]] SLAMing on 0.512414037 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:0.51, Y:0.01, Z:-0.01 [[ 0.99927902 -0.03356496 -0.01774342 0.5079722 ] [ 0.0345967 0.9975103 0.06145133 0.01176951] [ 0.01563663 -0.06202089 0.99795236 -0.01016894] [ 0. 0. 0. 1. ]] SLAMing on 0.542414037 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:0.56, Y:0.05, Z:0.01 [[ 0.99954832 -0.02817864 -0.0104459 0.55911561] [ 0.02760054 0.99827212 -0.05187463 0.0518542 ] [ 0.01188961 0.05156288 0.99859897 0.01170606] [ 0. 0. 0. 1. ]] SLAMing on 0.5724140369999999 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:0.57, Y:0.02, Z:-0.01 [[ 0.99928845 -0.03639631 -0.00989439 0.57044032] [ 0.03700251 0.9968458 0.07020867 0.01524235] [ 0.00730785 -0.07052483 0.99748326 -0.01093353] [ 0. 0. 0. 1. ]] SLAMing on 0.602414037 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:0.61, Y:0.07, Z:0.02 [[ 0.99952248 -0.02962657 -0.00877896 0.61196097] [ 0.02893658 0.99710016 -0.07038431 0.06575972] [ 0.01083875 0.07009667 0.99748132 0.01813699] [ 0. 0. 0. 1. ]] SLAMing on 0.632414037 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:0.62, Y:0.02, Z:-0.01 [[ 0.99942546 -0.03312483 -0.00717583 0.62255658] [ 0.03359121 0.99626519 0.07954433 0.02027965] [ 0.00451413 -0.07973967 0.9968055 -0.0102955 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6624140369999999 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:0.66, Y:0.04, Z:0.01 [[ 0.99953233 -0.02982151 -0.00676812 0.65947263] [ 0.02999286 0.99919045 0.02681174 0.03820413] [ 0.00596308 -0.0270022 0.99961759 0.00592796] [ 0. 0. 0. 1. ]] SLAMing on 0.6924140369999999 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:0.69, Y:0.06, Z:0.03 [[ 0.99927616 -0.03334353 -0.01831281 0.68582871] [ 0.03287092 0.99913351 -0.0255292 0.06495084] [ 0.01914817 0.02490876 0.99950633 0.02736805] [ 0. 0. 0. 1. ]] SLAMing on 0.722414037 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:0.72, Y:0.04, Z:0.00 [[ 9.99518443e-01 -3.07034195e-02 -4.49254829e-03 7.17316423e-01] [ 3.08577167e-02 9.98736009e-01 3.96759971e-02 3.79791324e-02] [ 3.26868097e-03 -3.97955206e-02 9.99202498e-01 1.75799526e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.752414037 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:0.73, Y:0.03, Z:0.01 [[ 0.99883589 -0.04113082 -0.02520142 0.73062735] [ 0.0437501 0.99249914 0.1141551 0.02513079] [ 0.02031709 -0.11512477 0.99314324 0.01217467] [ 0. 0. 0. 1. ]] SLAMing on 0.782414037 meters Centerline goodness : 0.991798 Centerline is valid? [True, True] Translation: X:0.77, Y:0.08, Z:0.04 [[ 0.99870513 -0.0426468 -0.02773649 0.77062871] [ 0.04245815 0.99907117 -0.00735551 0.07547888] [ 0.02802442 0.00616835 0.99958821 0.04452432] [ 0. 0. 0. 1. ]] SLAMing on 0.8124140369999999 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:0.80, Y:0.07, Z:0.04 [[ 0.99859919 -0.04496175 -0.02789426 0.80075024] [ 0.04516999 0.99895562 0.00688015 0.07346226] [ 0.02755578 -0.00813049 0.9995872 0.03967086] [ 0. 0. 0. 1. ]] SLAMing on 0.842414037 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:0.83, Y:0.09, Z:0.04 [[ 0.99866237 -0.04604925 -0.02351453 0.83462298] [ 0.04549745 0.99868834 -0.0234856 0.08591133] [ 0.02456518 0.02238433 0.99944759 0.04027814] [ 0. 0. 0. 1. ]] SLAMing on 0.872414037 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:0.86, Y:0.09, Z:0.04 [[ 0.99808192 -0.05160368 -0.03419852 0.86464671] [ 0.05109487 0.99857213 -0.01558919 0.0873258 ] [ 0.03495415 0.01381192 0.99929347 0.03952024] [ 0. 0. 0. 1. ]] SLAMing on 0.9024140369999999 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:0.90, Y:0.09, Z:0.04 [[ 0.99802367 -0.05352373 -0.0329235 0.89539859] [ 0.05305365 0.99847914 -0.01499027 0.08782109] [ 0.03367576 0.01321393 0.99934545 0.03586546] [ 0. 0. 0. 1. ]] SLAMing on 0.9324140369999999 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:0.92, Y:0.07, Z:0.01 [[ 0.99828977 -0.05652104 -0.01493003 0.91948091] [ 0.05728225 0.99674372 0.05675113 0.06549423] [ 0.01167378 -0.0575093 0.99827672 0.00884394] [ 0. 0. 0. 1. ]] SLAMing on 0.9624140369999999 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:0.96, Y:0.09, Z:0.02 [[ 0.99831996 -0.05576744 -0.01572389 0.95659074] [ 0.05570206 0.99843699 -0.00456588 0.09176081] [ 0.01595394 0.00368235 0.99986595 0.02470496] [ 0. 0. 0. 1. ]] SLAMing on 0.992414037 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:0.99, Y:0.11, Z:0.04 [[ 0.99801284 -0.05624979 -0.02839585 0.98826642] [ 0.05484912 0.99734481 -0.0479051 0.11274756] [ 0.0310151 0.04625242 0.99844818 0.03931845] [ 0. 0. 0. 1. ]] SLAMing on 1.022414037 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:1.01, Y:0.08, Z:0.00 [[ 0.99827429 -0.05768454 -0.01099727 1.01348859] [ 0.05815414 0.99711987 0.04868324 0.08295934] [ 0.00815732 -0.04923877 0.99875372 0.00238406] [ 0. 0. 0. 1. ]] SLAMing on 1.0524140370000001 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:1.05, Y:0.11, Z:0.02 [[ 0.99840826 -0.05604279 -0.00633683 1.04827682] [ 0.05602539 0.99842516 -0.0028908 0.10761702] [ 0.00648886 0.00253117 0.99997574 0.01829847] [ 0. 0. 0. 1. ]] SLAMing on 1.0824140370000002 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:1.08, Y:0.13, Z:0.03 [[ 0.99841426 -0.05368444 -0.01693952 1.08360043] [ 0.05299715 0.99784438 -0.03870277 0.12568759] [ 0.01898074 0.03774365 0.99910718 0.02849427] [ 0. 0. 0. 1. ]] SLAMing on 1.112414037 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:1.11, Y:0.11, Z:0.01 [[ 9.98469255e-01 -5.38309537e-02 -1.27033699e-02 1.11339441e+00] [ 5.38297876e-02 9.98550032e-01 -4.33954257e-04 1.08819711e-01] [ 1.27083106e-02 -2.50529718e-04 9.99919215e-01 1.17725131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.142414037 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:1.14, Y:0.10, Z:0.00 [[ 0.99842552 -0.05542235 -0.00865172 1.14231362] [ 0.05557412 0.9982847 0.01841651 0.10258374] [ 0.00761619 -0.01886832 0.99979297 0.00114526] [ 0. 0. 0. 1. ]] SLAMing on 1.172414037 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:1.17, Y:0.10, Z:-0.00 [[ 9.98395478e-01 -5.66123677e-02 -1.22850702e-03 1.17111776e+00] [ 5.66255749e-02 9.98203155e-01 1.95960443e-02 1.03828066e-01] [ 1.16921119e-04 -1.96341669e-02 9.99807224e-01 -2.80640505e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.202414037 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:1.20, Y:0.11, Z:0.00 [[ 9.98287594e-01 -5.84904339e-02 8.65614952e-04 1.20137247e+00] [ 5.84694300e-02 9.98163527e-01 1.58398114e-02 1.12705621e-01] [-1.79050272e-03 -1.57620752e-02 9.99874168e-01 1.88228884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.232414037 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:1.24, Y:0.14, Z:0.02 [[ 0.99844223 -0.05568453 -0.00351282 1.24095314] [ 0.05548193 0.99752884 -0.04310407 0.14142438] [ 0.00590437 0.04284203 0.99906441 0.01906392] [ 0. 0. 0. 1. ]] SLAMing on 1.262414037 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:1.27, Y:0.13, Z:-0.00 [[ 9.98484044e-01 -5.50008026e-02 2.12729193e-03 1.27037028e+00] [ 5.50112335e-02 9.98472181e-01 -5.20266145e-03 1.27893748e-01] [-1.83789126e-03 5.31179939e-03 9.99984203e-01 -2.31539191e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2924140370000001 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:1.30, Y:0.11, Z:-0.02 [[ 0.99832693 -0.05582821 0.01505178 1.29511534] [ 0.05532075 0.99794765 0.03225071 0.11445208] [-0.01682138 -0.03136408 0.99936647 -0.01678834] [ 0. 0. 0. 1. ]] SLAMing on 1.322414037 meters Centerline goodness : 0.989776 Centerline is valid? [True, True] Translation: X:1.33, Y:0.14, Z:0.00 [[ 0.9983722 -0.05656955 0.00726893 1.32651149] [ 0.05666008 0.99830995 -0.0129185 0.14352552] [-0.00652585 0.01330933 0.99989013 0.00248534] [ 0. 0. 0. 1. ]] SLAMing on 1.352414037 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:1.36, Y:0.14, Z:-0.00 [[ 9.98397437e-01 -5.62576750e-02 6.13445528e-03 1.35941644e+00] [ 5.63227824e-02 9.98351855e-01 -1.10144074e-02 1.44075147e-01] [-5.50469986e-03 1.13422657e-02 9.99920522e-01 -1.30346233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.382414037 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:1.39, Y:0.15, Z:-0.00 [[ 0.99843147 -0.05589352 0.00324403 1.39182586] [ 0.05594271 0.99827451 -0.01784442 0.15300884] [-0.00224104 0.01799791 0.99983551 -0.0048576 ] [ 0. 0. 0. 1. ]] SLAMing on 1.412414037 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:1.42, Y:0.14, Z:-0.02 [[ 0.99858537 -0.05308532 0.0030343 1.42396407] [ 0.05307232 0.99858177 0.0042155 0.13881238] [-0.00325378 -0.0040485 0.99998651 -0.01505595] [ 0. 0. 0. 1. ]] SLAMing on 1.442414037 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:1.45, Y:0.14, Z:-0.02 [[ 9.98607196e-01 -5.24750316e-02 5.48084581e-03 1.45455131e+00] [ 5.24712311e-02 9.98622087e-01 8.35026555e-04 1.40788171e-01] [-5.51711173e-03 -5.46276799e-04 9.99984631e-01 -1.82567833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.472414037 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:1.48, Y:0.14, Z:-0.03 [[ 0.99821703 -0.05755157 0.0158297 1.48057535] [ 0.05725133 0.99818262 0.01880786 0.14191377] [-0.01688336 -0.01786806 0.9996978 -0.03321584] [ 0. 0. 0. 1. ]] SLAMing on 1.502414037 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:1.52, Y:0.17, Z:-0.01 [[ 0.9984415 -0.05498728 0.00953782 1.51542702] [ 0.05528606 0.99787228 -0.03455955 0.16555533] [-0.00761719 0.03503299 0.99935713 -0.01168867] [ 0. 0. 0. 1. ]] SLAMing on 1.5324140370000001 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:1.54, Y:0.14, Z:-0.05 [[ 0.99797486 -0.05781666 0.02652182 1.53897484] [ 0.05667677 0.99751354 0.04188654 0.13539979] [-0.02887761 -0.04029854 0.9987703 -0.04940921] [ 0. 0. 0. 1. ]] SLAMing on 1.5624140370000001 meters Centerline goodness : 0.990031 Centerline is valid? [True, True] Translation: X:1.58, Y:0.17, Z:-0.02 [[ 0.99847812 -0.0531133 0.01484691 1.57755084] [ 0.05361113 0.99793316 -0.03542959 0.17266152] [-0.01293445 0.03617163 0.99926188 -0.01719104] [ 0. 0. 0. 1. ]] SLAMing on 1.592414037 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:1.60, Y:0.14, Z:-0.06 [[ 0.99780529 -0.05815602 0.03166209 1.59929525] [ 0.05659257 0.99723231 0.0482183 0.13818889] [-0.03437865 -0.04632064 0.99833487 -0.05981115] [ 0. 0. 0. 1. ]] SLAMing on 1.622414037 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:1.64, Y:0.17, Z:-0.03 [[ 0.99813565 -0.05549075 0.02541672 1.63608835] [ 0.05592936 0.99829197 -0.01688358 0.16857949] [-0.02443642 0.01827364 0.99953436 -0.0306065 ] [ 0. 0. 0. 1. ]] SLAMing on 1.652414037 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:1.67, Y:0.17, Z:-0.04 [[ 0.99801835 -0.05585792 0.02897005 1.66656982] [ 0.05605203 0.99841023 -0.00593141 0.16530631] [-0.02859267 0.00754349 0.99956268 -0.03869647] [ 0. 0. 0. 1. ]] SLAMing on 1.682414037 meters Centerline goodness : 0.991636 Centerline is valid? [True, True] Translation: X:1.70, Y:0.17, Z:-0.04 [[ 0.99797033 -0.05593206 0.03044379 1.69685667] [ 0.05602891 0.99842641 -0.00233706 0.16536564] [-0.03026517 0.00403805 0.99953375 -0.04303779] [ 0. 0. 0. 1. ]] SLAMing on 1.712414037 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:1.73, Y:0.15, Z:-0.05 [[ 0.99807199 -0.05351863 0.03143354 1.72903378] [ 0.05311926 0.99849818 0.01340652 0.15393244] [-0.03210383 -0.01171094 0.99941593 -0.05417601] [ 0. 0. 0. 1. ]] SLAMing on 1.742414037 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:1.76, Y:0.17, Z:-0.05 [[ 0.99786463 -0.05706757 0.0317722 1.75865213] [ 0.05716992 0.99836176 -0.00232178 0.16606478] [-0.03158765 0.00413324 0.99949244 -0.05187159] [ 0. 0. 0. 1. ]] SLAMing on 1.772414037 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:1.79, Y:0.18, Z:-0.05 [[ 0.99816701 -0.05517482 0.02486672 1.78985845] [ 0.05566539 0.9982593 -0.01948687 0.17710583] [-0.02374825 0.02083536 0.99950083 -0.04744634] [ 0. 0. 0. 1. ]] SLAMing on 1.802414037 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:1.82, Y:0.16, Z:-0.08 [[ 0.99755194 -0.06066237 0.03478794 1.81578732] [ 0.05964491 0.99778141 0.02957592 0.16314283] [-0.03650491 -0.02742859 0.99895699 -0.07540389] [ 0. 0. 0. 1. ]] SLAMing on 1.832414037 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:1.85, Y:0.17, Z:-0.06 [[ 0.99795384 -0.05351859 0.03498431 1.84955579] [ 0.05378585 0.99852973 -0.00674268 0.1741717 ] [-0.03457201 0.00861055 0.99936512 -0.05834972] [ 0. 0. 0. 1. ]] SLAMing on 1.862414037 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:1.88, Y:0.18, Z:-0.07 [[ 9.97572482e-01 -5.16378969e-02 4.67190620e-02 1.87861800e+00] [ 5.15989012e-02 9.98665804e-01 2.04109124e-03 1.76345947e-01] [-4.67621273e-02 3.74515806e-04 9.98905983e-01 -6.66456484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.892414037 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:1.92, Y:0.21, Z:-0.03 [[ 0.9982405 -0.0452507 0.03831825 1.91594325] [ 0.04789089 0.99632275 -0.07104532 0.20648628] [-0.0349625 0.07275542 0.99673681 -0.03346173] [ 0. 0. 0. 1. ]] SLAMing on 1.922414037 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:1.93, Y:0.15, Z:-0.11 [[ 0.99690897 -0.05624749 0.05485184 1.93149509] [ 0.05253723 0.99637647 0.06688626 0.1480243 ] [-0.05841526 -0.06379775 0.99625173 -0.10863354] [ 0. 0. 0. 1. ]] SLAMing on 1.952414037 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:1.97, Y:0.17, Z:-0.08 [[ 0.99730206 -0.05829939 0.04460694 1.96623367] [ 0.05735535 0.99810787 0.02215964 0.1710006 ] [-0.04581443 -0.01954141 0.99875882 -0.08459866] [ 0. 0. 0. 1. ]] SLAMing on 1.982414037 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:2.00, Y:0.18, Z:-0.08 [[ 0.99730503 -0.05866062 0.04406379 1.99880019] [ 0.05823882 0.99824429 0.01079704 0.17574639] [-0.04461979 -0.00820172 0.99897037 -0.08472502] [ 0. 0. 0. 1. ]] SLAMing on 2.0124140369999997 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:2.03, Y:0.20, Z:-0.07 [[ 0.99781096 -0.05406416 0.0380835 2.03406837] [ 0.05531624 0.99793563 -0.03262811 0.19688179] [-0.03624087 0.03466332 0.99874174 -0.06501276] [ 0. 0. 0. 1. ]] SLAMing on 2.042414037 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:2.06, Y:0.18, Z:-0.08 [[ 9.97575875e-01 -5.47479680e-02 4.29538645e-02 2.06109797e+00] [ 5.48265524e-02 9.98495680e-01 -6.52709954e-04 1.83923724e-01] [-4.28535136e-02 3.00614000e-03 9.99076844e-01 -8.47029164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0724140369999997 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:2.09, Y:0.18, Z:-0.09 [[ 9.97296199e-01 -5.55082985e-02 4.81572381e-02 2.09047206e+00] [ 5.53683141e-02 9.98457009e-01 4.23696478e-03 1.82722082e-01] [-4.83181186e-02 -1.55912378e-03 9.98830781e-01 -9.16602645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102414037 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:2.12, Y:0.19, Z:-0.08 [[ 0.99727308 -0.05009072 0.05419701 2.12279072] [ 0.05235182 0.99778107 -0.04113665 0.19404788] [-0.05201618 0.04386178 0.99768255 -0.07970429] [ 0. 0. 0. 1. ]] SLAMing on 2.1324140369999998 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:2.15, Y:0.17, Z:-0.11 [[ 9.96582845e-01 -5.60410658e-02 6.06797473e-02 2.14819456e+00] [ 5.58999897e-02 9.98428275e-01 4.02133876e-03 1.73716163e-01] [-6.08097356e-02 -6.15599965e-04 9.98149186e-01 -1.09361547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162414037 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:2.18, Y:0.18, Z:-0.10 [[ 0.99677059 -0.05666043 0.05690324 2.18076426] [ 0.05787531 0.99812481 -0.01993252 0.18074962] [-0.05566715 0.02316144 0.9981807 -0.10161005] [ 0. 0. 0. 1. ]] SLAMing on 2.192414037 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:2.21, Y:0.17, Z:-0.12 [[ 9.96209840e-01 -5.91269016e-02 6.37962654e-02 2.20887286e+00] [ 5.91477583e-02 9.98248015e-01 1.56330929e-03 1.70716218e-01] [-6.37769289e-02 2.21602199e-03 9.97961719e-01 -1.18404391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2224140369999996 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:2.24, Y:0.17, Z:-0.12 [[ 0.99616193 -0.05769531 0.06582289 2.24082865] [ 0.05831147 0.99827044 -0.00747685 0.17215874] [-0.06527766 0.01128638 0.99780331 -0.11860972] [ 0. 0. 0. 1. ]] SLAMing on 2.252414037 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:2.27, Y:0.16, Z:-0.13 [[ 0.99571542 -0.05999545 0.0703658 2.26780269] [ 0.05944826 0.99818282 0.00984672 0.16186138] [-0.0708287 -0.00562141 0.99747265 -0.13138719] [ 0. 0. 0. 1. ]] SLAMing on 2.2824140369999997 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:2.30, Y:0.17, Z:-0.12 [[ 0.99590254 -0.05821292 0.06920542 2.30120835] [ 0.0594997 0.99808898 -0.01667833 0.17219743] [-0.06810227 0.0207277 0.997463 -0.12334918] [ 0. 0. 0. 1. ]] SLAMing on 2.312414037 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:2.33, Y:0.16, Z:-0.15 [[ 0.99546018 -0.06482239 0.06969275 2.32908645] [ 0.06372933 0.99780852 0.01779709 0.16280472] [-0.07069367 -0.01327482 0.99740974 -0.14794845] [ 0. 0. 0. 1. ]] SLAMing on 2.3424140369999997 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:2.36, Y:0.16, Z:-0.16 [[ 0.99463349 -0.06731114 0.07857119 2.35539537] [ 0.06537073 0.99749528 0.02701537 0.15622836] [-0.08019282 -0.02173414 0.99654239 -0.15915349] [ 0. 0. 0. 1. ]] SLAMing on 2.372414037 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:2.39, Y:0.17, Z:-0.13 [[ 0.99613566 -0.06322959 0.06095715 2.39365394] [ 0.06402926 0.99788457 -0.01125371 0.1711753 ] [-0.06011663 0.01511326 0.99807694 -0.13188826] [ 0. 0. 0. 1. ]] SLAMing on 2.402414037 meters Centerline goodness : 0.989998 Centerline is valid? [True, True] Translation: X:2.42, Y:0.14, Z:-0.17 [[ 0.99484371 -0.05626506 0.0843815 2.4187596 ] [ 0.05449667 0.9982463 0.02311794 0.1377531 ] [-0.08553425 -0.01840022 0.99616531 -0.17113735] [ 0. 0. 0. 1. ]] SLAMing on 2.4324140369999996 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:2.46, Y:0.19, Z:-0.11 [[ 0.99604061 -0.0505586 0.07312266 2.45937256] [ 0.05703031 0.99436981 -0.08930974 0.1929834 ] [-0.06819559 0.09312634 0.99331609 -0.10798476] [ 0. 0. 0. 1. ]] SLAMing on 2.462414037 meters Centerline goodness : 0.986431 Centerline is valid? [True, True] Translation: X:2.48, Y:0.15, Z:-0.17 [[ 0.99529336 -0.06436758 0.07244264 2.47751802] [ 0.06222859 0.9975676 0.03140843 0.14678326] [-0.07428811 -0.0267526 0.99687791 -0.16652244] [ 0. 0. 0. 1. ]] SLAMing on 2.4924140369999996 meters Centerline goodness : 0.990919 Centerline is valid? [True, True] Translation: X:2.52, Y:0.18, Z:-0.14 [[ 0.99548538 -0.05371513 0.07825307 2.51559094] [ 0.05848024 0.99648803 -0.05993045 0.17714583] [-0.07475908 0.06423615 0.99513054 -0.13515528] [ 0. 0. 0. 1. ]] SLAMing on 2.522414037 meters Centerline goodness : 0.978703 Centerline is valid? [True, True] Translation: X:2.53, Y:0.10, Z:-0.21 [[ 0.99459367 -0.06396188 0.08180654 2.5347694 ] [ 0.0572025 0.99495142 0.0824594 0.10401751] [-0.08666779 -0.07733406 0.99323116 -0.20698032] [ 0. 0. 0. 1. ]] SLAMing on 2.5524140369999997 meters Centerline goodness : 0.988557 Centerline is valid? [True, True] Translation: X:2.56, Y:0.12, Z:-0.21 [[ 0.99254551 -0.06330137 0.10414583 2.56471067] [ 0.05930771 0.99739701 0.04100973 0.1212794 ] [-0.10647071 -0.03452738 0.99371618 -0.20674964] [ 0. 0. 0. 1. ]] SLAMing on 2.582414037 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:2.61, Y:0.20, Z:-0.12 [[ 0.99450291 -0.04509507 0.09450073 2.61149564] [ 0.05735179 0.98968413 -0.13128632 0.1957732 ] [-0.08760551 0.13598442 0.98683003 -0.12268492] [ 0. 0. 0. 1. ]] SLAMing on 2.6124140369999997 meters Centerline goodness : 0.988923 Centerline is valid? [True, True] Translation: X:2.62, Y:0.12, Z:-0.22 [[ 0.99208169 -0.06787982 0.10567046 2.61650287] [ 0.06310013 0.99685511 0.04794015 0.11863106] [-0.10859231 -0.04089273 0.99324493 -0.21592951] [ 0. 0. 0. 1. ]] SLAMing on 2.6424140369999995 meters Centerline goodness : 0.988182 Centerline is valid? [True, True] Translation: X:2.66, Y:0.15, Z:-0.19 [[ 0.99179554 -0.05449308 0.11563785 2.6557923 ] [ 0.05902698 0.99760162 -0.03615009 0.15044433] [-0.11339057 0.04267925 0.9926334 -0.18528062] [ 0. 0. 0. 1. ]] SLAMing on 2.672414037 meters Centerline goodness : 0.987441 Centerline is valid? [True, True] Translation: X:2.69, Y:0.15, Z:-0.19 [[ 0.99308691 -0.05569928 0.10332459 2.68903263] [ 0.05907231 0.99780656 -0.02987513 0.14519319] [-0.10143393 0.03577222 0.99419893 -0.19133099] [ 0. 0. 0. 1. ]] SLAMing on 2.7024140369999996 meters Centerline goodness : 0.984646 Centerline is valid? [True, True] Translation: X:2.71, Y:0.11, Z:-0.23 [[ 0.99142369 -0.06446984 0.11367809 2.70554346] [ 0.05966121 0.99719435 0.04521029 0.10899332] [-0.11627385 -0.03804038 0.99248845 -0.22869699] [ 0. 0. 0. 1. ]] SLAMing on 2.732414037 meters Centerline goodness : 0.980929 Centerline is valid? [True, True] Translation: X:2.75, Y:0.14, Z:-0.19 [[ 0.99371633 -0.05269626 0.09874698 2.75297233] [ 0.05689588 0.99757025 -0.04020526 0.14275897] [-0.09638839 0.04557092 0.99430004 -0.19137351] [ 0. 0. 0. 1. ]] SLAMing on 2.7624140369999997 meters Centerline goodness : 0.973085 Centerline is valid? [True, True] Translation: X:2.78, Y:0.12, Z:-0.22 [[ 9.93435129e-01 -5.70746696e-02 9.91419473e-02 2.77601784e+00] [ 5.73987585e-02 9.98351245e-01 -4.17337068e-04 1.20357933e-01] [-9.89546671e-02 6.10522199e-03 9.95073213e-01 -2.16134788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792414037 meters Centerline goodness : 0.971859 Centerline is valid? [True, True] Translation: X:2.81, Y:0.12, Z:-0.22 [[ 0.99336772 -0.05568359 0.1005978 2.80668583] [ 0.05644183 0.9983948 -0.0047047 0.11681014] [-0.10017434 0.01035142 0.99491605 -0.2200006 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8224140369999997 meters Centerline goodness : 0.975658 Centerline is valid? [True, True] Translation: X:2.84, Y:0.13, Z:-0.20 [[ 0.99340703 -0.04793736 0.10413687 2.84073632] [ 0.05413787 0.99687345 -0.05755361 0.13458231] [-0.10105231 0.06281191 0.99289632 -0.20221153] [ 0. 0. 0. 1. ]] SLAMing on 2.852414037 meters Centerline goodness : 0.965029 Centerline is valid? [True, True] Translation: X:2.87, Y:0.17, Z:-0.20 [[ 0.99213274 -0.04872353 0.11531976 2.86916034] [ 0.06182046 0.99168516 -0.11286616 0.17283497] [-0.10886166 0.11910733 0.98689543 -0.20187405] [ 0. 0. 0. 1. ]] SLAMing on 2.8824140369999998 meters Centerline goodness : 0.972081 Centerline is valid? [True, True] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 0.99111621 -0.05467357 0.12124132 2.89561135] [ 0.05647877 0.99833756 -0.01150057 0.12064087] [-0.12041099 0.01824597 0.99255644 -0.25694657] [ 0. 0. 0. 1. ]] SLAMing on 2.9124140369999996 meters Centerline goodness : 0.966848 Centerline is valid? [True, True] Translation: X:2.92, Y:0.06, Z:-0.28 [[ 0.99286844 -0.05896287 0.10361297 2.91998841] [ 0.0496701 0.99469454 0.09008689 0.0581302 ] [-0.10837504 -0.08429796 0.99052951 -0.27951517] [ 0. 0. 0. 1. ]] SLAMing on 2.942414037 meters Centerline goodness : 0.968565 Centerline is valid? [True, True] Translation: X:2.95, Y:0.08, Z:-0.26 [[ 0.99333898 -0.04912561 0.10423214 2.95492818] [ 0.04630787 0.99849787 0.02928467 0.08022007] [-0.1055142 -0.02426283 0.99412176 -0.25670174] [ 0. 0. 0. 1. ]] SLAMing on 2.9724140369999996 meters Centerline goodness : 0.978584 Centerline is valid? [True, True] Translation: X:2.99, Y:0.11, Z:-0.25 [[ 0.99336111 -0.03889146 0.10826433 2.99393829] [ 0.04299481 0.99843268 -0.03582782 0.10687271] [-0.10670125 0.04024476 0.99347632 -0.24553702] [ 0. 0. 0. 1. ]] SLAMing on 3.002414037 meters Centerline goodness : 0.976182 Centerline is valid? [True, True] Translation: X:3.02, Y:0.09, Z:-0.27 [[ 9.92956481e-01 -4.05243071e-02 1.11333769e-01 3.01786150e+00] [ 4.10744896e-02 9.99152569e-01 -2.65162218e-03 8.94521624e-02] [-1.11131967e-01 7.20592318e-03 9.93779533e-01 -2.65811629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0324140369999997 meters Centerline goodness : 0.976182 Centerline is valid? [True, True] Translation: X:3.05, Y:0.09, Z:-0.27 [[ 0.99283834 -0.03960977 0.112708 3.04987463] [ 0.0408964 0.99912172 -0.00912567 0.09001384] [-0.11224754 0.01366966 0.99358625 -0.26845349] [ 0. 0. 0. 1. ]] SLAMing on 3.062414037 meters Centerline goodness : 0.976182 Centerline is valid? [True, True] Translation: X:3.08, Y:0.09, Z:-0.27 [[ 0.99262965 -0.03962696 0.11452545 3.08116581] [ 0.04096808 0.99911643 -0.00937939 0.08790404] [-0.11405258 0.01400215 0.99337604 -0.2742284 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0924140369999997 meters Centerline goodness : 0.971975 Centerline is valid? [True, True] Translation: X:3.11, Y:0.09, Z:-0.27 [[ 0.99280469 -0.03545165 0.1143767 3.11138478] [ 0.03790951 0.99909313 -0.01938538 0.09011277] [-0.11358573 0.02358186 0.9932483 -0.27489284] [ 0. 0. 0. 1. ]] SLAMing on 3.122414037 meters Centerline goodness : 0.969082 Centerline is valid? [True, True] Translation: X:3.14, Y:0.07, Z:-0.29 [[ 0.99290387 -0.03376827 0.11402456 3.13741755] [ 0.03250712 0.99938822 0.01290213 0.07473779] [-0.11439048 -0.00910397 0.99339415 -0.29046954] [ 0. 0. 0. 1. ]] SLAMing on 3.152414037 meters Centerline goodness : 0.966217 Centerline is valid? [True, True] Translation: X:3.17, Y:0.08, Z:-0.28 [[ 0.99280438 -0.02706372 0.11664914 3.17014896] [ 0.02895113 0.99947542 -0.01451613 0.08283455] [-0.11619509 0.0177888 0.9930671 -0.28415435] [ 0. 0. 0. 1. ]] SLAMing on 3.1824140369999996 meters Centerline goodness : 0.952160 Centerline is valid? [True, True] Translation: X:3.20, Y:0.06, Z:-0.29 [[ 0.99390468 -0.03070875 0.10587943 3.19555522] [ 0.02847057 0.99933942 0.02258636 0.06380778] [-0.10650309 -0.01943424 0.99412243 -0.28770537] [ 0. 0. 0. 1. ]] SLAMing on 3.212414037 meters Centerline goodness : 0.963161 Centerline is valid? [True, True] Translation: X:3.23, Y:0.07, Z:-0.30 [[ 9.92056536e-01 -2.29403921e-02 1.23683336e-01 3.22716993e+00] [ 2.29217155e-02 9.99736024e-01 1.57417042e-03 6.77304618e-02] [-1.23686799e-01 1.27336820e-03 9.92320490e-01 -2.96552922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2424140369999996 meters Centerline goodness : 0.958597 Centerline is valid? [True, True] Translation: X:3.26, Y:0.09, Z:-0.29 [[ 0.99035196 -0.01016486 0.13820154 3.26004767] [ 0.0177878 0.99838057 -0.0540354 0.08500276] [-0.13742847 0.05597237 0.98892897 -0.28601893] [ 0. 0. 0. 1. ]] SLAMing on 3.272414037 meters Centerline goodness : 0.957030 Centerline is valid? [True, True] Translation: X:3.28, Y:0.05, Z:-0.32 [[ 0.99087755 -0.02038985 0.13321384 3.28166394] [ 0.01702751 0.99950825 0.02633097 0.04839701] [-0.13368522 -0.02382247 0.99073748 -0.32162237] [ 0. 0. 0. 1. ]] SLAMing on 3.3024140369999997 meters Centerline goodness : 0.953887 Centerline is valid? [True, True] Translation: X:3.32, Y:0.06, Z:-0.31 [[ 0.99107192 -0.0126047 0.13273116 3.31802712] [ 0.01439838 0.99981742 -0.01256246 0.0602045 ] [-0.13254858 0.01436141 0.99107246 -0.30958247] [ 0. 0. 0. 1. ]] SLAMing on 3.332414037 meters Centerline goodness : 0.951368 Centerline is valid? [True, True] Translation: X:3.35, Y:0.05, Z:-0.32 [[ 0.99085115 -0.01168667 0.1344523 3.34827044] [ 0.01310759 0.99986716 -0.00968784 0.05480253] [-0.13432122 0.01136156 0.99087271 -0.31896129] [ 0. 0. 0. 1. ]] SLAMing on 3.3624140369999997 meters Centerline goodness : 0.945078 Centerline is valid? [True, False] Translation: X:3.35, Y:0.05, Z:-0.32 [[ 0.99087594 -0.01092832 0.13433331 3.34928612] [ 0.01199809 0.99990241 -0.00715657 0.04826844] [-0.13424199 0.00870302 0.99091036 -0.32120335] [ 0. 0. 0. 1. ]] SLAMing on 3.3924140369999995 meters Centerline goodness : 0.940401 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.32 [[ 0.99092039 -0.01041858 0.13404568 3.35057535] [ 0.0112708 0.9999208 -0.00560043 0.04411588] [-0.13397671 0.00706038 0.99095933 -0.32295528] [ 0. 0. 0. 1. ]] SLAMing on 3.422414037 meters Centerline goodness : 0.930689 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.33 [[ 0.99091942 -0.01080827 0.13402197 3.35101524] [ 0.0113799 0.99992912 -0.0034999 0.03720051] [-0.13397465 0.00499327 0.99097218 -0.32559451] [ 0. 0. 0. 1. ]] SLAMing on 3.4524140369999996 meters Centerline goodness : 0.929876 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.33 [[ 9.90926383e-01 -1.10099381e-02 1.33954042e-01 3.35107767e+00] [ 1.14745738e-02 9.99930528e-01 -2.69707964e-03 3.40333582e-02] [-1.33915041e-01 4.20967291e-03 9.90983875e-01 -3.26010639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482414037 meters Centerline goodness : 0.925090 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.33 [[ 9.90920233e-01 -1.14791653e-02 1.33960144e-01 3.35059653e+00] [ 1.18354587e-02 9.99928222e-01 -1.86364502e-03 3.04644723e-02] [-1.33929136e-01 3.43220331e-03 9.90984968e-01 -3.25982588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5124140369999997 meters Centerline goodness : 0.922767 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.33 [[ 0.99094081 -0.01498283 0.13346093 3.3516622 ] [ 0.0156128 0.99987136 -0.00367497 0.02320101] [-0.1333887 0.00572538 0.99104726 -0.32726384] [ 0. 0. 0. 1. ]] SLAMing on 3.542414037 meters Centerline goodness : 0.917069 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.33 [[ 9.90980909e-01 -1.55495073e-02 1.33097901e-01 3.35209157e+00] [ 1.60415312e-02 9.99867880e-01 -2.62512183e-03 1.84923402e-02] [-1.33039496e-01 4.73653974e-03 9.91099419e-01 -3.27959831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5724140369999997 meters Centerline goodness : 0.915897 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.33 [[ 9.90994938e-01 -1.58874891e-02 1.32953455e-01 3.35223984e+00] [ 1.62565163e-02 9.99866425e-01 -1.69050482e-03 1.46924929e-02] [-1.32908838e-01 3.83664173e-03 9.91120841e-01 -3.28442193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6024140369999995 meters Centerline goodness : 0.900987 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.33 [[ 9.91039203e-01 -1.67697581e-02 1.32514426e-01 3.35242031e+00] [ 1.70505050e-02 9.99854145e-01 -9.84094535e-04 9.31614283e-03] [-1.32478595e-01 3.23471415e-03 9.91180588e-01 -3.28348631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6324140369999998 meters Centerline goodness : 0.899489 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.33 [[ 9.91053124e-01 -1.72261823e-02 1.32351668e-01 3.35236048e+00] [ 1.74173998e-02 9.99848264e-01 -2.87114367e-04 6.10964219e-03] [-1.32326640e-01 2.58976751e-03 9.91202781e-01 -3.28367087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6624140369999996 meters Centerline goodness : 0.886265 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.33 [[ 9.91018464e-01 -2.05912497e-02 1.32130256e-01 3.35286084e+00] [ 2.11638903e-02 9.99771724e-01 -2.93087201e-03 5.22393435e-04] [-1.32039744e-01 5.70093852e-03 9.91228029e-01 -3.28466508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692414037 meters Centerline goodness : 0.882517 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.00, Z:-0.33 [[ 9.90993026e-01 -2.10125351e-02 1.32254662e-01 3.35219795e+00] [ 2.15072561e-02 9.99766016e-01 -2.31313007e-03 -3.43890744e-03] [-1.32175112e-01 5.13673064e-03 9.91213072e-01 -3.28172192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7224140369999996 meters Centerline goodness : 0.890425 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.33 [[ 9.90960807e-01 -2.13318668e-02 1.32444819e-01 3.35155446e+00] [ 2.17499148e-02 9.99761980e-01 -1.71032486e-03 -7.26628447e-03] [-1.32376810e-01 4.57552843e-03 9.91188905e-01 -3.27994004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.752414037 meters Centerline goodness : 0.879161 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.33 [[ 9.90941881e-01 -2.17583740e-02 1.32517027e-01 3.35097135e+00] [ 2.21146315e-02 9.99754701e-01 -1.21703456e-03 -1.12880662e-02] [-1.32458040e-01 4.13657574e-03 9.91179982e-01 -3.27579771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7824140369999997 meters Centerline goodness : 0.877138 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.02, Z:-0.33 [[ 0.99069327 -0.02357454 0.13405627 3.34833952] [ 0.0242487 0.99970018 -0.00339816 -0.01604734] [-0.13393597 0.00661722 0.9909679 -0.32684233] [ 0. 0. 0. 1. ]] SLAMing on 3.812414037 meters Centerline goodness : 0.871830 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.02, Z:-0.33 [[ 9.90633183e-01 -2.34262390e-02 1.34525493e-01 3.34719311e+00] [ 2.38943936e-02 9.99712746e-01 -1.86633427e-03 -1.97667428e-02] [-1.34443129e-01 5.06325775e-03 9.90908375e-01 -3.25596387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8424140369999997 meters Centerline goodness : 0.873204 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.02, Z:-0.33 [[ 9.90633219e-01 -2.33810238e-02 1.34533091e-01 3.34753535e+00] [ 2.37689318e-02 9.99716663e-01 -1.27771073e-03 -2.18652728e-02] [-1.34465099e-01 4.46345056e-03 9.90908278e-01 -3.26028138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8724140369999995 meters Centerline goodness : 0.881286 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.02, Z:-0.33 [[ 0.99052762 -0.02506484 0.13500659 3.34752499] [ 0.02600449 0.9996483 -0.00520085 -0.02215434] [-0.13482875 0.00866236 0.99083105 -0.32753053] [ 0. 0. 0. 1. ]] SLAMing on 3.902414037 meters Centerline goodness : 0.877601 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.03, Z:-0.32 [[ 0.99176147 -0.01905444 0.12667328 3.34444643] [ 0.0203149 0.99975607 -0.00866589 -0.02924252] [-0.12647726 0.01116786 0.99190664 -0.32417965] [ 0. 0. 0. 1. ]] SLAMing on 3.9324140369999996 meters Centerline goodness : 0.876935 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.03, Z:-0.32 [[ 0.99173126 -0.01877993 0.12695048 3.34420133] [ 0.02001131 0.9997642 -0.00843116 -0.03085019] [-0.12676221 0.01090189 0.99187322 -0.32460385] [ 0. 0. 0. 1. ]] SLAMing on 3.962414037 meters Centerline goodness : 0.862440 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.03, Z:-0.33 [[ 0.99165944 -0.01781902 0.12764813 3.34333521] [ 0.01892026 0.99979346 -0.00741977 -0.03407891] [-0.12748956 0.00977302 0.99179176 -0.32522814] [ 0. 0. 0. 1. ]] SLAMing on 3.9924140369999996 meters Centerline goodness : 0.860113 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.33 [[ 0.99163664 -0.01732334 0.12789319 3.34313633] [ 0.01838453 0.99980563 -0.00712153 -0.03574661] [-0.12774496 0.00941323 0.99176238 -0.32570631] [ 0. 0. 0. 1. ]] SLAMing on 4.022414037 meters Centerline goodness : 0.872101 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.33 [[ 0.99141999 -0.01633329 0.12969053 3.34068729] [ 0.01781671 0.99978836 -0.01028609 -0.03819275] [-0.12949508 0.01250849 0.99150117 -0.32789561] [ 0. 0. 0. 1. ]] SLAMing on 4.052414037 meters Centerline goodness : 0.866863 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.33 [[ 0.99145964 -0.01567173 0.12946882 3.3415447 ] [ 0.01701423 0.99981228 -0.00926961 -0.04041356] [-0.12929925 0.01139325 0.99154016 -0.32870593] [ 0. 0. 0. 1. ]] SLAMing on 4.082414037 meters Centerline goodness : 0.870035 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.33 [[ 0.99146983 -0.01253634 0.12973206 3.34070475] [ 0.0132419 0.99990184 -0.0045774 -0.04381256] [-0.12966194 0.00625625 0.99153852 -0.32885243] [ 0. 0. 0. 1. ]] SLAMing on 4.112414037 meters Centerline goodness : 0.862665 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.33 [[ 9.91496347e-01 -9.97928793e-03 1.29751332e-01 3.33980072e+00] [ 1.01841091e-02 9.99947722e-01 -9.15140957e-04 -4.49721271e-02] [-1.29735416e-01 2.22876064e-03 9.91546143e-01 -3.28035272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142414037 meters Centerline goodness : 0.866291 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.33 [[ 9.91474454e-01 -7.75635029e-03 1.30070162e-01 3.33801259e+00] [ 7.52910855e-03 9.99969150e-01 2.23873195e-03 -4.55626118e-02] [-1.30083514e-01 -1.24033317e-03 9.91502265e-01 -3.26516927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172414037 meters Centerline goodness : 0.857784 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.32 [[ 0.991471 -0.0062014 0.13017985 3.33654275] [ 0.0056677 0.99997395 0.00446981 -0.04678189] [-0.13020418 -0.00369386 0.99148032 -0.324781 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2024140370000005 meters Centerline goodness : 0.860268 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.33 [[ 0.99147761 -0.00629795 0.13012491 3.33669416] [ 0.00568665 0.99997098 0.00506883 -0.05041238] [-0.13015306 -0.00428566 0.99148465 -0.32522879] [ 0. 0. 0. 1. ]] SLAMing on 4.232414037 meters Centerline goodness : 0.861969 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.33 [[ 0.99146494 -0.00646851 0.13021303 3.33651351] [ 0.00582269 0.99996879 0.00533978 -0.05255749] [-0.13024351 -0.00453602 0.99147166 -0.32538936] [ 0. 0. 0. 1. ]] SLAMing on 4.262414037 meters Centerline goodness : 0.861201 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.33 [[ 0.99144882 -0.00676087 0.13032085 3.3361815 ] [ 0.00612019 0.99996714 0.00531604 -0.05357168] [-0.13035251 -0.004473 0.99145762 -0.32526578] [ 0. 0. 0. 1. ]] SLAMing on 4.292414037 meters Centerline goodness : 0.859351 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.32 [[ 0.99143739 -0.00739261 0.13037349 3.33560245] [ 0.0067961 0.99996431 0.00501974 -0.05366374] [-0.13040595 -0.00409073 0.99145224 -0.32460081] [ 0. 0. 0. 1. ]] SLAMing on 4.322414037000001 meters Centerline goodness : 0.856438 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.32 [[ 0.99142199 -0.00773898 0.13047048 3.33505624] [ 0.00717988 0.99996292 0.00475515 -0.05352364] [-0.13050244 -0.00377759 0.99144079 -0.32390214] [ 0. 0. 0. 1. ]] SLAMing on 4.352414037 meters Centerline goodness : 0.851520 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.32 [[ 0.99142562 -0.00826693 0.1304105 3.33479397] [ 0.00773461 0.99995956 0.00458781 -0.0544402 ] [-0.13044315 -0.0035398 0.99144947 -0.32343058] [ 0. 0. 0. 1. ]] SLAMing on 4.382414037 meters Centerline goodness : 0.859112 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.32 [[ 0.99145559 -0.0081804 0.13018795 3.33551642] [ 0.00760651 0.99995904 0.00490486 -0.05549939] [-0.13022274 -0.00387268 0.9914772 -0.32411262] [ 0. 0. 0. 1. ]] SLAMing on 4.4124140370000005 meters Centerline goodness : 0.851460 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.32 [[ 0.9914721 -0.00822835 0.1300591 3.33603798] [ 0.00763488 0.99995805 0.005061 -0.05650959] [-0.13009529 -0.00402485 0.99149333 -0.32475193] [ 0. 0. 0. 1. ]] SLAMing on 4.442414037 meters Centerline goodness : 0.853089 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.33 [[ 0.99148289 -0.00816504 0.12998083 3.33634145] [ 0.00752701 0.9999571 0.0053992 -0.05725615] [-0.13001934 -0.00437485 0.99150181 -0.32520163] [ 0. 0. 0. 1. ]] SLAMing on 4.472414037 meters Centerline goodness : 0.852234 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.32 [[ 0.99150174 -0.00808738 0.12984182 3.33652804] [ 0.00746846 0.99995831 0.00525295 -0.05658248] [-0.12987889 -0.00423859 0.99152081 -0.32488153] [ 0. 0. 0. 1. ]] SLAMing on 4.502414037 meters Centerline goodness : 0.850390 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.32 [[ 0.9914615 -0.00600023 0.13026165 3.33426069] [ 0.00501175 0.99995612 0.00791492 -0.05706546] [-0.13030343 -0.0071945 0.99144806 -0.32251249] [ 0. 0. 0. 1. ]] SLAMing on 4.532414037000001 meters Centerline goodness : 0.850390 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.32 [[ 0.9914615 -0.00600023 0.13026165 3.33426069] [ 0.00501175 0.99995612 0.00791492 -0.05706546] [-0.13030343 -0.0071945 0.99144806 -0.32251249] [ 0. 0. 0. 1. ]] SLAMing on 4.562414037 meters Centerline goodness : 0.855472 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.32 [[ 0.9914841 -0.00548388 0.13011228 3.33473775] [ 0.00447548 0.99995765 0.00804137 -0.05683538] [-0.13015086 -0.00739057 0.99146666 -0.32246559] [ 0. 0. 0. 1. ]] SLAMing on 4.592414037 meters Centerline goodness : 0.852436 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.32 [[ 9.93223574e-01 -3.81985617e-03 1.16156532e-01 3.33654907e+00] [ 3.06001372e-03 9.99972744e-01 6.71915979e-03 -5.47411466e-02] [-1.16179032e-01 -6.31818733e-03 9.93208192e-01 -3.17492981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622414037 meters Centerline goodness : 0.832276 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.32 [[ 9.93195112e-01 -1.47211127e-03 1.16453004e-01 3.33500924e+00] [ 3.36508829e-04 9.99952209e-01 9.77065385e-03 -5.53541993e-02] [-1.16461823e-01 -9.66497818e-03 9.93148142e-01 -3.16261228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652414037 meters Centerline goodness : 0.852209 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.31 [[ 9.93182794e-01 7.66779279e-04 1.16564792e-01 3.33369585e+00] [-2.25451574e-03 9.99917673e-01 1.26318596e-02 -5.57422475e-02] [-1.16545510e-01 -1.28085427e-02 9.93102757e-01 -3.14805618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682414037 meters Centerline goodness : 0.849980 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.31 [[ 9.94517517e-01 1.86337500e-04 1.04569946e-01 3.33362479e+00] [-1.43660198e-03 9.99928386e-01 1.18810588e-02 -5.37029256e-02] [-1.04560244e-01 -1.19661464e-02 9.94446563e-01 -3.06891169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712414037 meters Centerline goodness : 0.837161 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.30 [[ 9.95851216e-01 8.99323338e-04 9.09920158e-02 3.33327124e+00] [-1.76726901e-03 9.99953705e-01 9.45858031e-03 -5.36514131e-02] [-9.09792970e-02 -9.58014608e-03 9.95806702e-01 -3.01204064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7424140370000005 meters Centerline goodness : 0.848347 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.29 [[ 9.96973016e-01 -1.12893590e-04 7.77482591e-02 3.33434250e+00] [-5.44599949e-04 9.99964273e-01 8.43544303e-03 -5.18936570e-02] [-7.77464337e-02 -8.45225078e-03 9.96937336e-01 -2.94779669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772414037 meters Centerline goodness : 0.847204 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.29 [[ 9.97832334e-01 5.27109549e-04 6.58054406e-02 3.33148240e+00] [-1.25328023e-03 9.99938775e-01 1.09943229e-02 -4.87943172e-02] [-6.57956165e-02 -1.10529635e-02 9.97771902e-01 -2.86770285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802414037 meters Centerline goodness : 0.843701 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.28 [[ 9.98634912e-01 1.63788709e-04 5.22329919e-02 3.33197927e+00] [-6.78315309e-04 9.99951425e-01 9.83303036e-03 -4.55923644e-02] [-5.22288441e-02 -9.85503785e-03 9.98586514e-01 -2.79518056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832414037 meters Centerline goodness : 0.843468 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.27 [[ 9.99255085e-01 -2.79754708e-04 3.85901018e-02 3.33244011e+00] [-2.48485795e-05 9.99968853e-01 7.89259552e-03 -4.29594393e-02] [-3.85911078e-02 -7.88767512e-03 9.99223954e-01 -2.72478927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862414037 meters Centerline goodness : 0.841833 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.27 [[ 9.99490988e-01 2.58759078e-03 3.17973304e-02 3.32489098e+00] [-2.55934902e-03 9.99996293e-01 -9.28848698e-04 -4.14183725e-02] [-3.17996160e-02 8.46995436e-04 9.99493905e-01 -2.69349360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892414037 meters Centerline goodness : 0.837645 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.27 [[ 9.99494732e-01 2.81511742e-03 3.16599906e-02 3.32544748e+00] [-2.79604820e-03 9.99995882e-01 -6.46569327e-04 -4.23451503e-02] [-3.16616803e-02 5.57719777e-04 9.99498488e-01 -2.69804569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922414037 meters Centerline goodness : 0.834148 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.27 [[ 9.99476973e-01 5.64533089e-03 3.18419760e-02 3.32479606e+00] [-5.72362149e-03 9.99980816e-01 2.36810968e-03 -4.04058371e-02] [-3.18279963e-02 -2.54912251e-03 9.99490110e-01 -2.69702769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9524140370000005 meters Centerline goodness : 0.834148 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.27 [[ 9.99476988e-01 5.64285331e-03 3.18419257e-02 3.32479745e+00] [-5.72104272e-03 9.99980838e-01 2.36497512e-03 -4.04012153e-02] [-3.18279704e-02 -2.54590722e-03 9.99490119e-01 -2.69704166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982414037 meters Centerline goodness : 0.840175 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.27 [[ 0.99945219 0.00818841 0.03206678 3.32329425] [-0.00835279 0.99995264 0.00499553 -0.03827596] [-0.03202436 -0.00526064 0.99947324 -0.26836548] [ 0. 0. 0. 1. ]] SLAMing on 5.012414037 meters Centerline goodness : 0.843229 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.27 [[ 0.99942221 0.01047741 0.03233374 3.32144238] [-0.01072618 0.99991412 0.00752993 -0.0368428 ] [-0.03225207 -0.0078724 0.99944876 -0.26674333] [ 0. 0. 0. 1. ]] SLAMing on 5.042414037 meters Centerline goodness : 0.841917 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.26 [[ 0.99942608 0.00983199 0.03241674 3.32014863] [-0.01004878 0.99992818 0.00653132 -0.03665488] [-0.03235019 -0.00685332 0.9994531 -0.26492813] [ 0. 0. 0. 1. ]] SLAMing on 5.072414037 meters Centerline goodness : 0.840864 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.26 [[ 0.99942501 0.00929862 0.03260666 3.31921173] [-0.00950192 0.99993634 0.00608532 -0.03782025] [-0.032548 -0.00639165 0.99944974 -0.26418521] [ 0. 0. 0. 1. ]] SLAMing on 5.102414037 meters Centerline goodness : 0.840968 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.26 [[ 0.99942813 0.00849177 0.03273063 3.31806449] [-0.0086659 0.99994902 0.0051818 -0.03748529] [-0.03268496 -0.00546248 0.99945078 -0.26291134] [ 0. 0. 0. 1. ]] SLAMing on 5.132414037 meters Centerline goodness : 0.844680 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.26 [[ 0.99940275 0.01044711 0.03293924 3.31639213] [-0.01070354 0.99991369 0.00761819 -0.03645947] [-0.03285681 -0.0079662 0.99942832 -0.26156004] [ 0. 0. 0. 1. ]] SLAMing on 5.1624140370000005 meters Centerline goodness : 0.843160 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.03, Z:-0.25 [[ 0.9997458 0.01107095 0.01964108 3.31509493] [-0.01120259 0.99991543 0.00660523 -0.02929456] [-0.01956629 -0.00682358 0.99978528 -0.25279074] [ 0. 0. 0. 1. ]] SLAMing on 5.192414037 meters Centerline goodness : 0.843257 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.03, Z:-0.25 [[ 0.9997496 0.01104244 0.01946258 3.31548634] [-0.01116551 0.99991828 0.00622622 -0.02778926] [-0.01939224 -0.00644198 0.9997912 -0.25266804] [ 0. 0. 0. 1. ]] SLAMing on 5.222414037 meters Centerline goodness : 0.842555 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.03, Z:-0.25 [[ 9.99935565e-01 9.99822880e-03 5.37591435e-03 3.31650812e+00] [-1.00119842e-02 9.99946658e-01 2.53791153e-03 -2.55259251e-02] [-5.35025297e-03 -2.59157157e-03 9.99982329e-01 -2.46956991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252414037 meters Centerline goodness : 0.843662 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.03, Z:-0.25 [[ 9.99937105e-01 9.85831577e-03 5.34781125e-03 3.31723544e+00] [-9.87228312e-03 9.99947909e-01 2.59170688e-03 -2.68339456e-02] [-5.32198282e-03 -2.64433898e-03 9.99982342e-01 -2.48188532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282414037 meters Centerline goodness : 0.840624 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.03, Z:-0.25 [[ 9.99940984e-01 9.42979047e-03 5.39517436e-03 3.31697426e+00] [-9.44059436e-03 9.99953475e-01 1.98055863e-03 -2.58596469e-02] [-5.37624709e-03 -2.03137540e-03 9.99983485e-01 -2.47914388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312414037 meters Centerline goodness : 0.843879 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.02, Z:-0.25 [[ 9.99947894e-01 8.65873565e-03 5.40706495e-03 3.31631413e+00] [-8.66177737e-03 9.99962341e-01 5.39380634e-04 -2.15236977e-02] [-5.40219097e-03 -5.86187322e-04 9.99985236e-01 -2.46724991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342414037 meters Centerline goodness : 0.841387 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.24 [[ 9.99933636e-01 9.98678449e-03 5.74343372e-03 3.31373007e+00] [-1.00000148e-02 9.99947400e-01 2.27947380e-03 -2.03742044e-02] [-5.72036701e-03 -2.33675695e-03 9.99980908e-01 -2.44734611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372414037 meters Centerline goodness : 0.843682 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.24 [[ 9.99938347e-01 9.51021597e-03 5.73220303e-03 3.31343447e+00] [-9.51993011e-03 9.99953290e-01 1.66976412e-03 -1.90187723e-02] [-5.71605546e-03 -1.72423135e-03 9.99982177e-01 -2.44292538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402414037 meters Centerline goodness : 0.838665 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.24 [[ 9.99945518e-01 8.52316273e-03 6.02637109e-03 3.31268024e+00] [-8.53027354e-03 9.99962949e-01 1.15523169e-03 -1.92599998e-02] [-6.01630158e-03 -1.20657535e-03 9.99981174e-01 -2.44489991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432414037 meters Centerline goodness : 0.839819 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.24 [[ 9.99948672e-01 8.24637033e-03 5.88651731e-03 3.31314303e+00] [-8.25332168e-03 9.99965271e-01 1.15757978e-03 -2.02858187e-02] [-5.87676704e-03 -1.20610369e-03 9.99982004e-01 -2.44920999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462414037 meters Centerline goodness : 0.840202 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.24 [[ 9.99953262e-01 7.49663532e-03 6.10520919e-03 3.31244151e+00] [-7.50125397e-03 9.99971596e-01 7.33962493e-04 -2.08561594e-02] [-6.09953353e-03 -7.79724914e-04 9.99981094e-01 -2.44839549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4924140370000005 meters Centerline goodness : 0.831020 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.24 [[ 9.99956965e-01 7.18790706e-03 5.86538658e-03 3.31270814e+00] [-7.18958297e-03 9.99974120e-01 2.64693694e-04 -1.98477000e-02] [-5.86333219e-03 -3.06851986e-04 9.99982763e-01 -2.44516567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522414037 meters Centerline goodness : 0.839428 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.24 [[ 9.99961230e-01 6.68098599e-03 5.73602650e-03 3.31263951e+00] [-6.67671861e-03 9.99977420e-01 -7.62789795e-04 -1.63560078e-02] [-5.74099316e-03 7.24462387e-04 9.99983258e-01 -2.43817059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552414037 meters Centerline goodness : 0.838539 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99962035e-01 6.76360993e-03 5.49374750e-03 3.31380049e+00] [-6.75745025e-03 9.99976519e-01 -1.13900629e-03 -1.41130203e-02] [-5.50132230e-03 1.10183933e-03 9.99984261e-01 -2.44571410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582414037 meters Centerline goodness : 0.838539 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99962035e-01 6.76360993e-03 5.49374750e-03 3.31380049e+00] [-6.75745025e-03 9.99976519e-01 -1.13900629e-03 -1.41130203e-02] [-5.50132230e-03 1.10183933e-03 9.99984261e-01 -2.44571410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612414037 meters Centerline goodness : 0.836516 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99962915e-01 6.79516252e-03 5.29088773e-03 3.31433876e+00] [-6.78686535e-03 9.99975713e-01 -1.58457969e-03 -1.32219065e-02] [-5.30152671e-03 1.54861239e-03 9.99984748e-01 -2.44517577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642414037 meters Centerline goodness : 0.833625 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99964891e-01 6.62249449e-03 5.13409759e-03 3.31399735e+00] [-6.61101518e-03 9.99975616e-01 -2.24965190e-03 -1.19782336e-02] [-5.14887071e-03 2.21563132e-03 9.99984290e-01 -2.43346371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.672414037 meters Centerline goodness : 0.835632 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99964322e-01 6.84145092e-03 4.95480050e-03 3.31389889e+00] [-6.82520904e-03 9.99971304e-01 -3.28753212e-03 -8.65468660e-03] [-4.97714980e-03 3.25359728e-03 9.99982321e-01 -2.41931623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7024140370000005 meters Centerline goodness : 0.835435 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99937059e-01 9.92917016e-03 5.22391027e-03 3.31263666e+00] [-9.92935909e-03 9.99950703e-01 1.02313599e-05 -8.53251730e-03] [-5.22355116e-03 -6.21007968e-05 9.99986355e-01 -2.41207435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732414037 meters Centerline goodness : 0.838209 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99897607e-01 1.32158424e-02 5.48788126e-03 3.31182810e+00] [-1.32332811e-02 9.99907463e-01 3.15361740e-03 -7.08472307e-03] [-5.44569572e-03 -3.22591717e-03 9.99979969e-01 -2.40818989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762414037 meters Centerline goodness : 0.833025 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99898793e-01 1.31978631e-02 5.31227598e-03 3.31195952e+00] [-1.32123326e-02 9.99909073e-01 2.69797989e-03 -6.05928518e-03] [-5.27618538e-03 -2.76789439e-03 9.99982250e-01 -2.40243717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792414037 meters Centerline goodness : 0.838280 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.24 [[ 9.99900626e-01 1.31198112e-02 5.15834986e-03 3.31193650e+00] [-1.31315583e-02 9.99911246e-01 2.25007541e-03 -5.33889852e-03] [-5.12837147e-03 -2.31758898e-03 9.99984164e-01 -2.39536493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822414037 meters Centerline goodness : 0.840099 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.00, Z:-0.24 [[ 9.99902989e-01 1.30086349e-02 4.97879336e-03 3.31191546e+00] [-1.30172067e-02 9.99913839e-01 1.69315334e-03 -3.99916151e-03] [-4.95633877e-03 -1.75779907e-03 9.99986172e-01 -2.38749729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852414037 meters Centerline goodness : 0.833576 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.24 [[ 9.99903768e-01 1.30895369e-02 4.59554744e-03 3.31293306e+00] [-1.30928879e-02 9.99914040e-01 6.99863481e-04 2.63565066e-04] [-4.58599152e-03 -7.59965119e-04 9.99989196e-01 -2.38478334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882414037 meters Centerline goodness : 0.831012 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.24 [[ 9.99905205e-01 1.30654681e-02 4.34437570e-03 3.31369407e+00] [-1.30671988e-02 9.99914552e-01 3.70209117e-04 1.14739388e-03] [-4.33916753e-03 -4.26942844e-04 9.99990495e-01 -2.38702241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9124140370000005 meters Centerline goodness : 0.838209 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.00, Z:-0.24 [[ 9.99908390e-01 1.27153060e-02 4.64040704e-03 3.31326996e+00] [-1.27176051e-02 9.99919019e-01 4.66273543e-04 -1.22794427e-03] [-4.63410244e-03 -5.25245692e-04 9.99989125e-01 -2.39295892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942414037 meters Centerline goodness : 0.830336 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.00, Z:-0.24 [[ 9.99913019e-01 1.22268134e-02 4.94560053e-03 3.31221592e+00] [-1.22274539e-02 9.99925237e-01 9.92953810e-05 -1.88146339e-03] [-4.94401672e-03 -1.59758847e-04 9.99987766e-01 -2.38756295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972414037 meters Centerline goodness : 0.833629 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.00, Z:-0.24 [[ 9.99918282e-01 1.17558807e-02 5.02284144e-03 3.31143625e+00] [-1.17534172e-02 9.99930791e-01 -5.19699039e-04 -1.25991962e-03] [-5.02860334e-03 4.60621019e-04 9.99987250e-01 -2.37811073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002414037 meters Centerline goodness : 0.838360 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.24 [[ 9.99885065e-01 1.41170546e-02 5.52854995e-03 3.30916975e+00] [-1.41288213e-02 9.99897988e-01 2.09509917e-03 6.00663404e-04] [-5.49840934e-03 -2.17297026e-03 9.99982523e-01 -2.36313801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032414037 meters Centerline goodness : 0.836217 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.24 [[ 9.99886582e-01 1.41490753e-02 5.16013330e-03 3.31013638e+00] [-1.41584229e-02 9.99898181e-01 1.77948280e-03 2.13571284e-03] [-5.13442987e-03 -1.85234032e-03 9.99985103e-01 -2.36435339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062414037 meters Centerline goodness : 0.836871 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.24 [[ 9.99885523e-01 1.43753400e-02 4.72134167e-03 3.31148391e+00] [-1.43841331e-02 9.99894861e-01 1.83375626e-03 2.46495352e-03] [-4.69448441e-03 -1.90145874e-03 9.99987173e-01 -2.36963292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092414037 meters Centerline goodness : 0.835574 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.24 [[ 9.99890018e-01 1.40050260e-02 4.87976449e-03 3.31071572e+00] [-1.40134559e-02 9.99900366e-01 1.69762431e-03 1.49503991e-04] [-4.85550302e-03 -1.76581997e-03 9.99986653e-01 -2.36501661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122414037 meters Centerline goodness : 0.837198 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.00, Z:-0.23 [[ 9.99898147e-01 1.33020288e-02 5.17226184e-03 3.30902396e+00] [-1.33072491e-02 9.99910978e-01 9.76175437e-04 -3.16822081e-04] [-5.15881628e-03 -1.04490459e-03 9.99986147e-01 -2.34953374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152414037 meters Centerline goodness : 0.833920 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.23 [[ 9.99904966e-01 1.27693176e-02 5.19642265e-03 3.30790232e+00] [-1.27703921e-02 9.99918440e-01 1.73637224e-04 5.32805566e-04] [-5.19378160e-03 -2.39981077e-04 9.99986483e-01 -2.33328896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182414037 meters Centerline goodness : 0.838946 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.23 [[ 9.99866630e-01 1.53750501e-02 5.50733229e-03 3.30594857e+00] [-1.53886714e-02 9.99878611e-01 2.43953790e-03 4.27761480e-03] [-5.46915574e-03 -2.52396306e-03 9.99981859e-01 -2.31340302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212414037 meters Centerline goodness : 0.836426 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 9.99867636e-01 1.54138107e-02 5.20812906e-03 3.30662050e+00] [-1.54230415e-02 9.99879549e-01 1.73687795e-03 7.06432121e-03] [-5.18072983e-03 -1.81697324e-03 9.99984929e-01 -2.31012696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2424140370000005 meters Centerline goodness : 0.835613 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 9.99859274e-01 1.60338971e-02 4.93417661e-03 3.30820421e+00] [-1.60425434e-02 9.99869835e-01 1.71775242e-03 8.07553470e-03] [-4.90599209e-03 -1.79666743e-03 9.99986352e-01 -2.32082641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272414037 meters Centerline goodness : 0.835970 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 9.99853649e-01 1.64461132e-02 4.71238068e-03 3.30926910e+00] [-1.64552253e-02 9.99862796e-01 1.90142944e-03 7.10071436e-03] [-4.68046299e-03 -1.97869445e-03 9.99987089e-01 -2.32801809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302414037 meters Centerline goodness : 0.829366 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 9.99847689e-01 1.68431131e-02 4.57265752e-03 3.31004938e+00] [-1.68522886e-02 9.99856038e-01 1.97554136e-03 6.40983370e-03] [-4.53872497e-03 -2.05230020e-03 9.99987594e-01 -2.33264535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332414037 meters Centerline goodness : 0.841084 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 0.99977079 0.02084729 0.00487394 3.30894159] [-0.02087391 0.99976711 0.00547683 0.00661327] [-0.00475862 -0.00557731 0.99997312 -0.23208667] [ 0. 0. 0. 1. ]] SLAMing on 6.362414037 meters Centerline goodness : 0.779980 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 0.99975821 0.02147725 0.004717 3.30910015] [-0.02149974 0.99975747 0.00477019 0.00960841] [-0.0046134 -0.00487045 0.9999775 -0.23083886] [ 0. 0. 0. 1. ]] SLAMing on 6.392414037 meters Centerline goodness : 0.842293 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 0.99964134 0.02635944 0.00472931 3.30902533] [-0.02639649 0.99961994 0.00795031 0.01409393] [-0.00451795 -0.0080723 0.99995721 -0.2290996 ] [ 0. 0. 0. 1. ]] SLAMing on 6.422414037 meters Centerline goodness : 0.840587 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:-0.23 [[ 0.99961714 0.02731073 0.00443897 3.31033844] [-0.02734498 0.99959525 0.00784814 0.01605476] [-0.00422284 -0.00796652 0.99995935 -0.22931142] [ 0. 0. 0. 1. ]] SLAMing on 6.4524140370000005 meters Centerline goodness : 0.838251 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:-0.23 [[ 0.99959526 0.02816151 0.00403002 3.31197824] [-0.02819371 0.99956909 0.00816969 0.0161424 ] [-0.00379821 -0.00828001 0.99995851 -0.23008636] [ 0. 0. 0. 1. ]] SLAMing on 6.482414037 meters Centerline goodness : 0.781490 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 0.99954538 0.02991103 0.00378918 3.31394593] [-0.02994646 0.99950477 0.00966523 0.01211719] [-0.00349821 -0.00977431 0.99994611 -0.23175933] [ 0. 0. 0. 1. ]] SLAMing on 6.512414037 meters Centerline goodness : 0.839824 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 0.99945358 0.03276975 0.0043216 3.31222368] [-0.03282371 0.9993757 0.01306929 0.00917112] [-0.00389062 -0.013204 0.99990525 -0.23112294] [ 0. 0. 0. 1. ]] SLAMing on 6.542414037 meters Centerline goodness : 0.839455 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 0.99933292 0.03624877 0.00444395 3.31189831] [-0.03631923 0.99919634 0.0169582 0.0082397 ] [-0.00382566 -0.01710829 0.99984632 -0.23106245] [ 0. 0. 0. 1. ]] SLAMing on 6.572414037 meters Centerline goodness : 0.839177 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 0.99918257 0.0401783 0.00446009 3.3120314 ] [-0.04026186 0.9989775 0.02056521 0.01018645] [-0.00362926 -0.02072798 0.99977857 -0.2308551 ] [ 0. 0. 0. 1. ]] SLAMing on 6.602414037 meters Centerline goodness : 0.842047 Centerline is valid? [False, False] Translation: X:3.31, Y:0.01, Z:-0.23 [[ 9.99146288e-01 4.11440600e-02 3.72308095e-03 3.31442371e+00] [-4.12135555e-02 9.98928433e-01 2.10577239e-02 1.08403369e-02] [-2.85269117e-03 -2.11931881e-02 9.99771329e-01 -2.31957289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632414037 meters Centerline goodness : 0.784694 Centerline is valid? [False, False] Translation: X:3.32, Y:0.01, Z:-0.23 [[ 9.99100715e-01 4.23080373e-02 2.79137774e-03 3.31754618e+00] [-4.23598222e-02 9.98854137e-01 2.22723574e-02 8.51373461e-03] [-1.84587948e-03 -2.23705705e-02 9.99748043e-01 -2.33873544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6624140370000005 meters Centerline goodness : 0.832292 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.24 [[ 9.99279020e-01 3.77868901e-02 3.68649589e-03 3.33315888e+00] [-3.78696174e-02 9.98949529e-01 2.58017470e-02 6.92072490e-03] [-2.70765556e-03 -2.59227506e-02 9.99660282e-01 -2.36591156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692414037 meters Centerline goodness : 0.831960 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.24 [[ 0.99938598 0.03419387 0.00764529 3.34712246] [-0.0344129 0.99893807 0.03063466 0.00463901] [-0.00658966 -0.03087894 0.99950141 -0.23991164] [ 0. 0. 0. 1. ]] SLAMing on 6.722414037 meters Centerline goodness : 0.837262 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.24 [[ 9.99476194e-01 2.95306646e-02 1.32392531e-02 3.35911913e+00] [-2.99717227e-02 9.98956705e-01 3.44557163e-02 1.49917365e-03] [-1.22079405e-02 -3.48344714e-02 9.99318531e-01 -2.42809155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752414037 meters Centerline goodness : 0.833734 Centerline is valid? [False, False] Translation: X:3.39, Y:0.00, Z:-0.24 [[ 9.99592500e-01 2.62467110e-02 1.12225166e-02 3.38599470e+00] [-2.65433628e-02 9.99278722e-01 2.71567019e-02 3.10425309e-03] [-1.05016479e-02 -2.74435188e-02 9.99568191e-01 -2.37567541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782414037 meters Centerline goodness : 0.837205 Centerline is valid? [False, False] Translation: X:3.39, Y:0.00, Z:-0.24 [[ 9.99642945e-01 2.15937673e-02 1.57382185e-02 3.39437368e+00] [-2.21410291e-02 9.99125429e-01 3.54704398e-02 1.83338298e-04] [-1.49585139e-02 -3.58062352e-02 9.99246795e-01 -2.39519547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812414037 meters Centerline goodness : 0.837766 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.24 [[ 9.99666245e-01 2.10117613e-02 1.50300995e-02 3.39530091e+00] [-2.15293693e-02 9.99150190e-01 3.51480347e-02 -3.94265767e-04] [-1.42788047e-02 -3.54598925e-02 9.99269089e-01 -2.39216384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842414037 meters Centerline goodness : 0.836579 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.24 [[ 9.99696391e-01 2.01686988e-02 1.41544623e-02 3.39649049e+00] [-2.06447304e-02 9.99197223e-01 3.43322624e-02 -3.12646785e-04] [-1.34506624e-02 -3.46140539e-02 9.99310236e-01 -2.38676021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872414037 meters Centerline goodness : 0.836579 Centerline is valid? [False, False] Translation: X:3.40, Y:0.00, Z:-0.24 [[ 9.99696510e-01 2.01898667e-02 1.41158276e-02 3.39656859e+00] [-2.06578698e-02 9.99213925e-01 3.38346684e-02 6.53722829e-04] [-1.34216141e-02 -3.41160029e-02 9.99327753e-01 -2.38620398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902414037 meters Centerline goodness : 0.837240 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.24 [[ 9.99712109e-01 1.96290427e-02 1.37985523e-02 3.39673089e+00] [-2.00861643e-02 9.99226430e-01 3.38095886e-02 -6.54819262e-04] [-1.31242283e-02 -3.40770151e-02 9.99333033e-01 -2.38254116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932414037 meters Centerline goodness : 0.837341 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.24 [[ 9.99783582e-01 1.57621121e-02 1.35773609e-02 3.39662905e+00] [-1.61684474e-02 9.99408356e-01 3.03565373e-02 -2.80873679e-03] [-1.30908448e-02 -3.05694924e-02 9.99446915e-01 -2.37603478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962414037 meters Centerline goodness : 0.838484 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.01, Z:-0.24 [[ 0.99979206 0.01513545 0.0136662 3.39607869] [-0.0155463 0.99941461 0.03047542 -0.00507233] [-0.01319694 -0.03068154 0.99944209 -0.23747799] [ 0. 0. 0. 1. ]] SLAMing on 6.992414037 meters Centerline goodness : 0.837072 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.01, Z:-0.24 [[ 0.99984302 0.01181629 0.01320237 3.39802147] [-0.01218324 0.99953175 0.0280686 -0.00837706] [-0.01286452 -0.02822505 0.99951881 -0.23948916] [ 0. 0. 0. 1. ]] SLAMing on 7.022414037 meters Centerline goodness : 0.836273 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.01, Z:-0.24 [[ 0.99984457 0.0116564 0.01322715 3.39832628] [-0.01203009 0.99952048 0.02853235 -0.00962035] [-0.01288822 -0.02868704 0.99950535 -0.24040924] [ 0. 0. 0. 1. ]] SLAMing on 7.052414037 meters Centerline goodness : 0.836850 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.01, Z:-0.24 [[ 0.99984846 0.01130875 0.01323491 3.39847043] [-0.01168379 0.99952233 0.02861125 -0.01003447] [-0.01290503 -0.02876155 0.99950299 -0.24099581] [ 0. 0. 0. 1. ]] SLAMing on 7.082414037 meters Centerline goodness : 0.833440 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.01, Z:-0.24 [[ 0.99991779 0.01140528 0.00586014 3.39106878] [-0.01151153 0.9997639 0.01842891 -0.00759411] [-0.00564857 -0.01849485 0.999813 -0.23803071] [ 0. 0. 0. 1. ]] SLAMing on 7.112414037 meters Centerline goodness : 0.832898 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.01, Z:-0.24 [[ 0.99992178 0.01103911 0.00588013 3.39084434] [-0.01114515 0.99977014 0.01831544 -0.0082138 ] [-0.00567659 -0.01837954 0.99981497 -0.23790699] [ 0. 0. 0. 1. ]] SLAMing on 7.142414037 meters Centerline goodness : 0.830819 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.24 [[ 9.99980320e-01 5.33072066e-03 3.30811021e-03 3.36129193e+00] [-5.44083042e-03 9.99399512e-01 3.42200566e-02 -9.69351606e-03] [-3.12370617e-03 -3.42373820e-02 9.99408847e-01 -2.38871341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172414037 meters Centerline goodness : 0.833933 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.23 [[ 9.99975317e-01 6.85309655e-03 -1.54952792e-03 3.35100205e+00] [-6.81481107e-03 9.99700774e-01 2.34930036e-02 -6.17337158e-03] [ 1.71006408e-03 -2.34818640e-02 9.99722800e-01 -2.34471166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202414037 meters Centerline goodness : 0.830307 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.00, Z:-0.23 [[ 9.99990878e-01 3.90150515e-03 -1.73868199e-03 3.35171619e+00] [-3.86695147e-03 9.99803306e-01 1.94524061e-02 -3.92375969e-03] [ 1.81423367e-03 -1.94455053e-02 9.99809272e-01 -2.34080482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232414037 meters Centerline goodness : 0.833934 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.00, Z:-0.23 [[ 9.99994445e-01 3.01217736e-03 -1.42725005e-03 3.34989966e+00] [-2.98554639e-03 9.99827947e-01 1.83074412e-02 -2.12563104e-03] [ 1.48214975e-03 -1.83030784e-02 9.99831386e-01 -2.32377709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262414037 meters Centerline goodness : 0.834098 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.23 [[ 9.99974273e-01 6.06343475e-03 -3.83260239e-03 3.33818237e+00] [-6.02665835e-03 9.99936375e-01 9.53547054e-03 1.20778974e-03] [ 3.89017625e-03 -9.51212743e-03 9.99947192e-01 -2.29251379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292414037 meters Centerline goodness : 0.835222 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.23 [[ 0.99997563 0.00569679 -0.00403618 3.33906044] [-0.00566085 0.99994473 0.00885986 0.00360199] [ 0.00408643 -0.0088368 0.9999526 -0.22994607] [ 0. 0. 0. 1. ]] SLAMing on 7.322414037 meters Centerline goodness : 0.832725 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.23 [[ 0.99997523 0.00568578 -0.00414953 3.33994187] [-0.00564875 0.99994461 0.00888101 0.00372483] [ 0.0041998 -0.00885735 0.99995195 -0.23095908] [ 0. 0. 0. 1. ]] SLAMing on 7.352414037 meters Centerline goodness : 0.832589 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.23 [[ 9.99975619e-01 5.56656463e-03 -4.21596378e-03 3.34040992e+00] [-5.52896698e-03 9.99945307e-01 8.87768339e-03 3.11949880e-03] [ 4.26515139e-03 -8.85415702e-03 9.99951705e-01 -2.31521668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382414037 meters Centerline goodness : 0.826812 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.23 [[ 9.99977669e-01 5.25922593e-03 -4.12345699e-03 3.34014280e+00] [-5.22336554e-03 9.99948861e-01 8.65974621e-03 2.66701359e-03] [ 4.16878968e-03 -8.63801450e-03 9.99954002e-01 -2.31520911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4124140370000005 meters Centerline goodness : 0.834474 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.23 [[ 9.99968997e-01 7.06511256e-03 -3.47699371e-03 3.33691896e+00] [-7.02643938e-03 9.99914680e-01 1.10118758e-02 2.92212472e-03] [ 3.55449720e-03 -1.09871035e-02 9.99933322e-01 -2.29389262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442414037 meters Centerline goodness : 0.834513 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.23 [[ 0.99997176 0.00668896 -0.00342533 3.33614063] [-0.0066562 0.99993284 0.00948736 0.0084779 ] [ 0.00348856 -0.00946429 0.99994913 -0.22783314] [ 0. 0. 0. 1. ]] SLAMing on 7.472414037 meters Centerline goodness : 0.835643 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.23 [[ 9.99952187e-01 9.27321412e-03 -3.10333181e-03 3.33443314e+00] [-9.23437286e-03 9.99881654e-01 1.23046265e-02 9.56639350e-03] [ 3.21706798e-03 -1.22753809e-02 9.99919480e-01 -2.26737905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502414037 meters Centerline goodness : 0.834942 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.23 [[ 9.99952882e-01 9.12690183e-03 -3.30659736e-03 3.33480982e+00] [-9.08762110e-03 9.99890188e-01 1.17058927e-02 1.13101024e-02] [ 3.41307279e-03 -1.16752920e-02 9.99926017e-01 -2.26552622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532414037 meters Centerline goodness : 0.832113 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.23 [[ 0.99995196 0.00913094 -0.00356433 3.33551189] [-0.00908983 0.99989388 0.01138468 0.01197292] [ 0.00366791 -0.01135173 0.99992884 -0.22669426] [ 0. 0. 0. 1. ]] SLAMing on 7.562414037 meters Centerline goodness : 0.836170 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.23 [[ 0.99995373 0.00897739 -0.00345629 3.33527353] [-0.00893885 0.99989942 0.0110108 0.0118032 ] [ 0.00355479 -0.0109794 0.99993341 -0.22661596] [ 0. 0. 0. 1. ]] SLAMing on 7.592414037 meters Centerline goodness : 0.838582 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.23 [[ 0.99995733 0.00857498 -0.00343724 3.33479902] [-0.00853974 0.99991213 0.01013916 0.01330183] [ 0.00352388 -0.01010937 0.99994269 -0.22580505] [ 0. 0. 0. 1. ]] SLAMing on 7.622414037 meters Centerline goodness : 0.835560 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.23 [[ 0.99995689 0.00858307 -0.00354225 3.33514444] [-0.00855129 0.99992392 0.00889025 0.01775841] [ 0.00361828 -0.00885958 0.99995421 -0.22533175] [ 0. 0. 0. 1. ]] SLAMing on 7.652414037 meters Centerline goodness : 0.834658 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.23 [[ 0.99995539 0.00861355 -0.00387744 3.33616623] [-0.00858195 0.99993042 0.00809309 0.02071634] [ 0.00394688 -0.00805945 0.99995973 -0.22544346] [ 0. 0. 0. 1. ]] SLAMing on 7.682414037 meters Centerline goodness : 0.833463 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.23 [[ 0.99995077 0.0089494 -0.00428652 3.33755886] [-0.00891605 0.99993032 0.00773749 0.02299182] [ 0.00435547 -0.00769889 0.99996088 -0.22592579] [ 0. 0. 0. 1. ]] SLAMing on 7.712414037 meters Centerline goodness : 0.831456 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:-0.23 [[ 0.99994135 0.00986415 -0.00447178 3.33867515] [-0.00983113 0.99992469 0.00734541 0.02609517] [ 0.0045439 -0.00730101 0.99996302 -0.22608522] [ 0. 0. 0. 1. ]] SLAMing on 7.742414037 meters Centerline goodness : 0.833341 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:-0.23 [[ 0.99994017 0.00992616 -0.00459705 3.33864824] [-0.00989426 0.99992718 0.00690982 0.02695346] [ 0.00466531 -0.00686392 0.99996556 -0.22542267] [ 0. 0. 0. 1. ]] SLAMing on 7.772414037 meters Centerline goodness : 0.840505 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:-0.22 [[ 0.99990751 0.01294529 -0.00416978 3.33698943] [-0.01290099 0.99986183 0.01048282 0.02542063] [ 0.00430491 -0.01042806 0.99993636 -0.22467964] [ 0. 0. 0. 1. ]] SLAMing on 7.802414037 meters Centerline goodness : 0.838348 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.22 [[ 0.99988372 0.01477067 -0.00379055 3.3349108 ] [-0.01472211 0.99981304 0.01253545 0.02439837] [ 0.003975 -0.01247819 0.99991424 -0.2232155 ] [ 0. 0. 0. 1. ]] SLAMing on 7.832414037 meters Centerline goodness : 0.831391 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.22 [[ 9.99842869e-01 1.74410551e-02 -3.16968075e-03 3.33268089e+00] [-1.73897137e-02 9.99727685e-01 1.55613171e-02 2.45789761e-02] [ 3.44022339e-03 -1.55037521e-02 9.99873891e-01 -2.22137417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862414037 meters Centerline goodness : 0.832422 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:-0.22 [[ 9.99847356e-01 1.71929922e-02 -3.10912179e-03 3.33249404e+00] [-1.71450114e-02 9.99742712e-01 1.48512339e-02 2.63867705e-02] [ 3.36365900e-03 -1.47956610e-02 9.99884880e-01 -2.21812824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892414037 meters Centerline goodness : 0.835989 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:-0.22 [[ 9.99850437e-01 1.70284683e-02 -3.02249896e-03 3.33208310e+00] [-1.69819752e-02 9.99746348e-01 1.47936264e-02 2.61272362e-02] [ 3.27364509e-03 -1.47400858e-02 9.99886000e-01 -2.21556072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922414037 meters Centerline goodness : 0.835029 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:-0.22 [[ 9.99856829e-01 1.66732647e-02 -2.88521024e-03 3.33124906e+00] [-1.66291986e-02 9.99754002e-01 1.46766918e-02 2.50433029e-02] [ 3.12920885e-03 -1.46266118e-02 9.99888129e-01 -2.20873520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952414037 meters Centerline goodness : 0.833722 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.22 [[ 9.99870830e-01 1.58935715e-02 -2.39109771e-03 3.32905814e+00] [-1.58573847e-02 9.99769702e-01 1.44598137e-02 2.27866531e-02] [ 2.62036513e-03 -1.44200294e-02 9.99892592e-01 -2.19439761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982414037 meters Centerline goodness : 0.835158 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.22 [[ 9.99873537e-01 1.57172220e-02 -2.42450747e-03 3.32881893e+00] [-1.56809201e-02 9.99774381e-01 1.43281779e-02 2.24777107e-02] [ 2.64915961e-03 -1.42883474e-02 9.99894407e-01 -2.18997037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012414037 meters Centerline goodness : 0.836165 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.22 [[ 9.99831628e-01 1.81859927e-02 -2.44633801e-03 3.32803564e+00] [-1.81390117e-02 9.99673031e-01 1.80224054e-02 2.13047214e-02] [ 2.77329347e-03 -1.79749968e-02 9.99834590e-01 -2.18879292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042414036999999 meters Centerline goodness : 0.835735 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.22 [[ 0.99974701 0.02033135 -0.00962071 3.31828017] [-0.02022546 0.99973517 0.01097832 0.02381898] [ 0.00984136 -0.01078096 0.99989345 -0.21581245] [ 0. 0. 0. 1. ]] SLAMing on 8.072414037 meters Centerline goodness : 0.836381 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.22 [[ 0.99974804 0.02028497 -0.00961096 3.31841009] [-0.02017658 0.99973321 0.01124338 0.02286658] [ 0.00983647 -0.01104663 0.9998906 -0.21615555] [ 0. 0. 0. 1. ]] SLAMing on 8.102414036999999 meters Centerline goodness : 0.836445 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.22 [[ 0.99975428 0.01999142 -0.00957758 3.31807079] [-0.01988267 0.99973826 0.01131755 0.02151098] [ 0.00980133 -0.01112434 0.99989009 -0.21601783] [ 0. 0. 0. 1. ]] SLAMing on 8.132414036999998 meters Centerline goodness : 0.835072 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.22 [[ 0.99981246 0.01674609 -0.00972659 3.31842372] [-0.01666251 0.99982409 0.00861127 0.01716494] [ 0.00986909 -0.00844758 0.99991562 -0.216297 ] [ 0. 0. 0. 1. ]] SLAMing on 8.162414037 meters Centerline goodness : 0.838878 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.22 [[ 0.99987548 0.01492126 -0.00513536 3.28427724] [-0.01484789 0.99979119 0.0140396 0.01528941] [ 0.00534378 -0.01396161 0.99988825 -0.22194606] [ 0. 0. 0. 1. ]] SLAMing on 8.192414036999999 meters Centerline goodness : 0.836157 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.9998808 0.01458692 -0.00505949 3.28360716] [-0.01451474 0.99979636 0.01402 0.01416402] [ 0.00526297 -0.01394489 0.99988891 -0.22135507] [ 0. 0. 0. 1. ]] SLAMing on 8.222414036999998 meters Centerline goodness : 0.838692 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.22 [[ 0.99988907 0.01400181 -0.00507899 3.28281781] [-0.01393186 0.99981105 0.01355587 0.0153011 ] [ 0.00526783 -0.0134836 0.99989522 -0.22031661] [ 0. 0. 0. 1. ]] SLAMing on 8.252414037 meters Centerline goodness : 0.838123 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.22 [[ 0.99989048 0.01381785 -0.0053014 3.28284527] [-0.01374625 0.99981689 0.01331258 0.01577518] [ 0.00548438 -0.01323825 0.99989733 -0.21969783] [ 0. 0. 0. 1. ]] SLAMing on 8.282414036999999 meters Centerline goodness : 0.835004 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.99989562 0.01344164 -0.00529804 3.28223376] [-0.0133685 0.99981804 0.01360804 0.01210358] [ 0.00547999 -0.01353579 0.99989337 -0.21922118] [ 0. 0. 0. 1. ]] SLAMing on 8.312414037 meters Centerline goodness : 0.835355 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.99989685 0.01335277 -0.00529052 3.28218408] [-0.01327674 0.99981167 0.01415472 0.00821921] [ 0.00547852 -0.01408301 0.99988582 -0.21950495] [ 0. 0. 0. 1. ]] SLAMing on 8.342414037 meters Centerline goodness : 0.836628 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.99993114 0.01021224 -0.00578203 3.28388819] [-0.01014952 0.99989044 0.01077441 0.00681766] [ 0.00589143 -0.01071498 0.99992524 -0.22023353] [ 0. 0. 0. 1. ]] SLAMing on 8.372414036999999 meters Centerline goodness : 0.815237 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.22 [[ 0.99993523 0.00992863 -0.00556393 3.28324714] [-0.00986579 0.99988849 0.01121041 0.00435495] [ 0.00567462 -0.01115479 0.99992168 -0.22031499] [ 0. 0. 0. 1. ]] SLAMing on 8.402414037 meters Centerline goodness : 0.832527 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.99993734 0.00969432 -0.0055975 3.28289625] [-0.00963308 0.99989458 0.01086435 0.00549008] [ 0.00570223 -0.01080975 0.99992531 -0.21966087] [ 0. 0. 0. 1. ]] SLAMing on 8.432414037 meters Centerline goodness : 0.833615 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.99993955 0.00943811 -0.00564109 3.28267749] [-0.00937939 0.99990247 0.01034756 0.00696466] [ 0.0057382 -0.01029403 0.99993055 -0.21909058] [ 0. 0. 0. 1. ]] SLAMing on 8.462414036999999 meters Centerline goodness : 0.831452 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.99995985 0.00671647 -0.00593214 3.28390121] [-0.0066758 0.99995425 0.00685005 0.00745443] [ 0.00597787 -0.00681018 0.99995894 -0.21924509] [ 0. 0. 0. 1. ]] SLAMing on 8.492414037 meters Centerline goodness : 0.830952 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.22 [[ 0.99996057 0.00665703 -0.00587767 3.2836741 ] [-0.0066153 0.99995297 0.0070917 0.00535634] [ 0.00592461 -0.00705254 0.99995758 -0.21917656] [ 0. 0. 0. 1. ]] SLAMing on 8.522414036999999 meters Centerline goodness : 0.829744 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.22 [[ 9.99967420e-01 5.82150896e-03 -5.59189694e-03 3.28286916e+00] [-5.77972305e-03 9.99955471e-01 7.45989906e-03 7.46005275e-04] [ 5.63507581e-03 -7.42733640e-03 9.99956539e-01 -2.19603595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552414036999998 meters Centerline goodness : 0.831416 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99971341e-01 5.24699542e-03 -5.45758776e-03 3.28224820e+00] [-5.20680491e-03 9.99959414e-01 7.35247370e-03 -2.58588163e-04] [ 5.49594465e-03 -7.32384639e-03 9.99958077e-01 -2.19374537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582414037 meters Centerline goodness : 0.834119 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99979485e-01 3.84744873e-03 -5.12118256e-03 3.28012123e+00] [-3.81220163e-03 9.99969103e-01 6.87466817e-03 -1.29868975e-03] [ 5.14747427e-03 -6.85500416e-03 9.99963256e-01 -2.17968285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612414036999999 meters Centerline goodness : 0.832726 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99983391e-01 3.01790360e-03 -4.91022661e-03 3.27879705e+00] [-2.98667874e-03 9.99975352e-01 6.35410251e-03 -1.42475474e-03] [ 4.92928165e-03 -6.33933170e-03 9.99967757e-01 -2.16922101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642414037 meters Centerline goodness : 0.832133 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99984846e-01 2.59443868e-03 -4.85558616e-03 3.27842702e+00] [-2.56393938e-03 9.99977012e-01 6.27699931e-03 -2.21888336e-03] [ 4.87175983e-03 -6.26445476e-03 9.99968511e-01 -2.16713142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672414037 meters Centerline goodness : 0.832128 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99985637e-01 2.33653807e-03 -4.82358985e-03 3.27826382e+00] [-2.30606614e-03 9.99977413e-01 6.31319947e-03 -3.02978988e-03] [ 4.83823193e-03 -6.30198527e-03 9.99968438e-01 -2.16730177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702414036999999 meters Centerline goodness : 0.831053 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99986972e-01 1.99677039e-03 -4.69778498e-03 3.27783369e+00] [-1.96732776e-03 9.99978448e-01 6.26363810e-03 -4.03956922e-03] [ 4.71019078e-03 -6.25431441e-03 9.99969348e-01 -2.16686263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732414037 meters Centerline goodness : 0.831053 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99986972e-01 1.99677039e-03 -4.69778498e-03 3.27783369e+00] [-1.96732776e-03 9.99978448e-01 6.26363810e-03 -4.03956922e-03] [ 4.71019078e-03 -6.25431441e-03 9.99969348e-01 -2.16686263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762414037 meters Centerline goodness : 0.834931 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.00, Z:-0.22 [[ 9.99987785e-01 1.87586708e-03 -4.57292289e-03 3.27743958e+00] [-1.84853101e-03 9.99980443e-01 5.97472571e-03 -3.70061530e-03] [ 4.58404125e-03 -5.96619954e-03 9.99971695e-01 -2.16309208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792414036999999 meters Centerline goodness : 0.833988 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.21 [[ 0.9999849 0.00365939 -0.00410065 3.2746306 ] [-0.00362792 0.99996411 0.00765672 -0.00345835] [ 0.00412852 -0.00764173 0.99996228 -0.21401056] [ 0. 0. 0. 1. ]] SLAMing on 8.822414037 meters Centerline goodness : 0.832800 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.21 [[ 9.99984729e-01 3.57926687e-03 -4.21085388e-03 3.27475402e+00] [-3.54884153e-03 9.99967704e-01 7.21087456e-03 -1.89258475e-03] [ 4.23652753e-03 -7.19582079e-03 9.99965135e-01 -2.13729827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852414036999999 meters Centerline goodness : 0.834914 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.21 [[ 9.99978134e-01 5.27801997e-03 -3.98426361e-03 3.27298388e+00] [-5.24213396e-03 9.99946079e-01 8.96427629e-03 -1.63603210e-03] [ 4.03136240e-03 -8.94319423e-03 9.99951883e-01 -2.12275100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882414036999998 meters Centerline goodness : 0.830741 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.21 [[ 9.99974529e-01 5.62210570e-03 -4.39700956e-03 3.27443314e+00] [-5.58376178e-03 9.99946698e-01 8.68464551e-03 -4.72223230e-05] [ 4.44560118e-03 -8.65987245e-03 9.99952620e-01 -2.12814534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912414037 meters Centerline goodness : 0.833082 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.21 [[ 9.99970940e-01 5.93210307e-03 -4.78853920e-03 3.27578268e+00] [-5.89020597e-03 9.99944661e-01 8.71664414e-03 4.53556836e-04] [ 4.83998224e-03 -8.68818535e-03 9.99950544e-01 -2.13509230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942414036999999 meters Centerline goodness : 0.829958 Centerline is valid? [False, False] Translation: X:3.28, Y:0.00, Z:-0.21 [[ 9.99967788e-01 6.23481547e-03 -5.05467413e-03 3.27660522e+00] [-6.19085104e-03 9.99943274e-01 8.66726018e-03 8.83318461e-04] [ 5.10842617e-03 -8.63568825e-03 9.99949663e-01 -2.13743046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972414036999998 meters Centerline goodness : 0.833958 Centerline is valid? [False, False] Translation: X:3.27, Y:0.00, Z:-0.21 [[ 9.99942459e-01 9.62187312e-03 -4.74329253e-03 3.27487495e+00] [-9.56766812e-03 9.99890142e-01 1.13209327e-02 3.11279316e-03] [ 4.85170002e-03 -1.12748990e-02 9.99924666e-01 -2.11955999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002414037 meters Centerline goodness : 0.834992 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.21 [[ 0.99990893 0.01272224 -0.0045023 3.2731552 ] [-0.01265775 0.99982085 0.01407329 0.00509317] [ 0.00468054 -0.01401502 0.99989083 -0.21019746] [ 0. 0. 0. 1. ]] SLAMing on 9.032414036999999 meters Centerline goodness : 0.830803 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.21 [[ 0.99984311 0.01710209 -0.00461201 3.27342729] [-0.01702199 0.99971259 0.01688141 0.00945011] [ 0.0048994 -0.01680026 0.99984686 -0.20943035] [ 0. 0. 0. 1. ]] SLAMing on 9.062414037 meters Centerline goodness : 0.831289 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.21 [[ 0.99976239 0.02126261 -0.00480198 3.27434584] [-0.02115821 0.99955901 0.02083555 0.00946317] [ 0.00524288 -0.020729 0.99977138 -0.21025197] [ 0. 0. 0. 1. ]] SLAMing on 9.092414037 meters Centerline goodness : 0.830369 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.21 [[ 0.99974389 0.02200505 -0.0052853 3.27621042] [-0.02189171 0.99954765 0.02062136 0.01084942] [ 0.00573669 -0.02050038 0.99977339 -0.21103351] [ 0. 0. 0. 1. ]] SLAMing on 9.122414036999999 meters Centerline goodness : 0.830544 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.21 [[ 0.99962567 0.02680309 -0.00548805 3.27704736] [-0.0266609 0.99934369 0.02452299 0.0113899 ] [ 0.00614174 -0.0243675 0.9996842 -0.21094175] [ 0. 0. 0. 1. ]] SLAMing on 9.152414037 meters Centerline goodness : 0.828432 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.21 [[ 0.99960603 0.02741624 -0.00601051 3.2780473 ] [-0.02726439 0.99933922 0.02403689 0.01328371] [ 0.00666554 -0.02386354 0.999693 -0.21028679] [ 0. 0. 0. 1. ]] SLAMing on 9.182414037 meters Centerline goodness : 0.830001 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.21 [[ 0.99955218 0.02923014 -0.0064066 3.27952454] [-0.02906751 0.99928549 0.02415754 0.01594207] [ 0.00710815 -0.02396049 0.99968764 -0.20991445] [ 0. 0. 0. 1. ]] SLAMing on 9.212414036999999 meters Centerline goodness : 0.833028 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.21 [[ 0.9995315 0.02981498 -0.00691774 3.28114226] [-0.02963926 0.99926652 0.02424749 0.01686732] [ 0.0076356 -0.02403109 0.99968205 -0.21042318] [ 0. 0. 0. 1. ]] SLAMing on 9.242414037 meters Centerline goodness : 0.831370 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.21 [[ 0.99951505 0.03025599 -0.00736483 3.28259037] [-0.03006893 0.99925222 0.02430774 0.01758235] [ 0.00809477 -0.0240745 0.99967739 -0.21095829] [ 0. 0. 0. 1. ]] SLAMing on 9.272414036999999 meters Centerline goodness : 0.827694 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.21 [[ 0.99949509 0.03079386 -0.00783009 3.28411252] [-0.03059265 0.99922832 0.0246345 0.01727344] [ 0.00858264 -0.02438252 0.99966586 -0.21162802] [ 0. 0. 0. 1. ]] SLAMing on 9.302414036999998 meters Centerline goodness : 0.829878 Centerline is valid? [False, False] Translation: X:3.29, Y:0.02, Z:-0.21 [[ 0.99945466 0.03197603 -0.00824087 3.28626337] [-0.03175535 0.99916657 0.02564679 0.0155339 ] [ 0.00905408 -0.02537111 0.9996371 -0.21314617] [ 0. 0. 0. 1. ]] SLAMing on 9.332414037 meters Centerline goodness : 0.826637 Centerline is valid? [False, False] Translation: X:3.29, Y:0.02, Z:-0.21 [[ 0.99944214 0.03229985 -0.00849288 3.28716909] [-0.03207132 0.99915273 0.02579266 0.01546252] [ 0.00931879 -0.02550589 0.99963124 -0.21354699] [ 0. 0. 0. 1. ]] SLAMing on 9.362414036999999 meters Centerline goodness : 0.829554 Centerline is valid? [False, False] Translation: X:3.29, Y:0.02, Z:-0.21 [[ 0.99943346 0.03251771 -0.00868144 3.28759655] [-0.03228473 0.99914699 0.02574855 0.01586104] [ 0.00951132 -0.02545369 0.99963075 -0.21341279] [ 0. 0. 0. 1. ]] SLAMing on 9.392414036999998 meters Centerline goodness : 0.829272 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.21 [[ 9.99541140e-01 3.02490478e-02 -1.58283044e-03 3.29644599e+00] [-3.01832894e-02 9.99036063e-01 3.18733896e-02 1.34203369e-02] [ 2.54544438e-03 -3.18109891e-02 9.99490661e-01 -2.14733668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422414037 meters Centerline goodness : 0.830227 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.21 [[ 9.99628451e-01 2.71699786e-02 -2.17996521e-03 3.29780074e+00] [-2.70984866e-02 9.99241623e-01 2.79616090e-02 1.39799555e-02] [ 2.93802829e-03 -2.78921461e-02 9.99606621e-01 -2.14645219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452414036999999 meters Centerline goodness : 0.829068 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.22 [[ 9.99688577e-01 2.47741337e-02 -2.99869619e-03 3.30071320e+00] [-2.46903262e-02 9.99373943e-01 2.53399036e-02 1.21433514e-02] [ 3.62459299e-03 -2.52579734e-02 9.99674396e-01 -2.16201611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482414037 meters Centerline goodness : 0.830795 Centerline is valid? [False, False] Translation: X:3.30, Y:0.01, Z:-0.22 [[ 0.99975195 0.02197828 -0.00360479 3.30269036] [-0.02189471 0.99952296 0.02178259 0.01342371] [ 0.00408181 -0.02169826 0.99975623 -0.216786 ] [ 0. 0. 0. 1. ]] SLAMing on 9.512414037 meters Centerline goodness : 0.824390 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:-0.22 [[ 0.99980839 0.01910036 -0.00428518 3.30467929] [-0.01901962 0.99965433 0.01815133 0.01504263] [ 0.0046304 -0.01806635 0.99982607 -0.21720819] [ 0. 0. 0. 1. ]] SLAMing on 9.542414036999999 meters Centerline goodness : 0.833497 Centerline is valid? [False, False] Translation: X:3.32, Y:0.01, Z:-0.22 [[ 9.99899922e-01 1.41294423e-02 7.10719891e-04 3.31644122e+00] [-1.41422568e-02 9.99623009e-01 2.35337501e-02 1.15772835e-02] [-3.77933193e-04 -2.35414460e-02 9.99722790e-01 -2.21328431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572414037 meters Centerline goodness : 0.829752 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.22 [[ 9.99960297e-01 8.37322800e-03 3.04837182e-03 3.32955239e+00] [-8.45454319e-03 9.99580016e-01 2.77184529e-02 8.59272799e-03] [-2.81499862e-03 -2.77431250e-02 9.99611122e-01 -2.24757791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602414036999999 meters Centerline goodness : 0.836084 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.23 [[ 9.99993663e-01 2.72606376e-03 2.28980261e-03 3.33267626e+00] [-2.77492425e-03 9.99762554e-01 2.16132999e-02 5.56513380e-03] [-2.23033968e-03 -2.16195170e-02 9.99763783e-01 -2.26226711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632414036999998 meters Centerline goodness : 0.832292 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.23 [[ 9.99998474e-01 -2.34074524e-04 1.73108656e-03 3.33465386e+00] [ 2.02520400e-04 9.99834242e-01 1.82056951e-02 6.01308281e-03] [-1.73506111e-03 -1.82053167e-02 9.99832764e-01 -2.27015266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662414037 meters Centerline goodness : 0.835785 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.23 [[ 9.99994905e-01 -2.99070205e-03 1.11635329e-03 3.33686291e+00] [ 2.97381551e-03 9.99885555e-01 1.48334965e-02 7.24695478e-03] [-1.16058810e-03 -1.48301011e-02 9.99889354e-01 -2.27853334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692414036999999 meters Centerline goodness : 0.830073 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.23 [[ 9.99982820e-01 -5.83997102e-03 5.04337845e-04 3.33852165e+00] [ 5.83374942e-03 9.99916121e-01 1.15636317e-02 7.26445206e-03] [-5.71826815e-04 -1.15604909e-02 9.99933012e-01 -2.27816552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722414036999998 meters Centerline goodness : 0.837265 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.23 [[ 9.99961818e-01 -8.73850926e-03 -3.77503706e-05 3.34011157e+00] [ 8.73852329e-03 9.99927781e-01 8.25057236e-03 6.81701709e-03] [-3.43500586e-05 -8.25058721e-03 9.99965963e-01 -2.27990090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752414037 meters Centerline goodness : 0.841149 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.23 [[ 0.99988337 -0.01415121 0.00574312 3.35105447] [ 0.01407733 0.99982017 0.01270633 0.00374432] [-0.0059219 -0.012624 0.99990278 -0.23170425] [ 0. 0. 0. 1. ]] SLAMing on 9.782414036999999 meters Centerline goodness : 0.833248 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.23 [[ 9.99792539e-01 -1.97193330e-02 5.10171733e-03 3.35471861e+00] [ 1.96819495e-02 9.99779809e-01 7.27690765e-03 2.35618286e-04] [-5.24408974e-03 -7.17498623e-03 9.99960509e-01 -2.34195672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812414037 meters Centerline goodness : 0.833991 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.24 [[ 9.99734461e-01 -2.26016890e-02 4.49115944e-03 3.35709489e+00] [ 2.25820952e-02 9.99735456e-01 4.36658166e-03 -5.57105298e-04] [-4.58866345e-03 -4.26400237e-03 9.99980381e-01 -2.35388095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842414037 meters Centerline goodness : 0.836351 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.23 [[ 9.99708624e-01 -2.37304044e-02 4.41975809e-03 3.35644246e+00] [ 2.37093792e-02 9.99707608e-01 4.75024345e-03 -2.93342105e-03] [-4.53119098e-03 -4.64406962e-03 9.99978950e-01 -2.34758808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872414036999999 meters Centerline goodness : 0.833887 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.23 [[ 0.99970559 -0.02389485 0.00421641 3.3567909 ] [ 0.02387235 0.99970092 0.00530856 -0.00481132] [-0.004342 -0.00520634 0.99997702 -0.23489931] [ 0. 0. 0. 1. ]] SLAMing on 9.902414037 meters Centerline goodness : 0.835574 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.24 [[ 0.99970143 -0.02409803 0.0040417 3.35734859] [ 0.02407319 0.99969167 0.00608615 -0.00771002] [-0.00418711 -0.00598703 0.99997331 -0.23559623] [ 0. 0. 0. 1. ]] SLAMing on 9.932414037 meters Centerline goodness : 0.835478 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.24 [[ 9.99529848e-01 -3.04481270e-02 3.60490106e-03 3.36045136e+00] [ 3.04484255e-02 9.99536339e-01 -2.79392541e-05 -1.06395615e-02] [-3.60237891e-03 1.37689680e-04 9.99993502e-01 -2.37854026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962414036999999 meters Centerline goodness : 0.838727 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.24 [[ 9.99427144e-01 -3.36802084e-02 3.32087061e-03 3.36201946e+00] [ 3.36914189e-02 9.99426569e-01 -3.37966287e-03 -1.12176821e-02] [-3.20513857e-03 3.48961165e-03 9.99988775e-01 -2.38736667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992414037 meters Centerline goodness : 0.839456 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.01, Z:-0.24 [[ 0.99926821 -0.03730313 0.00845715 3.37236205] [ 0.03726561 0.99929503 0.00455188 -0.01421452] [-0.00862099 -0.00423339 0.99995388 -0.24278601] [ 0. 0. 0. 1. ]] SLAMing on 10.022414036999999 meters Centerline goodness : 0.843680 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.01, Z:-0.24 [[ 9.99146373e-01 -4.05102913e-02 8.08959789e-03 3.37438943e+00] [ 4.05001478e-02 9.99178532e-01 1.41386436e-03 -1.46954581e-02] [-8.14022860e-03 -1.08502754e-03 9.99966279e-01 -2.44079472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052414036999998 meters Centerline goodness : 0.839915 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.02, Z:-0.24 [[ 9.99156975e-01 -4.03071636e-02 7.78922816e-03 3.37526945e+00] [ 4.02933871e-02 9.99186052e-01 1.91763195e-03 -1.59233526e-02] [-7.86018243e-03 -1.60216095e-03 9.99967825e-01 -2.44514745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082414037 meters Centerline goodness : 0.842631 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.25 [[ 0.99896038 -0.0439133 0.01223852 3.38501037] [ 0.04379342 0.99899158 0.00989738 -0.01772272] [-0.0126608 -0.00935113 0.99987612 -0.24705004] [ 0. 0. 0. 1. ]] SLAMing on 10.112414036999999 meters Centerline goodness : 0.844995 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.25 [[ 0.99896644 -0.04386934 0.01189716 3.38577826] [ 0.04374996 0.9989913 0.01011571 -0.01835802] [-0.01232893 -0.00958476 0.99987806 -0.24726108] [ 0. 0. 0. 1. ]] SLAMing on 10.142414036999998 meters Centerline goodness : 0.836472 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.25 [[ 0.99896821 -0.0440369 0.01110232 3.38739429] [ 0.04392878 0.99898658 0.00980164 -0.01808448] [-0.0115227 -0.00930381 0.99989033 -0.24748009] [ 0. 0. 0. 1. ]] SLAMing on 10.172414037 meters Centerline goodness : 0.840617 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.25 [[ 0.99895041 -0.04461015 0.01039286 3.38869799] [ 0.04451807 0.99896868 0.00892857 -0.01673879] [-0.01078045 -0.00845653 0.99990613 -0.24758108] [ 0. 0. 0. 1. ]] SLAMing on 10.202414036999999 meters Centerline goodness : 0.834104 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.25 [[ 0.99905691 -0.04219912 0.0102239 3.3882149 ] [ 0.04207206 0.99903837 0.01234015 -0.01752594] [-0.01073481 -0.01189837 0.99987159 -0.24751696] [ 0. 0. 0. 1. ]] SLAMing on 10.232414037 meters Centerline goodness : 0.845694 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.25 [[ 0.99905579 -0.04235158 0.00968878 3.38955963] [ 0.04223947 0.99904137 0.01149645 -0.01566086] [-0.01016638 -0.01107635 0.99988697 -0.24802399] [ 0. 0. 0. 1. ]] SLAMing on 10.262414037 meters Centerline goodness : 0.837934 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.01, Z:-0.25 [[ 0.99906277 -0.04230087 0.00917671 3.3909332 ] [ 0.04219781 0.99904707 0.01114861 -0.01490358] [-0.00963956 -0.01075092 0.99989574 -0.24869075] [ 0. 0. 0. 1. ]] SLAMing on 10.292414036999999 meters Centerline goodness : 0.831740 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.01, Z:-0.25 [[ 0.99904058 -0.04280297 0.00926365 3.39066379] [ 0.04270368 0.99903087 0.01066382 -0.01394563] [-0.00971111 -0.01025799 0.99990023 -0.24874363] [ 0. 0. 0. 1. ]] SLAMing on 10.322414037 meters Centerline goodness : 0.843995 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.01, Z:-0.25 [[ 0.99903113 -0.04304267 0.00917238 3.39071654] [ 0.04294879 0.99902524 0.01019677 -0.01202024] [-0.00960234 -0.00979295 0.99990594 -0.248567 ] [ 0. 0. 0. 1. ]] SLAMing on 10.352414036999999 meters Centerline goodness : 0.831568 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.01, Z:-0.24 [[ 9.99182542e-01 -4.03041336e-02 3.13441607e-03 3.38079981e+00] [ 4.02985457e-02 9.99186015e-01 1.82597899e-03 -5.38122560e-03] [-3.20545920e-03 -1.69817392e-03 9.99993421e-01 -2.44390489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382414036999998 meters Centerline goodness : 0.838898 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.01, Z:-0.24 [[ 9.99277476e-01 -3.78904573e-02 2.97301790e-03 3.38025471e+00] [ 3.78755396e-02 9.99270337e-01 4.92308458e-03 -5.31953827e-03] [-3.15738652e-03 -4.80692287e-03 9.99983462e-01 -2.44210402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412414037 meters Centerline goodness : 0.829062 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.00, Z:-0.24 [[ 9.99269702e-01 -3.81133050e-02 2.72741959e-03 3.38099565e+00] [ 3.81017211e-02 9.99265123e-01 4.18010401e-03 -3.45553406e-03] [-2.88473285e-03 -4.07313191e-03 9.99987544e-01 -2.44553149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442414036999999 meters Centerline goodness : 0.841734 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.00, Z:-0.24 [[ 9.99249133e-01 -3.86404311e-02 2.84376175e-03 3.38037396e+00] [ 3.86328677e-02 9.99249910e-01 2.66819035e-03 -7.01602490e-04] [-2.94472869e-03 -2.55632422e-03 9.99992397e-01 -2.43707443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472414036999998 meters Centerline goodness : 0.842001 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.00, Z:-0.24 [[ 9.99321796e-01 -3.66987071e-02 3.02537425e-03 3.37823838e+00] [ 3.66834461e-02 9.99314655e-01 4.95429709e-03 -1.30328682e-04] [-3.20511713e-03 -4.83995592e-03 9.99983151e-01 -2.42042459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502414037 meters Centerline goodness : 0.838779 Centerline is valid? [False, False] Translation: X:3.38, Y:0.00, Z:-0.24 [[ 9.99410279e-01 -3.41728619e-02 3.36285216e-03 3.37617221e+00] [ 3.41450260e-02 9.99384763e-01 8.01329598e-03 2.23056836e-04] [-3.63462047e-03 -7.89374570e-03 9.99962238e-01 -2.40952916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532414036999999 meters Centerline goodness : 0.839403 Centerline is valid? [False, False] Translation: X:3.37, Y:0.00, Z:-0.24 [[ 0.99949945 -0.03143889 0.00352661 3.37497226] [ 0.03140026 0.99945151 0.0105219 0.00389347] [-0.00385547 -0.0104059 0.99993842 -0.24032484] [ 0. 0. 0. 1. ]] SLAMing on 10.562414036999998 meters Centerline goodness : 0.838021 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:-0.24 [[ 9.99593392e-01 -2.83172211e-02 3.34437254e-03 3.37470943e+00] [ 2.82694449e-02 9.99508364e-01 1.35597963e-02 5.31377963e-03] [-3.72670407e-03 -1.34597392e-02 9.99902469e-01 -2.40092235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592414037 meters Centerline goodness : 0.835541 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.24 [[ 9.99641576e-01 -2.65892366e-02 3.11965806e-03 3.37679905e+00] [ 2.65423113e-02 9.99546464e-01 1.42257655e-02 7.33566636e-03] [-3.49649543e-03 -1.41378637e-02 9.99893942e-01 -2.41819323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622414036999999 meters Centerline goodness : 0.828577 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.24 [[ 9.99735064e-01 -2.28250967e-02 2.96914184e-03 3.37712008e+00] [ 2.27670831e-02 9.99573453e-01 1.82912896e-02 6.33320113e-03] [-3.38537582e-03 -1.82188449e-02 9.99828292e-01 -2.42547203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652414037 meters Centerline goodness : 0.828577 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.24 [[ 9.99735593e-01 -2.27965357e-02 3.01019187e-03 3.37707508e+00] [ 2.27378206e-02 9.99574342e-01 1.82790969e-02 6.37163454e-03] [-3.42561064e-03 -1.82058186e-02 9.99828392e-01 -2.42549112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682414037 meters Centerline goodness : 0.824630 Centerline is valid? [False, False] Translation: X:3.39, Y:0.01, Z:-0.24 [[ 0.99970781 -0.02346312 0.00581185 3.38518999] [ 0.02327794 0.99927551 0.03010952 0.00555255] [-0.00651411 -0.02996543 0.99952971 -0.24459391] [ 0. 0. 0. 1. ]] SLAMing on 10.712414036999999 meters Centerline goodness : 0.821812 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.24 [[ 0.99978336 -0.02001495 0.00571187 3.38415941] [ 0.01982302 0.99929503 0.03188236 0.01155646] [-0.00634596 -0.03176223 0.99947531 -0.24277385] [ 0. 0. 0. 1. ]] SLAMing on 10.742414037 meters Centerline goodness : 0.824625 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.24 [[ 0.99979103 -0.01974897 0.00528037 3.3847505 ] [ 0.01957818 0.99933855 0.03064556 0.01602835] [-0.00588209 -0.03053578 0.99951637 -0.24187292] [ 0. 0. 0. 1. ]] SLAMing on 10.772414036999999 meters Centerline goodness : 0.822783 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:-0.24 [[ 0.99980473 -0.01922762 0.00456033 3.38621433] [ 0.01908453 0.99938017 0.02958119 0.01977734] [-0.00512628 -0.02948838 0.99955198 -0.24170041] [ 0. 0. 0. 1. ]] SLAMing on 10.802414036999998 meters Centerline goodness : 0.831597 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.24 [[ 9.99916787e-01 -1.28519472e-02 1.11634693e-03 3.40976447e+00] [ 1.28330021e-02 9.99796245e-01 1.55815060e-02 2.54905774e-02] [-1.31637216e-03 -1.55658834e-02 9.99877978e-01 -2.35683124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832414037 meters Centerline goodness : 0.822090 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.24 [[ 9.99925023e-01 -1.22331701e-02 5.45120200e-04 3.41175900e+00] [ 1.22231468e-02 9.99802891e-01 1.56452356e-02 2.66413247e-02] [-7.36403581e-04 -1.56373995e-02 9.99877457e-01 -2.36703467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862414036999999 meters Centerline goodness : 0.830858 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.23 [[ 0.99995104 -0.00906728 -0.00396163 3.44297739] [ 0.00911886 0.99987127 0.01320194 0.0299516 ] [ 0.00384141 -0.01323742 0.999905 -0.23371903] [ 0. 0. 0. 1. ]] SLAMing on 10.892414036999998 meters Centerline goodness : 0.830520 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.23 [[ 0.99995538 -0.00826514 -0.00457529 3.44521937] [ 0.00832523 0.99987724 0.01327375 0.03211739] [ 0.00446502 -0.01331125 0.99990143 -0.23484749] [ 0. 0. 0. 1. ]] SLAMing on 10.922414037 meters Centerline goodness : 0.831516 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.24 [[ 0.9999582 -0.007531 -0.00518541 3.44736477] [ 0.00759953 0.99988234 0.01332486 0.03450477] [ 0.00508445 -0.01336371 0.99989777 -0.2358864 ] [ 0. 0. 0. 1. ]] SLAMing on 10.952414036999999 meters Centerline goodness : 0.830300 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.24 [[ 0.99996079 -0.00660078 -0.00590261 3.44951233] [ 0.00667713 0.99989307 0.01301023 0.03850375] [ 0.00581611 -0.01304913 0.99989794 -0.23633551] [ 0. 0. 0. 1. ]] SLAMing on 10.982414037 meters Centerline goodness : 0.829501 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.24 [[ 0.99995975 -0.00634103 -0.00634754 3.45046516] [ 0.00642155 0.99989815 0.01274597 0.03956314] [ 0.00626607 -0.01278622 0.99989862 -0.23624964] [ 0. 0. 0. 1. ]] SLAMing on 11.012414037 meters Centerline goodness : 0.819880 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.24 [[ 0.99995879 -0.00628557 -0.00655036 3.45091441] [ 0.00636701 0.99990177 0.01248612 0.04019674] [ 0.00647123 -0.01252731 0.99990059 -0.23618559] [ 0. 0. 0. 1. ]] SLAMing on 11.042414036999999 meters Centerline goodness : 0.831870 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.24 [[ 0.99995658 -0.00642222 -0.0067524 3.45117355] [ 0.00650363 0.99990559 0.01210441 0.04053094] [ 0.00667402 -0.0121478 0.99990394 -0.23589935] [ 0. 0. 0. 1. ]] SLAMing on 11.072414037 meters Centerline goodness : 0.830852 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.24 [[ 0.99993279 -0.00898512 -0.00732651 3.45354988] [ 0.00904945 0.99992037 0.00879523 0.04222952] [ 0.0072469 -0.00886094 0.99993448 -0.23680886] [ 0. 0. 0. 1. ]] SLAMing on 11.102414036999999 meters Centerline goodness : 0.828571 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:-0.24 [[ 9.99913751e-01 -1.31164464e-02 -6.70872610e-04 3.46212146e+00] [ 1.31249063e-02 9.99805396e-01 1.47277575e-02 4.07419289e-02] [ 4.77566214e-04 -1.47352924e-02 9.99891316e-01 -2.39022714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132414036999998 meters Centerline goodness : 0.832019 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:-0.24 [[ 9.99875437e-01 -1.57296722e-02 -1.29941626e-03 3.46464662e+00] [ 1.57435940e-02 9.99809852e-01 1.15064390e-02 4.19087844e-02] [ 1.11817667e-03 -1.15254632e-02 9.99932954e-01 -2.40078620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162414037 meters Centerline goodness : 0.830345 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:-0.24 [[ 9.99850638e-01 -1.71824222e-02 -1.86187848e-03 3.46791335e+00] [ 1.71999172e-02 9.99803772e-01 9.82756816e-03 4.21151174e-02] [ 1.69265170e-03 -9.85812445e-03 9.99949975e-01 -2.42401942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192414036999999 meters Centerline goodness : 0.833836 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:-0.24 [[ 9.99802931e-01 -1.96784511e-02 -2.61881153e-03 3.47133813e+00] [ 1.96969041e-02 9.99779944e-01 7.21767989e-03 4.17086091e-02] [ 2.47620248e-03 -7.26783998e-03 9.99970523e-01 -2.44526682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222414036999998 meters Centerline goodness : 0.832562 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:-0.25 [[ 9.99763054e-01 -2.15500826e-02 -3.07082314e-03 3.47414966e+00] [ 2.15658765e-02 9.99753873e-01 5.20642986e-03 4.17799100e-02] [ 2.95786833e-03 -5.27142121e-03 9.99981731e-01 -2.46547997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252414037 meters Centerline goodness : 0.833992 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:-0.25 [[ 9.99762691e-01 -2.15433289e-02 -3.23208331e-03 3.47484086e+00] [ 2.15615393e-02 9.99751221e-01 5.70937516e-03 4.03375876e-02] [ 3.10828028e-03 -5.77770896e-03 9.99978478e-01 -2.47177881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282414036999999 meters Centerline goodness : 0.833515 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.25 [[ 9.99642288e-01 -2.66562382e-02 2.17747622e-03 3.48651503e+00] [ 2.66297422e-02 9.99580302e-01 1.14050874e-02 3.69471099e-02] [-2.48057907e-03 -1.13430221e-02 9.99932589e-01 -2.51767350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312414036999998 meters Centerline goodness : 0.826832 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.26 [[ 0.99947741 -0.03131394 0.00802181 3.49711192] [ 0.03117509 0.9993713 0.01688549 0.03459724] [-0.00854551 -0.01662659 0.99982525 -0.25543023] [ 0. 0. 0. 1. ]] SLAMing on 11.342414037 meters Centerline goodness : 0.823697 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.25 [[ 0.9993414 -0.03536947 0.00811018 3.49644986] [ 0.03526572 0.99929856 0.01259791 0.03417303] [-0.00855007 -0.0123036 0.99988775 -0.2537653 ] [ 0. 0. 0. 1. ]] SLAMing on 11.372414036999999 meters Centerline goodness : 0.834762 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.26 [[ 0.9991491 -0.03893915 0.01359503 3.5072119 ] [ 0.03867711 0.99907048 0.01903303 0.03312043] [-0.01432353 -0.01849102 0.99972642 -0.25725839] [ 0. 0. 0. 1. ]] SLAMing on 11.402414037 meters Centerline goodness : 0.835440 Centerline is valid? [False, False] Translation: X:3.52, Y:0.03, Z:-0.26 [[ 0.99891569 -0.04269992 0.01855171 3.51774501] [ 0.04221483 0.99877546 0.02579721 0.03183858] [-0.01963053 -0.02498608 0.99949504 -0.26063706] [ 0. 0. 0. 1. ]] SLAMing on 11.432414037 meters Centerline goodness : 0.827705 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:-0.26 [[ 0.99865982 -0.04654292 0.02263445 3.5301219 ] [ 0.04581351 0.99844558 0.03174191 0.03142221] [-0.02407662 -0.0306624 0.99923978 -0.2642264 ] [ 0. 0. 0. 1. ]] SLAMing on 11.462414036999999 meters Centerline goodness : 0.827586 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:-0.27 [[ 0.99852023 -0.04969328 0.02208888 3.53232317] [ 0.04906637 0.99840098 0.02807102 0.03206493] [-0.0234485 -0.02694566 0.99936185 -0.26505529] [ 0. 0. 0. 1. ]] SLAMing on 11.492414037 meters Centerline goodness : 0.838893 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.27 [[ 0.99814951 -0.05808032 0.01800621 3.55199737] [ 0.05731308 0.99753275 0.04054164 0.03018439] [-0.02031645 -0.03943462 0.99901559 -0.26617365] [ 0. 0. 0. 1. ]] SLAMing on 11.522414036999999 meters Centerline goodness : 0.835251 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.26 [[ 0.99843006 -0.05578204 0.0050766 3.5532832 ] [ 0.05552659 0.99760693 0.0411973 0.02681546] [-0.00736252 -0.04085074 0.99913813 -0.26268044] [ 0. 0. 0. 1. ]] SLAMing on 11.552414036999998 meters Centerline goodness : 0.825951 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.26 [[ 0.9983349 -0.05745786 0.00510158 3.55294721] [ 0.05720145 0.99752033 0.04100233 0.0252273 ] [-0.00744484 -0.04064223 0.99914603 -0.26300348] [ 0. 0. 0. 1. ]] SLAMing on 11.582414037 meters Centerline goodness : 0.825541 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.26 [[ 0.99826432 -0.05864175 0.00543004 3.55117999] [ 0.05837847 0.99749084 0.04004976 0.02535703] [-0.007765 -0.03966324 0.99918293 -0.2614477 ] [ 0. 0. 0. 1. ]] SLAMing on 11.612414036999999 meters Centerline goodness : 0.834859 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.26 [[ 0.9981819 -0.0599858 0.0058812 3.5489716 ] [ 0.05971394 0.99746143 0.03879344 0.02650468] [-0.00819333 -0.03837172 0.99922994 -0.25960864] [ 0. 0. 0. 1. ]] SLAMing on 11.642414036999998 meters Centerline goodness : 0.824627 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.26 [[ 0.99813376 -0.06082245 0.00544331 3.54927121] [ 0.06056804 0.9974162 0.03863204 0.02771313] [-0.00777894 -0.03823025 0.99923868 -0.25857767] [ 0. 0. 0. 1. ]] SLAMing on 11.672414037 meters Centerline goodness : 0.826209 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.26 [[ 0.99808577 -0.06162622 0.00519745 3.54966878] [ 0.06138455 0.99738623 0.03811355 0.02863743] [-0.00753266 -0.03772155 0.9992599 -0.25828287] [ 0. 0. 0. 1. ]] SLAMing on 11.702414036999999 meters Centerline goodness : 0.834730 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 9.98286261e-01 -5.83242775e-02 -4.77700962e-03 3.54844706e+00] [ 5.84575911e-02 9.97656963e-01 3.55428478e-02 2.58848350e-02] [ 2.69280599e-03 -3.57611891e-02 9.99356736e-01 -2.53494552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732414037 meters Centerline goodness : 0.835570 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 9.98259845e-01 -5.87809868e-02 -4.69856786e-03 3.54830111e+00] [ 5.89105803e-02 9.97638858e-01 3.53022893e-02 2.54283557e-02] [ 2.61237048e-03 -3.55176532e-02 9.99365635e-01 -2.53565911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762414037 meters Centerline goodness : 0.834498 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 9.98214647e-01 -5.95302502e-02 -4.86487792e-03 3.54861860e+00] [ 5.96641642e-02 9.97608343e-01 3.48967401e-02 2.55499858e-02] [ 2.77583113e-03 -3.51246959e-02 9.99379082e-01 -2.53438807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792414036999999 meters Centerline goodness : 0.835101 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 9.98175743e-01 -6.01828376e-02 -4.81797103e-03 3.54822467e+00] [ 6.03116509e-02 9.97607788e-01 3.37817312e-02 2.86790422e-02] [ 2.77336498e-03 -3.40106844e-02 9.99417621e-01 -2.53084466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822414037 meters Centerline goodness : 0.836509 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 9.98136085e-01 -6.08134171e-02 -5.10728344e-03 3.54797533e+00] [ 6.09506738e-02 9.97580436e-01 3.34408230e-02 3.04783202e-02] [ 3.06127532e-03 -3.36897845e-02 9.99427650e-01 -2.51760230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852414036999999 meters Centerline goodness : 0.829858 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 9.98120936e-01 -6.10194209e-02 -5.58808148e-03 3.54841521e+00] [ 6.11746254e-02 9.97548904e-01 3.39683569e-02 3.08889489e-02] [ 3.50165509e-03 -3.42463770e-02 9.99407286e-01 -2.50821582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882414036999998 meters Centerline goodness : 0.835436 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 0.9980791 -0.06169209 -0.00567368 3.54881402] [ 0.06184859 0.99751924 0.03361726 0.03032634] [ 0.00358569 -0.03390359 0.99941868 -0.2509391 ] [ 0. 0. 0. 1. ]] SLAMing on 11.912414037 meters Centerline goodness : 0.830680 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 0.99802444 -0.06256127 -0.00577148 3.54956217] [ 0.06271816 0.99748704 0.03295511 0.02998154] [ 0.00369527 -0.03325198 0.99944017 -0.25159835] [ 0. 0. 0. 1. ]] SLAMing on 11.942414036999999 meters Centerline goodness : 0.835915 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 0.9979594 -0.0635396 -0.00630556 3.55101441] [ 0.0637113 0.99744297 0.03237877 0.03037559] [ 0.0042321 -0.03271444 0.99945578 -0.25206153] [ 0. 0. 0. 1. ]] SLAMing on 11.972414036999998 meters Centerline goodness : 0.833561 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:-0.25 [[ 0.99784757 -0.06516978 -0.00728849 3.55284051] [ 0.06536665 0.99737378 0.03118894 0.03360619] [ 0.00523678 -0.03159823 0.99948693 -0.2519621 ] [ 0. 0. 0. 1. ]] SLAMing on 12.002414037 meters Centerline goodness : 0.826610 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.25 [[ 0.99781794 -0.06558891 -0.00757986 3.55285715] [ 0.06579087 0.99736776 0.0304815 0.03608352] [ 0.00556066 -0.03091367 0.99950659 -0.25137931] [ 0. 0. 0. 1. ]] SLAMing on 12.032414036999999 meters Centerline goodness : 0.832451 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.25 [[ 0.99799546 -0.06276176 -0.00812602 3.55206687] [ 0.06300138 0.997445 0.03367929 0.0379426 ] [ 0.00599148 -0.03412373 0.99939966 -0.24927111] [ 0. 0. 0. 1. ]] SLAMing on 12.062414036999998 meters Centerline goodness : 0.832922 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.25 [[ 0.99803095 -0.06221116 -0.00800013 3.55105625] [ 0.06244448 0.99749312 0.03328917 0.0391485 ] [ 0.00590912 -0.03372318 0.99941374 -0.24842706] [ 0. 0. 0. 1. ]] SLAMing on 12.092414037 meters Centerline goodness : 0.834248 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.25 [[ 0.99802698 -0.06228937 -0.00788554 3.55051327] [ 0.06251377 0.99751715 0.03242785 0.04062516] [ 0.00584605 -0.03285683 0.99944297 -0.24826294] [ 0. 0. 0. 1. ]] SLAMing on 12.122414036999999 meters Centerline goodness : 0.820360 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.25 [[ 0.99799564 -0.06281002 -0.00772085 3.55123573] [ 0.06301368 0.99756738 0.02980929 0.04276696] [ 0.00582974 -0.03023607 0.99952578 -0.25047879] [ 0. 0. 0. 1. ]] SLAMing on 12.152414037 meters Centerline goodness : 0.830576 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.25 [[ 0.99794608 -0.06353235 -0.00820082 3.55234539] [ 0.06374446 0.99754779 0.02889721 0.04439392] [ 0.0063448 -0.02936061 0.99954875 -0.25092226] [ 0. 0. 0. 1. ]] SLAMing on 12.182414037 meters Centerline goodness : 0.833861 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.25 [[ 0.9978198 -0.06526681 -0.00979203 3.55352899] [ 0.06552857 0.99741914 0.02934396 0.04818157] [ 0.00785158 -0.02992164 0.99952141 -0.24784123] [ 0. 0. 0. 1. ]] SLAMing on 12.212414036999999 meters Centerline goodness : 0.835288 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.25 [[ 0.99776999 -0.06588932 -0.01066072 3.55368043] [ 0.06618284 0.9973554 0.03003406 0.04961247] [ 0.0086536 -0.03067264 0.99949202 -0.24532383] [ 0. 0. 0. 1. ]] SLAMing on 12.242414037 meters Centerline goodness : 0.826264 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.24 [[ 0.99769939 -0.06686871 -0.01115797 3.55326262] [ 0.06717568 0.99729366 0.02987957 0.05127482] [ 0.00912977 -0.03056037 0.99949123 -0.24305921] [ 0. 0. 0. 1. ]] SLAMing on 12.272414036999999 meters Centerline goodness : 0.832679 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.24 [[ 0.99756802 -0.06858538 -0.01241359 3.55565637] [ 0.06891918 0.99720569 0.02882625 0.05401524] [ 0.01040184 -0.02961168 0.99950735 -0.24298793] [ 0. 0. 0. 1. ]] SLAMing on 12.302414036999998 meters Centerline goodness : 0.834310 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.24 [[ 0.997666 -0.06488462 -0.02127313 3.55433866] [ 0.06539989 0.99755849 0.0244931 0.05364598] [ 0.01963197 -0.02582719 0.99947363 -0.23908196] [ 0. 0. 0. 1. ]] SLAMing on 12.332414037 meters Centerline goodness : 0.833647 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99740987 -0.06865786 -0.02143964 3.55627472] [ 0.06906075 0.99743806 0.01865303 0.0579435 ] [ 0.02010403 -0.02008535 0.99959612 -0.24140512] [ 0. 0. 0. 1. ]] SLAMing on 12.362414036999999 meters Centerline goodness : 0.831431 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99735991 -0.06916276 -0.02212972 3.55768181] [ 0.06957396 0.99740739 0.01838365 0.05945391] [ 0.02080088 -0.01987477 0.99958607 -0.24154124] [ 0. 0. 0. 1. ]] SLAMing on 12.392414036999998 meters Centerline goodness : 0.832130 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99742753 -0.06768449 -0.02360355 3.55963236] [ 0.06821267 0.99742067 0.02233927 0.05958966] [ 0.02203065 -0.02389187 0.99947178 -0.24030838] [ 0. 0. 0. 1. ]] SLAMing on 12.422414037 meters Centerline goodness : 0.831409 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99752721 -0.06603749 -0.02405243 3.55746111] [ 0.06665 0.9974474 0.02562138 0.06128105] [ 0.02229907 -0.02716112 0.99938232 -0.23618852] [ 0. 0. 0. 1. ]] SLAMing on 12.452414036999999 meters Centerline goodness : 0.833441 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99755159 -0.06570174 -0.02396051 3.55668443] [ 0.06630819 0.99747431 0.02546019 0.0619236 ] [ 0.02222721 -0.02698663 0.99938865 -0.23536496] [ 0. 0. 0. 1. ]] SLAMing on 12.482414037 meters Centerline goodness : 0.834690 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99769366 -0.06339354 -0.02426157 3.55697798] [ 0.06404646 0.99757744 0.02715337 0.06286846] [ 0.02248145 -0.02864462 0.99933682 -0.23546542] [ 0. 0. 0. 1. ]] SLAMing on 12.512414037 meters Centerline goodness : 0.832996 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99771293 -0.06293817 -0.02465163 3.5577644 ] [ 0.06360023 0.99760847 0.02706182 0.06443367] [ 0.02288946 -0.02856778 0.99932975 -0.23580702] [ 0. 0. 0. 1. ]] SLAMing on 12.542414036999999 meters Centerline goodness : 0.832996 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.24 [[ 0.99771293 -0.06293817 -0.02465163 3.5577644 ] [ 0.06360023 0.99760847 0.02706182 0.06443367] [ 0.02288946 -0.02856778 0.99932975 -0.23580702] [ 0. 0. 0. 1. ]] SLAMing on 12.572414037 meters Centerline goodness : 0.831438 Centerline is valid? [False, False] Translation: X:3.56, Y:0.07, Z:-0.24 [[ 0.99771625 -0.06272849 -0.02504857 3.55825195] [ 0.06339459 0.99763003 0.02674776 0.06625798] [ 0.02331136 -0.02827462 0.99932834 -0.23562637] [ 0. 0. 0. 1. ]] SLAMing on 12.602414036999999 meters Centerline goodness : 0.831341 Centerline is valid? [False, False] Translation: X:3.56, Y:0.07, Z:-0.24 [[ 0.99769347 -0.06303307 -0.02519082 3.55819291] [ 0.06367767 0.99764052 0.02566216 0.06866746] [ 0.02351382 -0.02720706 0.99935323 -0.23544271] [ 0. 0. 0. 1. ]] SLAMing on 12.632414036999998 meters Centerline goodness : 0.827346 Centerline is valid? [False, False] Translation: X:3.56, Y:0.07, Z:-0.24 [[ 0.99769385 -0.06292101 -0.02545444 3.55897756] [ 0.06355783 0.99766413 0.02503385 0.0706348 ] [ 0.02381982 -0.02659395 0.99936249 -0.23607665] [ 0. 0. 0. 1. ]] SLAMing on 12.662414037 meters Centerline goodness : 0.826315 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.24 [[ 0.9977077 -0.06275417 -0.02532302 3.55905886] [ 0.06333599 0.99773024 0.02286737 0.07519768] [ 0.02383052 -0.02441881 0.99941774 -0.2372591 ] [ 0. 0. 0. 1. ]] SLAMing on 12.692414036999999 meters Centerline goodness : 0.831144 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.24 [[ 0.99774033 -0.06210239 -0.02564239 3.5599034 ] [ 0.06268843 0.99777451 0.02271989 0.07689312] [ 0.02417437 -0.02427603 0.99941296 -0.23798794] [ 0. 0. 0. 1. ]] SLAMing on 12.722414036999998 meters Centerline goodness : 0.772069 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.24 [[ 0.9979478 -0.05868699 -0.02561308 3.55883767] [ 0.05933542 0.99791652 0.02533617 0.07842338] [ 0.02407281 -0.02680394 0.99935081 -0.23738002] [ 0. 0. 0. 1. ]] SLAMing on 12.752414037 meters Centerline goodness : 0.773304 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.24 [[ 0.99799677 -0.05797331 -0.02532872 3.55765052] [ 0.05860297 0.99797159 0.02486746 0.0799578 ] [ 0.02383569 -0.02630198 0.99936983 -0.23681669] [ 0. 0. 0. 1. ]] SLAMing on 12.782414036999999 meters Centerline goodness : 0.771142 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.24 [[ 0.99800998 -0.05759053 -0.02567896 3.55812193] [ 0.05823166 0.99799102 0.02495992 0.08120487] [ 0.02418991 -0.02640558 0.99935859 -0.23668142] [ 0. 0. 0. 1. ]] SLAMing on 12.812414036999998 meters Centerline goodness : 0.773687 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.24 [[ 0.9980081 -0.05729393 -0.02640538 3.55987819] [ 0.05794826 0.99801351 0.02471892 0.08385799] [ 0.02493668 -0.02619983 0.99934565 -0.23755641] [ 0. 0. 0. 1. ]] SLAMing on 12.842414037 meters Centerline goodness : 0.832729 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:-0.24 [[ 0.99796528 -0.05789918 -0.02670182 3.56042834] [ 0.05853919 0.99800032 0.02384376 0.08542407] [ 0.02526789 -0.02535835 0.99935904 -0.23759478] [ 0. 0. 0. 1. ]] SLAMing on 12.872414036999999 meters Centerline goodness : 0.773903 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:-0.24 [[ 0.99792732 -0.05840948 -0.02700725 3.56159787] [ 0.05903505 0.99799145 0.0229765 0.08684982] [ 0.02561096 -0.02452325 0.99937115 -0.23850754] [ 0. 0. 0. 1. ]] SLAMing on 12.902414037 meters Centerline goodness : 0.832843 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:-0.24 [[ 0.99781277 -0.05983959 -0.02808742 3.56480449] [ 0.06045651 0.99793593 0.0216539 0.08984734] [ 0.02673369 -0.0233046 0.9993709 -0.24016016] [ 0. 0. 0. 1. ]] SLAMing on 12.932414037 meters Centerline goodness : 0.777816 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:-0.24 [[ 0.9977862 -0.06006209 -0.0285526 3.56551589] [ 0.06067881 0.9979312 0.02124639 0.09153277] [ 0.02721742 -0.0229319 0.99936647 -0.23995325] [ 0. 0. 0. 1. ]] SLAMing on 12.962414036999999 meters Centerline goodness : 0.777052 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:-0.24 [[ 0.99775968 -0.06029122 -0.02899276 3.56555301] [ 0.06090628 0.99792633 0.02082002 0.09428866] [ 0.02767737 -0.02253921 0.99936277 -0.2389362 ] [ 0. 0. 0. 1. ]] SLAMing on 12.992414037 meters Centerline goodness : 0.776644 Centerline is valid? [False, False] Translation: X:3.57, Y:0.10, Z:-0.24 [[ 0.99788373 -0.05757717 -0.03021474 3.56724013] [ 0.05830261 0.9980175 0.0237037 0.09819298] [ 0.02879005 -0.02541513 0.99926233 -0.23887629] [ 0. 0. 0. 1. ]] SLAMing on 13.022414036999999 meters Centerline goodness : 0.776719 Centerline is valid? [False, False] Translation: X:3.57, Y:0.10, Z:-0.24 [[ 0.99791009 -0.05723946 -0.02998501 3.56721843] [ 0.05792586 0.99806628 0.02254555 0.09990643] [ 0.02863653 -0.02423534 0.99929605 -0.23979793] [ 0. 0. 0. 1. ]] SLAMing on 13.052414036999998 meters Centerline goodness : 0.775349 Centerline is valid? [False, False] Translation: X:3.57, Y:0.10, Z:-0.24 [[ 0.99799578 -0.05619474 -0.02909586 3.56598458] [ 0.05680495 0.99817299 0.02058812 0.10202434] [ 0.02788575 -0.02219964 0.99936458 -0.24112067] [ 0. 0. 0. 1. ]] SLAMing on 13.082414037 meters Centerline goodness : 0.832247 Centerline is valid? [False, False] Translation: X:3.57, Y:0.10, Z:-0.24 [[ 0.99813514 -0.05343279 -0.02951574 3.56642285] [ 0.05414543 0.99824708 0.02389656 0.10212168] [ 0.02818714 -0.02545014 0.99927863 -0.24103674] [ 0. 0. 0. 1. ]] SLAMing on 13.112414036999999 meters Centerline goodness : 0.831237 Centerline is valid? [False, False] Translation: X:3.57, Y:0.11, Z:-0.24 [[ 0.99816815 -0.05267689 -0.02975726 3.56618152] [ 0.05337872 0.99830236 0.0233047 0.10559475] [ 0.02847912 -0.02485042 0.99928544 -0.24041779] [ 0. 0. 0. 1. ]] SLAMing on 13.142414036999998 meters Centerline goodness : 0.832316 Centerline is valid? [False, False] Translation: X:3.56, Y:0.11, Z:-0.24 [[ 0.99837232 -0.0484137 -0.0301468 3.5646709 ] [ 0.04918835 0.99846377 0.02550717 0.1116338 ] [ 0.02886559 -0.02694853 0.99921997 -0.23826043] [ 0. 0. 0. 1. ]] SLAMing on 13.172414037 meters Centerline goodness : 0.833493 Centerline is valid? [False, False] Translation: X:3.57, Y:0.11, Z:-0.24 [[ 0.99837252 -0.04822009 -0.03044874 3.56534116] [ 0.0489766 0.99849673 0.02460847 0.11479635] [ 0.02921634 -0.02605969 0.99923335 -0.23786808] [ 0. 0. 0. 1. ]] SLAMing on 13.202414036999999 meters Centerline goodness : 0.831661 Centerline is valid? [False, False] Translation: X:3.57, Y:0.12, Z:-0.24 [[ 0.99842748 -0.04731873 -0.03005832 3.56518078] [ 0.04804089 0.99856238 0.02377502 0.11610002] [ 0.0288901 -0.02518167 0.99926535 -0.23907884] [ 0. 0. 0. 1. ]] SLAMing on 13.232414036999998 meters Centerline goodness : 0.834793 Centerline is valid? [False, False] Translation: X:3.57, Y:0.12, Z:-0.24 [[ 0.99844496 -0.04672011 -0.03041194 3.56682437] [ 0.04743977 0.99860025 0.0233882 0.1177975 ] [ 0.02927667 -0.02479457 0.99926378 -0.23975222] [ 0. 0. 0. 1. ]] SLAMing on 13.262414037 meters Centerline goodness : 0.775033 Centerline is valid? [False, False] Translation: X:3.57, Y:0.12, Z:-0.24 [[ 0.99843361 -0.04680187 -0.03065812 3.56711953] [ 0.04750329 0.99861619 0.02256429 0.12023715] [ 0.02955964 -0.02398531 0.9992752 -0.23916001] [ 0. 0. 0. 1. ]] SLAMing on 13.292414036999999 meters Centerline goodness : 0.776165 Centerline is valid? [False, False] Translation: X:3.57, Y:0.13, Z:-0.24 [[ 0.99844947 -0.04637517 -0.03078955 3.56760095] [ 0.04704478 0.9986637 0.02139153 0.12623844] [ 0.02975637 -0.02280685 0.99929696 -0.23870228] [ 0. 0. 0. 1. ]] SLAMing on 13.322414037 meters Centerline goodness : 0.773468 Centerline is valid? [False, False] Translation: X:3.57, Y:0.13, Z:-0.24 [[ 0.99844255 -0.04623406 -0.03122323 3.56868558] [ 0.04689703 0.9986822 0.02084533 0.12825601] [ 0.03021832 -0.02227714 0.99929504 -0.23863127] [ 0. 0. 0. 1. ]] SLAMing on 13.352414036999999 meters Centerline goodness : 0.834977 Centerline is valid? [False, False] Translation: X:3.57, Y:0.13, Z:-0.24 [[ 0.99844351 -0.04596488 -0.03158789 3.5699245 ] [ 0.0466294 0.99869915 0.02063261 0.12942391] [ 0.03059843 -0.02207342 0.999288 -0.23903638] [ 0. 0. 0. 1. ]] SLAMing on 13.382414036999998 meters Centerline goodness : 0.776134 Centerline is valid? [False, False] Translation: X:3.57, Y:0.13, Z:-0.24 [[ 0.99846761 -0.04528313 -0.03180975 3.57081865] [ 0.04593958 0.9987396 0.02021796 0.13111424] [ 0.03085412 -0.02164831 0.99928943 -0.23889258] [ 0. 0. 0. 1. ]] SLAMing on 13.412414037 meters Centerline goodness : 0.836362 Centerline is valid? [False, False] Translation: X:3.57, Y:0.13, Z:-0.24 [[ 0.99847206 -0.04480951 -0.03233644 3.57241572] [ 0.04546716 0.99876766 0.01989733 0.13286702] [ 0.031405 -0.02133718 0.99927897 -0.23913212] [ 0. 0. 0. 1. ]] SLAMing on 13.442414036999999 meters Centerline goodness : 0.833577 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:-0.24 [[ 0.9984704 -0.04444014 -0.03289264 3.57402404] [ 0.04508907 0.99879735 0.01925676 0.1356531 ] [ 0.0319973 -0.02071041 0.99927336 -0.23924576] [ 0. 0. 0. 1. ]] SLAMing on 13.472414036999998 meters Centerline goodness : 0.836148 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.24 [[ 0.99847387 -0.0441411 -0.03318865 3.57501753] [ 0.0447766 0.99882284 0.01865473 0.13880676] [ 0.03232614 -0.02011233 0.99927499 -0.23935458] [ 0. 0. 0. 1. ]] SLAMing on 13.502414037 meters Centerline goodness : 0.833313 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.24 [[ 0.99853454 -0.04276208 -0.033169 3.57622324] [ 0.04339382 0.99888553 0.01856561 0.14319358] [ 0.03233813 -0.01997773 0.99927731 -0.24006041] [ 0. 0. 0. 1. ]] SLAMing on 13.532414036999999 meters Centerline goodness : 0.833987 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.24 [[ 0.99852632 -0.0426887 -0.03350921 3.57700641] [ 0.04331153 0.9988979 0.01808599 0.14455094] [ 0.03270022 -0.01951067 0.99927475 -0.23990574] [ 0. 0. 0. 1. ]] SLAMing on 13.562414036999998 meters Centerline goodness : 0.824411 Centerline is valid? [False, False] Translation: X:3.62, Y:0.15, Z:-0.24 [[ 0.9985236 -0.04550335 -0.02966588 3.61933909] [ 0.04603291 0.99878805 0.01741865 0.14964637] [ 0.02883732 -0.01875854 0.99940809 -0.24094961] [ 0. 0. 0. 1. ]] SLAMing on 13.592414037 meters Centerline goodness : 0.832942 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.9985743 -0.04362202 -0.03076488 3.57581164] [ 0.04430639 0.99877736 0.02192539 0.14806147] [ 0.02977084 -0.02325721 0.99928614 -0.24350602] [ 0. 0. 0. 1. ]] SLAMing on 13.622414036999999 meters Centerline goodness : 0.833440 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99855616 -0.0439771 -0.03084806 3.57546372] [ 0.04464235 0.99877767 0.02121864 0.14908372] [ 0.02987722 -0.02256513 0.99929884 -0.24259872] [ 0. 0. 0. 1. ]] SLAMing on 13.652414037 meters Centerline goodness : 0.833820 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99841529 -0.04684567 -0.03118307 3.57720153] [ 0.04738651 0.99873472 0.01683659 0.15272032] [ 0.0303549 -0.01828757 0.99937188 -0.24215476] [ 0. 0. 0. 1. ]] SLAMing on 13.682414037 meters Centerline goodness : 0.830910 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99839993 -0.04718054 -0.03117003 3.57696186] [ 0.047709 0.99872609 0.01643326 0.1529538 ] [ 0.03035499 -0.01789406 0.999379 -0.24180647] [ 0. 0. 0. 1. ]] SLAMing on 13.712414036999999 meters Centerline goodness : 0.829491 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99839529 -0.04724803 -0.03121639 3.57741085] [ 0.04777981 0.99872137 0.01651432 0.15233165] [ 0.03039621 -0.01797933 0.99937621 -0.24228815] [ 0. 0. 0. 1. ]] SLAMing on 13.742414037 meters Centerline goodness : 0.828950 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99839388 -0.04718646 -0.0313543 3.5783511 ] [ 0.04772674 0.99872062 0.01671196 0.15155282] [ 0.03052561 -0.01818156 0.99936861 -0.24312367] [ 0. 0. 0. 1. ]] SLAMing on 13.772414036999999 meters Centerline goodness : 0.831067 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99838659 -0.04730446 -0.03140858 3.57834438] [ 0.04783625 0.99872053 0.0164011 0.15226253] [ 0.03059255 -0.0178771 0.99937206 -0.24280561] [ 0. 0. 0. 1. ]] SLAMing on 13.802414036999998 meters Centerline goodness : 0.773307 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99837465 -0.04751537 -0.03146976 3.57739421] [ 0.0480262 0.998723 0.01567997 0.15293152] [ 0.03068453 -0.01716585 0.99938171 -0.24085097] [ 0. 0. 0. 1. ]] SLAMing on 13.832414037 meters Centerline goodness : 0.829661 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99837175 -0.04749701 -0.03158925 3.57746029] [ 0.0480087 0.99872444 0.01564151 0.15205829] [ 0.03080603 -0.0171326 0.99937854 -0.2404139 ] [ 0. 0. 0. 1. ]] SLAMing on 13.862414036999999 meters Centerline goodness : 0.828816 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99836936 -0.04741418 -0.03178849 3.57782557] [ 0.04793335 0.99872598 0.01577364 0.15098119] [ 0.03100009 -0.01727165 0.99937014 -0.24024303] [ 0. 0. 0. 1. ]] SLAMing on 13.892414036999998 meters Centerline goodness : 0.773884 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99836623 -0.04731846 -0.03202879 3.57789901] [ 0.04783778 0.99873256 0.01564642 0.15050391] [ 0.03124783 -0.01715304 0.99936447 -0.23934766] [ 0. 0. 0. 1. ]] SLAMing on 13.922414037 meters Centerline goodness : 0.773798 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99836261 -0.04731232 -0.03215025 3.57768413] [ 0.04782106 0.9987396 0.01524313 0.15105086] [ 0.03138854 -0.01675563 0.9993668 -0.23836347] [ 0. 0. 0. 1. ]] SLAMing on 13.952414036999999 meters Centerline goodness : 0.773312 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99835803 -0.04717317 -0.03249519 3.57807669] [ 0.04767455 0.99875281 0.01483093 0.1516407 ] [ 0.03175504 -0.01635577 0.99936185 -0.23747244] [ 0. 0. 0. 1. ]] SLAMing on 13.982414036999998 meters Centerline goodness : 0.827982 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99839695 -0.04611688 -0.03281411 3.57953895] [ 0.04664476 0.99879116 0.01550739 0.1505427 ] [ 0.03205929 -0.01701313 0.99934116 -0.23800089] [ 0. 0. 0. 1. ]] SLAMing on 14.012414037 meters Centerline goodness : 0.826053 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99840921 -0.04557509 -0.03319578 3.58095435] [ 0.04612384 0.99880828 0.01595648 0.14938965] [ 0.032429 -0.01746221 0.99932149 -0.23859848] [ 0. 0. 0. 1. ]] SLAMing on 14.042414036999999 meters Centerline goodness : 0.770370 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99841856 -0.04506297 -0.03361124 3.58250589] [ 0.04563091 0.99882495 0.0163258 0.14850972] [ 0.03283606 -0.0178337 0.99930163 -0.23927149] [ 0. 0. 0. 1. ]] SLAMing on 14.072414037 meters Centerline goodness : 0.772022 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99845254 -0.04406137 -0.0339282 3.58415652] [ 0.04464801 0.99886266 0.01673133 0.14889728] [ 0.03315241 -0.01822026 0.99928421 -0.24001169] [ 0. 0. 0. 1. ]] SLAMing on 14.102414036999999 meters Centerline goodness : 0.770199 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.24 [[ 0.99845009 -0.04385862 -0.0342613 3.58478439] [ 0.04444341 0.99887568 0.01649743 0.14972359] [ 0.03349922 -0.01799455 0.99927674 -0.23954242] [ 0. 0. 0. 1. ]] SLAMing on 14.132414036999998 meters Centerline goodness : 0.827840 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:-0.24 [[ 0.99834645 -0.04595824 -0.03452827 3.58669322] [ 0.04642652 0.99883861 0.01288457 0.15050801] [ 0.03389602 -0.01446629 0.99932066 -0.23900683] [ 0. 0. 0. 1. ]] SLAMing on 14.162414037 meters Centerline goodness : 0.769583 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:-0.24 [[ 0.99818658 -0.04888031 -0.03513216 3.58912972] [ 0.0492232 0.9987476 0.0089616 0.15121165] [ 0.03465012 -0.01067466 0.99934249 -0.23898518] [ 0. 0. 0. 1. ]] SLAMing on 14.192414036999999 meters Centerline goodness : 0.828589 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:-0.24 [[ 0.99801628 -0.05213308 -0.03529376 3.59039562] [ 0.05233965 0.99861705 0.00495398 0.15220752] [ 0.03498669 -0.00679141 0.9993647 -0.23883721] [ 0. 0. 0. 1. ]] SLAMing on 14.222414036999998 meters Centerline goodness : 0.825020 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:-0.24 [[ 9.97835546e-01 -5.52128156e-02 -3.57179065e-02 3.59217883e+00] [ 5.52866102e-02 9.98469941e-01 1.08091766e-03 1.53494919e-01] [ 3.56035755e-02 -3.05330004e-03 9.99361327e-01 -2.38544796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252414037 meters Centerline goodness : 0.826289 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:-0.24 [[ 0.99786223 -0.05844767 -0.02923756 3.60041195] [ 0.05872622 0.99823569 0.00875996 0.15167445] [ 0.02867397 -0.01045825 0.99953411 -0.2403864 ] [ 0. 0. 0. 1. ]] SLAMing on 14.282414036999999 meters Centerline goodness : 0.827076 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:-0.24 [[ 0.99766845 -0.06159624 -0.02938646 3.60139271] [ 0.06176672 0.99807844 0.00492852 0.15287232] [ 0.02902641 -0.00673214 0.99955597 -0.23985596] [ 0. 0. 0. 1. ]] SLAMing on 14.312414036999998 meters Centerline goodness : 0.770875 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:-0.24 [[ 0.99763843 -0.06215347 -0.02923186 3.60052341] [ 0.0623208 0.9980444 0.00484752 0.15116243] [ 0.0288734 -0.00665782 0.9995609 -0.23921129] [ 0. 0. 0. 1. ]] SLAMing on 14.342414037 meters Centerline goodness : 0.826634 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:-0.24 [[ 9.97404779e-01 -6.57301598e-02 -2.93811508e-02 3.60202468e+00] [ 6.58095796e-02 9.97830677e-01 1.74327439e-03 1.48113608e-01] [ 2.92028278e-02 -3.67231139e-03 9.99566761e-01 -2.39949820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372414036999999 meters Centerline goodness : 0.830756 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:-0.24 [[ 9.97404588e-01 -6.56485844e-02 -2.95694152e-02 3.60312871e+00] [ 6.57508890e-02 9.97832938e-01 2.49983203e-03 1.45351945e-01] [ 2.93412260e-02 -4.43755927e-03 9.99559603e-01 -2.41086925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402414036999998 meters Centerline goodness : 0.831243 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:-0.24 [[ 9.97219398e-01 -6.81701795e-02 -3.01047936e-02 3.60641066e+00] [ 6.81954334e-02 9.97671964e-01 -1.88266295e-04 1.45131903e-01] [ 3.00475427e-02 -1.86526665e-03 9.99546730e-01 -2.42934025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432414037 meters Centerline goodness : 0.833865 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:-0.24 [[ 9.96990017e-01 -7.11849564e-02 -3.07181897e-02 3.60762616e+00] [ 7.11841141e-02 9.97462562e-01 -1.12239065e-03 1.43419630e-01] [ 3.07201415e-02 -1.06763485e-03 9.99527455e-01 -2.41979578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462414036999999 meters Centerline goodness : 0.833865 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:-0.24 [[ 9.96990017e-01 -7.11849564e-02 -3.07181897e-02 3.60762616e+00] [ 7.11841141e-02 9.97462562e-01 -1.12239065e-03 1.43419630e-01] [ 3.07201415e-02 -1.06763485e-03 9.99527455e-01 -2.41979578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492414037 meters Centerline goodness : 0.832483 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:-0.24 [[ 9.96957757e-01 -7.14907531e-02 -3.10532362e-02 3.60824522e+00] [ 7.15125169e-02 9.97439618e-01 -4.10617726e-04 1.42038756e-01] [ 3.10030834e-02 -1.81132655e-03 9.99517648e-01 -2.41536986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522414036999999 meters Centerline goodness : 0.832474 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:-0.24 [[ 9.96962753e-01 -7.12796370e-02 -3.13764626e-02 3.60904118e+00] [ 7.13311703e-02 9.97452550e-01 5.24733342e-04 1.40507925e-01] [ 3.12591298e-02 -2.76125939e-03 9.99507500e-01 -2.41488817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552414036999998 meters Centerline goodness : 0.833700 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:-0.24 [[ 9.97062605e-01 -6.99867581e-02 -3.11129521e-02 3.60866758e+00] [ 7.00809919e-02 9.97539404e-01 1.94733736e-03 1.37213433e-01] [ 3.09001079e-02 -4.12204381e-03 9.99513978e-01 -2.41399381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582414037 meters Centerline goodness : 0.833633 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:-0.24 [[ 9.97110333e-01 -6.93374388e-02 -3.10371230e-02 3.60814537e+00] [ 6.94611775e-02 9.97580367e-01 2.92521116e-03 1.35312781e-01] [ 3.07591979e-02 -5.07263339e-03 9.99513952e-01 -2.40516426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612414036999999 meters Centerline goodness : 0.830705 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.24 [[ 0.99714325 -0.06870007 -0.03139503 3.60893053] [ 0.06886441 0.99761726 0.00418246 0.13402515] [ 0.03103289 -0.00633252 0.9994983 -0.24042108] [ 0. 0. 0. 1. ]] SLAMing on 14.642414036999998 meters Centerline goodness : 0.829430 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.24 [[ 0.99712079 -0.06872322 -0.0320507 3.60965565] [ 0.06893694 0.99760524 0.00561015 0.13189099] [ 0.0315884 -0.00780347 0.9994705 -0.23914214] [ 0. 0. 0. 1. ]] SLAMing on 14.672414037 meters Centerline goodness : 0.772209 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.24 [[ 0.99707148 -0.06925228 -0.03244361 3.61047357] [ 0.06947583 0.9975667 0.00581324 0.13120626] [ 0.03196208 -0.00805026 0.99945666 -0.23885054] [ 0. 0. 0. 1. ]] SLAMing on 14.702414036999999 meters Centerline goodness : 0.831377 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.24 [[ 0.99701288 -0.06976957 -0.03312897 3.61229349] [ 0.07000834 0.99752775 0.00610153 0.13017689] [ 0.03262137 -0.00840261 0.99943246 -0.23911149] [ 0. 0. 0. 1. ]] SLAMing on 14.732414036999998 meters Centerline goodness : 0.831137 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.24 [[ 9.96821664e-01 -7.24831194e-02 -3.30570378e-02 3.61408278e+00] [ 7.25957290e-02 9.97358984e-01 2.21753173e-03 1.29390155e-01] [ 3.28090000e-02 -4.61028342e-03 9.99451007e-01 -2.41247979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762414037 meters Centerline goodness : 0.772908 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.24 [[ 9.96788522e-01 -7.26428853e-02 -3.36994566e-02 3.61678118e+00] [ 7.27711924e-02 9.97345286e-01 2.59500121e-03 1.28469670e-01] [ 3.34214858e-02 -5.03901706e-03 9.99428643e-01 -2.43103329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792414036999999 meters Centerline goodness : 0.772731 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.24 [[ 9.96787451e-01 -7.25034585e-02 -3.40297863e-02 3.61811617e+00] [ 7.26332228e-02 9.97355354e-01 2.59104063e-03 1.28200739e-01] [ 3.37519302e-02 -5.05440984e-03 9.99417460e-01 -2.43984376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822414037 meters Centerline goodness : 0.774511 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.24 [[ 9.96871686e-01 -7.11945755e-02 -3.43245400e-02 3.61930339e+00] [ 7.13580651e-02 9.97444410e-01 3.56023177e-03 1.27771810e-01] [ 3.39833514e-02 -5.99842701e-03 9.99404398e-01 -2.44957186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852414036999999 meters Centerline goodness : 0.770895 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.24 [[ 0.99721816 -0.06654048 -0.03359031 3.6169152 ] [ 0.06680592 0.99774253 0.00684155 0.1261603 ] [ 0.03305924 -0.00906655 0.99941227 -0.24447247] [ 0. 0. 0. 1. ]] SLAMing on 14.882414036999998 meters Centerline goodness : 0.772883 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.24 [[ 0.99736617 -0.06472191 -0.03273826 3.61474812] [ 0.06497996 0.99786286 0.00687943 0.12617281] [ 0.03222305 -0.00898864 0.99944028 -0.24420813] [ 0. 0. 0. 1. ]] SLAMing on 14.912414037 meters Centerline goodness : 0.772970 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.24 [[ 0.99762421 -0.06083078 -0.03233494 3.61393954] [ 0.0611441 0.99809024 0.00879004 0.12475893] [ 0.03173848 -0.01074625 0.99943844 -0.24486945] [ 0. 0. 0. 1. ]] SLAMing on 14.942414036999999 meters Centerline goodness : 0.773577 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.25 [[ 0.99805792 -0.05467575 -0.02984893 3.60923876] [ 0.05496823 0.99844694 0.00906708 0.12349793] [ 0.02930682 -0.01069021 0.9995133 -0.24645227] [ 0. 0. 0. 1. ]] SLAMing on 14.972414036999998 meters Centerline goodness : 0.830572 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.25 [[ 0.99818436 -0.05281883 -0.02895085 3.60790084] [ 0.05308089 0.99855523 0.00835858 0.12317983] [ 0.02846753 -0.00988014 0.99954589 -0.24765121] [ 0. 0. 0. 1. ]] SLAMing on 15.002414037 meters Centerline goodness : 0.771981 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.25 [[ 0.99828365 -0.05141569 -0.02803896 3.60652215] [ 0.05164285 0.99863792 0.00743811 0.12297258] [ 0.02761833 -0.00887335 0.99957916 -0.24875038] [ 0. 0. 0. 1. ]] SLAMing on 15.032414036999999 meters Centerline goodness : 0.830837 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.25 [[ 0.99842774 -0.04901877 -0.0271883 3.60429293] [ 0.04924845 0.99875576 0.00784314 0.12228199] [ 0.02677001 -0.00916979 0.99959956 -0.24826853] [ 0. 0. 0. 1. ]] SLAMing on 15.062414036999998 meters Centerline goodness : 0.828672 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.25 [[ 0.99846228 -0.04828217 -0.02723793 3.60421742] [ 0.04852902 0.99878581 0.00847542 0.12182978] [ 0.02679565 -0.00978422 0.99959305 -0.24801173] [ 0. 0. 0. 1. ]] SLAMing on 15.092414037 meters Centerline goodness : 0.831223 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.25 [[ 0.99848777 -0.04787675 -0.02701822 3.60365668] [ 0.04812013 0.99880598 0.00843058 0.12136387] [ 0.02658233 -0.00971795 0.99959939 -0.24776993] [ 0. 0. 0. 1. ]] SLAMing on 15.122414036999999 meters Centerline goodness : 0.772978 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.25 [[ 0.99843179 -0.04953103 -0.02608889 3.60234207] [ 0.04967636 0.99875309 0.00495158 0.12081065] [ 0.0258111 -0.00623982 0.99964736 -0.24821974] [ 0. 0. 0. 1. ]] SLAMing on 15.152414036999998 meters Centerline goodness : 0.828609 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.25 [[ 9.98393409e-01 -5.05625388e-02 -2.55740165e-02 3.60175505e+00] [ 5.06487461e-02 9.98712786e-01 2.73403745e-03 1.19834239e-01] [ 2.54028574e-02 -4.02493684e-03 9.99669193e-01 -2.48517834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182414037 meters Centerline goodness : 0.826906 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.25 [[ 9.98190455e-01 -5.43282749e-02 -2.57731205e-02 3.60311156e+00] [ 5.43713399e-02 9.98520311e-01 9.72588106e-04 1.16492172e-01] [ 2.56821453e-02 -2.37214726e-03 9.99667345e-01 -2.48587108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212414036999999 meters Centerline goodness : 0.824681 Centerline is valid? [False, False] Translation: X:3.60, Y:0.11, Z:-0.25 [[ 9.98054951e-01 -5.66254453e-02 -2.60744020e-02 3.60398765e+00] [ 5.66716829e-02 9.98392330e-01 1.03716524e-03 1.13563788e-01] [ 2.59737530e-02 -2.51282814e-03 9.99659467e-01 -2.47984848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242414037 meters Centerline goodness : 0.773555 Centerline is valid? [False, False] Translation: X:3.60, Y:0.11, Z:-0.25 [[ 9.97881885e-01 -5.95546852e-02 -2.61721908e-02 3.60490952e+00] [ 5.95593488e-02 9.98224585e-01 -6.01999445e-04 1.11189885e-01] [ 2.61615762e-02 -9.58074301e-04 9.99657268e-01 -2.47893870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272414036999999 meters Centerline goodness : 0.831622 Centerline is valid? [False, False] Translation: X:3.61, Y:0.11, Z:-0.25 [[ 9.97736307e-01 -6.14659352e-02 -2.72800359e-02 3.60765873e+00] [ 6.15246153e-02 9.98104699e-01 1.31611713e-03 1.08005511e-01] [ 2.71474357e-02 -2.99153156e-03 9.99626964e-01 -2.47492000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302414036999998 meters Centerline goodness : 0.825962 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:-0.24 [[ 0.99734882 -0.06657982 -0.02936752 3.61091545] [ 0.06671963 0.99776451 0.00380549 0.10427286] [ 0.0290485 -0.00575479 0.99956144 -0.24399706] [ 0. 0. 0. 1. ]] SLAMing on 15.332414037 meters Centerline goodness : 0.830168 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:-0.24 [[ 0.99717474 -0.06856168 -0.03068941 3.61395785] [ 0.06875493 0.99761958 0.00528559 0.10239624] [ 0.03025397 -0.00738071 0.99951499 -0.24357422] [ 0. 0. 0. 1. ]] SLAMing on 15.362414036999999 meters Centerline goodness : 0.827629 Centerline is valid? [False, False] Translation: X:3.62, Y:0.10, Z:-0.24 [[ 0.99699857 -0.0705638 -0.03185281 3.61707078] [ 0.07080007 0.99747031 0.00635003 0.10011682] [ 0.03132415 -0.00858615 0.9994724 -0.24366928] [ 0. 0. 0. 1. ]] SLAMing on 15.392414036999998 meters Centerline goodness : 0.826151 Centerline is valid? [False, False] Translation: X:3.62, Y:0.10, Z:-0.24 [[ 0.9966144 -0.07566681 -0.03216011 3.61924643] [ 0.07582884 0.99711343 0.0038471 0.09565408] [ 0.03177618 -0.00627274 0.99947533 -0.24396494] [ 0. 0. 0. 1. ]] SLAMing on 15.422414037 meters Centerline goodness : 0.827154 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.24 [[ 0.99646157 -0.07717016 -0.03330328 3.62213084] [ 0.07738749 0.99698708 0.00528492 0.09337609] [ 0.0327951 -0.00784348 0.99943132 -0.24385401] [ 0. 0. 0. 1. ]] SLAMing on 15.452414036999999 meters Centerline goodness : 0.826536 Centerline is valid? [False, False] Translation: X:3.62, Y:0.09, Z:-0.24 [[ 0.99629157 -0.07902347 -0.03403512 3.62345292] [ 0.07926938 0.99683556 0.00593545 0.09196268] [ 0.03345838 -0.00861138 0.99940301 -0.2427065 ] [ 0. 0. 0. 1. ]] SLAMing on 15.482414036999998 meters Centerline goodness : 0.827669 Centerline is valid? [False, False] Translation: X:3.63, Y:0.09, Z:-0.24 [[ 0.99612967 -0.080474 -0.03534994 3.62632457] [ 0.0808064 0.99669711 0.00807505 0.08947875] [ 0.03458335 -0.01090029 0.99934237 -0.24198666] [ 0. 0. 0. 1. ]] SLAMing on 15.512414037 meters Centerline goodness : 0.827530 Centerline is valid? [False, False] Translation: X:3.63, Y:0.09, Z:-0.24 [[ 0.99605235 -0.0811914 -0.03588419 3.62699356] [ 0.08155858 0.99662892 0.00888736 0.08821818] [ 0.03504164 -0.01177894 0.99931644 -0.24085174] [ 0. 0. 0. 1. ]] SLAMing on 15.542414036999999 meters Centerline goodness : 0.828796 Centerline is valid? [False, False] Translation: X:3.63, Y:0.09, Z:-0.24 [[ 0.99602528 -0.08134862 -0.03627737 3.62782622] [ 0.08175847 0.99660242 0.00995859 0.08642334] [ 0.035344 -0.01288499 0.99929214 -0.24047372] [ 0. 0. 0. 1. ]] SLAMing on 15.572414037 meters Centerline goodness : 0.828017 Centerline is valid? [False, False] Translation: X:3.63, Y:0.08, Z:-0.24 [[ 0.99584909 -0.08370782 -0.03574338 3.62852889] [ 0.08403376 0.99643305 0.00771347 0.08314879] [ 0.03497021 -0.0106851 0.99933123 -0.24175667] [ 0. 0. 0. 1. ]] SLAMing on 15.602414036999999 meters Centerline goodness : 0.826979 Centerline is valid? [False, False] Translation: X:3.63, Y:0.08, Z:-0.24 [[ 0.99575125 -0.08466156 -0.03621961 3.63095171] [ 0.08499229 0.99635194 0.00768844 0.08071674] [ 0.03543657 -0.01073416 0.99931428 -0.24317233] [ 0. 0. 0. 1. ]] SLAMing on 15.632414036999998 meters Centerline goodness : 0.826752 Centerline is valid? [False, False] Translation: X:3.63, Y:0.08, Z:-0.24 [[ 0.99562397 -0.08579121 -0.03705097 3.63364799] [ 0.08614642 0.99624959 0.00809639 0.07900064] [ 0.03621741 -0.01125277 0.99928058 -0.24396734] [ 0. 0. 0. 1. ]] SLAMing on 15.662414037 meters Centerline goodness : 0.826885 Centerline is valid? [False, False] Translation: X:3.64, Y:0.08, Z:-0.24 [[ 0.99542852 -0.08750943 -0.03826428 3.63599008] [ 0.08790719 0.99608948 0.00883616 0.0788659 ] [ 0.0373414 -0.01215947 0.99922859 -0.2430689 ] [ 0. 0. 0. 1. ]] SLAMing on 15.692414036999999 meters Centerline goodness : 0.828386 Centerline is valid? [False, False] Translation: X:3.64, Y:0.08, Z:-0.24 [[ 0.99536672 -0.0878582 -0.03906439 3.63745036] [ 0.08829846 0.99604695 0.00968781 0.07861909] [ 0.03805881 -0.01309225 0.99918973 -0.24257635] [ 0. 0. 0. 1. ]] SLAMing on 15.722414036999998 meters Centerline goodness : 0.827519 Centerline is valid? [False, False] Translation: X:3.64, Y:0.08, Z:-0.24 [[ 0.99531827 -0.08813104 -0.03967943 3.63899526] [ 0.08860859 0.99601182 0.01043863 0.07767414] [ 0.03860121 -0.0139057 0.99915793 -0.24270202] [ 0. 0. 0. 1. ]] SLAMing on 15.752414037 meters Centerline goodness : 0.819722 Centerline is valid? [False, False] Translation: X:3.64, Y:0.08, Z:-0.24 [[ 0.99527343 -0.08843552 -0.04012421 3.6403902 ] [ 0.08893385 0.99597892 0.01080589 0.07672526] [ 0.03900724 -0.01432322 0.99913627 -0.24307798] [ 0. 0. 0. 1. ]] SLAMing on 15.782414036999999 meters Centerline goodness : 0.825837 Centerline is valid? [False, False] Translation: X:3.64, Y:0.07, Z:-0.24 [[ 0.99526591 -0.08851679 -0.04013154 3.64119137] [ 0.08903068 0.99596591 0.01120055 0.07453922] [ 0.0389782 -0.01472046 0.99913163 -0.24385955] [ 0. 0. 0. 1. ]] SLAMing on 15.812414036999998 meters Centerline goodness : 0.827082 Centerline is valid? [False, False] Translation: X:3.64, Y:0.07, Z:-0.24 [[ 0.99522997 -0.08868808 -0.04064157 3.64226508] [ 0.08923253 0.99594115 0.01178061 0.07426374] [ 0.03943181 -0.01535097 0.99910434 -0.24365707] [ 0. 0. 0. 1. ]] SLAMing on 15.842414037 meters Centerline goodness : 0.822271 Centerline is valid? [False, False] Translation: X:3.64, Y:0.07, Z:-0.24 [[ 0.99517208 -0.08920912 -0.04091777 3.64226562] [ 0.08977216 0.99588843 0.01213218 0.07383743] [ 0.03966723 -0.01574688 0.99908886 -0.24252498] [ 0. 0. 0. 1. ]] SLAMing on 15.872414036999999 meters Centerline goodness : 0.820462 Centerline is valid? [False, False] Translation: X:3.64, Y:0.07, Z:-0.24 [[ 0.99509727 -0.08971256 -0.04163027 3.64354034] [ 0.09031546 0.99583055 0.01283106 0.07396656] [ 0.04030559 -0.01652801 0.99905069 -0.24201119] [ 0. 0. 0. 1. ]] SLAMing on 15.902414036999998 meters Centerline goodness : 0.828713 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.24 [[ 0.99483031 -0.09193265 -0.04313988 3.64656666] [ 0.09259722 0.99560989 0.01366404 0.07357098] [ 0.04169432 -0.01758804 0.9989756 -0.2411829 ] [ 0. 0. 0. 1. ]] SLAMing on 15.932414037 meters Centerline goodness : 0.828663 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.24 [[ 0.99466656 -0.09335952 -0.0438456 3.64853327] [ 0.09403027 0.99547796 0.01348858 0.07340364] [ 0.04238804 -0.01753945 0.99894726 -0.24136406] [ 0. 0. 0. 1. ]] SLAMing on 15.962414036999999 meters Centerline goodness : 0.826955 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.24 [[ 0.99447622 -0.09488317 -0.04488011 3.65142435] [ 0.09557803 0.99532911 0.01359409 0.07285811] [ 0.04338062 -0.01780855 0.99889988 -0.24193624] [ 0. 0. 0. 1. ]] SLAMing on 15.992414037 meters Centerline goodness : 0.816919 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.24 [[ 0.99424766 -0.09706373 -0.04527934 3.65305859] [ 0.09772763 0.9951324 0.01268125 0.07233565] [ 0.04382805 -0.01703335 0.99889387 -0.24233811] [ 0. 0. 0. 1. ]] SLAMing on 16.022414037 meters Centerline goodness : 0.826631 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.24 [[ 0.99415182 -0.09767195 -0.04606897 3.6544481 ] [ 0.09837685 0.99506055 0.01328487 0.07244201] [ 0.04454386 -0.0177393 0.99884992 -0.24174314] [ 0. 0. 0. 1. ]] SLAMing on 16.052414037000002 meters Centerline goodness : 0.828095 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.24 [[ 0.99407599 -0.09809932 -0.04679157 3.65528362] [ 0.09885016 0.99500375 0.0140065 0.07300378] [ 0.04518376 -0.01854888 0.99880647 -0.24066044] [ 0. 0. 0. 1. ]] SLAMing on 16.082414037 meters Centerline goodness : 0.828948 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.24 [[ 0.99401785 -0.09767437 -0.04886947 3.6577972 ] [ 0.09865658 0.99495689 0.01810164 0.07385567] [ 0.04685495 -0.02281464 0.99864113 -0.23846171] [ 0. 0. 0. 1. ]] SLAMing on 16.112414037 meters Centerline goodness : 0.829038 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.24 [[ 0.99397467 -0.09799509 -0.0491051 3.65814662] [ 0.098967 0.99493217 0.01776238 0.07459332] [ 0.04711562 -0.02251514 0.99863566 -0.23831457] [ 0. 0. 0. 1. ]] SLAMing on 16.142414037 meters Centerline goodness : 0.821495 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.24 [[ 0.99391813 -0.09840778 -0.04942332 3.65981796] [ 0.09935635 0.99490477 0.01711159 0.07497923] [ 0.04748759 -0.02191804 0.99863133 -0.23977816] [ 0. 0. 0. 1. ]] SLAMing on 16.172414037 meters Centerline goodness : 0.826403 Centerline is valid? [False, False] Translation: X:3.66, Y:0.08, Z:-0.24 [[ 0.99390075 -0.09842605 -0.04973551 3.66052933] [ 0.09937906 0.99490338 0.01706053 0.07542473] [ 0.04780283 -0.02189914 0.9986167 -0.23992963] [ 0. 0. 0. 1. ]] SLAMing on 16.202414037 meters Centerline goodness : 0.826149 Centerline is valid? [False, False] Translation: X:3.66, Y:0.08, Z:-0.24 [[ 0.99395586 -0.09706263 -0.05128939 3.66300675] [ 0.09821985 0.99495276 0.02053956 0.07548975] [ 0.0490369 -0.02545305 0.9984726 -0.23935936] [ 0. 0. 0. 1. ]] SLAMing on 16.232414037 meters Centerline goodness : 0.827779 Centerline is valid? [False, False] Translation: X:3.66, Y:0.08, Z:-0.24 [[ 0.99405444 -0.09534274 -0.05258827 3.66400027] [ 0.09667029 0.99504369 0.02330062 0.07876806] [ 0.05010608 -0.02824581 0.99834441 -0.23800464] [ 0. 0. 0. 1. ]] SLAMing on 16.262414037 meters Centerline goodness : 0.830054 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.24 [[ 0.99402607 -0.09525982 -0.05327039 3.66533241] [ 0.09659932 0.99505393 0.02315706 0.08071902] [ 0.05080097 -0.0281646 0.99831158 -0.23821811] [ 0. 0. 0. 1. ]] SLAMing on 16.292414037 meters Centerline goodness : 0.833814 Centerline is valid? [False, False] Translation: X:3.66, Y:0.08, Z:-0.24 [[ 0.99398943 -0.09572661 -0.05311707 3.6649959 ] [ 0.09701169 0.99503649 0.02216093 0.08226234] [ 0.05073203 -0.02718071 0.99834236 -0.23822284] [ 0. 0. 0. 1. ]] SLAMing on 16.322414037 meters Centerline goodness : 0.834451 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.24 [[ 0.9939574 -0.0957722 -0.05363187 3.66635835] [ 0.09707639 0.995028 0.02225873 0.08242842] [ 0.05123345 -0.02733062 0.99831266 -0.23858436] [ 0. 0. 0. 1. ]] SLAMing on 16.352414037 meters Centerline goodness : 0.834451 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.24 [[ 0.9939574 -0.0957722 -0.05363187 3.66635835] [ 0.09707639 0.995028 0.02225873 0.08242842] [ 0.05123345 -0.02733062 0.99831266 -0.23858436] [ 0. 0. 0. 1. ]] SLAMing on 16.382414037 meters Centerline goodness : 0.826658 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.24 [[ 0.99389852 -0.09609611 -0.05414129 3.66694242] [ 0.09743516 0.99498399 0.02265513 0.08248624] [ 0.05169265 -0.02779216 0.99827625 -0.23789674] [ 0. 0. 0. 1. ]] SLAMing on 16.412414037 meters Centerline goodness : 0.835426 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.24 [[ 0.99387704 -0.09637547 -0.05403891 3.66654166] [ 0.09768267 0.99497247 0.02208821 0.08338475] [ 0.05163847 -0.02723163 0.9982945 -0.23764725] [ 0. 0. 0. 1. ]] SLAMing on 16.442414037 meters Centerline goodness : 0.826568 Centerline is valid? [False, False] Translation: X:3.67, Y:0.09, Z:-0.24 [[ 0.99380592 -0.0966431 -0.05486255 3.66797002] [ 0.09794832 0.99495671 0.02161625 0.08655263] [ 0.0524968 -0.02685605 0.99825991 -0.23772661] [ 0. 0. 0. 1. ]] SLAMing on 16.472414037 meters Centerline goodness : 0.774889 Centerline is valid? [False, False] Translation: X:3.67, Y:0.09, Z:-0.24 [[ 0.99376517 -0.09688244 -0.05517767 3.66888769] [ 0.09815759 0.99495176 0.02088243 0.0885426 ] [ 0.05287598 -0.02616833 0.99825816 -0.23829969] [ 0. 0. 0. 1. ]] SLAMing on 16.502414037 meters Centerline goodness : 0.825332 Centerline is valid? [False, False] Translation: X:3.67, Y:0.09, Z:-0.24 [[ 0.99371453 -0.09692979 -0.05600048 3.67103019] [ 0.09821331 0.99495143 0.02063482 0.09082919] [ 0.05371763 -0.02600511 0.99821749 -0.23926991] [ 0. 0. 0. 1. ]] SLAMing on 16.532414037000002 meters Centerline goodness : 0.772327 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.24 [[ 0.9936902 -0.09676705 -0.05670907 3.67196118] [ 0.09802268 0.99498742 0.01978836 0.09587955] [ 0.05450995 -0.02522227 0.99819462 -0.23939231] [ 0. 0. 0. 1. ]] SLAMing on 16.562414037 meters Centerline goodness : 0.833013 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.24 [[ 0.99369809 -0.09651165 -0.05700525 3.6725023 ] [ 0.09773784 0.99502847 0.01912222 0.09781367] [ 0.05487633 -0.02457328 0.99819073 -0.23966753] [ 0. 0. 0. 1. ]] SLAMing on 16.592414037 meters Centerline goodness : 0.770218 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.24 [[ 0.99371313 -0.09615012 -0.05735296 3.6736926 ] [ 0.09736703 0.9950708 0.0188086 0.09944953] [ 0.0552618 -0.02427464 0.99817678 -0.24062866] [ 0. 0. 0. 1. ]] SLAMing on 16.622414037000002 meters Centerline goodness : 0.770526 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.24 [[ 0.99372156 -0.09600651 -0.05744754 3.67431408] [ 0.09719816 0.99509651 0.01831528 0.10046926] [ 0.05540746 -0.02378409 0.99818051 -0.24135662] [ 0. 0. 0. 1. ]] SLAMing on 16.652414037 meters Centerline goodness : 0.828400 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.24 [[ 0.99369148 -0.09628771 -0.05749706 3.67398856] [ 0.09743503 0.99508821 0.0174894 0.10314947] [ 0.05553063 -0.0229813 0.99819247 -0.24092749] [ 0. 0. 0. 1. ]] SLAMing on 16.682414037 meters Centerline goodness : 0.830871 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:-0.24 [[ 0.99364159 -0.0963978 -0.05817095 3.67491236] [ 0.09758457 0.99506605 0.01791116 0.10393105] [ 0.05615734 -0.02347386 0.99814595 -0.24031036] [ 0. 0. 0. 1. ]] SLAMing on 16.712414037000002 meters Centerline goodness : 0.769540 Centerline is valid? [False, False] Translation: X:3.68, Y:0.10, Z:-0.24 [[ 0.99359269 -0.09664252 -0.05859848 3.675419 ] [ 0.09785446 0.99503483 0.01817126 0.10487535] [ 0.05655141 -0.02378896 0.99811624 -0.23981381] [ 0. 0. 0. 1. ]] SLAMing on 16.742414037 meters Centerline goodness : 0.770848 Centerline is valid? [False, False] Translation: X:3.68, Y:0.11, Z:-0.24 [[ 0.99343814 -0.09752644 -0.05974329 3.67706498] [ 0.09875188 0.99495095 0.01790763 0.10825676] [ 0.05769518 -0.02368988 0.99805313 -0.23907863] [ 0. 0. 0. 1. ]] SLAMing on 16.772414037 meters Centerline goodness : 0.770224 Centerline is valid? [False, False] Translation: X:3.68, Y:0.11, Z:-0.24 [[ 0.9933625 -0.09798673 -0.06024569 3.67810744] [ 0.09920242 0.99491297 0.01752317 0.10981385] [ 0.05822218 -0.02338338 0.99802976 -0.23923182] [ 0. 0. 0. 1. ]] SLAMing on 16.802414037000002 meters Centerline goodness : 0.771900 Centerline is valid? [False, False] Translation: X:3.68, Y:0.11, Z:-0.24 [[ 0.99330006 -0.09809108 -0.06109943 3.68047145] [ 0.0993304 0.99489919 0.01758042 0.11108475] [ 0.05906329 -0.02353166 0.99797685 -0.24022254] [ 0. 0. 0. 1. ]] SLAMing on 16.832414037 meters Centerline goodness : 0.769548 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99297864 -0.10146221 -0.06081803 3.68147745] [ 0.10238034 0.99467091 0.01216715 0.11552943] [ 0.05925942 -0.01830829 0.99807471 -0.24187057] [ 0. 0. 0. 1. ]] SLAMing on 16.862414037 meters Centerline goodness : 0.769301 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99289977 -0.10184503 -0.06146245 3.6831009 ] [ 0.10277191 0.9946313 0.01210419 0.11661032] [ 0.05989973 -0.01833487 0.998036 -0.24240661] [ 0. 0. 0. 1. ]] SLAMing on 16.892414037 meters Centerline goodness : 0.769763 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99308817 -0.09938613 -0.06243624 3.68454894] [ 0.10057692 0.99479706 0.01621996 0.11541791] [ 0.06049935 -0.0223875 0.99791715 -0.24237462] [ 0. 0. 0. 1. ]] SLAMing on 16.922414037 meters Centerline goodness : 0.771796 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99304343 -0.09958236 -0.06283382 3.6844178 ] [ 0.10076616 0.99478223 0.01595326 0.11719533] [ 0.06091731 -0.0221738 0.99789649 -0.24113258] [ 0. 0. 0. 1. ]] SLAMing on 16.952414037 meters Centerline goodness : 0.768574 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99301128 -0.09962225 -0.06327714 3.68456883] [ 0.10081942 0.99477593 0.01600905 0.11883029] [ 0.06135172 -0.02227673 0.99786758 -0.24014729] [ 0. 0. 0. 1. ]] SLAMing on 16.982414037 meters Centerline goodness : 0.769018 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.9929653 -0.10009699 -0.0632495 3.68423027] [ 0.10123257 0.99474964 0.01500379 0.12160549] [ 0.06141558 -0.02130115 0.99788496 -0.23966964] [ 0. 0. 0. 1. ]] SLAMing on 17.012414037 meters Centerline goodness : 0.769060 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99294264 -0.10033203 -0.06323292 3.68423996] [ 0.10144002 0.99473519 0.01455433 0.12230413] [ 0.06143974 -0.02086596 0.99789266 -0.23952348] [ 0. 0. 0. 1. ]] SLAMing on 17.042414037 meters Centerline goodness : 0.767540 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99291574 -0.10059304 -0.06324055 3.68420982] [ 0.10166035 0.99472228 0.01388381 0.12340219] [ 0.06151017 -0.02021451 0.99790173 -0.23925388] [ 0. 0. 0. 1. ]] SLAMing on 17.072414037 meters Centerline goodness : 0.769302 Centerline is valid? [False, False] Translation: X:3.68, Y:0.12, Z:-0.24 [[ 0.99290301 -0.10066437 -0.06332683 3.68473013] [ 0.10171328 0.9947214 0.01355533 0.1245169 ] [ 0.06162802 -0.01990031 0.99790078 -0.23962783] [ 0. 0. 0. 1. ]] SLAMing on 17.102414037 meters Centerline goodness : 0.769807 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:-0.24 [[ 0.99288807 -0.10069753 -0.06350822 3.68555755] [ 0.10172932 0.99472428 0.01321962 0.1262714 ] [ 0.06184199 -0.01958625 0.99789376 -0.24020287] [ 0. 0. 0. 1. ]] SLAMing on 17.132414037 meters Centerline goodness : 0.769266 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:-0.24 [[ 0.99287298 -0.10068589 -0.06376199 3.68665749] [ 0.10170838 0.99472944 0.01299021 0.12786076] [ 0.062118 -0.01938276 0.99788059 -0.24095202] [ 0. 0. 0. 1. ]] SLAMing on 17.162414037 meters Centerline goodness : 0.767502 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:-0.24 [[ 0.99285841 -0.10079086 -0.06382302 3.68736563] [ 0.10179466 0.99472477 0.01266814 0.12992387] [ 0.0622095 -0.01907451 0.99788082 -0.2418223 ] [ 0. 0. 0. 1. ]] SLAMing on 17.192414037 meters Centerline goodness : 0.767898 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:-0.24 [[ 0.99283026 -0.10109655 -0.06377741 3.68709166] [ 0.10206658 0.9947036 0.01213112 0.13065242] [ 0.0622132 -0.01855369 0.99789041 -0.24143487] [ 0. 0. 0. 1. ]] SLAMing on 17.222414037 meters Centerline goodness : 0.767755 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:-0.24 [[ 0.99282711 -0.10111349 -0.06379963 3.68714332] [ 0.10205925 0.9947091 0.01173487 0.13155301] [ 0.06227552 -0.01816204 0.99789373 -0.24123838] [ 0. 0. 0. 1. ]] SLAMing on 17.252414037 meters Centerline goodness : 0.766416 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:-0.24 [[ 0.99280711 -0.10124701 -0.06389895 3.68691363] [ 0.10214983 0.99470804 0.01101521 0.13344171] [ 0.06244555 -0.01746325 0.99789558 -0.24045871] [ 0. 0. 0. 1. ]] SLAMing on 17.282414037000002 meters Centerline goodness : 0.769065 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.24 [[ 0.99315641 -0.09769655 -0.06399792 3.68558851] [ 0.09876984 0.99501434 0.01381969 0.13610471] [ 0.06232871 -0.02004618 0.99785434 -0.23951994] [ 0. 0. 0. 1. ]] SLAMing on 17.312414037 meters Centerline goodness : 0.768426 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.24 [[ 0.99315545 -0.09753429 -0.06425972 3.68595266] [ 0.09857152 0.99504287 0.01316602 0.13847085] [ 0.06265704 -0.01941008 0.99784635 -0.2390144 ] [ 0. 0. 0. 1. ]] SLAMing on 17.342414037 meters Centerline goodness : 0.767214 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.24 [[ 0.99315478 -0.09741301 -0.06445375 3.68634005] [ 0.09842086 0.99506456 0.01264347 0.1402705 ] [ 0.06290401 -0.01890052 0.9978406 -0.23874209] [ 0. 0. 0. 1. ]] SLAMing on 17.372414037000002 meters Centerline goodness : 0.769180 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.24 [[ 0.99318348 -0.09702778 -0.06459246 3.68696517] [ 0.09801117 0.99511021 0.01222656 0.14222731] [ 0.0630903 -0.018474 0.99783682 -0.23879588] [ 0. 0. 0. 1. ]] SLAMing on 17.402414037 meters Centerline goodness : 0.768149 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.24 [[ 0.99317906 -0.09692284 -0.06481761 3.68776832] [ 0.09789441 0.99512473 0.01197766 0.14329417] [ 0.06334069 -0.01824124 0.99782524 -0.23907556] [ 0. 0. 0. 1. ]] SLAMing on 17.432414037 meters Centerline goodness : 0.767072 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.24 [[ 0.99317118 -0.09682989 -0.06507667 3.68855266] [ 0.09778422 0.99513962 0.01163564 0.14489039] [ 0.06363369 -0.01791965 0.99781243 -0.23926129] [ 0. 0. 0. 1. ]] SLAMing on 17.462414037000002 meters Centerline goodness : 0.767805 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99318047 -0.09670782 -0.06511644 3.68868832] [ 0.09761306 0.99516519 0.01085945 0.14863146] [ 0.06375143 -0.01714161 0.99781858 -0.23903418] [ 0. 0. 0. 1. ]] SLAMing on 17.492414037 meters Centerline goodness : 0.767680 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99317209 -0.09671136 -0.06523882 3.6891177 ] [ 0.09760337 0.99516873 0.01061973 0.14947421] [ 0.06389658 -0.01691475 0.99781317 -0.23912869] [ 0. 0. 0. 1. ]] SLAMing on 17.522414037 meters Centerline goodness : 0.828974 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99318337 -0.09653467 -0.06532883 3.69004776] [ 0.09743612 0.99518373 0.01074874 0.14891119] [ 0.06397656 -0.01704086 0.9978059 -0.23989575] [ 0. 0. 0. 1. ]] SLAMing on 17.552414037000002 meters Centerline goodness : 0.765435 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99317711 -0.09663424 -0.06527667 3.69011634] [ 0.09752857 0.99517576 0.01064836 0.14883425] [ 0.06393276 -0.01694205 0.99781039 -0.24002831] [ 0. 0. 0. 1. ]] SLAMing on 17.582414037 meters Centerline goodness : 0.765387 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99316492 -0.09680679 -0.06520642 3.68984867] [ 0.09768135 0.99516389 0.01035287 0.14953041] [ 0.06388885 -0.01665156 0.99781809 -0.23983195] [ 0. 0. 0. 1. ]] SLAMing on 17.612414037 meters Centerline goodness : 0.764054 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99315234 -0.09694636 -0.06519072 3.68959979] [ 0.09779557 0.99515672 0.00995665 0.15087783] [ 0.06390972 -0.01626383 0.99782315 -0.23948652] [ 0. 0. 0. 1. ]] SLAMing on 17.642414037 meters Centerline goodness : 0.765747 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.9931555 -0.09689196 -0.06522352 3.6897825 ] [ 0.09771711 0.99516817 0.00957459 0.15268551] [ 0.06398067 -0.01588251 0.99782474 -0.23941242] [ 0. 0. 0. 1. ]] SLAMing on 17.672414037 meters Centerline goodness : 0.828901 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.9931485 -0.09691768 -0.06529182 3.68995274] [ 0.09773481 0.9951678 0.00943192 0.15265911] [ 0.06406219 -0.01574858 0.99782164 -0.23930513] [ 0. 0. 0. 1. ]] SLAMing on 17.702414037 meters Centerline goodness : 0.766726 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99314047 -0.09693693 -0.06538537 3.69024867] [ 0.0977503 0.99516705 0.00934967 0.1522752 ] [ 0.06416303 -0.01567697 0.99781628 -0.23925546] [ 0. 0. 0. 1. ]] SLAMing on 17.732414037 meters Centerline goodness : 0.766749 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99313895 -0.09683652 -0.06555699 3.69076475] [ 0.09764766 0.99517781 0.00927641 0.15222688] [ 0.06434257 -0.01561425 0.99780571 -0.23925499] [ 0. 0. 0. 1. ]] SLAMing on 17.762414037 meters Centerline goodness : 0.766223 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99316164 -0.0965379 -0.06565356 3.69133177] [ 0.09733787 0.99520989 0.00908958 0.15380053] [ 0.06446158 -0.015418 0.99780108 -0.239539 ] [ 0. 0. 0. 1. ]] SLAMing on 17.792414037 meters Centerline goodness : 0.826786 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.24 [[ 0.99316118 -0.09643735 -0.06580804 3.69186643] [ 0.09722528 0.99522287 0.00886996 0.15484335] [ 0.06463828 -0.0152075 0.99779288 -0.23965321] [ 0. 0. 0. 1. ]] SLAMing on 17.822414037 meters Centerline goodness : 0.828773 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99317622 -0.09625352 -0.0658502 3.69226373] [ 0.09701629 0.99524669 0.00847795 0.15699752] [ 0.06472116 -0.01480864 0.9977935 -0.23984998] [ 0. 0. 0. 1. ]] SLAMing on 17.852414037 meters Centerline goodness : 0.766084 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99317207 -0.09628541 -0.06586625 3.6924539 ] [ 0.09703502 0.9952466 0.00827053 0.15813517] [ 0.06475683 -0.01460539 0.99779419 -0.24008635] [ 0. 0. 0. 1. ]] SLAMing on 17.882414037 meters Centerline goodness : 0.828721 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99316368 -0.09633613 -0.06591847 3.69257975] [ 0.0970633 0.99524676 0.00791163 0.1589028 ] [ 0.06484297 -0.0142558 0.99779365 -0.23987931] [ 0. 0. 0. 1. ]] SLAMing on 17.912414037 meters Centerline goodness : 0.829087 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99316377 -0.09637489 -0.0658605 3.69243182] [ 0.09707653 0.99524844 0.00752996 0.1593394 ] [ 0.06482186 -0.01387199 0.99780043 -0.23952513] [ 0. 0. 0. 1. ]] SLAMing on 17.942414037 meters Centerline goodness : 0.766044 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99319093 -0.09613033 -0.06580836 3.69200658] [ 0.09679619 0.99527962 0.00699814 0.1605461 ] [ 0.06482498 -0.01332048 0.99780774 -0.23860525] [ 0. 0. 0. 1. ]] SLAMing on 17.972414037 meters Centerline goodness : 0.764748 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99319909 -0.09595912 -0.06593492 3.69249255] [ 0.09662257 0.99529689 0.00694066 0.16111592] [ 0.0649588 -0.01326426 0.99779979 -0.23874188] [ 0. 0. 0. 1. ]] SLAMing on 18.002414037 meters Centerline goodness : 0.766793 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99320163 -0.09574683 -0.06620469 3.69330898] [ 0.09641783 0.99531628 0.00700795 0.16137092] [ 0.06522362 -0.01334362 0.99778145 -0.23900415] [ 0. 0. 0. 1. ]] SLAMing on 18.032414037 meters Centerline goodness : 0.766686 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99321252 -0.09550911 -0.0663845 3.69409569] [ 0.09619519 0.99533638 0.00720927 0.16113034] [ 0.06538636 -0.01354621 0.99776807 -0.23942602] [ 0. 0. 0. 1. ]] SLAMing on 18.062414037 meters Centerline goodness : 0.765373 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99321077 -0.09542595 -0.06653012 3.69437587] [ 0.09612203 0.99534254 0.00733406 0.16011608] [ 0.0655204 -0.01367927 0.99775746 -0.23920612] [ 0. 0. 0. 1. ]] SLAMing on 18.092414037 meters Centerline goodness : 0.826754 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99320772 -0.09540135 -0.06661086 3.69458582] [ 0.09610064 0.99534436 0.00736679 0.15976553] [ 0.06559794 -0.0137181 0.99775183 -0.23916067] [ 0. 0. 0. 1. ]] SLAMing on 18.122414037000002 meters Centerline goodness : 0.826595 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99320922 -0.09528651 -0.0667527 3.69488699] [ 0.09599329 0.99535407 0.00745448 0.15945606] [ 0.06573226 -0.01381167 0.9977417 -0.23908127] [ 0. 0. 0. 1. ]] SLAMing on 18.152414037 meters Centerline goodness : 0.826039 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99321017 -0.09517278 -0.06690061 3.69492878] [ 0.09587445 0.9953663 0.00734964 0.15946715] [ 0.06589113 -0.01371379 0.99773258 -0.23853455] [ 0. 0. 0. 1. ]] SLAMing on 18.182414037 meters Centerline goodness : 0.828208 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99325493 -0.09474757 -0.06683965 3.69444505] [ 0.0954205 0.99541285 0.00694103 0.16096904] [ 0.0658754 -0.01327209 0.99773959 -0.23743077] [ 0. 0. 0. 1. ]] SLAMing on 18.212414037000002 meters Centerline goodness : 0.828402 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.24 [[ 0.99327215 -0.09441732 -0.06705083 3.69490314] [ 0.09508116 0.99544649 0.00677211 0.16197812] [ 0.06610611 -0.01310181 0.99772658 -0.2371673 ] [ 0. 0. 0. 1. ]] SLAMing on 18.242414037 meters Centerline goodness : 0.828094 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99328627 -0.09410247 -0.06728374 3.69555544] [ 0.09475716 0.99547855 0.00659877 0.162798 ] [ 0.06635856 -0.01293008 0.99771206 -0.23706246] [ 0. 0. 0. 1. ]] SLAMing on 18.272414037 meters Centerline goodness : 0.828094 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99328627 -0.09410247 -0.06728374 3.69555544] [ 0.09475716 0.99547855 0.00659877 0.162798 ] [ 0.06635856 -0.01293008 0.99771206 -0.23706246] [ 0. 0. 0. 1. ]] SLAMing on 18.302414037000002 meters Centerline goodness : 0.828508 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99333444 -0.09319501 -0.06783343 3.69767067] [ 0.09388086 0.99555892 0.00698722 0.16243314] [ 0.066881 -0.01330891 0.99767219 -0.23783758] [ 0. 0. 0. 1. ]] SLAMing on 18.332414037 meters Centerline goodness : 0.826411 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99336593 -0.09270363 -0.06804535 3.698774 ] [ 0.09341947 0.99559928 0.00740753 0.16159512] [ 0.0670592 -0.01371515 0.99765473 -0.23847566] [ 0. 0. 0. 1. ]] SLAMing on 18.362414037 meters Centerline goodness : 0.770182 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.9933853 -0.0922712 -0.06834958 3.69977949] [ 0.0930098 0.99563544 0.00769719 0.16106602] [ 0.06734104 -0.01400345 0.99763174 -0.23878387] [ 0. 0. 0. 1. ]] SLAMing on 18.392414037 meters Centerline goodness : 0.768366 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99343712 -0.09156123 -0.068551 3.70041045] [ 0.09230351 0.99570089 0.00773347 0.16186035] [ 0.06754821 -0.01401022 0.99761764 -0.23854236] [ 0. 0. 0. 1. ]] SLAMing on 18.422414037 meters Centerline goodness : 0.768398 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99344193 -0.09135575 -0.06875503 3.70058304] [ 0.09208074 0.99572372 0.00744344 0.16287863] [ 0.06778101 -0.01372564 0.9976058 -0.23789353] [ 0. 0. 0. 1. ]] SLAMing on 18.452414037 meters Centerline goodness : 0.766016 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99344174 -0.0911975 -0.06896758 3.70088455] [ 0.09191094 0.99574094 0.00723642 0.16395791] [ 0.0680139 -0.01352784 0.99759266 -0.23756238] [ 0. 0. 0. 1. ]] SLAMing on 18.482414037 meters Centerline goodness : 0.767798 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99343404 -0.0911494 -0.06914178 3.70105656] [ 0.09185065 0.99574801 0.00702513 0.16485493] [ 0.06820745 -0.01332972 0.99758211 -0.23720277] [ 0. 0. 0. 1. ]] SLAMing on 18.512414037 meters Centerline goodness : 0.768909 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99342517 -0.09115218 -0.06926553 3.70133511] [ 0.09184853 0.99574888 0.00692921 0.16494861] [ 0.06833946 -0.01324559 0.99757419 -0.23711165] [ 0. 0. 0. 1. ]] SLAMing on 18.542414037 meters Centerline goodness : 0.769593 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 9.93151280e-01 -9.41018087e-02 -6.92487149e-02 3.70324750e+00] [ 9.45790799e-02 9.95510702e-01 3.63872001e-03 1.63997432e-01] [ 6.85954267e-02 -1.01632792e-02 9.97592790e-01 -2.37714639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572414037 meters Centerline goodness : 0.771073 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99314652 -0.09410764 -0.06930902 3.7034903 ] [ 0.09459637 0.99550847 0.00379607 0.16250228] [ 0.06864048 -0.01032643 0.99758802 -0.23772413] [ 0. 0. 0. 1. ]] SLAMing on 18.602414037 meters Centerline goodness : 0.771249 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99314312 -0.09407349 -0.06940401 3.70392044] [ 0.09456971 0.99551064 0.00389162 0.16234551] [ 0.06872633 -0.01042845 0.99758104 -0.23801676] [ 0. 0. 0. 1. ]] SLAMing on 18.632414037 meters Centerline goodness : 0.770947 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99314521 -0.09383309 -0.06969901 3.70470117] [ 0.09433481 0.99553275 0.00393485 0.16255452] [ 0.06901843 -0.01048292 0.99756031 -0.23805557] [ 0. 0. 0. 1. ]] SLAMing on 18.662414037 meters Centerline goodness : 0.771300 Centerline is valid? [False, False] Translation: X:3.70, Y:0.16, Z:-0.24 [[ 0.99314861 -0.09371073 -0.06981504 3.70485283] [ 0.09421114 0.99554459 0.00390252 0.16232125] [ 0.06913828 -0.01045314 0.99755232 -0.23774401] [ 0. 0. 0. 1. ]] SLAMing on 18.692414037 meters Centerline goodness : 0.772985 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.99315394 -0.09351355 -0.07000331 3.70520294] [ 0.09401425 0.99556327 0.00388506 0.16203935] [ 0.06932942 -0.01043977 0.99753919 -0.23740845] [ 0. 0. 0. 1. ]] SLAMing on 18.722414037 meters Centerline goodness : 0.774444 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.99318735 -0.09270759 -0.07059886 3.70681186] [ 0.09324003 0.99563447 0.0042769 0.16117335] [ 0.06989416 -0.0108304 0.99749562 -0.23742049] [ 0. 0. 0. 1. ]] SLAMing on 18.752414037 meters Centerline goodness : 0.771339 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.99320475 -0.09229528 -0.07089362 3.70793683] [ 0.09285627 0.99566866 0.00465152 0.16017841] [ 0.07015724 -0.01120283 0.99747304 -0.23788876] [ 0. 0. 0. 1. ]] SLAMing on 18.782414037 meters Centerline goodness : 0.772858 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.99323336 -0.09170227 -0.07126134 3.70958988] [ 0.09230504 0.99571717 0.00520505 0.15892084] [ 0.07047882 -0.01174761 0.9974441 -0.23878253] [ 0. 0. 0. 1. ]] SLAMing on 18.812414037 meters Centerline goodness : 0.770845 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.99325347 -0.09141393 -0.07135148 3.71036061] [ 0.09203542 0.99574074 0.00546484 0.15823212] [ 0.07054801 -0.01199483 0.99743626 -0.23929627] [ 0. 0. 0. 1. ]] SLAMing on 18.842414037 meters Centerline goodness : 0.769534 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.9933458 -0.09077884 -0.07087536 3.7092096 ] [ 0.09139328 0.99579986 0.00546837 0.15789944] [ 0.07008126 -0.01190951 0.99747019 -0.23906034] [ 0. 0. 0. 1. ]] SLAMing on 18.872414037000002 meters Centerline goodness : 0.770380 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.99336384 -0.09067002 -0.07076184 3.70900893] [ 0.09131701 0.99580406 0.00595582 0.15724171] [ 0.06992492 -0.01237806 0.99747546 -0.23904585] [ 0. 0. 0. 1. ]] SLAMing on 18.902414037 meters Centerline goodness : 0.770140 Centerline is valid? [False, False] Translation: X:3.71, Y:0.16, Z:-0.24 [[ 0.99340291 -0.09041932 -0.07053375 3.70899736] [ 0.0910956 0.99582143 0.00642449 0.15601984] [ 0.06965812 -0.01280742 0.9974887 -0.23937765] [ 0. 0. 0. 1. ]] SLAMing on 18.932414037 meters Centerline goodness : 0.772502 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.24 [[ 0.99348319 -0.08998424 -0.06995702 3.70737873] [ 0.09071801 0.9958493 0.00737694 0.15231861] [ 0.06900284 -0.01367523 0.99752273 -0.23823197] [ 0. 0. 0. 1. ]] SLAMing on 18.962414037000002 meters Centerline goodness : 0.772694 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.24 [[ 0.99345042 -0.08995872 -0.07045343 3.7082133 ] [ 0.09080007 0.99583004 0.00882521 0.15066312] [ 0.06936573 -0.01516458 0.99747603 -0.23775253] [ 0. 0. 0. 1. ]] SLAMing on 18.992414037 meters Centerline goodness : 0.774686 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.24 [[ 0.99337412 -0.09060218 -0.07070434 3.70832583] [ 0.09148617 0.99576236 0.00935948 0.14919397] [ 0.06955673 -0.01576593 0.99745341 -0.23675239] [ 0. 0. 0. 1. ]] SLAMing on 19.022414037 meters Centerline goodness : 0.776393 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.24 [[ 0.9932671 -0.0916141 -0.07090358 3.70892373] [ 0.09253798 0.99566043 0.00984992 0.14772128] [ 0.0696935 -0.01634488 0.99743454 -0.23648572] [ 0. 0. 0. 1. ]] SLAMing on 19.052414037000002 meters Centerline goodness : 0.775244 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.24 [[ 0.99276332 -0.09684034 -0.07101361 3.70987034] [ 0.09756652 0.99520563 0.00682133 0.14596298] [ 0.07001256 -0.01370051 0.99745202 -0.23568527] [ 0. 0. 0. 1. ]] SLAMing on 19.082414037 meters Centerline goodness : 0.776397 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.24 [[ 9.92458374e-01 -1.00347210e-01 -7.04046403e-02 3.70967613e+00] [ 1.00840091e-01 9.94896586e-01 3.47272426e-03 1.45549791e-01] [ 6.96968580e-02 -1.05461446e-02 9.97512470e-01 -2.35926772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112414037 meters Centerline goodness : 0.775426 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.24 [[ 9.92142448e-01 -1.03673624e-01 -7.00367261e-02 3.71012182e+00] [ 1.03957168e-01 9.94581692e-01 4.05936674e-04 1.44483425e-01] [ 6.96151607e-02 -7.68356670e-03 9.97544331e-01 -2.36274974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142414037 meters Centerline goodness : 0.777671 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.24 [[ 9.91912470e-01 -1.05875059e-01 -7.00008835e-02 3.71099057e+00] [ 1.06073822e-01 9.94357866e-01 -8.82143208e-04 1.43318530e-01] [ 6.96993261e-02 -6.55025240e-03 9.97546539e-01 -2.36594955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172414037 meters Centerline goodness : 0.776555 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.24 [[ 9.91479857e-01 -1.09789178e-01 -7.01001337e-02 3.71209127e+00] [ 1.09850054e-01 9.93943650e-01 -2.99771963e-03 1.42155978e-01] [ 7.00046999e-02 -4.72832482e-03 9.97535455e-01 -2.36203914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202414037 meters Centerline goodness : 0.776334 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.24 [[ 9.91369149e-01 -1.10490454e-01 -7.05625233e-02 3.71312599e+00] [ 1.10586306e-01 9.93863231e-01 -2.55869425e-03 1.41631475e-01] [ 7.04122087e-02 -5.26663825e-03 9.97504077e-01 -2.35908296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232414037 meters Centerline goodness : 0.775243 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.24 [[ 9.91372875e-01 -1.10349979e-01 -7.07298010e-02 3.71446567e+00] [ 1.10500189e-01 9.93874478e-01 -1.79751423e-03 1.40050922e-01] [ 7.04948997e-02 -6.03364952e-03 9.97493892e-01 -2.36945082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262414037 meters Centerline goodness : 0.777350 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.24 [[ 9.91425700e-01 -1.09891359e-01 -7.07033927e-02 3.71517553e+00] [ 1.10077318e-01 9.93922212e-01 -1.27264307e-03 1.38623708e-01] [ 7.04135250e-02 -6.52110882e-03 9.97496572e-01 -2.37783767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292414037 meters Centerline goodness : 0.777609 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.24 [[ 9.91465403e-01 -1.09484442e-01 -7.07779056e-02 3.71586058e+00] [ 1.09722576e-01 9.93962112e-01 -5.26287384e-04 1.37363767e-01] [ 7.04081768e-02 -7.24413837e-03 9.97491960e-01 -2.38303773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322414037 meters Centerline goodness : 0.778777 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.24 [[ 9.91549956e-01 -1.08881901e-01 -7.05224523e-02 3.71535374e+00] [ 1.09139383e-01 9.94026435e-01 -2.03304216e-04 1.36545970e-01] [ 7.01233180e-02 -7.49519067e-03 9.97510172e-01 -2.38288174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352414037 meters Centerline goodness : 0.776845 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.24 [[ 9.91836141e-01 -1.05982563e-01 -7.09137891e-02 3.71575832e+00] [ 1.06447504e-01 9.94314384e-01 2.79910106e-03 1.36241653e-01] [ 7.02139446e-02 -1.03248454e-02 9.97478521e-01 -2.38576346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382414037 meters Centerline goodness : 0.780776 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.24 [[ 9.91956309e-01 -1.04842019e-01 -7.09283567e-02 3.71593104e+00] [ 1.05331498e-01 9.94432061e-01 3.18601959e-03 1.36838625e-01] [ 7.01994032e-02 -1.06313823e-02 9.97476324e-01 -2.39125413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412414037 meters Centerline goodness : 0.779034 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.24 [[ 9.92078741e-01 -1.03716685e-01 -7.08704577e-02 3.71646340e+00] [ 1.04185525e-01 9.94553531e-01 2.94127399e-03 1.37671864e-01] [ 7.01794048e-02 -1.03016512e-02 9.97481191e-01 -2.40373330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442414037 meters Centerline goodness : 0.778129 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.24 [[ 9.92204511e-01 -1.02857986e-01 -7.03593791e-02 3.71610222e+00] [ 1.03267051e-01 9.94651252e-01 2.19175093e-03 1.38383613e-01] [ 6.97576054e-02 -9.44047078e-03 9.97519300e-01 -2.41651925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472414037 meters Centerline goodness : 0.779216 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.25 [[ 9.92589420e-01 -9.99651626e-02 -6.90884217e-02 3.71555732e+00] [ 1.00253531e-01 9.94961670e-01 7.10523477e-04 1.39544328e-01] [ 6.86693038e-02 -7.63161631e-03 9.97610287e-01 -2.45381726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502414037 meters Centerline goodness : 0.824796 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.25 [[ 9.92737339e-01 -9.88918300e-02 -6.85053450e-02 3.71434286e+00] [ 9.91326342e-02 9.95074222e-01 1.16146816e-04 1.40070106e-01] [ 6.81564169e-02 -6.90641859e-03 9.97650743e-01 -2.45713910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532414037 meters Centerline goodness : 0.779273 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.25 [[ 9.92948587e-01 -9.67744780e-02 -6.84675453e-02 3.71404061e+00] [ 9.71009538e-02 9.95273483e-01 1.44861454e-03 1.39749329e-01] [ 6.80037434e-02 -8.08666371e-03 9.97652293e-01 -2.45812224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562414037 meters Centerline goodness : 0.778801 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.24 [[ 0.99341802 -0.09237302 -0.06773372 3.71010528] [ 0.09298817 0.99564926 0.00597926 0.13695274] [ 0.06688671 -0.01223834 0.99768552 -0.24306271] [ 0. 0. 0. 1. ]] SLAMing on 19.592414037 meters Centerline goodness : 0.779715 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.24 [[ 0.99357325 -0.09106575 -0.06722525 3.70840005] [ 0.09173735 0.99575888 0.00696537 0.1355804 ] [ 0.06630584 -0.01308768 0.99771351 -0.24221616] [ 0. 0. 0. 1. ]] SLAMing on 19.622414037000002 meters Centerline goodness : 0.780535 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:-0.24 [[ 0.99364892 -0.09054265 -0.06681202 3.70721662] [ 0.09123717 0.99580161 0.00741184 0.13414354] [ 0.06586043 -0.0134605 0.99773805 -0.24155158] [ 0. 0. 0. 1. ]] SLAMing on 19.652414037 meters Centerline goodness : 0.779782 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:-0.24 [[ 0.99367192 -0.09058717 -0.06640846 3.70710824] [ 0.09128705 0.99579581 0.00757515 0.13255595] [ 0.06544306 -0.01358944 0.99776377 -0.24207458] [ 0. 0. 0. 1. ]] SLAMing on 19.682414037 meters Centerline goodness : 0.777126 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:-0.24 [[ 0.99325285 -0.09520059 -0.0662241 3.70806933] [ 0.0956733 0.99540477 0.00399641 0.13100921] [ 0.06553933 -0.01030532 0.99779677 -0.24226178] [ 0. 0. 0. 1. ]] SLAMing on 19.712414037000002 meters Centerline goodness : 0.779106 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:-0.24 [[ 9.92931892e-01 -9.83598802e-02 -6.64198177e-02 3.70999735e+00] [ 9.86872777e-02 9.95117114e-01 1.65831849e-03 1.30818523e-01] [ 6.59323854e-02 -8.20138831e-03 9.97790388e-01 -2.43180913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742414037 meters Centerline goodness : 0.778469 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:-0.24 [[ 9.92629873e-01 -1.00978981e-01 -6.70013424e-02 3.71211955e+00] [ 1.01298058e-01 9.94855174e-01 1.37335744e-03 1.29532032e-01] [ 6.65179520e-02 -8.15034146e-03 9.97751940e-01 -2.43314451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772414037 meters Centerline goodness : 0.779670 Centerline is valid? [False, False] Translation: X:3.72, Y:0.13, Z:-0.24 [[ 9.92042140e-01 -1.06133770e-01 -6.77348912e-02 3.71577718e+00] [ 1.06365951e-01 9.94327035e-01 -1.79696839e-04 1.26090355e-01] [ 6.73697054e-02 -7.02641926e-03 9.97703339e-01 -2.44022815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802414037000002 meters Centerline goodness : 0.832782 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.24 [[ 9.91802303e-01 -1.08209720e-01 -6.79621113e-02 3.71706806e+00] [ 1.08480689e-01 9.94098512e-01 2.98324354e-04 1.23680698e-01] [ 6.75287521e-02 -7.66845542e-03 9.97687858e-01 -2.43868939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832414037 meters Centerline goodness : 0.779577 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.24 [[ 9.91634353e-01 -1.09504525e-01 -6.83378976e-02 3.71849121e+00] [ 1.09838497e-01 9.93948797e-01 1.13752828e-03 1.21241179e-01] [ 6.77998066e-02 -8.63414412e-03 9.97661585e-01 -2.43748511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862414037 meters Centerline goodness : 0.780614 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.24 [[ 9.91478164e-01 -1.10527381e-01 -6.89546769e-02 3.72034970e+00] [ 1.10940232e-01 9.93824700e-01 2.17500335e-03 1.19187944e-01] [ 6.82884637e-02 -9.80631620e-03 9.97617423e-01 -2.43677666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892414037 meters Centerline goodness : 0.829963 Centerline is valid? [False, False] Translation: X:3.72, Y:0.12, Z:-0.24 [[ 9.91102826e-01 -1.13851406e-01 -6.89423284e-02 3.72155054e+00] [ 1.14179733e-01 9.93459764e-01 8.27712984e-04 1.15932720e-01] [ 6.83971930e-02 -8.69216531e-03 9.97620304e-01 -2.43499242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922414037 meters Centerline goodness : 0.833024 Centerline is valid? [False, False] Translation: X:3.72, Y:0.11, Z:-0.24 [[ 9.90975101e-01 -1.14533415e-01 -6.96451390e-02 3.72393183e+00] [ 1.14919111e-01 9.93373654e-01 1.54353977e-03 1.14501924e-01] [ 6.90068593e-02 -9.53316692e-03 9.97570635e-01 -2.44074465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952414037 meters Centerline goodness : 0.778186 Centerline is valid? [False, False] Translation: X:3.73, Y:0.11, Z:-0.24 [[ 9.90814525e-01 -1.15712031e-01 -6.99807335e-02 3.72568674e+00] [ 1.16101082e-01 9.93236264e-01 1.50402614e-03 1.13899324e-01] [ 6.93333684e-02 -9.61504983e-03 9.97547209e-01 -2.44879863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982414037 meters Centerline goodness : 0.833557 Centerline is valid? [False, False] Translation: X:3.73, Y:0.11, Z:-0.25 [[ 9.90643581e-01 -1.16712024e-01 -7.07361195e-02 3.72854982e+00] [ 1.17133147e-01 9.93114551e-01 1.82073085e-03 1.13065256e-01] [ 7.00365684e-02 -1.00892396e-02 9.97493402e-01 -2.46134784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012414037 meters Centerline goodness : 0.832575 Centerline is valid? [False, False] Translation: X:3.73, Y:0.11, Z:-0.25 [[ 9.90314470e-01 -1.19600253e-01 -7.05197077e-02 3.72963205e+00] [ 1.19863098e-01 9.92790300e-01 -5.07821634e-04 1.10940337e-01] [ 7.00720174e-02 -7.94980750e-03 9.97510257e-01 -2.46701520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042414037 meters Centerline goodness : 0.835072 Centerline is valid? [False, False] Translation: X:3.73, Y:0.11, Z:-0.25 [[ 9.90280945e-01 -1.19749164e-01 -7.07374503e-02 3.73062884e+00] [ 1.20092849e-01 9.92762477e-01 6.10478239e-04 1.08484028e-01] [ 7.01523821e-02 -9.09960692e-03 9.97494782e-01 -2.46788696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072414037 meters Centerline goodness : 0.832809 Centerline is valid? [False, False] Translation: X:3.73, Y:0.11, Z:-0.25 [[ 9.90269995e-01 -1.19600973e-01 -7.11403075e-02 3.73158145e+00] [ 1.20060757e-01 9.92764092e-01 2.20710706e-03 1.06168375e-01] [ 7.03615706e-02 -1.07267911e-02 9.97463877e-01 -2.46397008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102414037 meters Centerline goodness : 0.833344 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.24 [[ 0.99034211 -0.11880624 -0.07146734 3.73101041] [ 0.11947957 0.99282301 0.0052063 0.10314544] [ 0.07033587 -0.0136949 0.99742935 -0.24418889] [ 0. 0. 0. 1. ]] SLAMing on 20.132414037 meters Centerline goodness : 0.832101 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.24 [[ 0.99041666 -0.11804111 -0.07170169 3.73126447] [ 0.11880491 0.99289655 0.0064678 0.10227605] [ 0.07042889 -0.01492433 0.99740515 -0.24376803] [ 0. 0. 0. 1. ]] SLAMing on 20.162414037 meters Centerline goodness : 0.832101 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.24 [[ 0.99041666 -0.11804111 -0.07170169 3.73126447] [ 0.11880491 0.99289655 0.0064678 0.10227605] [ 0.07042889 -0.01492433 0.99740515 -0.24376803] [ 0. 0. 0. 1. ]] SLAMing on 20.192414037 meters Centerline goodness : 0.831538 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.24 [[ 0.9905232 -0.11725823 -0.07151429 3.7311614 ] [ 0.11806096 0.99298105 0.00708844 0.10116284] [ 0.07018116 -0.01546431 0.99741439 -0.24408948] [ 0. 0. 0. 1. ]] SLAMing on 20.222414037 meters Centerline goodness : 0.832094 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.24 [[ 0.99061159 -0.1166484 -0.07128691 3.73147981] [ 0.11745516 0.99305196 0.00721754 0.10010323] [ 0.06994969 -0.01552279 0.99742974 -0.24499448] [ 0. 0. 0. 1. ]] SLAMing on 20.252414037 meters Centerline goodness : 0.830116 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.25 [[ 0.99080542 -0.11533477 -0.07072837 3.73218554] [ 0.11612467 0.99320894 0.00714611 0.09832576] [ 0.06942386 -0.01529371 0.99747001 -0.24753932] [ 0. 0. 0. 1. ]] SLAMing on 20.282414037 meters Centerline goodness : 0.830836 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.25 [[ 0.99085512 -0.1149783 -0.07061251 3.73293956] [ 0.11577965 0.99324774 0.00734889 0.09707843] [ 0.06929075 -0.01545718 0.99747675 -0.24860772] [ 0. 0. 0. 1. ]] SLAMing on 20.312414037 meters Centerline goodness : 0.829477 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:-0.25 [[ 0.99088962 -0.11460466 -0.07073569 3.73426007] [ 0.11543265 0.99328533 0.00771729 0.09604297] [ 0.06937628 -0.01581219 0.99746524 -0.24985117] [ 0. 0. 0. 1. ]] SLAMing on 20.342414037 meters Centerline goodness : 0.827209 Centerline is valid? [False, False] Translation: X:3.73, Y:0.09, Z:-0.25 [[ 0.99093249 -0.11451145 -0.07028466 3.73455149] [ 0.11532976 0.99329754 0.00768396 0.09431588] [ 0.06893367 -0.0157202 0.99749738 -0.25106702] [ 0. 0. 0. 1. ]] SLAMing on 20.372414037000002 meters Centerline goodness : 0.831171 Centerline is valid? [False, False] Translation: X:3.74, Y:0.09, Z:-0.25 [[ 0.99091017 -0.11469862 -0.07029417 3.73508166] [ 0.11549551 0.99328069 0.00736541 0.09386026] [ 0.06897704 -0.01541712 0.99749911 -0.25156737] [ 0. 0. 0. 1. ]] SLAMing on 20.402414037 meters Centerline goodness : 0.826501 Centerline is valid? [False, False] Translation: X:3.74, Y:0.09, Z:-0.25 [[ 0.990935 -0.11449109 -0.07028238 3.73608061] [ 0.1152914 0.99330396 0.00742484 0.09309815] [ 0.06896169 -0.01546049 0.9974995 -0.25273998] [ 0. 0. 0. 1. ]] SLAMing on 20.432414037 meters Centerline goodness : 0.833859 Centerline is valid? [False, False] Translation: X:3.74, Y:0.09, Z:-0.25 [[ 0.99097178 -0.11417652 -0.07027552 3.73693746] [ 0.1150014 0.99333476 0.00779276 0.09190872] [ 0.06891736 -0.01580419 0.99749718 -0.2536739 ] [ 0. 0. 0. 1. ]] SLAMing on 20.462414037000002 meters Centerline goodness : 0.828522 Centerline is valid? [False, False] Translation: X:3.74, Y:0.09, Z:-0.25 [[ 0.99102434 -0.11378903 -0.07016282 3.73686607] [ 0.11468401 0.99336261 0.00884916 0.08960454] [ 0.06869018 -0.01681628 0.9974963 -0.25340121] [ 0. 0. 0. 1. ]] SLAMing on 20.492414037 meters Centerline goodness : 0.832939 Centerline is valid? [False, False] Translation: X:3.74, Y:0.09, Z:-0.25 [[ 0.99101215 -0.11357331 -0.07068257 3.73780293] [ 0.11457082 0.99336263 0.01020891 0.08856117] [ 0.06905396 -0.01821532 0.99744662 -0.2529015 ] [ 0. 0. 0. 1. ]] SLAMing on 20.522414037 meters Centerline goodness : 0.830563 Centerline is valid? [False, False] Translation: X:3.74, Y:0.09, Z:-0.25 [[ 0.99096765 -0.11377392 -0.07098321 3.73818504] [ 0.11481354 0.99332912 0.01072871 0.0882188 ] [ 0.06928905 -0.01878164 0.99741981 -0.25236978] [ 0. 0. 0. 1. ]] SLAMing on 20.552414037000002 meters Centerline goodness : 0.834555 Centerline is valid? [False, False] Translation: X:3.74, Y:0.09, Z:-0.25 [[ 0.99096825 -0.11372428 -0.07105426 3.73855301] [ 0.1147906 0.99332775 0.01109518 0.08771293] [ 0.06931838 -0.01915133 0.99741074 -0.25237083] [ 0. 0. 0. 1. ]] SLAMing on 20.582414037 meters Centerline goodness : 0.834124 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.25 [[ 0.99105983 -0.11297959 -0.07096493 3.73897989] [ 0.11412007 0.99339187 0.01221465 0.08470298] [ 0.06911598 -0.02020397 0.99740402 -0.25285413] [ 0. 0. 0. 1. ]] SLAMing on 20.612414037 meters Centerline goodness : 0.835520 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.25 [[ 0.99106287 -0.11288559 -0.07107196 3.73984342] [ 0.11407347 0.99338895 0.01286983 0.0826966 ] [ 0.06914928 -0.02086223 0.99738816 -0.25322531] [ 0. 0. 0. 1. ]] SLAMing on 20.642414037 meters Centerline goodness : 0.837595 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.25 [[ 0.99105739 -0.11294609 -0.07105228 3.74028244] [ 0.11415319 0.99337611 0.013151 0.08154818] [ 0.06909628 -0.02114424 0.9973859 -0.25360955] [ 0. 0. 0. 1. ]] SLAMing on 20.672414037 meters Centerline goodness : 0.824758 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.25 [[ 0.99093571 -0.11364571 -0.07163144 3.74178579] [ 0.11486766 0.99329358 0.01316341 0.0823409 ] [ 0.06965508 -0.02127223 0.9973443 -0.25377301] [ 0. 0. 0. 1. ]] SLAMing on 20.702414037 meters Centerline goodness : 0.834834 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.25 [[ 0.99091441 -0.11361842 -0.07196863 3.7428378 ] [ 0.11487751 0.99328669 0.01359091 0.08240757] [ 0.06994131 -0.02173501 0.99731429 -0.25411742] [ 0. 0. 0. 1. ]] SLAMing on 20.732414037 meters Centerline goodness : 0.825704 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.25 [[ 0.99091555 -0.11341054 -0.0722802 3.74390423] [ 0.11471753 0.99329692 0.01418161 0.08188656] [ 0.07018735 -0.02234459 0.99728354 -0.25457548] [ 0. 0. 0. 1. ]] SLAMing on 20.762414037 meters Centerline goodness : 0.833341 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.26 [[ 0.99094272 -0.11331238 -0.07206135 3.7442693 ] [ 0.11458605 0.99331775 0.01378008 0.08134429] [ 0.07001836 -0.0219125 0.997305 -0.25560589] [ 0. 0. 0. 1. ]] SLAMing on 20.792414037 meters Centerline goodness : 0.830463 Centerline is valid? [False, False] Translation: X:3.74, Y:0.08, Z:-0.26 [[ 0.99108886 -0.1125652 -0.07121761 3.74495195] [ 0.1137307 0.99343279 0.01251473 0.08018016] [ 0.06934119 -0.02050283 0.99738229 -0.25880201] [ 0. 0. 0. 1. ]] SLAMing on 20.822414037 meters Centerline goodness : 0.830920 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.99108087 -0.11242363 -0.07155167 3.74603857] [ 0.11362525 0.99343944 0.01293799 0.0798545 ] [ 0.06962771 -0.02095267 0.99735298 -0.2592316 ] [ 0. 0. 0. 1. ]] SLAMing on 20.852414037 meters Centerline goodness : 0.830679 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.9910704 -0.11251019 -0.07156057 3.7454406 ] [ 0.11372476 0.99342569 0.01311791 0.07997349] [ 0.06961421 -0.02113898 0.99734999 -0.25827303] [ 0. 0. 0. 1. ]] SLAMing on 20.882414037 meters Centerline goodness : 0.829207 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.99124136 -0.11036973 -0.07251962 3.7451751 ] [ 0.11195189 0.99354851 0.01811464 0.07844363] [ 0.07005245 -0.02607469 0.99720247 -0.25540231] [ 0. 0. 0. 1. ]] SLAMing on 20.912414037 meters Centerline goodness : 0.833556 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.25 [[ 0.99119757 -0.11059887 -0.07276865 3.74531747] [ 0.1122172 0.99351096 0.01852755 0.07811048] [ 0.07024733 -0.02653036 0.99717674 -0.25471954] [ 0. 0. 0. 1. ]] SLAMing on 20.942414037 meters Centerline goodness : 0.831454 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.99114754 -0.11077948 -0.07317414 3.74663782] [ 0.11244719 0.99347477 0.01906599 0.07702631] [ 0.07058454 -0.02712544 0.99713692 -0.25502776] [ 0. 0. 0. 1. ]] SLAMing on 20.972414037 meters Centerline goodness : 0.836736 Centerline is valid? [False, False] Translation: X:3.75, Y:0.07, Z:-0.26 [[ 0.99091134 -0.11248092 -0.07377511 3.74924055] [ 0.11421239 0.99326155 0.01967306 0.07408421] [ 0.07106514 -0.02792029 0.99708084 -0.25566269] [ 0. 0. 0. 1. ]] SLAMing on 21.002414037 meters Centerline goodness : 0.832995 Centerline is valid? [False, False] Translation: X:3.75, Y:0.07, Z:-0.26 [[ 0.99076202 -0.11355572 -0.07413306 3.75039526] [ 0.11529955 0.99313601 0.01966925 0.0733663 ] [ 0.07139065 -0.02803505 0.99705437 -0.25566464] [ 0. 0. 0. 1. ]] SLAMing on 21.032414037 meters Centerline goodness : 0.840449 Centerline is valid? [False, False] Translation: X:3.75, Y:0.07, Z:-0.26 [[ 0.99063835 -0.11433445 -0.07458749 3.75173858] [ 0.11608625 0.99304621 0.01957574 0.07351147] [ 0.07183065 -0.02805106 0.99702231 -0.25588229] [ 0. 0. 0. 1. ]] SLAMing on 21.062414037 meters Centerline goodness : 0.834485 Centerline is valid? [False, False] Translation: X:3.75, Y:0.07, Z:-0.26 [[ 0.99054678 -0.11458803 -0.07540992 3.75377699] [ 0.1163998 0.99299961 0.02007143 0.07416509] [ 0.07258207 -0.02865939 0.99695059 -0.25624987] [ 0. 0. 0. 1. ]] SLAMing on 21.092414037 meters Centerline goodness : 0.839527 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.99042906 -0.11539202 -0.07572945 3.75404707] [ 0.11715171 0.9929283 0.01920591 0.07680203] [ 0.07297771 -0.02789393 0.99694342 -0.25591665] [ 0. 0. 0. 1. ]] SLAMing on 21.122414037 meters Centerline goodness : 0.837502 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.99044783 -0.11511493 -0.07590553 3.75495081] [ 0.11687963 0.99296016 0.01921651 0.07714163] [ 0.07315906 -0.02790476 0.99692983 -0.25670842] [ 0. 0. 0. 1. ]] SLAMing on 21.152414037 meters Centerline goodness : 0.834949 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.9904962 -0.11458806 -0.07607138 3.7560608 ] [ 0.11635525 0.99302196 0.01920539 0.07687731] [ 0.07333984 -0.02787418 0.9969174 -0.25784591] [ 0. 0. 0. 1. ]] SLAMing on 21.182414037 meters Centerline goodness : 0.836685 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.9906672 -0.11325761 -0.07583669 3.75614979] [ 0.11504265 0.99316748 0.01958424 0.07613592] [ 0.07310047 -0.02812592 0.99692791 -0.25878087] [ 0. 0. 0. 1. ]] SLAMing on 21.212414037000002 meters Centerline goodness : 0.833319 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.99075573 -0.11263191 -0.07561173 3.75479043] [ 0.11444856 0.9932253 0.02012519 0.07614392] [ 0.07283274 -0.0285928 0.99693422 -0.25761635] [ 0. 0. 0. 1. ]] SLAMing on 21.242414037 meters Centerline goodness : 0.831206 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.26 [[ 0.99079515 -0.11200069 -0.07603168 3.75454517] [ 0.11391247 0.99326291 0.02127787 0.07674342] [ 0.07313631 -0.02974296 0.99687835 -0.25622885] [ 0. 0. 0. 1. ]] SLAMing on 21.272414037 meters Centerline goodness : 0.833051 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.25 [[ 0.99077666 -0.11190832 -0.07640767 3.75415989] [ 0.11389412 0.99324633 0.02213258 0.07727981] [ 0.07341482 -0.03063082 0.99683099 -0.25469565] [ 0. 0. 0. 1. ]] SLAMing on 21.302414037000002 meters Centerline goodness : 0.837681 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.25 [[ 0.99040826 -0.11441999 -0.07745673 3.75563956] [ 0.11639346 0.99297159 0.02144729 0.07964356] [ 0.07445833 -0.03025703 0.996765 -0.2532637 ] [ 0. 0. 0. 1. ]] SLAMing on 21.332414037 meters Centerline goodness : 0.836551 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.25 [[ 0.99021997 -0.11542982 -0.07836052 3.7585175 ] [ 0.117441 0.99284609 0.02154631 0.07978533] [ 0.07531285 -0.03053832 0.99669222 -0.25430477] [ 0. 0. 0. 1. ]] SLAMing on 21.362414037 meters Centerline goodness : 0.835607 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.99007321 -0.11647898 -0.07866186 3.76046182] [ 0.11844895 0.99274134 0.02084402 0.07966887] [ 0.07566299 -0.02995452 0.99668342 -0.25554195] [ 0. 0. 0. 1. ]] SLAMing on 21.392414037 meters Centerline goodness : 0.836462 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.98989648 -0.11835198 -0.07808826 3.76105524] [ 0.12004855 0.99261578 0.01738535 0.08055951] [ 0.07545405 -0.02658408 0.99679485 -0.25733218] [ 0. 0. 0. 1. ]] SLAMing on 21.422414037 meters Centerline goodness : 0.835212 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.98987636 -0.11844968 -0.07819506 3.76197431] [ 0.1201648 0.99259813 0.01758886 0.0802841 ] [ 0.07553288 -0.02680709 0.99678291 -0.25804911] [ 0. 0. 0. 1. ]] SLAMing on 21.452414037 meters Centerline goodness : 0.834928 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.98994047 -0.117909 -0.07820065 3.76137274] [ 0.11964023 0.99265739 0.01781915 0.08140813] [ 0.07552542 -0.02699584 0.99677838 -0.25750441] [ 0. 0. 0. 1. ]] SLAMing on 21.482414037 meters Centerline goodness : 0.825371 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.99034653 -0.11439757 -0.07827476 3.75908423] [ 0.11635452 0.99298783 0.02089951 0.08317469] [ 0.07533503 -0.02980538 0.99671273 -0.25563887] [ 0. 0. 0. 1. ]] SLAMing on 21.512414037 meters Centerline goodness : 0.835438 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.99055285 -0.11260444 -0.0782642 3.75820739] [ 0.11462961 0.99316754 0.02186973 0.0838211 ] [ 0.07526684 -0.03063452 0.99669275 -0.25518192] [ 0. 0. 0. 1. ]] SLAMing on 21.542414037 meters Centerline goodness : 0.830251 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.9907361 -0.111451 -0.07759289 3.75668384] [ 0.11342286 0.99331472 0.02147365 0.08465256] [ 0.0746809 -0.03007553 0.99675384 -0.25540293] [ 0. 0. 0. 1. ]] SLAMing on 21.572414037 meters Centerline goodness : 0.829322 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99081561 -0.11097318 -0.07726178 3.75589524] [ 0.11286973 0.99339591 0.02061545 0.08571651] [ 0.07446378 -0.02914663 0.99679768 -0.25564412] [ 0. 0. 0. 1. ]] SLAMing on 21.602414037 meters Centerline goodness : 0.831180 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99094572 -0.11027397 -0.07659138 3.75531139] [ 0.11202154 0.99352612 0.01889503 0.08771676] [ 0.07401191 -0.02730383 0.99688351 -0.25734234] [ 0. 0. 0. 1. ]] SLAMing on 21.632414037 meters Centerline goodness : 0.828437 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99103617 -0.10971506 -0.07622284 3.75500143] [ 0.11140697 0.99360639 0.01829826 0.08868363] [ 0.07372791 -0.026626 0.99692289 -0.25814316] [ 0. 0. 0. 1. ]] SLAMing on 21.662414037 meters Centerline goodness : 0.828403 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.26 [[ 0.99109035 -0.10934284 -0.07605306 3.75450861] [ 0.11098575 0.9936642 0.01770921 0.09012894] [ 0.07363483 -0.02599223 0.9969465 -0.2582472 ] [ 0. 0. 0. 1. ]] SLAMing on 21.692414037 meters Centerline goodness : 0.831051 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.26 [[ 0.99113283 -0.1089631 -0.07604447 3.75448113] [ 0.11057658 0.99371655 0.01732716 0.09153568] [ 0.07367863 -0.02558226 0.99695386 -0.25856327] [ 0. 0. 0. 1. ]] SLAMing on 21.722414037 meters Centerline goodness : 0.834438 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.26 [[ 0.99123271 -0.10834606 -0.07562305 3.75383929] [ 0.10991789 0.99379648 0.01692974 0.0920768 ] [ 0.07331965 -0.02509364 0.99699275 -0.25906341] [ 0. 0. 0. 1. ]] SLAMing on 21.752414037 meters Centerline goodness : 0.828042 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.26 [[ 0.99120875 -0.10865623 -0.07549198 3.75335299] [ 0.11020464 0.99376954 0.01664477 0.0924146 ] [ 0.07321307 -0.02481801 0.99700748 -0.25865326] [ 0. 0. 0. 1. ]] SLAMing on 21.782414037 meters Centerline goodness : 0.829747 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.26 [[ 0.99119147 -0.10863734 -0.0757456 3.75406942] [ 0.11023042 0.99375781 0.017166 0.09226186] [ 0.07340791 -0.02536427 0.9969794 -0.25873981] [ 0. 0. 0. 1. ]] SLAMing on 21.812414037 meters Centerline goodness : 0.832461 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.26 [[ 0.99115159 -0.10906758 -0.07564916 3.75422013] [ 0.11064668 0.9937145 0.0169942 0.09205666] [ 0.07332015 -0.02521416 0.99698967 -0.25895884] [ 0. 0. 0. 1. ]] SLAMing on 21.842414037 meters Centerline goodness : 0.830584 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.26 [[ 0.99107457 -0.10963779 -0.07583368 3.75473494] [ 0.1111865 0.9936626 0.01649847 0.09253899] [ 0.07354423 -0.0247829 0.99698398 -0.25899896] [ 0. 0. 0. 1. ]] SLAMing on 21.872414037 meters Centerline goodness : 0.829155 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99109225 -0.10949409 -0.07581029 3.75528932] [ 0.11102826 0.99368333 0.01631435 0.09270655] [ 0.0735451 -0.02458611 0.99698879 -0.25977492] [ 0. 0. 0. 1. ]] SLAMing on 21.902414037 meters Centerline goodness : 0.831487 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99112874 -0.10902404 -0.07601044 3.75634398] [ 0.11059483 0.99372426 0.01675934 0.09246284] [ 0.07370625 -0.02501703 0.99696617 -0.2606095 ] [ 0. 0. 0. 1. ]] SLAMing on 21.932414037 meters Centerline goodness : 0.831982 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99103302 -0.10978777 -0.07615903 3.75669631] [ 0.11132501 0.99365153 0.01622883 0.09285017] [ 0.07389381 -0.02456171 0.9969636 -0.2603769 ] [ 0. 0. 0. 1. ]] SLAMing on 21.962414037000002 meters Centerline goodness : 0.824278 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99098967 -0.10989479 -0.07656766 3.7581951 ] [ 0.11147373 0.9936279 0.01664915 0.09252002] [ 0.07425011 -0.02503441 0.99692537 -0.26102111] [ 0. 0. 0. 1. ]] SLAMing on 21.992414037 meters Centerline goodness : 0.831119 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99089885 -0.11043751 -0.07696125 3.75906286] [ 0.11205005 0.99355806 0.01694595 0.0920092 ] [ 0.074594 -0.02541523 0.99689006 -0.26076186] [ 0. 0. 0. 1. ]] SLAMing on 22.022414037 meters Centerline goodness : 0.828260 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99077585 -0.11130337 -0.07729671 3.76006457] [ 0.11300251 0.99343248 0.01795387 0.09052512] [ 0.07479074 -0.02652298 0.99684647 -0.26056238] [ 0. 0. 0. 1. ]] SLAMing on 22.052414037000002 meters Centerline goodness : 0.831832 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99069469 -0.11185692 -0.07753749 3.76086348] [ 0.11357605 0.99336416 0.01811426 0.08954791] [ 0.07499676 -0.02675211 0.99682486 -0.26044427] [ 0. 0. 0. 1. ]] SLAMing on 22.082414037 meters Centerline goodness : 0.831832 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99069469 -0.11185692 -0.07753749 3.76086348] [ 0.11357605 0.99336416 0.01811426 0.08954791] [ 0.07499676 -0.02675211 0.99682486 -0.26044427] [ 0. 0. 0. 1. ]] SLAMing on 22.112414037 meters Centerline goodness : 0.833811 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99062935 -0.11225923 -0.07779044 3.76180713] [ 0.11402416 0.99330353 0.01861662 0.08820611] [ 0.07517964 -0.02731216 0.9967959 -0.26059098] [ 0. 0. 0. 1. ]] SLAMing on 22.142414037 meters Centerline goodness : 0.831184 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99059806 -0.11245587 -0.07790485 3.76249184] [ 0.11426562 0.99326543 0.01916149 0.08687591] [ 0.07522537 -0.02788318 0.99677664 -0.26071388] [ 0. 0. 0. 1. ]] SLAMing on 22.172414037 meters Centerline goodness : 0.828607 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.26 [[ 0.99050759 -0.11319636 -0.07798266 3.76251469] [ 0.11507259 0.99315599 0.01998688 0.08506397] [ 0.0751865 -0.02877083 0.99675435 -0.25977601] [ 0. 0. 0. 1. ]] SLAMing on 22.202414037 meters Centerline goodness : 0.833474 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.99047814 -0.11342359 -0.07802651 3.76251676] [ 0.11534759 0.99311166 0.02059532 0.08425292] [ 0.07515304 -0.02939938 0.99673853 -0.25925394] [ 0. 0. 0. 1. ]] SLAMing on 22.232414037 meters Centerline goodness : 0.834765 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.99046171 -0.11345311 -0.07819198 3.76302454] [ 0.11541557 0.99309447 0.02103857 0.08356305] [ 0.07526514 -0.02986247 0.9967163 -0.25923796] [ 0. 0. 0. 1. ]] SLAMing on 22.262414037 meters Centerline goodness : 0.834001 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.99044164 -0.11361607 -0.07820957 3.7637298 ] [ 0.11558547 0.99307303 0.02111767 0.0827262 ] [ 0.07526851 -0.02995571 0.99671325 -0.25982143] [ 0. 0. 0. 1. ]] SLAMing on 22.292414037 meters Centerline goodness : 0.832849 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.26 [[ 0.99031583 -0.1153541 -0.0772528 3.7644672 ] [ 0.11704651 0.99296807 0.0177349 0.08170594] [ 0.07466377 -0.02660532 0.99685379 -0.26259151] [ 0. 0. 0. 1. ]] SLAMing on 22.322414037 meters Centerline goodness : 0.838575 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.99025379 -0.11566583 -0.07758122 3.76574047] [ 0.1173916 0.99292165 0.01805037 0.08067237] [ 0.07494426 -0.02698183 0.99682262 -0.26305506] [ 0. 0. 0. 1. ]] SLAMing on 22.352414037 meters Centerline goodness : 0.823485 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.99019922 -0.11590281 -0.07792334 3.76645009] [ 0.11769335 0.99287245 0.01877693 0.08012181] [ 0.07519164 -0.02776396 0.99678251 -0.26275737] [ 0. 0. 0. 1. ]] SLAMing on 22.382414037 meters Centerline goodness : 0.821650 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.99014365 -0.11621113 -0.07816984 3.76651101] [ 0.11804494 0.99282171 0.01924678 0.07970555] [ 0.07537202 -0.02828464 0.99675425 -0.26188798] [ 0. 0. 0. 1. ]] SLAMing on 22.412414037 meters Centerline goodness : 0.835630 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.99002354 -0.11696123 -0.07857137 3.76683699] [ 0.11887593 0.99270495 0.02013433 0.07899737] [ 0.07564326 -0.02927371 0.99670515 -0.26067595] [ 0. 0. 0. 1. ]] SLAMing on 22.442414037 meters Centerline goodness : 0.829793 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.98995569 -0.1173677 -0.07881971 3.76806129] [ 0.11930515 0.99264963 0.02032242 0.07807416] [ 0.07585516 -0.0295219 0.99668172 -0.26125047] [ 0. 0. 0. 1. ]] SLAMing on 22.472414037 meters Centerline goodness : 0.835615 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.9898827 -0.11790177 -0.07893927 3.76982399] [ 0.11981985 0.99259412 0.02000268 0.07739483] [ 0.0759963 -0.0292588 0.99667873 -0.26286788] [ 0. 0. 0. 1. ]] SLAMing on 22.502414037 meters Centerline goodness : 0.836733 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.98965033 -0.12009245 -0.07854954 3.77141333] [ 0.12179497 0.99240559 0.01723766 0.07645295] [ 0.07588289 -0.02662619 0.99676117 -0.26494848] [ 0. 0. 0. 1. ]] SLAMing on 22.532414037 meters Centerline goodness : 0.837260 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.98965631 -0.11980756 -0.07890837 3.77213577] [ 0.12158754 0.99241502 0.0181357 0.0757906 ] [ 0.07613705 -0.02754239 0.99671689 -0.26474231] [ 0. 0. 0. 1. ]] SLAMing on 22.562414037 meters Centerline goodness : 0.840031 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.98972426 -0.1191142 -0.07910564 3.77198923] [ 0.12099121 0.99246482 0.01935743 0.07516544] [ 0.07620382 -0.0287296 0.99667828 -0.26390577] [ 0. 0. 0. 1. ]] SLAMing on 22.592414037 meters Centerline goodness : 0.840494 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.9899097 -0.11789612 -0.0786084 3.76971524] [ 0.11978672 0.9926028 0.01976906 0.07568961] [ 0.07569622 -0.02898583 0.99670954 -0.26245293] [ 0. 0. 0. 1. ]] SLAMing on 22.622414037 meters Centerline goodness : 0.839366 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.99002788 -0.1170043 -0.07845252 3.76987573] [ 0.11889154 0.99270948 0.01981651 0.07558644] [ 0.07556195 -0.02894624 0.99672088 -0.26330165] [ 0. 0. 0. 1. ]] SLAMing on 22.652414037 meters Centerline goodness : 0.839064 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.26 [[ 0.9901092 -0.11652547 -0.07813825 3.7698593 ] [ 0.11834702 0.99278887 0.01908516 0.07600453] [ 0.07535088 -0.02814382 0.99675984 -0.26435284] [ 0. 0. 0. 1. ]] SLAMing on 22.682414037 meters Centerline goodness : 0.837612 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.9902358 -0.11562664 -0.07786878 3.77021729] [ 0.11742719 0.99290087 0.01893979 0.07611183] [ 0.07512604 -0.02789877 0.9967837 -0.26581606] [ 0. 0. 0. 1. ]] SLAMing on 22.712414037000002 meters Centerline goodness : 0.834088 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99035268 -0.11497208 -0.07734975 3.76879362] [ 0.11669987 0.99300071 0.01818587 0.07787677] [ 0.07471749 -0.02703713 0.99683815 -0.26571104] [ 0. 0. 0. 1. ]] SLAMing on 22.742414037 meters Centerline goodness : 0.830749 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99038486 -0.11456447 -0.07754238 3.76940939] [ 0.11631009 0.99304309 0.01836798 0.07835159] [ 0.07489861 -0.02721033 0.99681984 -0.26610872] [ 0. 0. 0. 1. ]] SLAMing on 22.772414037 meters Centerline goodness : 0.828808 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99042854 -0.11417307 -0.07756173 3.76979069] [ 0.11592917 0.99308491 0.01851432 0.07787544] [ 0.07491155 -0.02732878 0.99681563 -0.26653044] [ 0. 0. 0. 1. ]] SLAMing on 22.802414037000002 meters Centerline goodness : 0.833803 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99043526 -0.1142737 -0.07732731 3.76965734] [ 0.1160263 0.99307291 0.01854999 0.07609318] [ 0.07467188 -0.02734456 0.99683318 -0.2666031 ] [ 0. 0. 0. 1. ]] SLAMing on 22.832414037 meters Centerline goodness : 0.840734 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99046513 -0.11417608 -0.07708862 3.76942865] [ 0.11593206 0.99308135 0.01868659 0.07511758] [ 0.07442171 -0.02744545 0.99684911 -0.26669195] [ 0. 0. 0. 1. ]] SLAMing on 22.862414037 meters Centerline goodness : 0.839654 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.990446 -0.11419138 -0.07731135 3.76988019] [ 0.11596442 0.99307483 0.01883172 0.07556564] [ 0.07462554 -0.02761717 0.99682913 -0.26671955] [ 0. 0. 0. 1. ]] SLAMing on 22.892414037 meters Centerline goodness : 0.841898 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.9904614 -0.11406638 -0.07729855 3.77006242] [ 0.11581035 0.99309993 0.01845267 0.07699462] [ 0.07466036 -0.02722863 0.99683721 -0.26720003] [ 0. 0. 0. 1. ]] SLAMing on 22.922414037 meters Centerline goodness : 0.839027 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99048689 -0.11359284 -0.07766851 3.77139544] [ 0.11529336 0.99317274 0.01775814 0.07956349] [ 0.07512105 -0.02654386 0.99682107 -0.26854864] [ 0. 0. 0. 1. ]] SLAMing on 22.952414037 meters Centerline goodness : 0.837769 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99050284 -0.1134731 -0.07764008 3.77179071] [ 0.11515867 0.99319164 0.01757411 0.07958832] [ 0.07511729 -0.02634813 0.99682655 -0.26912687] [ 0. 0. 0. 1. ]] SLAMing on 22.982414037 meters Centerline goodness : 0.836791 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99054123 -0.1130655 -0.07774492 3.77237468] [ 0.11480166 0.99322128 0.0182227 0.07836035] [ 0.07515755 -0.02697559 0.99680673 -0.26948002] [ 0. 0. 0. 1. ]] SLAMing on 23.012414037 meters Centerline goodness : 0.835100 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99057754 -0.11281804 -0.07764171 3.77254411] [ 0.11458713 0.99323707 0.01870612 0.07685606] [ 0.07500624 -0.0274266 0.99680582 -0.26968159] [ 0. 0. 0. 1. ]] SLAMing on 23.042414037 meters Centerline goodness : 0.835290 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99045534 -0.11368689 -0.07793275 3.7728057 ] [ 0.1154828 0.9931292 0.01892377 0.07634224] [ 0.07524591 -0.02774304 0.996779 -0.26878534] [ 0. 0. 0. 1. ]] SLAMing on 23.072414037 meters Centerline goodness : 0.821672 Centerline is valid? [False, False] Translation: X:3.77, Y:0.08, Z:-0.27 [[ 0.99037427 -0.11404041 -0.07844486 3.77365311] [ 0.11589465 0.99307026 0.01949058 0.07634531] [ 0.07567855 -0.02839431 0.99672791 -0.26822994] [ 0. 0. 0. 1. ]] SLAMing on 23.102414037 meters Centerline goodness : 0.822123 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99023836 -0.11460143 -0.07933792 3.77523787] [ 0.11655837 0.99297276 0.02047538 0.07617187] [ 0.07643388 -0.029523 0.99663747 -0.26748776] [ 0. 0. 0. 1. ]] SLAMing on 23.132414037 meters Centerline goodness : 0.823605 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99011967 -0.11545328 -0.07958379 3.77581676] [ 0.11746754 0.99285264 0.02109511 0.07518204] [ 0.07657947 -0.0302352 0.99660495 -0.26693349] [ 0. 0. 0. 1. ]] SLAMing on 23.162414037 meters Centerline goodness : 0.835859 Centerline is valid? [False, False] Translation: X:3.78, Y:0.07, Z:-0.27 [[ 0.98956072 -0.11978171 -0.08013697 3.77851027] [ 0.12164145 0.99239747 0.01872465 0.07357402] [ 0.07728485 -0.02827716 0.99660797 -0.26721302] [ 0. 0. 0. 1. ]] SLAMing on 23.192414037 meters Centerline goodness : 0.822639 Centerline is valid? [False, False] Translation: X:3.78, Y:0.07, Z:-0.27 [[ 0.989317 -0.12128117 -0.08088725 3.78080062] [ 0.12318393 0.99220301 0.01894502 0.07251341] [ 0.0779589 -0.02870664 0.99654319 -0.267412 ] [ 0. 0. 0. 1. ]] SLAMing on 23.222414037 meters Centerline goodness : 0.832456 Centerline is valid? [False, False] Translation: X:3.78, Y:0.07, Z:-0.27 [[ 0.98889536 -0.12369916 -0.082368 3.78443205] [ 0.12574938 0.99185704 0.02016679 0.07117164] [ 0.07920266 -0.03030057 0.99639792 -0.26701564] [ 0. 0. 0. 1. ]] SLAMing on 23.252414037 meters Centerline goodness : 0.835906 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98876092 -0.12434223 -0.08301121 3.78665467] [ 0.12646517 0.99175285 0.02080509 0.06956205] [ 0.07973965 -0.03106928 0.99633141 -0.26755334] [ 0. 0. 0. 1. ]] SLAMing on 23.282414037 meters Centerline goodness : 0.840201 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98865912 -0.12480853 -0.08352229 3.78876786] [ 0.12699854 0.99167156 0.0214218 0.06784028] [ 0.08015306 -0.03178607 0.99627563 -0.26834121] [ 0. 0. 0. 1. ]] SLAMing on 23.312414037 meters Centerline goodness : 0.827443 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.9885479 -0.12552642 -0.08376258 3.78929295] [ 0.1277374 0.99157368 0.02155908 0.06722249] [ 0.08035053 -0.0320118 0.9962525 -0.26790136] [ 0. 0. 0. 1. ]] SLAMing on 23.342414037 meters Centerline goodness : 0.830179 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.26 [[ 0.98855856 -0.1245948 -0.08501824 3.78957744] [ 0.12716643 0.99155321 0.02551327 0.06663019] [ 0.08112129 -0.03603283 0.9960527 -0.2649347 ] [ 0. 0. 0. 1. ]] SLAMing on 23.372414037 meters Centerline goodness : 0.834017 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.26 [[ 0.98851479 -0.124769 -0.08527137 3.78925553] [ 0.12738508 0.99151411 0.02593859 0.06714692] [ 0.08131143 -0.03650299 0.99602007 -0.263727 ] [ 0. 0. 0. 1. ]] SLAMing on 23.402414037 meters Centerline goodness : 0.831294 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.26 [[ 0.98849025 -0.12480051 -0.08550943 3.79013147] [ 0.12743297 0.99150555 0.02603045 0.06729053] [ 0.08153446 -0.03662757 0.99599727 -0.26420483] [ 0. 0. 0. 1. ]] SLAMing on 23.432414037 meters Centerline goodness : 0.831901 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98842022 -0.12528443 -0.08561121 3.79161304] [ 0.12785705 0.99147147 0.02523676 0.06718614] [ 0.0817193 -0.03589052 0.99600895 -0.2656794 ] [ 0. 0. 0. 1. ]] SLAMing on 23.462414037000002 meters Centerline goodness : 0.837935 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98831583 -0.12723057 -0.0839297 3.79199847] [ 0.12926098 0.99142478 0.01919623 0.06780195] [ 0.08076764 -0.02982077 0.99628676 -0.27028275] [ 0. 0. 0. 1. ]] SLAMing on 23.492414037 meters Centerline goodness : 0.830164 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98842765 -0.12638518 -0.08389024 3.79252931] [ 0.12842094 0.99153174 0.01930962 0.06779401] [ 0.08073938 -0.02985942 0.99628789 -0.27132907] [ 0. 0. 0. 1. ]] SLAMing on 23.522414037 meters Centerline goodness : 0.830008 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98857575 -0.12547796 -0.08350606 3.79114547] [ 0.12748041 0.99165765 0.01907484 0.06919705] [ 0.08041595 -0.02950231 0.99632469 -0.27099795] [ 0. 0. 0. 1. ]] SLAMing on 23.552414037000002 meters Centerline goodness : 0.835769 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98921059 -0.12024812 -0.08368277 3.78804962] [ 0.12253481 0.9922039 0.02272955 0.07248187] [ 0.08029718 -0.03273836 0.99623319 -0.26869897] [ 0. 0. 0. 1. ]] SLAMing on 23.582414037 meters Centerline goodness : 0.828354 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98948787 -0.11846684 -0.08294197 3.78573917] [ 0.1206553 0.99245348 0.0218723 0.07487496] [ 0.0797249 -0.03164976 0.99631432 -0.26872663] [ 0. 0. 0. 1. ]] SLAMing on 23.612414037 meters Centerline goodness : 0.836775 Centerline is valid? [False, False] Translation: X:3.79, Y:0.08, Z:-0.27 [[ 0.98979926 -0.11615384 -0.08249674 3.78524495] [ 0.11832104 0.99273454 0.02186941 0.07522518] [ 0.07935715 -0.03140743 0.99635135 -0.27009959] [ 0. 0. 0. 1. ]] SLAMing on 23.642414037 meters Centerline goodness : 0.837551 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99002711 -0.11502556 -0.08133534 3.7836147 ] [ 0.11705311 0.99291199 0.02059981 0.07526851] [ 0.07838933 -0.02991493 0.99647389 -0.27149261] [ 0. 0. 0. 1. ]] SLAMing on 23.672414037 meters Centerline goodness : 0.836884 Centerline is valid? [False, False] Translation: X:3.78, Y:0.07, Z:-0.27 [[ 0.99043925 -0.11280257 -0.07940825 3.7814906 ] [ 0.11460998 0.993237 0.01856916 0.07436464] [ 0.07677656 -0.0274926 0.99666921 -0.27437634] [ 0. 0. 0. 1. ]] SLAMing on 23.702414037 meters Centerline goodness : 0.827812 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99052589 -0.11222075 -0.0791515 3.78069002] [ 0.1140011 0.9933115 0.01833044 0.07502021] [ 0.07656504 -0.02718013 0.99669405 -0.27427285] [ 0. 0. 0. 1. ]] SLAMing on 23.732414037 meters Centerline goodness : 0.835028 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99057218 -0.11187373 -0.07906344 3.77995768] [ 0.11363264 0.99335804 0.01809511 0.07653993] [ 0.07651393 -0.0269087 0.99670534 -0.27384888] [ 0. 0. 0. 1. ]] SLAMing on 23.762414037 meters Centerline goodness : 0.836821 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99058643 -0.11146163 -0.07946586 3.78038644] [ 0.11323625 0.99340189 0.01817265 0.07832957] [ 0.07691598 -0.02699999 0.99667193 -0.27364372] [ 0. 0. 0. 1. ]] SLAMing on 23.792414037 meters Centerline goodness : 0.834009 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99057509 -0.11148384 -0.07957603 3.77961091] [ 0.11326167 0.99339895 0.01817461 0.08004122] [ 0.07702457 -0.02701623 0.9966631 -0.2723747 ] [ 0. 0. 0. 1. ]] SLAMing on 23.822414037 meters Centerline goodness : 0.834615 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99056918 -0.11152824 -0.07958741 3.78012713] [ 0.11332362 0.99338781 0.01839601 0.07926241] [ 0.07700949 -0.02724165 0.99665813 -0.27276656] [ 0. 0. 0. 1. ]] SLAMing on 23.852414037 meters Centerline goodness : 0.835923 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.27 [[ 0.99053006 -0.11178739 -0.07971054 3.78144146] [ 0.11360579 0.99335103 0.01864033 0.0775703 ] [ 0.07709679 -0.02751939 0.99664375 -0.27368851] [ 0. 0. 0. 1. ]] SLAMing on 23.882414037 meters Centerline goodness : 0.833837 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.28 [[ 0.99024661 -0.11462152 -0.07920577 3.78263644] [ 0.11619481 0.99310497 0.0155332 0.07586916] [ 0.0768792 -0.024585 0.99673726 -0.27534213] [ 0. 0. 0. 1. ]] SLAMing on 23.912414037 meters Centerline goodness : 0.837675 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.28 [[ 0.99009891 -0.11562794 -0.07958848 3.78364224] [ 0.11719954 0.99298973 0.01535119 0.07589709] [ 0.07725552 -0.02452693 0.99670959 -0.27518 ] [ 0. 0. 0. 1. ]] SLAMing on 23.942414037 meters Centerline goodness : 0.830932 Centerline is valid? [False, False] Translation: X:3.79, Y:0.08, Z:-0.27 [[ 0.98993953 -0.11625571 -0.08064952 3.78573429] [ 0.11794054 0.99288464 0.01643522 0.0758102 ] [ 0.07816499 -0.02578172 0.99660701 -0.27468288] [ 0. 0. 0. 1. ]] SLAMing on 23.972414037 meters Centerline goodness : 0.830932 Centerline is valid? [False, False] Translation: X:3.79, Y:0.08, Z:-0.27 [[ 0.98993953 -0.11625571 -0.08064952 3.78573429] [ 0.11794054 0.99288464 0.01643522 0.0758102 ] [ 0.07816499 -0.02578172 0.99660701 -0.27468288] [ 0. 0. 0. 1. ]] SLAMing on 24.002414037 meters Centerline goodness : 0.834236 Centerline is valid? [False, False] Translation: X:3.79, Y:0.08, Z:-0.27 [[ 0.98947168 -0.11904766 -0.08230091 3.78859897] [ 0.12087977 0.99251057 0.01763098 0.07587794] [ 0.0795856 -0.02739387 0.99645156 -0.27289093] [ 0. 0. 0. 1. ]] SLAMing on 24.032414037 meters Centerline goodness : 0.833690 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98915981 -0.1209287 -0.08330134 3.79078733] [ 0.12284532 0.9922578 0.01826152 0.074977 ] [ 0.08044806 -0.02829674 0.99635707 -0.27202619] [ 0. 0. 0. 1. ]] SLAMing on 24.062414037 meters Centerline goodness : 0.828419 Centerline is valid? [False, False] Translation: X:3.79, Y:0.07, Z:-0.27 [[ 0.98885781 -0.12261317 -0.08441711 3.79377068] [ 0.12463726 0.99201814 0.01911977 0.07346676] [ 0.08139897 -0.02942826 0.99624705 -0.27182284] [ 0. 0. 0. 1. ]] SLAMing on 24.092414037 meters Centerline goodness : 0.839102 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98856855 -0.12465644 -0.08481155 3.79548603] [ 0.12667625 0.9917651 0.01884471 0.0719696 ] [ 0.08176402 -0.0293729 0.99621879 -0.2718922 ] [ 0. 0. 0. 1. ]] SLAMing on 24.122414037 meters Centerline goodness : 0.835348 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98832372 -0.12594986 -0.08574883 3.79849412] [ 0.12803875 0.99158153 0.01929098 0.07053671] [ 0.08259726 -0.03004491 0.99613001 -0.27250209] [ 0. 0. 0. 1. ]] SLAMing on 24.152414037 meters Centerline goodness : 0.835264 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98807266 -0.12746461 -0.08640137 3.80059856] [ 0.12961448 0.99136828 0.01972361 0.06925826] [ 0.08314152 -0.03068722 0.99606515 -0.27264322] [ 0. 0. 0. 1. ]] SLAMing on 24.182414037 meters Centerline goodness : 0.836797 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98803888 -0.12736842 -0.08692792 3.80131399] [ 0.12959725 0.99135532 0.02047399 0.06964501] [ 0.08356871 -0.03149472 0.99600419 -0.2720735 ] [ 0. 0. 0. 1. ]] SLAMing on 24.212414037000002 meters Centerline goodness : 0.831695 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98808316 -0.12698908 -0.0869795 3.80039355] [ 0.12923149 0.9913998 0.02063146 0.07093959] [ 0.08361149 -0.03162609 0.99599644 -0.27093985] [ 0. 0. 0. 1. ]] SLAMing on 24.242414037 meters Centerline goodness : 0.836731 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98833898 -0.12459472 -0.08753404 3.79999469] [ 0.1270736 0.99161912 0.02331997 0.07231882] [ 0.08389488 -0.0341713 0.99588853 -0.26990837] [ 0. 0. 0. 1. ]] SLAMing on 24.272414037 meters Centerline goodness : 0.827230 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98841324 -0.12435811 -0.08703065 3.79994514] [ 0.12670539 0.99169716 0.0219658 0.0733195 ] [ 0.08357642 -0.03273854 0.99596344 -0.27144703] [ 0. 0. 0. 1. ]] SLAMing on 24.302414037000002 meters Centerline goodness : 0.834672 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.98846916 -0.12407678 -0.08679673 3.80068679] [ 0.12632838 0.99176772 0.02092664 0.07400134] [ 0.08348568 -0.03165023 0.99600623 -0.27327042] [ 0. 0. 0. 1. ]] SLAMing on 24.332414037 meters Centerline goodness : 0.833448 Centerline is valid? [False, False] Translation: X:3.80, Y:0.07, Z:-0.27 [[ 0.9885384 -0.12389448 -0.08626695 3.80044632] [ 0.12601177 0.99183657 0.01952546 0.0749419 ] [ 0.08314362 -0.03017232 0.9960807 -0.27460151] [ 0. 0. 0. 1. ]] SLAMing on 24.362414037 meters Centerline goodness : 0.832506 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.27 [[ 0.98880313 -0.12229672 -0.08550959 3.7983728 ] [ 0.12429776 0.99207318 0.01846246 0.07765589] [ 0.08257387 -0.02888439 0.99616627 -0.27475858] [ 0. 0. 0. 1. ]] SLAMing on 24.392414037 meters Centerline goodness : 0.833276 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.27 [[ 0.9890029 -0.12073194 -0.08542289 3.79730995] [ 0.12277633 0.99225096 0.01907879 0.07910122] [ 0.08245752 -0.02935688 0.9961621 -0.27422215] [ 0. 0. 0. 1. ]] SLAMing on 24.422414037 meters Centerline goodness : 0.833337 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.27 [[ 0.98926667 -0.11831078 -0.0857556 3.79632601] [ 0.12059775 0.99245811 0.0219792 0.07977016] [ 0.08250847 -0.03208523 0.99607374 -0.27286607] [ 0. 0. 0. 1. ]] SLAMing on 24.452414037 meters Centerline goodness : 0.822644 Centerline is valid? [False, False] Translation: X:3.79, Y:0.08, Z:-0.27 [[ 0.98941841 -0.11748692 -0.08513542 3.79416056] [ 0.11964474 0.99260126 0.0206852 0.08292378] [ 0.08207528 -0.03065232 0.99615465 -0.27235747] [ 0. 0. 0. 1. ]] SLAMing on 24.482414037 meters Centerline goodness : 0.826033 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.27 [[ 0.9894141 -0.11746604 -0.08521422 3.79506515] [ 0.11957183 0.99262356 0.02002593 0.08416605] [ 0.08223328 -0.03000316 0.99616138 -0.27355267] [ 0. 0. 0. 1. ]] SLAMing on 24.512414037 meters Centerline goodness : 0.830013 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.27 [[ 0.98933551 -0.11805204 -0.08531688 3.79562703] [ 0.12007187 0.99258479 0.01892592 0.08531546] [ 0.08244999 -0.02896825 0.9961741 -0.27404457] [ 0. 0. 0. 1. ]] SLAMing on 24.542414037 meters Centerline goodness : 0.819470 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.28 [[ 0.98933187 -0.11790187 -0.08556634 3.79699024] [ 0.11992247 0.99260422 0.01885349 0.08555681] [ 0.08271065 -0.02891368 0.99615408 -0.27514721] [ 0. 0. 0. 1. ]] SLAMing on 24.572414037 meters Centerline goodness : 0.822479 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.28 [[ 0.98917597 -0.1188099 -0.08611107 3.79848006] [ 0.12080191 0.99250822 0.01828497 0.08725372] [ 0.08329351 -0.02848944 0.99611774 -0.27561402] [ 0. 0. 0. 1. ]] SLAMing on 24.602414037 meters Centerline goodness : 0.810723 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.28 [[ 0.98905768 -0.11947123 -0.08655365 3.79933958] [ 0.12146456 0.99243031 0.01812266 0.08839283] [ 0.08373333 -0.02843755 0.99608234 -0.27547402] [ 0. 0. 0. 1. ]] SLAMing on 24.632414037 meters Centerline goodness : 0.829261 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.28 [[ 0.98895791 -0.11972188 -0.08734377 3.80087589] [ 0.12179498 0.99237749 0.01878565 0.08903731] [ 0.08442894 -0.02921625 0.99600109 -0.27531544] [ 0. 0. 0. 1. ]] SLAMing on 24.662414037 meters Centerline goodness : 0.818556 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.28 [[ 0.98889601 -0.11999463 -0.08766971 3.8015142 ] [ 0.1220967 0.99233629 0.01900211 0.08979263] [ 0.08471769 -0.0294953 0.99596834 -0.27515578] [ 0. 0. 0. 1. ]] SLAMing on 24.692414037 meters Centerline goodness : 0.828473 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.28 [[ 0.98889386 -0.11977828 -0.08798916 3.80232647] [ 0.12192186 0.99235036 0.01938603 0.09017141] [ 0.08499405 -0.02989852 0.99593277 -0.27542647] [ 0. 0. 0. 1. ]] SLAMing on 24.722414037 meters Centerline goodness : 0.818656 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.27 [[ 0.98883679 -0.1203754 -0.08781557 3.8015735 ] [ 0.12242145 0.99230987 0.01827854 0.09218062] [ 0.08493997 -0.028825 0.99596904 -0.27496382] [ 0. 0. 0. 1. ]] SLAMing on 24.752414037 meters Centerline goodness : 0.820730 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.27 [[ 0.98878031 -0.12044119 -0.08835957 3.80264118] [ 0.12256475 0.99227873 0.01899486 0.09233101] [ 0.08538956 -0.02961151 0.99590752 -0.27478088] [ 0. 0. 0. 1. ]] SLAMing on 24.782414037 meters Centerline goodness : 0.829396 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.27 [[ 0.98871343 -0.12078326 -0.08864058 3.8027618 ] [ 0.12291891 0.99223437 0.01902379 0.09276575] [ 0.08565448 -0.02970469 0.99588199 -0.27408728] [ 0. 0. 0. 1. ]] SLAMing on 24.812414037 meters Centerline goodness : 0.827203 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.27 [[ 0.98865131 -0.12097864 -0.089066 3.80326129] [ 0.12313697 0.99220528 0.01913056 0.09420194] [ 0.08605737 -0.02988077 0.99584199 -0.2737065 ] [ 0. 0. 0. 1. ]] SLAMing on 24.842414037 meters Centerline goodness : 0.827948 Centerline is valid? [False, False] Translation: X:3.80, Y:0.10, Z:-0.27 [[ 0.98855055 -0.12172578 -0.08916639 3.80369803] [ 0.12383202 0.99213142 0.01846261 0.09533666] [ 0.08621741 -0.02929288 0.99584561 -0.27391682] [ 0. 0. 0. 1. ]] SLAMing on 24.872414037 meters Centerline goodness : 0.820578 Centerline is valid? [False, False] Translation: X:3.80, Y:0.10, Z:-0.27 [[ 0.98843711 -0.12237462 -0.08953504 3.80494701] [ 0.12445283 0.99206246 0.01798774 0.09635618] [ 0.08662311 -0.02892263 0.99582123 -0.27446282] [ 0. 0. 0. 1. ]] SLAMing on 24.902414037 meters Centerline goodness : 0.821445 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.28 [[ 0.98833554 -0.12282444 -0.09003898 3.80660653] [ 0.12492117 0.99200316 0.01801214 0.09683307] [ 0.08710663 -0.02904981 0.99577535 -0.27513356] [ 0. 0. 0. 1. ]] SLAMing on 24.932414037 meters Centerline goodness : 0.827180 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.28 [[ 0.98832218 -0.12319678 -0.0896762 3.80677393] [ 0.12520293 0.99198414 0.017079 0.09750122] [ 0.08685329 -0.02810728 0.99582453 -0.27615628] [ 0. 0. 0. 1. ]] SLAMing on 24.962414037000002 meters Centerline goodness : 0.827810 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.28 [[ 0.98839218 -0.12292183 -0.08928114 3.80595603] [ 0.12487988 0.99203189 0.01666562 0.09776655] [ 0.08652117 -0.02762159 0.99586703 -0.27631133] [ 0. 0. 0. 1. ]] SLAMing on 24.992414037 meters Centerline goodness : 0.828626 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.28 [[ 0.98845765 -0.12246116 -0.08918928 3.80583248] [ 0.12442381 0.99208748 0.01676751 0.09809353] [ 0.0864302 -0.02767124 0.99587355 -0.27648595] [ 0. 0. 0. 1. ]] SLAMing on 25.022414037 meters Centerline goodness : 0.829758 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.28 [[ 0.98854709 -0.12160516 -0.08936913 3.80585395] [ 0.12362636 0.99217593 0.01741951 0.09844841] [ 0.08655159 -0.02826838 0.99584623 -0.27628187] [ 0. 0. 0. 1. ]] SLAMing on 25.052414037000002 meters Centerline goodness : 0.830469 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.28 [[ 0.98869578 -0.12028688 -0.08950819 3.80563842] [ 0.12239147 0.99231155 0.01838788 0.09921284] [ 0.08660819 -0.02913506 0.99581633 -0.27613507] [ 0. 0. 0. 1. ]] SLAMing on 25.082414037 meters Centerline goodness : 0.832624 Centerline is valid? [False, False] Translation: X:3.80, Y:0.10, Z:-0.28 [[ 0.98898866 -0.11818937 -0.08906574 3.80387055] [ 0.12026129 0.99257454 0.01824833 0.10200353] [ 0.08624762 -0.02875855 0.99585857 -0.27610206] [ 0. 0. 0. 1. ]] SLAMing on 25.112414037 meters Centerline goodness : 0.829379 Centerline is valid? [False, False] Translation: X:3.80, Y:0.10, Z:-0.28 [[ 0.98904568 -0.11800302 -0.08867883 3.80348252] [ 0.11996599 0.99263032 0.01712326 0.10321944] [ 0.0860047 -0.02757413 0.99591308 -0.27686436] [ 0. 0. 0. 1. ]] SLAMing on 25.142414037 meters Centerline goodness : 0.830367 Centerline is valid? [False, False] Translation: X:3.80, Y:0.10, Z:-0.28 [[ 0.98923543 -0.11707136 -0.08779274 3.80282383] [ 0.11887356 0.99278731 0.01557047 0.10385461] [ 0.08533666 -0.02583909 0.99601707 -0.27887626] [ 0. 0. 0. 1. ]] SLAMing on 25.172414037 meters Centerline goodness : 0.827819 Centerline is valid? [False, False] Translation: X:3.80, Y:0.10, Z:-0.28 [[ 0.98939899 -0.1161626 -0.08715434 3.80176336] [ 0.11790944 0.99290874 0.0151526 0.10393422] [ 0.08477614 -0.02526828 0.99607958 -0.27947402] [ 0. 0. 0. 1. ]] SLAMing on 25.202414037 meters Centerline goodness : 0.821693 Centerline is valid? [False, False] Translation: X:3.80, Y:0.10, Z:-0.28 [[ 0.9895942 -0.11492002 -0.08658352 3.80028515] [ 0.11662989 0.99306309 0.01493858 0.10458903] [ 0.08426616 -0.02488136 0.99613259 -0.27951708] [ 0. 0. 0. 1. ]] SLAMing on 25.232414037 meters Centerline goodness : 0.828854 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.28 [[ 0.98977455 -0.11367252 -0.08616789 3.79950226] [ 0.11536063 0.99321259 0.01485515 0.10585683] [ 0.08389442 -0.02464363 0.99616987 -0.28011392] [ 0. 0. 0. 1. ]] SLAMing on 25.262414037 meters Centerline goodness : 0.828375 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.28 [[ 0.98989839 -0.11281527 -0.08587134 3.79848979] [ 0.11446268 0.99332182 0.01449331 0.10691726] [ 0.08366281 -0.02417597 0.99620081 -0.28000863] [ 0. 0. 0. 1. ]] SLAMing on 25.292414037 meters Centerline goodness : 0.828008 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.28 [[ 0.98999619 -0.11220827 -0.08553862 3.79749343] [ 0.11379714 0.99340655 0.01391536 0.10810231] [ 0.08341321 -0.0235102 0.99623768 -0.27995659] [ 0. 0. 0. 1. ]] SLAMing on 25.322414037 meters Centerline goodness : 0.824919 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.28 [[ 0.99068444 -0.11535231 -0.07237532 3.7974526 ] [ 0.11655961 0.99310286 0.01267113 0.11183869] [ 0.07041449 -0.02098913 0.99729697 -0.28499486] [ 0. 0. 0. 1. ]] SLAMing on 25.352414037 meters Centerline goodness : 0.826748 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.29 [[ 0.99073342 -0.11492882 -0.07237858 3.79776445] [ 0.11615599 0.99314634 0.01296638 0.11159836] [ 0.07039232 -0.02125343 0.99729294 -0.28538985] [ 0. 0. 0. 1. ]] SLAMing on 25.382414037 meters Centerline goodness : 0.821099 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.29 [[ 0.99071387 -0.11482088 -0.07281621 3.79917298] [ 0.11611271 0.99314088 0.01374909 0.11080296] [ 0.07073807 -0.02207631 0.9972506 -0.2858595 ] [ 0. 0. 0. 1. ]] SLAMing on 25.412414037 meters Centerline goodness : 0.825111 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.29 [[ 0.99061882 -0.11550313 -0.07303001 3.80036496] [ 0.11679873 0.99306095 0.01371183 0.11014935] [ 0.07093949 -0.022113 0.99723548 -0.28640864] [ 0. 0. 0. 1. ]] SLAMing on 25.442414037 meters Centerline goodness : 0.824612 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.29 [[ 0.99023238 -0.11894834 -0.07274009 3.80192917] [ 0.12001421 0.99271721 0.01044665 0.10891326] [ 0.07096773 -0.01907446 0.99729622 -0.28774356] [ 0. 0. 0. 1. ]] SLAMing on 25.472414037 meters Centerline goodness : 0.824180 Centerline is valid? [False, False] Translation: X:3.80, Y:0.11, Z:-0.29 [[ 0.990083 -0.11993858 -0.07314635 3.80375077] [ 0.12104724 0.99258689 0.01090081 0.10715592] [ 0.07129668 -0.01964687 0.99726164 -0.28831077] [ 0. 0. 0. 1. ]] SLAMing on 25.502414037 meters Centerline goodness : 0.824891 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.29 [[ 0.98992719 -0.12083364 -0.07377936 3.80588174] [ 0.12199307 0.99246549 0.01139938 0.10596064] [ 0.07184604 -0.02028513 0.99720944 -0.28868534] [ 0. 0. 0. 1. ]] SLAMing on 25.532414037 meters Centerline goodness : 0.825782 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.29 [[ 0.98976408 -0.12158602 -0.07472554 3.80840518] [ 0.12283693 0.99234988 0.01236123 0.1056969 ] [ 0.07265093 -0.02141375 0.99712752 -0.28899257] [ 0. 0. 0. 1. ]] SLAMing on 25.562414037 meters Centerline goodness : 0.830568 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.29 [[ 0.9895754 -0.12273931 -0.07533653 3.80944396] [ 0.12403292 0.99219655 0.01272166 0.10590611] [ 0.07318719 -0.02193325 0.99707701 -0.2883188 ] [ 0. 0. 0. 1. ]] SLAMing on 25.592414037 meters Centerline goodness : 0.822449 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.29 [[ 0.98956482 -0.12273988 -0.07547444 3.80996048] [ 0.12406083 0.99218877 0.01305212 0.10533379] [ 0.07328287 -0.02227934 0.99706231 -0.28840459] [ 0. 0. 0. 1. ]] SLAMing on 25.622414037 meters Centerline goodness : 0.826779 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.98966875 -0.12201172 -0.07529216 3.8100982 ] [ 0.12338551 0.99226209 0.01385498 0.10374683] [ 0.07301908 -0.02300181 0.99706526 -0.2888631 ] [ 0. 0. 0. 1. ]] SLAMing on 25.652414037 meters Centerline goodness : 0.830903 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.98977603 -0.12151395 -0.07468447 3.80890618] [ 0.12288784 0.99232086 0.01406736 0.10178958] [ 0.07240157 -0.02310135 0.99710799 -0.28867018] [ 0. 0. 0. 1. ]] SLAMing on 25.682414037 meters Centerline goodness : 0.827414 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.98987344 -0.1206987 -0.07471543 3.80918607] [ 0.12213635 0.99240051 0.01496449 0.10031797] [ 0.07234143 -0.02393842 0.99709261 -0.28887739] [ 0. 0. 0. 1. ]] SLAMing on 25.712414037 meters Centerline goodness : 0.824270 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.98996735 -0.11991797 -0.07472836 3.80932025] [ 0.1214232 0.99247316 0.01591951 0.09929337] [ 0.07225686 -0.02483355 0.99707685 -0.28899121] [ 0. 0. 0. 1. ]] SLAMing on 25.742414037 meters Centerline goodness : 0.821677 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.99001457 -0.11950362 -0.07476652 3.80898392] [ 0.12105238 0.99250862 0.01652142 0.09880336] [ 0.07223204 -0.02540711 0.9970642 -0.28830576] [ 0. 0. 0. 1. ]] SLAMing on 25.772414037 meters Centerline goodness : 0.824338 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.99010647 -0.11882512 -0.07463086 3.80814363] [ 0.12038967 0.99258436 0.01681133 0.09869061] [ 0.07207982 -0.02562979 0.99706951 -0.28760235] [ 0. 0. 0. 1. ]] SLAMing on 25.802414037000002 meters Centerline goodness : 0.827872 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.99016068 -0.11845406 -0.07450141 3.80864614] [ 0.12000604 0.99263276 0.0166961 0.09836185] [ 0.07197482 -0.02547244 0.99708113 -0.28853394] [ 0. 0. 0. 1. ]] SLAMing on 25.832414037 meters Centerline goodness : 0.823398 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.9901783 -0.1183911 -0.07436725 3.80941633] [ 0.11991179 0.99265054 0.01631175 0.09788502] [ 0.07188952 -0.02506905 0.99709751 -0.28967408] [ 0. 0. 0. 1. ]] SLAMing on 25.862414037 meters Centerline goodness : 0.824842 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.29 [[ 0.99022824 -0.11797091 -0.07436996 3.81056907] [ 0.11951751 0.99269189 0.01668481 0.09635851] [ 0.07185814 -0.02541029 0.99709113 -0.29092977] [ 0. 0. 0. 1. ]] SLAMing on 25.892414037 meters Centerline goodness : 0.815574 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99034878 -0.11775017 -0.07310403 3.80972998] [ 0.11916471 0.99275685 0.01528425 0.09275135] [ 0.0707748 -0.02384815 0.9972072 -0.29233245] [ 0. 0. 0. 1. ]] SLAMing on 25.922414037 meters Centerline goodness : 0.815574 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99034878 -0.11775017 -0.07310403 3.80972998] [ 0.11916471 0.99275685 0.01528425 0.09275135] [ 0.0707748 -0.02384815 0.9972072 -0.29233245] [ 0. 0. 0. 1. ]] SLAMing on 25.952414037 meters Centerline goodness : 0.826590 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99040989 -0.11727772 -0.07303546 3.8095371 ] [ 0.11876666 0.99278718 0.01637362 0.09079355] [ 0.07058841 -0.02489077 0.99719493 -0.29198984] [ 0. 0. 0. 1. ]] SLAMing on 25.982414037 meters Centerline goodness : 0.824393 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99044815 -0.1167159 -0.07341571 3.8101642 ] [ 0.11830188 0.99282127 0.01762351 0.08981272] [ 0.07083173 -0.02614039 0.9971457 -0.29157791] [ 0. 0. 0. 1. ]] SLAMing on 26.012414037 meters Centerline goodness : 0.821833 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99048483 -0.11639481 -0.07343064 3.80986016] [ 0.1180274 0.99284197 0.01828525 0.08931247] [ 0.07077671 -0.02677809 0.99713268 -0.29100628] [ 0. 0. 0. 1. ]] SLAMing on 26.042414037 meters Centerline goodness : 0.822674 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99043651 -0.1168623 -0.07333979 3.81027832] [ 0.1184667 0.99279655 0.01790647 0.08857955] [ 0.0707189 -0.02642355 0.99714624 -0.29142795] [ 0. 0. 0. 1. ]] SLAMing on 26.072414037 meters Centerline goodness : 0.825454 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99035257 -0.11727883 -0.07380686 3.81244564] [ 0.11892711 0.99273372 0.01833318 0.0870071 ] [ 0.07112047 -0.02693395 0.99710403 -0.29255883] [ 0. 0. 0. 1. ]] SLAMing on 26.102414037 meters Centerline goodness : 0.821628 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.29 [[ 0.99029821 -0.11760335 -0.07401966 3.81392304] [ 0.11929966 0.99267813 0.01891342 0.08510696] [ 0.07125342 -0.02756045 0.99707742 -0.29337504] [ 0. 0. 0. 1. ]] SLAMing on 26.132414037 meters Centerline goodness : 0.823422 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:-0.29 [[ 0.99018466 -0.11803703 -0.07484384 3.81637271] [ 0.1198178 0.99259941 0.01975132 0.08375206] [ 0.07195856 -0.02852508 0.99699964 -0.29386 ] [ 0. 0. 0. 1. ]] SLAMing on 26.162414037 meters Centerline goodness : 0.825100 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:-0.29 [[ 0.99005648 -0.1190521 -0.0749317 3.81604054] [ 0.1209224 0.99244144 0.02092272 0.08079691] [ 0.07187443 -0.02977559 0.99696915 -0.29206215] [ 0. 0. 0. 1. ]] SLAMing on 26.192414037 meters Centerline goodness : 0.828989 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:-0.29 [[ 0.98999348 -0.11940797 -0.07519744 3.81629823] [ 0.12134264 0.99237365 0.02169095 0.07935349] [ 0.07203389 -0.03059855 0.99693272 -0.29115473] [ 0. 0. 0. 1. ]] SLAMing on 26.222414037 meters Centerline goodness : 0.829149 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:-0.29 [[ 0.98993896 -0.11947883 -0.0758001 3.81786076] [ 0.12152621 0.99232213 0.02298205 0.07740504] [ 0.07247225 -0.03196253 0.99685815 -0.29106322] [ 0. 0. 0. 1. ]] SLAMing on 26.252414037 meters Centerline goodness : 0.830219 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:-0.29 [[ 0.98983359 -0.12010705 -0.07618238 3.81935054] [ 0.12221471 0.99222263 0.02361822 0.07506251] [ 0.07275317 -0.03268871 0.99681414 -0.2912531 ] [ 0. 0. 0. 1. ]] SLAMing on 26.282414037 meters Centerline goodness : 0.820664 Centerline is valid? [False, False] Translation: X:3.82, Y:0.07, Z:-0.29 [[ 0.98935746 -0.12406642 -0.076022 3.82106073] [ 0.12598998 0.99180851 0.02103339 0.07252076] [ 0.07278972 -0.03038755 0.99688427 -0.29196377] [ 0. 0. 0. 1. ]] SLAMing on 26.312414037 meters Centerline goodness : 0.825310 Centerline is valid? [False, False] Translation: X:3.82, Y:0.07, Z:-0.29 [[ 0.98918033 -0.12502112 -0.07675928 3.82316013] [ 0.12702195 0.99166157 0.021743 0.07107986] [ 0.07340089 -0.03125786 0.99681255 -0.29202256] [ 0. 0. 0. 1. ]] SLAMing on 26.342414037 meters Centerline goodness : 0.827473 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.29 [[ 0.98905404 -0.12551302 -0.07757959 3.82514137] [ 0.12762357 0.99155934 0.02285399 0.06992581] [ 0.07405629 -0.03250481 0.99672419 -0.29191671] [ 0. 0. 0. 1. ]] SLAMing on 26.372414037 meters Centerline goodness : 0.827480 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.29 [[ 0.98897041 -0.1259539 -0.07793032 3.82617351] [ 0.12814465 0.99147082 0.02376045 0.06834767] [ 0.07427292 -0.03348474 0.99667563 -0.29168347] [ 0. 0. 0. 1. ]] SLAMing on 26.402414037 meters Centerline goodness : 0.833124 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.29 [[ 0.98894562 -0.12595987 -0.07823469 3.8274026 ] [ 0.12820147 0.99145033 0.02430285 0.06668109] [ 0.07450463 -0.034064 0.9966387 -0.2920624 ] [ 0. 0. 0. 1. ]] SLAMing on 26.432414037 meters Centerline goodness : 0.825715 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.29 [[ 0.98891508 -0.12609405 -0.0784044 3.82848131] [ 0.12838897 0.99141042 0.02493278 0.06415351] [ 0.07458707 -0.03472266 0.99660981 -0.29244699] [ 0. 0. 0. 1. ]] SLAMing on 26.462414037 meters Centerline goodness : 0.835457 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.29 [[ 0.98891466 -0.12600166 -0.07855806 3.82991948] [ 0.12835705 0.99139572 0.02567099 0.06162643] [ 0.07464754 -0.0354699 0.99657896 -0.29333215] [ 0. 0. 0. 1. ]] SLAMing on 26.492414037 meters Centerline goodness : 0.830679 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.29 [[ 0.98890195 -0.12615629 -0.07846987 3.83049638] [ 0.12851473 0.99137327 0.02574872 0.05996331] [ 0.07454457 -0.03554749 0.99658391 -0.29387718] [ 0. 0. 0. 1. ]] SLAMing on 26.522414037 meters Centerline goodness : 0.833252 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.29 [[ 0.98900026 -0.12552969 -0.07823548 3.82986507] [ 0.12791859 0.99143615 0.02629046 0.05887973] [ 0.07426525 -0.03600904 0.99658819 -0.29350357] [ 0. 0. 0. 1. ]] SLAMing on 26.552414037000002 meters Centerline goodness : 0.833764 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.29 [[ 0.98905535 -0.12513017 -0.07817893 3.82915827] [ 0.12754902 0.99147192 0.0267334 0.05883573] [ 0.07416706 -0.03641245 0.99658084 -0.29272176] [ 0. 0. 0. 1. ]] SLAMing on 26.582414037 meters Centerline goodness : 0.831164 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.29 [[ 0.98913874 -0.12440381 -0.07828315 3.82929461] [ 0.1268851 0.99153492 0.0275442 0.05824701] [ 0.07419388 -0.037178 0.99655058 -0.29260343] [ 0. 0. 0. 1. ]] SLAMing on 26.612414037 meters Centerline goodness : 0.827805 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.29 [[ 0.98921455 -0.12368522 -0.07846369 3.82988105] [ 0.1262404 0.99159112 0.02846766 0.05702257] [ 0.07428287 -0.03806592 0.99651043 -0.2927901 ] [ 0. 0. 0. 1. ]] SLAMing on 26.642414037 meters Centerline goodness : 0.831793 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:-0.29 [[ 0.98931812 -0.1232207 -0.07788657 3.82927581] [ 0.12578133 0.99163827 0.02885464 0.05404357] [ 0.07367982 -0.03834309 0.99654458 -0.29295773] [ 0. 0. 0. 1. ]] SLAMing on 26.672414037 meters Centerline goodness : 0.828398 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:-0.29 [[ 0.98930054 -0.12321639 -0.07811638 3.83031748] [ 0.1258033 0.99162863 0.02908951 0.05310783] [ 0.07387813 -0.03860557 0.99651976 -0.29345152] [ 0. 0. 0. 1. ]] SLAMing on 26.702414037 meters Centerline goodness : 0.833316 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:-0.29 [[ 0.9892019 -0.12394732 -0.07820916 3.83092966] [ 0.12649389 0.99155862 0.02847454 0.05343988] [ 0.07401963 -0.03806005 0.99653024 -0.29381988] [ 0. 0. 0. 1. ]] SLAMing on 26.732414037 meters Centerline goodness : 0.832001 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:-0.29 [[ 0.98912502 -0.12418698 -0.07879901 3.83306066] [ 0.12676969 0.99151841 0.02864752 0.05338326] [ 0.07457302 -0.03832531 0.99647882 -0.29485945] [ 0. 0. 0. 1. ]] SLAMing on 26.762414037 meters Centerline goodness : 0.832447 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:-0.30 [[ 0.98894951 -0.12596589 -0.07817589 3.83322813] [ 0.12828259 0.99141398 0.02533587 0.05403235] [ 0.07431321 -0.0350845 0.99661759 -0.2960672 ] [ 0. 0. 0. 1. ]] SLAMing on 26.792414037 meters Centerline goodness : 0.830820 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:-0.30 [[ 0.98891345 -0.12601146 -0.07855762 3.83465657] [ 0.12837577 0.9913902 0.02578999 0.05312601] [ 0.07463142 -0.03558896 0.99657593 -0.29660414] [ 0. 0. 0. 1. ]] SLAMing on 26.822414037 meters Centerline goodness : 0.826236 Centerline is valid? [False, False] Translation: X:3.84, Y:0.05, Z:-0.30 [[ 0.98885811 -0.12615597 -0.079021 3.83619667] [ 0.1286059 0.99133624 0.0267018 0.05138368] [ 0.07496779 -0.03656686 0.99651528 -0.29678029] [ 0. 0. 0. 1. ]] SLAMing on 26.852414037 meters Centerline goodness : 0.830658 Centerline is valid? [False, False] Translation: X:3.84, Y:0.05, Z:-0.30 [[ 0.98872917 -0.12705954 -0.07918645 3.83680136] [ 0.12953505 0.99120908 0.02693019 0.04993394] [ 0.07506859 -0.03688408 0.996496 -0.2964522 ] [ 0. 0. 0. 1. ]] SLAMing on 26.882414037 meters Centerline goodness : 0.832084 Centerline is valid? [False, False] Translation: X:3.84, Y:0.05, Z:-0.30 [[ 0.9883726 -0.12894033 -0.08058537 3.83956655] [ 0.13161713 0.99088171 0.02881603 0.04712744] [ 0.07613502 -0.03908739 0.99633109 -0.29502362] [ 0. 0. 0. 1. ]] SLAMing on 26.912414037 meters Centerline goodness : 0.828197 Centerline is valid? [False, False] Translation: X:3.84, Y:0.05, Z:-0.29 [[ 0.98813985 -0.13008462 -0.08159435 3.84158368] [ 0.13289074 0.9906785 0.02993595 0.04572079] [ 0.07693956 -0.04042404 0.99621594 -0.29411328] [ 0. 0. 0. 1. ]] SLAMing on 26.942414037 meters Centerline goodness : 0.827818 Centerline is valid? [False, False] Translation: X:3.84, Y:0.04, Z:-0.29 [[ 0.9878776 -0.13136129 -0.08271678 3.8440207 ] [ 0.13429506 0.99045827 0.03093935 0.04431291] [ 0.07786329 -0.04167275 0.99609271 -0.29344887] [ 0. 0. 0. 1. ]] SLAMing on 26.972414037 meters Centerline goodness : 0.832651 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:-0.29 [[ 0.98763478 -0.13252875 -0.08374769 3.84643806] [ 0.13558731 0.99025076 0.03192988 0.04267589] [ 0.07869959 -0.04289018 0.9959753 -0.29293162] [ 0. 0. 0. 1. ]] SLAMing on 27.002414037 meters Centerline goodness : 0.825214 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:-0.29 [[ 0.98714078 -0.1352837 -0.0851551 3.84898788] [ 0.1385188 0.98980059 0.03327656 0.04022391] [ 0.07978479 -0.04464423 0.99581187 -0.29090685] [ 0. 0. 0. 1. ]] SLAMing on 27.032414037 meters Centerline goodness : 0.835626 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:-0.29 [[ 0.98690593 -0.13636515 -0.08614658 3.85106801] [ 0.13973164 0.98959479 0.03431067 0.03898191] [ 0.08057143 -0.0458988 0.99569149 -0.29020986] [ 0. 0. 0. 1. ]] SLAMing on 27.062414037 meters Centerline goodness : 0.828560 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:-0.29 [[ 0.98668508 -0.13740116 -0.08702567 3.85339593] [ 0.14088234 0.98940106 0.03518105 0.03731078] [ 0.08126938 -0.04697299 0.99558467 -0.29004798] [ 0. 0. 0. 1. ]] SLAMing on 27.092414037 meters Centerline goodness : 0.827250 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:-0.29 [[ 0.98591691 -0.14230531 -0.08784673 3.85741208] [ 0.14559592 0.98881903 0.03222984 0.03691597] [ 0.08227805 -0.04456607 0.99561247 -0.29101932] [ 0. 0. 0. 1. ]] SLAMing on 27.122414037 meters Centerline goodness : 0.827714 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:-0.29 [[ 0.98570066 -0.14324147 -0.08874738 3.85937968] [ 0.14662304 0.98864848 0.03280053 0.0362802 ] [ 0.08304156 -0.04534391 0.99551395 -0.29060165] [ 0. 0. 0. 1. ]] SLAMing on 27.152414037 meters Centerline goodness : 0.828579 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:-0.29 [[ 0.98554307 -0.14380832 -0.0895769 3.86070916] [ 0.14730322 0.98851794 0.03367559 0.03609767] [ 0.08370555 -0.04638371 0.99541043 -0.28968708] [ 0. 0. 0. 1. ]] SLAMing on 27.182414037 meters Centerline goodness : 0.834046 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:-0.29 [[ 0.98531194 -0.14502326 -0.09015892 3.8612059 ] [ 0.14854463 0.98833395 0.03362271 0.0372228 ] [ 0.08423105 -0.04652148 0.99535967 -0.28847706] [ 0. 0. 0. 1. ]] SLAMing on 27.212414037 meters Centerline goodness : 0.832519 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:-0.29 [[ 0.98512313 -0.14569595 -0.09113242 3.86276964] [ 0.14930815 0.98820167 0.03412542 0.03817095] [ 0.08508527 -0.04722455 0.99525391 -0.28774428] [ 0. 0. 0. 1. ]] SLAMing on 27.242414037 meters Centerline goodness : 0.831694 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.29 [[ 0.98471895 -0.14758831 -0.09244604 3.86574966] [ 0.15125586 0.98791076 0.03397047 0.03968452] [ 0.0863148 -0.04743437 0.99513805 -0.28769707] [ 0. 0. 0. 1. ]] SLAMing on 27.272414037 meters Centerline goodness : 0.827962 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.29 [[ 0.98456541 -0.14831882 -0.09291119 3.86731296] [ 0.15202889 0.98778503 0.0341754 0.03888049] [ 0.08670743 -0.0477731 0.99508771 -0.28793903] [ 0. 0. 0. 1. ]] SLAMing on 27.302414037000002 meters Centerline goodness : 0.833793 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.29 [[ 0.98441674 -0.14905281 -0.09331101 3.8685154 ] [ 0.15279991 0.98765997 0.03435062 0.03791619] [ 0.08703949 -0.04807324 0.99504427 -0.28787855] [ 0. 0. 0. 1. ]] SLAMing on 27.332414037 meters Centerline goodness : 0.832933 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.29 [[ 0.98413033 -0.15045272 -0.09408226 3.86996898] [ 0.15428717 0.98741075 0.03486361 0.03724454] [ 0.08765251 -0.04882602 0.9949538 -0.28693261] [ 0. 0. 0. 1. ]] SLAMing on 27.362414037 meters Centerline goodness : 0.832950 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.29 [[ 0.98394079 -0.1511881 -0.09488245 3.87111258] [ 0.15508582 0.98727713 0.03510354 0.03822537] [ 0.08836804 -0.04925473 0.99486937 -0.28611938] [ 0. 0. 0. 1. ]] SLAMing on 27.392414037 meters Centerline goodness : 0.836346 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.29 [[ 0.98378045 -0.15171905 -0.0956941 3.87181523] [ 0.15566244 0.987185 0.03514217 0.04041519] [ 0.08913605 -0.04946816 0.99479026 -0.28506971] [ 0. 0. 0. 1. ]] SLAMing on 27.422414037 meters Centerline goodness : 0.830693 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.28 [[ 0.98381573 -0.15062443 -0.09705099 3.87278465] [ 0.15481013 0.9872472 0.03710518 0.04400361] [ 0.09022437 -0.05152914 0.99458751 -0.28413969] [ 0. 0. 0. 1. ]] SLAMing on 27.452414037 meters Centerline goodness : 0.828573 Centerline is valid? [False, False] Translation: X:3.87, Y:0.04, Z:-0.28 [[ 0.9837685 -0.15069436 -0.09742051 3.87400471] [ 0.15486095 0.98725505 0.03668177 0.04486939] [ 0.09065116 -0.05117301 0.99456709 -0.28486031] [ 0. 0. 0. 1. ]] SLAMing on 27.482414037 meters Centerline goodness : 0.829503 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.29 [[ 0.98374913 -0.15074188 -0.09754253 3.87503294] [ 0.15486154 0.98727651 0.03609704 0.0454869 ] [ 0.09086011 -0.05061602 0.99457652 -0.286 ] [ 0. 0. 0. 1. ]] SLAMing on 27.512414037 meters Centerline goodness : 0.832243 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.29 [[ 0.98369898 -0.15088225 -0.09783079 3.87607777] [ 0.1549774 0.98727409 0.03566334 0.04668068] [ 0.09120484 -0.05024355 0.99456386 -0.28674906] [ 0. 0. 0. 1. ]] SLAMing on 27.542414037 meters Centerline goodness : 0.830534 Centerline is valid? [False, False] Translation: X:3.88, Y:0.05, Z:-0.29 [[ 0.9834435 -0.1520283 -0.09862194 3.87726431] [ 0.15600787 0.98717271 0.03393507 0.05290657] [ 0.0921978 -0.04875902 0.99454619 -0.28713614] [ 0. 0. 0. 1. ]] SLAMing on 27.572414037 meters Centerline goodness : 0.829818 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:-0.29 [[ 0.98329798 -0.15251462 -0.09931957 3.8783869 ] [ 0.15648197 0.98711537 0.03341607 0.05630824] [ 0.09294344 -0.04839968 0.99449434 -0.28721934] [ 0. 0. 0. 1. ]] SLAMing on 27.602414037 meters Centerline goodness : 0.827525 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:-0.29 [[ 0.98323109 -0.15271385 -0.09967502 3.87856235] [ 0.1566622 0.98710011 0.03302022 0.05881075] [ 0.09334658 -0.04808182 0.994472 -0.28687728] [ 0. 0. 0. 1. ]] SLAMing on 27.632414037 meters Centerline goodness : 0.829605 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:-0.29 [[ 0.98324313 -0.15251773 -0.09985636 3.87838203] [ 0.15646771 0.98713323 0.03295215 0.06029762] [ 0.09354574 -0.04802427 0.99445606 -0.28650075] [ 0. 0. 0. 1. ]] SLAMing on 27.662414037 meters Centerline goodness : 0.834096 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:-0.29 [[ 0.98315164 -0.15288643 -0.1001928 3.87813845] [ 0.1568053 0.98709681 0.03243422 0.06301856] [ 0.09394124 -0.04759852 0.99443925 -0.28575987] [ 0. 0. 0. 1. ]] SLAMing on 27.692414037 meters Centerline goodness : 0.831650 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:-0.29 [[ 0.98311 -0.15299603 -0.1004338 3.87829722] [ 0.15691727 0.98708237 0.03233227 0.06417323] [ 0.09418972 -0.04754598 0.99441826 -0.28545867] [ 0. 0. 0. 1. ]] SLAMing on 27.722414037 meters Centerline goodness : 0.832775 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:-0.28 [[ 0.98300921 -0.15335773 -0.10086771 3.87860024] [ 0.15727836 0.98703276 0.03209121 0.06611918] [ 0.0946383 -0.04741027 0.99438215 -0.2849215 ] [ 0. 0. 0. 1. ]] SLAMing on 27.752414037 meters Centerline goodness : 0.832598 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:-0.28 [[ 0.9829254 -0.1534837 -0.10149095 3.87947948] [ 0.15744462 0.98700289 0.0321946 0.06782824] [ 0.09523052 -0.0476241 0.99431539 -0.28461686] [ 0. 0. 0. 1. ]] SLAMing on 27.782414037 meters Centerline goodness : 0.832598 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:-0.28 [[ 0.9829254 -0.1534837 -0.10149095 3.87947948] [ 0.15744462 0.98700289 0.0321946 0.06782824] [ 0.09523052 -0.0476241 0.99431539 -0.28461686] [ 0. 0. 0. 1. ]] SLAMing on 27.812414037 meters Centerline goodness : 0.834211 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:-0.28 [[ 0.98262573 -0.15461536 -0.10266822 3.88105215] [ 0.15859114 0.98683491 0.03171282 0.07190836] [ 0.09641329 -0.0474441 0.99421 -0.28399695] [ 0. 0. 0. 1. ]] SLAMing on 27.842414037 meters Centerline goodness : 0.831298 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:-0.28 [[ 0.98249208 -0.15521146 -0.10304714 3.88141254] [ 0.15918176 0.98674844 0.03144335 0.07330596] [ 0.09680124 -0.04729607 0.99417936 -0.28351259] [ 0. 0. 0. 1. ]] SLAMing on 27.872414037 meters Centerline goodness : 0.830454 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:-0.28 [[ 0.982419 -0.15531785 -0.10358223 3.8820747 ] [ 0.15931987 0.9867243 0.03150128 0.07454794] [ 0.0973144 -0.04745016 0.99412192 -0.28315902] [ 0. 0. 0. 1. ]] SLAMing on 27.902414037 meters Centerline goodness : 0.828419 Centerline is valid? [False, False] Translation: X:3.88, Y:0.08, Z:-0.28 [[ 0.9823733 -0.15526995 -0.10408627 3.88311432] [ 0.15929307 0.98672956 0.03147199 0.07559854] [ 0.09781834 -0.04749746 0.9940702 -0.2833038 ] [ 0. 0. 0. 1. ]] SLAMing on 27.932414037 meters Centerline goodness : 0.833315 Centerline is valid? [False, False] Translation: X:3.88, Y:0.08, Z:-0.28 [[ 0.98240158 -0.1549881 -0.10423931 3.88346668] [ 0.1589867 0.98678883 0.03116153 0.07707208] [ 0.09803252 -0.0471858 0.99406394 -0.28369865] [ 0. 0. 0. 1. ]] SLAMing on 27.962414037 meters Centerline goodness : 0.832735 Centerline is valid? [False, False] Translation: X:3.88, Y:0.08, Z:-0.28 [[ 0.9828323 -0.15173209 -0.10496688 3.88320147] [ 0.1559958 0.98718505 0.03363026 0.07957876] [ 0.09851895 -0.0494273 0.99390692 -0.28324956] [ 0. 0. 0. 1. ]] SLAMing on 27.992414037 meters Centerline goodness : 0.829593 Centerline is valid? [False, False] Translation: X:3.88, Y:0.08, Z:-0.28 [[ 0.98299397 -0.15059222 -0.10509443 3.88292092] [ 0.15483699 0.98737439 0.03342638 0.08206902] [ 0.09873379 -0.04913044 0.99390032 -0.28345213] [ 0. 0. 0. 1. ]] SLAMing on 28.022414037 meters Centerline goodness : 0.832716 Centerline is valid? [False, False] Translation: X:3.88, Y:0.08, Z:-0.28 [[ 0.98310416 -0.15006884 -0.104812 3.88183254] [ 0.15419226 0.98751056 0.0323674 0.08494663] [ 0.09864562 -0.04798172 0.99396519 -0.28358729] [ 0. 0. 0. 1. ]] SLAMing on 28.052414037000002 meters Centerline goodness : 0.830142 Centerline is valid? [False, False] Translation: X:3.88, Y:0.09, Z:-0.29 [[ 0.98368577 -0.14610015 -0.10496219 3.88154662] [ 0.15037813 0.98804278 0.03402778 0.08816683] [ 0.09873567 -0.04925667 0.99389388 -0.28505537] [ 0. 0. 0. 1. ]] SLAMing on 28.082414037 meters Centerline goodness : 0.829240 Centerline is valid? [False, False] Translation: X:3.88, Y:0.09, Z:-0.29 [[ 0.98387181 -0.14501343 -0.10472515 3.88143826] [ 0.1491923 0.98825082 0.03319598 0.09033609] [ 0.09868085 -0.04828478 0.99394702 -0.28635872] [ 0. 0. 0. 1. ]] SLAMing on 28.112414037 meters Centerline goodness : 0.834977 Centerline is valid? [False, False] Translation: X:3.88, Y:0.09, Z:-0.29 [[ 0.98403105 -0.14419643 -0.10435656 3.88057133] [ 0.14822057 0.98844126 0.03185175 0.09332264] [ 0.09855742 -0.0468109 0.99402977 -0.28716801] [ 0. 0. 0. 1. ]] SLAMing on 28.142414037 meters Centerline goodness : 0.827124 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.98461278 -0.14001994 -0.10455666 3.87869431] [ 0.14422746 0.98896746 0.03379065 0.0974711 ] [ 0.09867177 -0.04835064 0.99394472 -0.28670507] [ 0. 0. 0. 1. ]] SLAMing on 28.172414037 meters Centerline goodness : 0.828432 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.9848235 -0.13878846 -0.10421342 3.87707917] [ 0.142923 0.98917421 0.03327757 0.09975984] [ 0.09846668 -0.04766703 0.99399807 -0.28643019] [ 0. 0. 0. 1. ]] SLAMing on 28.202414037 meters Centerline goodness : 0.827846 Centerline is valid? [False, False] Translation: X:3.87, Y:0.10, Z:-0.29 [[ 0.98500449 -0.13789533 -0.10368719 3.87498685] [ 0.1419314 0.98934035 0.03257539 0.10182069] [ 0.09808992 -0.04680338 0.99407636 -0.28584548] [ 0. 0. 0. 1. ]] SLAMing on 28.232414037 meters Centerline goodness : 0.830325 Centerline is valid? [False, False] Translation: X:3.87, Y:0.10, Z:-0.29 [[ 0.98515653 -0.13713622 -0.10324856 3.87336485] [ 0.14108827 0.98948083 0.03196534 0.10381481] [ 0.09777886 -0.04605803 0.99414182 -0.28556316] [ 0. 0. 0. 1. ]] SLAMing on 28.262414037 meters Centerline goodness : 0.829240 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.28 [[ 0.98534527 -0.13605578 -0.10287628 3.87111661] [ 0.13989249 0.98968087 0.03101398 0.10802528] [ 0.09759506 -0.0449511 0.99421054 -0.28486479] [ 0. 0. 0. 1. ]] SLAMing on 28.292414037 meters Centerline goodness : 0.828259 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98579351 -0.14115547 -0.09102907 3.87281484] [ 0.14434041 0.98909194 0.0293764 0.1131649 ] [ 0.08588949 -0.04209823 0.99541486 -0.29074001] [ 0. 0. 0. 1. ]] SLAMing on 28.322414037 meters Centerline goodness : 0.828092 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.9858212 -0.1410668 -0.09086651 3.87254863] [ 0.14418699 0.98913394 0.02870835 0.11421149] [ 0.08582935 -0.04140307 0.9954492 -0.29106058] [ 0. 0. 0. 1. ]] SLAMing on 28.352414037 meters Centerline goodness : 0.831293 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98583876 -0.14109984 -0.09062441 3.87196646] [ 0.14415554 0.9891567 0.02807485 0.11499715] [ 0.08568038 -0.04074128 0.99548934 -0.29104293] [ 0. 0. 0. 1. ]] SLAMing on 28.382414037 meters Centerline goodness : 0.829722 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:-0.29 [[ 0.98583976 -0.14082789 -0.0910356 3.87251577] [ 0.14391526 0.98918652 0.02825646 0.11600023] [ 0.08607189 -0.04095775 0.99544668 -0.29096389] [ 0. 0. 0. 1. ]] SLAMing on 28.412414037 meters Centerline goodness : 0.780569 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:-0.29 [[ 0.98585911 -0.14037622 -0.09152233 3.87318843] [ 0.14350627 0.98923798 0.02853375 0.11734542] [ 0.0865319 -0.04126429 0.99539414 -0.29088167] [ 0. 0. 0. 1. ]] SLAMing on 28.442414037 meters Centerline goodness : 0.830974 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:-0.29 [[ 0.98612098 -0.1379414 -0.09239902 3.873094 ] [ 0.14131181 0.98948108 0.03095425 0.12066988] [ 0.08715721 -0.04358171 0.9952408 -0.29005386] [ 0. 0. 0. 1. ]] SLAMing on 28.472414037 meters Centerline goodness : 0.775911 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:-0.29 [[ 0.98615889 -0.13773112 -0.09230806 3.87210863] [ 0.14103572 0.98954206 0.03025619 0.12303498] [ 0.08717548 -0.04285615 0.99527071 -0.28953452] [ 0. 0. 0. 1. ]] SLAMing on 28.502414037 meters Centerline goodness : 0.776020 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:-0.29 [[ 0.98619115 -0.13762361 -0.09212362 3.87118571] [ 0.14085314 0.9895911 0.02949312 0.12497713] [ 0.08710577 -0.04206176 0.9953107 -0.28919044] [ 0. 0. 0. 1. ]] SLAMing on 28.532414037 meters Centerline goodness : 0.832081 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98632533 -0.13687054 -0.0918085 3.87116493] [ 0.14004093 0.989721 0.028998 0.12604657] [ 0.08689583 -0.04145841 0.99535437 -0.29045229] [ 0. 0. 0. 1. ]] SLAMing on 28.562414037 meters Centerline goodness : 0.830460 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98633777 -0.1369209 -0.09159954 3.87074479] [ 0.14002907 0.98974053 0.0283822 0.12657135] [ 0.08677367 -0.04082103 0.99539137 -0.29047939] [ 0. 0. 0. 1. ]] SLAMing on 28.592414037 meters Centerline goodness : 0.830463 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98639477 -0.13664456 -0.09139814 3.8700727 ] [ 0.13972997 0.98978724 0.0282267 0.12694342] [ 0.08660768 -0.04061373 0.9954143 -0.29026358] [ 0. 0. 0. 1. ]] SLAMing on 28.622414037 meters Centerline goodness : 0.828545 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98644129 -0.13614649 -0.09163908 3.86979601] [ 0.13926386 0.98984511 0.02849968 0.12802531] [ 0.08682837 -0.04087527 0.99538437 -0.28963005] [ 0. 0. 0. 1. ]] SLAMing on 28.652414037 meters Centerline goodness : 0.827588 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98670937 -0.13358601 -0.09251705 3.868692 ] [ 0.13698181 0.99007723 0.03135381 0.13128216] [ 0.08741059 -0.04361025 0.99521733 -0.28757176] [ 0. 0. 0. 1. ]] SLAMing on 28.682414037 meters Centerline goodness : 0.826192 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98676447 -0.1333343 -0.09229218 3.86794907] [ 0.13665611 0.99014482 0.0306324 0.13302793] [ 0.08729827 -0.04283925 0.99526067 -0.28764439] [ 0. 0. 0. 1. ]] SLAMing on 28.712414037 meters Centerline goodness : 0.825857 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98683896 -0.13312535 -0.09179599 3.86736853] [ 0.13633108 0.99022234 0.02955601 0.13402029] [ 0.08696379 -0.04168167 0.99533911 -0.28840606] [ 0. 0. 0. 1. ]] SLAMing on 28.742414037 meters Centerline goodness : 0.826831 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98697225 -0.13256326 -0.09117431 3.86722427] [ 0.13566388 0.99034007 0.0286679 0.13403943] [ 0.08649326 -0.04066348 0.99542222 -0.28996983] [ 0. 0. 0. 1. ]] SLAMing on 28.772414037 meters Centerline goodness : 0.824302 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98702012 -0.13250495 -0.09073983 3.86620264] [ 0.13553425 0.99037548 0.02805138 0.13442376] [ 0.08614955 -0.03998563 0.99547948 -0.28989213] [ 0. 0. 0. 1. ]] SLAMing on 28.802414037 meters Centerline goodness : 0.824950 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98702702 -0.13254213 -0.09061037 3.86563832] [ 0.13553552 0.99038534 0.02769477 0.13502723] [ 0.08606846 -0.03961641 0.99550126 -0.28953143] [ 0. 0. 0. 1. ]] SLAMing on 28.832414037 meters Centerline goodness : 0.827114 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98691801 -0.13316708 -0.09088103 3.86526897] [ 0.13616995 0.99029943 0.02765478 0.13660237] [ 0.08631673 -0.03966826 0.9954777 -0.28825893] [ 0. 0. 0. 1. ]] SLAMing on 28.862414037 meters Centerline goodness : 0.825478 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.9868091 -0.13371223 -0.09126252 3.86581282] [ 0.13676915 0.99020492 0.02807872 0.13659136] [ 0.08661413 -0.04019023 0.99543093 -0.28767735] [ 0. 0. 0. 1. ]] SLAMing on 28.892414037 meters Centerline goodness : 0.770746 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98661229 -0.13491273 -0.09162287 3.86648218] [ 0.13797309 0.99004285 0.0279031 0.13646567] [ 0.08694609 -0.04017103 0.99540277 -0.28711302] [ 0. 0. 0. 1. ]] SLAMing on 28.922414037 meters Centerline goodness : 0.768555 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98647932 -0.13584082 -0.09168332 3.8676679 ] [ 0.13886237 0.98993272 0.0273942 0.13545798] [ 0.08703907 -0.03975517 0.99541134 -0.28781145] [ 0. 0. 0. 1. ]] SLAMing on 28.952414037 meters Centerline goodness : 0.770268 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98623717 -0.13811575 -0.0908861 3.86762369] [ 0.14083792 0.98973632 0.02422169 0.13495891] [ 0.08660788 -0.03668854 0.99556669 -0.28872068] [ 0. 0. 0. 1. ]] SLAMing on 28.982414037 meters Centerline goodness : 0.822422 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98613715 -0.13893655 -0.0907202 3.86766334] [ 0.14163013 0.98963037 0.02392965 0.13380616] [ 0.08645476 -0.03644663 0.99558888 -0.28863867] [ 0. 0. 0. 1. ]] SLAMing on 29.012414037 meters Centerline goodness : 0.824924 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:-0.29 [[ 0.98609805 -0.1391618 -0.09079996 3.86733817] [ 0.14186141 0.98959661 0.02395618 0.13408258] [ 0.08652155 -0.03650415 0.99558097 -0.28792751] [ 0. 0. 0. 1. ]] SLAMing on 29.042414037 meters Centerline goodness : 0.823732 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98611174 -0.13888617 -0.09107292 3.86686846] [ 0.14163433 0.98961806 0.02440916 0.13543307] [ 0.08673731 -0.03696921 0.99554503 -0.28684244] [ 0. 0. 0. 1. ]] SLAMing on 29.072414037 meters Centerline goodness : 0.822790 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98615262 -0.13868029 -0.09094392 3.86669581] [ 0.14137528 0.98966845 0.02386192 0.13663926] [ 0.08669515 -0.03638872 0.99557009 -0.28719735] [ 0. 0. 0. 1. ]] SLAMing on 29.102414037 meters Centerline goodness : 0.822785 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98629544 -0.13792655 -0.09054048 3.86642109] [ 0.14056994 0.98979257 0.02346809 0.13719125] [ 0.08637942 -0.03587374 0.99561623 -0.28822531] [ 0. 0. 0. 1. ]] SLAMing on 29.132414037 meters Centerline goodness : 0.822006 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:-0.29 [[ 0.98651934 -0.13679749 -0.08981109 3.86580518] [ 0.13934612 0.98998308 0.02271931 0.13723346] [ 0.08580351 -0.03492787 0.99569965 -0.28965876] [ 0. 0. 0. 1. ]] SLAMing on 29.162414037 meters Centerline goodness : 0.821445 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.29 [[ 0.9871878 -0.13345767 -0.08746028 3.86267075] [ 0.13579255 0.99050858 0.02128718 0.13606775] [ 0.08378922 -0.0328909 0.99594054 -0.29241993] [ 0. 0. 0. 1. ]] SLAMing on 29.192414037 meters Centerline goodness : 0.824737 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.29 [[ 0.98745198 -0.13195778 -0.08675094 3.86117389] [ 0.134232 0.99072949 0.02090113 0.13617301] [ 0.08318864 -0.03228362 0.99601075 -0.29282675] [ 0. 0. 0. 1. ]] SLAMing on 29.222414037 meters Centerline goodness : 0.823778 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.29 [[ 0.98776918 -0.13014106 -0.08587984 3.85911625] [ 0.1323473 0.99099155 0.02049243 0.13684112] [ 0.08243928 -0.03160776 0.99609473 -0.29315207] [ 0. 0. 0. 1. ]] SLAMing on 29.252414037 meters Centerline goodness : 0.819568 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.29 [[ 0.98808069 -0.12815308 -0.08528385 3.85734485] [ 0.1303292 0.99126018 0.02043434 0.13800306] [ 0.08191976 -0.03130576 0.99614713 -0.29315296] [ 0. 0. 0. 1. ]] SLAMing on 29.282414037 meters Centerline goodness : 0.823350 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.29 [[ 0.98884971 -0.12249556 -0.08468228 3.85409662] [ 0.12489936 0.99188688 0.02367627 0.1390338 ] [ 0.08109501 -0.03398904 0.99612667 -0.2923691 ] [ 0. 0. 0. 1. ]] SLAMing on 29.312414037 meters Centerline goodness : 0.769404 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.29 [[ 0.98905629 -0.12131591 -0.08396488 3.85252178] [ 0.12367256 0.9920462 0.02344 0.13862833] [ 0.0804534 -0.03356763 0.99619299 -0.29244183] [ 0. 0. 0. 1. ]] SLAMing on 29.342414037 meters Centerline goodness : 0.820291 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.29 [[ 0.98922767 -0.12047531 -0.08315231 3.85182531] [ 0.12279189 0.99215859 0.02331284 0.13695957] [ 0.07969166 -0.03327213 0.99626412 -0.29350872] [ 0. 0. 0. 1. ]] SLAMing on 29.372414037 meters Centerline goodness : 0.823089 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:-0.30 [[ 0.98938914 -0.12070255 -0.08087038 3.84955864] [ 0.1227031 0.99223734 0.02022416 0.13343736] [ 0.0778015 -0.02993261 0.99651943 -0.29549983] [ 0. 0. 0. 1. ]] SLAMing on 29.402414037 meters Centerline goodness : 0.821306 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:-0.30 [[ 0.98929847 -0.12133721 -0.08102978 3.85028594] [ 0.12335419 0.99215404 0.02034936 0.13192792] [ 0.07792489 -0.03012695 0.99650393 -0.29545588] [ 0. 0. 0. 1. ]] SLAMing on 29.432414037 meters Centerline goodness : 0.819650 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:-0.30 [[ 0.9891551 -0.12235865 -0.08124378 3.85140304] [ 0.12441722 0.9920128 0.02075938 0.1300827 ] [ 0.07805478 -0.03064237 0.99647805 -0.2954715 ] [ 0. 0. 0. 1. ]] SLAMing on 29.462414037 meters Centerline goodness : 0.821608 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:-0.29 [[ 0.98888602 -0.12419216 -0.08173579 3.85255447] [ 0.1262934 0.99176977 0.02104028 0.12861339] [ 0.07845005 -0.03112913 0.99643192 -0.29477513] [ 0. 0. 0. 1. ]] SLAMing on 29.492414037 meters Centerline goodness : 0.820797 Centerline is valid? [False, False] Translation: X:3.86, Y:0.13, Z:-0.29 [[ 0.98813677 -0.12935821 -0.08277786 3.8553876 ] [ 0.13145554 0.99111243 0.02038623 0.12547207] [ 0.07940504 -0.03102599 0.99635949 -0.29319442] [ 0. 0. 0. 1. ]] SLAMing on 29.522414037 meters Centerline goodness : 0.824676 Centerline is valid? [False, False] Translation: X:3.86, Y:0.12, Z:-0.29 [[ 0.98758041 -0.13342005 -0.08297003 3.85701678] [ 0.13535298 0.9906321 0.01810013 0.12397673] [ 0.07977785 -0.02910558 0.99638766 -0.29291943] [ 0. 0. 0. 1. ]] SLAMing on 29.552414037 meters Centerline goodness : 0.821640 Centerline is valid? [False, False] Translation: X:3.86, Y:0.12, Z:-0.29 [[ 0.98699277 -0.13755734 -0.08320607 3.85954984] [ 0.13931855 0.99012289 0.01571671 0.12225613] [ 0.08022229 -0.02710443 0.99640842 -0.29357451] [ 0. 0. 0. 1. ]] SLAMing on 29.582414037 meters Centerline goodness : 0.821782 Centerline is valid? [False, False] Translation: X:3.86, Y:0.12, Z:-0.29 [[ 0.98640899 -0.14157213 -0.08339443 3.86206586] [ 0.14315414 0.98961136 0.01327597 0.12038157] [ 0.08064857 -0.0250338 0.99642818 -0.29440273] [ 0. 0. 0. 1. ]] SLAMing on 29.612414037 meters Centerline goodness : 0.823143 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:-0.30 [[ 0.98549285 -0.14732825 -0.08425095 3.86672673] [ 0.14883201 0.98879184 0.01182075 0.11515002] [ 0.08156512 -0.0241885 0.99637445 -0.29531219] [ 0. 0. 0. 1. ]] SLAMing on 29.642414037 meters Centerline goodness : 0.824118 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98518661 -0.14905644 -0.08479102 3.8684692 ] [ 0.15065602 0.98850397 0.01275388 0.11237563] [ 0.08191521 -0.02533922 0.99631713 -0.29475646] [ 0. 0. 0. 1. ]] SLAMing on 29.672414037 meters Centerline goodness : 0.822733 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98491878 -0.15010306 -0.0860469 3.8708922 ] [ 0.15188784 0.98829068 0.0145471 0.11043464] [ 0.08285578 -0.02739719 0.99618488 -0.29368654] [ 0. 0. 0. 1. ]] SLAMing on 29.702414037 meters Centerline goodness : 0.822733 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98491878 -0.15010306 -0.0860469 3.8708922 ] [ 0.15188784 0.98829068 0.0145471 0.11043464] [ 0.08285578 -0.02739719 0.99618488 -0.29368654] [ 0. 0. 0. 1. ]] SLAMing on 29.732414037 meters Centerline goodness : 0.821140 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98475284 -0.15060439 -0.0870641 3.87208569] [ 0.15257224 0.98815674 0.01636951 0.10931737] [ 0.08356765 -0.02940348 0.99606821 -0.29195318] [ 0. 0. 0. 1. ]] SLAMing on 29.762414037 meters Centerline goodness : 0.773018 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98460321 -0.15084596 -0.08832903 3.87227676] [ 0.15316503 0.98799711 0.02005469 0.10734348] [ 0.08424366 -0.03327483 0.99588945 -0.28840017] [ 0. 0. 0. 1. ]] SLAMing on 29.792414037 meters Centerline goodness : 0.824358 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.29 [[ 0.98450348 -0.15119455 -0.08884312 3.87360735] [ 0.15359512 0.98791501 0.0207959 0.10589043] [ 0.08462522 -0.0341195 0.99582851 -0.28827264] [ 0. 0. 0. 1. ]] SLAMing on 29.822414037 meters Centerline goodness : 0.826635 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.98440803 -0.15156373 -0.08927069 3.87570491] [ 0.15400772 0.98784397 0.02111683 0.10396086] [ 0.08498497 -0.03453596 0.99578352 -0.28923786] [ 0. 0. 0. 1. ]] SLAMing on 29.852414037 meters Centerline goodness : 0.823872 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.98429537 -0.15237747 -0.08912766 3.87689142] [ 0.15474489 0.98774703 0.02024388 0.10278652] [ 0.08495087 -0.03371801 0.99581446 -0.29047272] [ 0. 0. 0. 1. ]] SLAMing on 29.882414037 meters Centerline goodness : 0.825919 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.98404121 -0.15384906 -0.08940561 3.88016731] [ 0.15613512 0.98755058 0.01912259 0.1015281 ] [ 0.08535057 -0.03277677 0.99581171 -0.2929809 ] [ 0. 0. 0. 1. ]] SLAMing on 29.912414037 meters Centerline goodness : 0.823778 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.98385799 -0.15457388 -0.09016861 3.88227643] [ 0.15692655 0.98741635 0.01957067 0.1012069 ] [ 0.08600884 -0.0334046 0.99573421 -0.29329552] [ 0. 0. 0. 1. ]] SLAMing on 29.942414037 meters Centerline goodness : 0.826579 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.9837764 -0.15483525 -0.09060931 3.88327708] [ 0.15727208 0.98734544 0.02035869 0.10024531] [ 0.08631045 -0.03427871 0.9956784 -0.29304093] [ 0. 0. 0. 1. ]] SLAMing on 29.972414037 meters Centerline goodness : 0.826070 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.29 [[ 0.98365452 -0.15529509 -0.09114398 3.88427777] [ 0.15780881 0.98724617 0.02100922 0.09956085] [ 0.08671892 -0.03504913 0.99561608 -0.29255495] [ 0. 0. 0. 1. ]] SLAMing on 30.002414037 meters Centerline goodness : 0.827016 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:-0.29 [[ 0.98342552 -0.15619032 -0.09208055 3.88596382] [ 0.15883803 0.98705687 0.02211809 0.09865774] [ 0.08743411 -0.03637739 0.99550588 -0.29170044] [ 0. 0. 0. 1. ]] SLAMing on 30.032414037 meters Centerline goodness : 0.826140 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:-0.29 [[ 0.98331297 -0.15648007 -0.09278791 3.88742889] [ 0.1592014 0.9869864 0.02264418 0.09854703] [ 0.08803705 -0.03703828 0.99542837 -0.29149543] [ 0. 0. 0. 1. ]] SLAMing on 30.062414037 meters Centerline goodness : 0.821692 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:-0.29 [[ 0.98322731 -0.15678125 -0.0931864 3.88835733] [ 0.15954272 0.98692502 0.02291552 0.09851675] [ 0.08837526 -0.03739838 0.99538494 -0.29145845] [ 0. 0. 0. 1. ]] SLAMing on 30.092414037 meters Centerline goodness : 0.825853 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:-0.29 [[ 0.98315539 -0.15696088 -0.09364164 3.88967172] [ 0.15977788 0.98687708 0.02333781 0.09777949] [ 0.08874967 -0.03790656 0.9953324 -0.29170057] [ 0. 0. 0. 1. ]] SLAMing on 30.122414037 meters Centerline goodness : 0.824404 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:-0.29 [[ 0.98301744 -0.15762393 -0.09397561 3.89165862] [ 0.16051211 0.98674296 0.02396254 0.09473449] [ 0.0889527 -0.03863982 0.99528608 -0.29245083] [ 0. 0. 0. 1. ]] SLAMing on 30.152414037 meters Centerline goodness : 0.823267 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:-0.29 [[ 0.98289752 -0.15800382 -0.09458996 3.89327003] [ 0.16095135 0.98666217 0.02433976 0.09402975] [ 0.08948256 -0.03914787 0.99521873 -0.29259903] [ 0. 0. 0. 1. ]] SLAMing on 30.182414037 meters Centerline goodness : 0.823084 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:-0.29 [[ 0.98280233 -0.15830875 -0.09506795 3.8940875 ] [ 0.16130454 0.98659675 0.02465158 0.09431117] [ 0.08989117 -0.03956252 0.99516551 -0.29227473] [ 0. 0. 0. 1. ]] SLAMing on 30.212414037 meters Centerline goodness : 0.823598 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:-0.29 [[ 0.9826928 -0.15856167 -0.09577606 3.89490489] [ 0.16163202 0.98653059 0.02514914 0.09555038] [ 0.09049832 -0.04019436 0.99508516 -0.29160162] [ 0. 0. 0. 1. ]] SLAMing on 30.242414037 meters Centerline goodness : 0.826267 Centerline is valid? [False, False] Translation: X:3.90, Y:0.10, Z:-0.29 [[ 0.98283452 -0.15680693 -0.09720026 3.89656781] [ 0.16019179 0.98668846 0.02800843 0.09737028] [ 0.09151446 -0.04309834 0.99487066 -0.29124725] [ 0. 0. 0. 1. ]] SLAMing on 30.272414037 meters Centerline goodness : 0.824727 Centerline is valid? [False, False] Translation: X:3.90, Y:0.10, Z:-0.29 [[ 0.98282193 -0.15681508 -0.09731436 3.8976958 ] [ 0.16013216 0.98672024 0.02721888 0.09864029] [ 0.09175372 -0.04233447 0.99488142 -0.29262407] [ 0. 0. 0. 1. ]] SLAMing on 30.302414037 meters Centerline goodness : 0.823456 Centerline is valid? [False, False] Translation: X:3.90, Y:0.10, Z:-0.29 [[ 0.98286668 -0.15652696 -0.09732621 3.89914649] [ 0.1597735 0.98679897 0.02646155 0.09941582] [ 0.09189946 -0.04155833 0.9949007 -0.29469008] [ 0. 0. 0. 1. ]] SLAMing on 30.332414037 meters Centerline goodness : 0.824626 Centerline is valid? [False, False] Translation: X:3.90, Y:0.10, Z:-0.30 [[ 0.98308393 -0.1553953 -0.09694472 3.89855049] [ 0.1585875 0.98700006 0.02609374 0.10047896] [ 0.0916296 -0.04102655 0.99494766 -0.29556538] [ 0. 0. 0. 1. ]] SLAMing on 30.362414037 meters Centerline goodness : 0.824900 Centerline is valid? [False, False] Translation: X:3.90, Y:0.10, Z:-0.29 [[ 0.98319455 -0.15454883 -0.09717582 3.89822914] [ 0.15779357 0.9871139 0.02659588 0.10158297] [ 0.09181324 -0.04148264 0.99491181 -0.29499205] [ 0. 0. 0. 1. ]] SLAMing on 30.392414037 meters Centerline goodness : 0.824025 Centerline is valid? [False, False] Translation: X:3.90, Y:0.10, Z:-0.29 [[ 0.98346831 -0.15204471 -0.09834882 3.8988738 ] [ 0.15566145 0.98734974 0.0301661 0.10214413] [ 0.09251808 -0.04497653 0.99469469 -0.29394862] [ 0. 0. 0. 1. ]] SLAMing on 30.422414037 meters Centerline goodness : 0.820551 Centerline is valid? [False, False] Translation: X:3.90, Y:0.10, Z:-0.29 [[ 0.98346629 -0.15186352 -0.09864851 3.8988822 ] [ 0.15546679 0.987389 0.02988363 0.104573 ] [ 0.09286622 -0.04472611 0.99467353 -0.29372307] [ 0. 0. 0. 1. ]] SLAMing on 30.452414037 meters Centerline goodness : 0.823226 Centerline is valid? [False, False] Translation: X:3.90, Y:0.11, Z:-0.29 [[ 0.98343826 -0.15104604 -0.10017131 3.90033194] [ 0.15492479 0.98740466 0.03209911 0.10745199] [ 0.09406117 -0.04708651 0.99445229 -0.29269837] [ 0. 0. 0. 1. ]] SLAMing on 30.482414037 meters Centerline goodness : 0.822873 Centerline is valid? [False, False] Translation: X:3.90, Y:0.11, Z:-0.29 [[ 0.98339857 -0.15126227 -0.10023465 3.9004708 ] [ 0.15510246 0.98739124 0.03165071 0.10844458] [ 0.09418326 -0.04667191 0.99446028 -0.29286607] [ 0. 0. 0. 1. ]] SLAMing on 30.512414037 meters Centerline goodness : 0.767459 Centerline is valid? [False, False] Translation: X:3.90, Y:0.11, Z:-0.29 [[ 0.98331622 -0.15160834 -0.10051922 3.90158666] [ 0.15542825 0.98735179 0.03128112 0.10921573] [ 0.09450535 -0.04638276 0.99444325 -0.29357096] [ 0. 0. 0. 1. ]] SLAMing on 30.542414037 meters Centerline goodness : 0.821030 Centerline is valid? [False, False] Translation: X:3.90, Y:0.11, Z:-0.29 [[ 0.98319201 -0.1523475 -0.10061667 3.90216477] [ 0.15609174 0.98727445 0.03040604 0.11043192] [ 0.09470398 -0.04560041 0.99446054 -0.29406327] [ 0. 0. 0. 1. ]] SLAMing on 30.572414037 meters Centerline goodness : 0.819658 Centerline is valid? [False, False] Translation: X:3.90, Y:0.11, Z:-0.29 [[ 0.98290219 -0.15351071 -0.10167472 3.90433592] [ 0.1572316 0.9871179 0.0296054 0.11388054] [ 0.09582019 -0.04508569 0.99437708 -0.29438016] [ 0. 0. 0. 1. ]] SLAMing on 30.602414037 meters Centerline goodness : 0.816701 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-0.29 [[ 0.98269821 -0.15442432 -0.10226126 3.90501777] [ 0.15812192 0.98699222 0.02904843 0.11568379] [ 0.09644529 -0.04471559 0.99433336 -0.29375524] [ 0. 0. 0. 1. ]] SLAMing on 30.632414037 meters Centerline goodness : 0.820702 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-0.29 [[ 0.98233946 -0.15607363 -0.10319984 3.90586388] [ 0.15970386 0.98677198 0.02785197 0.12017153] [ 0.09748775 -0.0438415 0.99427062 -0.29278887] [ 0. 0. 0. 1. ]] SLAMing on 30.662414037 meters Centerline goodness : 0.768272 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-0.29 [[ 0.98224129 -0.15641899 -0.10361051 3.90643726] [ 0.16003549 0.9867278 0.02751173 0.12205898] [ 0.09793202 -0.04360451 0.99423738 -0.29266889] [ 0. 0. 0. 1. ]] SLAMing on 30.692414037 meters Centerline goodness : 0.768650 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-0.29 [[ 0.98219679 -0.15650113 -0.10390794 3.90675856] [ 0.16009793 0.98672698 0.02717583 0.12385246] [ 0.09827571 -0.04332746 0.99421558 -0.29258359] [ 0. 0. 0. 1. ]] SLAMing on 30.722414037 meters Centerline goodness : 0.768988 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-0.29 [[ 0.98220991 -0.15624694 -0.10416618 3.9070382 ] [ 0.1598229 0.98678012 0.02686343 0.12582391] [ 0.09859179 -0.04303367 0.99419704 -0.29269283] [ 0. 0. 0. 1. ]] SLAMing on 30.752414037 meters Centerline goodness : 0.824046 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-0.29 [[ 0.98233514 -0.15552181 -0.10407033 3.90620768] [ 0.15901121 0.98693261 0.02606649 0.12921309] [ 0.09865649 -0.04215438 0.9942283 -0.29274986] [ 0. 0. 0. 1. ]] SLAMing on 30.782414037 meters Centerline goodness : 0.768180 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-0.29 [[ 0.98245192 -0.15392333 -0.1053368 3.90799002] [ 0.1577337 0.98706154 0.02880262 0.13004965] [ 0.09954051 -0.04491235 0.9940194 -0.29266637] [ 0. 0. 0. 1. ]] SLAMing on 30.812414037 meters Centerline goodness : 0.823783 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-0.29 [[ 0.98231757 -0.15468645 -0.10547179 3.90757789] [ 0.15841166 0.98698011 0.02785683 0.13262244] [ 0.09978948 -0.04407221 0.99403204 -0.29205357] [ 0. 0. 0. 1. ]] SLAMing on 30.842414037 meters Centerline goodness : 0.823129 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-0.29 [[ 0.98221252 -0.15499371 -0.10599771 3.90809759] [ 0.15874 0.98692844 0.02781859 0.13447555] [ 0.10030044 -0.04414984 0.99397717 -0.29158658] [ 0. 0. 0. 1. ]] SLAMing on 30.872414037 meters Centerline goodness : 0.767498 Centerline is valid? [False, False] Translation: X:3.91, Y:0.14, Z:-0.29 [[ 0.98189081 -0.15639573 -0.10691494 3.90892943] [ 0.16010956 0.9867291 0.02702982 0.13805103] [ 0.10126874 -0.04365844 0.99390069 -0.2905841 ] [ 0. 0. 0. 1. ]] SLAMing on 30.902414037 meters Centerline goodness : 0.823349 Centerline is valid? [False, False] Translation: X:3.91, Y:0.14, Z:-0.29 [[ 0.98171354 -0.15731716 -0.10719063 3.91001284] [ 0.16095308 0.9866168 0.02610365 0.13976875] [ 0.10164952 -0.04287897 0.99389575 -0.29126736] [ 0. 0. 0. 1. ]] SLAMing on 30.932414037 meters Centerline goodness : 0.825412 Centerline is valid? [False, False] Translation: X:3.91, Y:0.14, Z:-0.29 [[ 0.98156642 -0.15800842 -0.10752072 3.91131438] [ 0.16157851 0.98653579 0.02528883 0.1412271 ] [ 0.10207719 -0.0421957 0.99388116 -0.29209306] [ 0. 0. 0. 1. ]] SLAMing on 30.962414037 meters Centerline goodness : 0.825830 Centerline is valid? [False, False] Translation: X:3.91, Y:0.14, Z:-0.29 [[ 0.9813211 -0.15935998 -0.10776498 3.91194572] [ 0.16279423 0.9863729 0.02380224 0.14397724] [ 0.10250333 -0.04090116 0.99389142 -0.2924157 ] [ 0. 0. 0. 1. ]] SLAMing on 30.992414037 meters Centerline goodness : 0.823158 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:-0.29 [[ 0.98116114 -0.15989028 -0.10843396 3.91270225] [ 0.1633492 0.98628249 0.02374627 0.1459544 ] [ 0.10314972 -0.04101152 0.99382 -0.29185648] [ 0. 0. 0. 1. ]] SLAMing on 31.022414037 meters Centerline goodness : 0.764797 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:-0.29 [[ 0.9809939 -0.1605218 -0.1090125 3.91259607] [ 0.16398597 0.9861819 0.02353437 0.14839835] [ 0.10372837 -0.0409636 0.99376175 -0.29050557] [ 0. 0. 0. 1. ]] SLAMing on 31.052414037 meters Centerline goodness : 0.824812 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:-0.29 [[ 0.98084724 -0.16087507 -0.10980851 3.91307613] [ 0.16436722 0.98612 0.02346818 0.1510964 ] [ 0.10450892 -0.04106761 0.99367567 -0.28950015] [ 0. 0. 0. 1. ]] SLAMing on 31.082414037 meters Centerline goodness : 0.822615 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:-0.29 [[ 0.98062235 -0.16223286 -0.10981942 3.91308108] [ 0.16546057 0.98599526 0.02088423 0.15598764] [ 0.10489332 -0.03865033 0.99373213 -0.29004952] [ 0. 0. 0. 1. ]] SLAMing on 31.112414037 meters Centerline goodness : 0.763114 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-0.29 [[ 0.9805927 -0.16215312 -0.11020128 3.91516737] [ 0.1653427 0.98602542 0.02038769 0.15692789] [ 0.10535534 -0.038213 0.99370017 -0.2918848 ] [ 0. 0. 0. 1. ]] SLAMing on 31.142414037 meters Centerline goodness : 0.762767 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-0.29 [[ 0.98056972 -0.16221984 -0.1103075 3.91597342] [ 0.16536063 0.98603266 0.01988592 0.15776955] [ 0.10554091 -0.03774005 0.99369855 -0.29270937] [ 0. 0. 0. 1. ]] SLAMing on 31.172414037 meters Centerline goodness : 0.763298 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-0.29 [[ 0.98057739 -0.16209075 -0.11042906 3.91521691] [ 0.16521375 0.98606138 0.01968177 0.15954582] [ 0.1056996 -0.0375439 0.99368911 -0.29178719] [ 0. 0. 0. 1. ]] SLAMing on 31.202414037 meters Centerline goodness : 0.766719 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-0.29 [[ 0.9806631 -0.15949297 -0.11341023 3.91558876] [ 0.16332035 0.98625022 0.02523816 0.16476252] [ 0.10782555 -0.04327233 0.99322765 -0.28781098] [ 0. 0. 0. 1. ]] SLAMing on 31.232414037 meters Centerline goodness : 0.764561 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-0.29 [[ 0.98084573 -0.15729203 -0.11489503 3.91732366] [ 0.16149522 0.98647105 0.02818101 0.16638826] [ 0.10890797 -0.04619622 0.99297783 -0.28755579] [ 0. 0. 0. 1. ]] SLAMing on 31.262414037 meters Centerline goodness : 0.762218 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-0.29 [[ 0.98083305 -0.15740891 -0.11484321 3.91806005] [ 0.16146081 0.98651467 0.02681831 0.16886888] [ 0.10907307 -0.04484696 0.99302156 -0.28888441] [ 0. 0. 0. 1. ]] SLAMing on 31.292414037 meters Centerline goodness : 0.763098 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-0.29 [[ 0.98096176 -0.15683284 -0.11453163 3.91982828] [ 0.16067221 0.98669014 0.02503997 0.17148599] [ 0.10908014 -0.0429653 0.99310398 -0.29234738] [ 0. 0. 0. 1. ]] SLAMing on 31.322414037 meters Centerline goodness : 0.762577 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-0.29 [[ 0.98107652 -0.15636222 -0.11419162 3.91950677] [ 0.16010201 0.98680154 0.02429114 0.17311171] [ 0.10888626 -0.04211377 0.99316173 -0.29308912] [ 0. 0. 0. 1. ]] SLAMing on 31.352414037 meters Centerline goodness : 0.761223 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-0.29 [[ 0.98147387 -0.15333301 -0.11488264 3.9199248 ] [ 0.15744809 0.98714174 0.02759141 0.17339474] [ 0.10917477 -0.0451683 0.99299582 -0.29323569] [ 0. 0. 0. 1. ]] SLAMing on 31.382414037 meters Centerline goodness : 0.761907 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-0.29 [[ 0.98149442 -0.15294422 -0.11522483 3.91942305] [ 0.1570709 0.98720228 0.02757506 0.17640982] [ 0.10953277 -0.04516323 0.99295662 -0.29255458] [ 0. 0. 0. 1. ]] SLAMing on 31.412414037 meters Centerline goodness : 0.760964 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-0.29 [[ 0.98191489 -0.15045185 -0.11492344 3.91570587] [ 0.15474825 0.98751715 0.02937456 0.18093528] [ 0.10906941 -0.04662752 0.99293995 -0.29092589] [ 0. 0. 0. 1. ]] SLAMing on 31.442414037 meters Centerline goodness : 0.762854 Centerline is valid? [False, False] Translation: X:3.91, Y:0.18, Z:-0.29 [[ 0.9818579 -0.15093187 -0.11478081 3.9149456 ] [ 0.15513088 0.98748206 0.02852359 0.18310597] [ 0.10903887 -0.04581216 0.99298125 -0.29043117] [ 0. 0. 0. 1. ]] SLAMing on 31.472414037 meters Centerline goodness : 0.762450 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-0.29 [[ 0.9818342 -0.1511402 -0.11470941 3.91510954] [ 0.1552912 0.98746885 0.02810555 0.18429711] [ 0.10902409 -0.04540835 0.99300142 -0.29078952] [ 0. 0. 0. 1. ]] SLAMing on 31.502414037 meters Centerline goodness : 0.761234 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-0.29 [[ 0.98178026 -0.15153418 -0.11465129 3.91524262] [ 0.15562335 0.98743232 0.02754597 0.18553153] [ 0.10903623 -0.04488651 0.99302382 -0.2911124 ] [ 0. 0. 0. 1. ]] SLAMing on 31.532414037 meters Centerline goodness : 0.762608 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-0.29 [[ 0.98172826 -0.15195341 -0.11454164 3.91521291] [ 0.15597924 0.98739146 0.02699215 0.18721576] [ 0.10899589 -0.04436508 0.99305168 -0.29144581] [ 0. 0. 0. 1. ]] SLAMing on 31.562414037 meters Centerline goodness : 0.761021 Centerline is valid? [False, False] Translation: X:3.91, Y:0.19, Z:-0.29 [[ 0.98154289 -0.15355429 -0.11399405 3.91345111] [ 0.15737492 0.98721593 0.02525566 0.19143401] [ 0.10865863 -0.04272932 0.99316036 -0.29117244] [ 0. 0. 0. 1. ]] SLAMing on 31.592414037 meters Centerline goodness : 0.761021 Centerline is valid? [False, False] Translation: X:3.91, Y:0.19, Z:-0.29 [[ 0.98154289 -0.15355429 -0.11399405 3.91345111] [ 0.15737492 0.98721593 0.02525566 0.19143401] [ 0.10865863 -0.04272932 0.99316036 -0.29117244] [ 0. 0. 0. 1. ]] SLAMing on 31.622414037 meters Centerline goodness : 0.760719 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:-0.29 [[ 0.98096436 -0.15738614 -0.11374768 3.91446257] [ 0.16075651 0.98676995 0.02103333 0.19504698] [ 0.10893244 -0.03891863 0.993287 -0.2914964 ] [ 0. 0. 0. 1. ]] SLAMing on 31.652414037 meters Centerline goodness : 0.761665 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:-0.29 [[ 0.98087427 -0.1582152 -0.1133738 3.91355673] [ 0.16150177 0.98666244 0.02035684 0.19597543] [ 0.10864091 -0.03827757 0.99334384 -0.29147657] [ 0. 0. 0. 1. ]] SLAMing on 31.682414037 meters Centerline goodness : 0.821040 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:-0.29 [[ 0.98079369 -0.15890536 -0.11310533 3.91277642] [ 0.16212488 0.98657157 0.01980057 0.19651558] [ 0.10844009 -0.03775746 0.99338569 -0.29130178] [ 0. 0. 0. 1. ]] SLAMing on 31.712414037 meters Centerline goodness : 0.761458 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:-0.29 [[ 0.98062087 -0.16038925 -0.11250777 3.91071619] [ 0.16344356 0.9863809 0.01841003 0.19898554] [ 0.10802274 -0.03644193 0.99348028 -0.29063265] [ 0. 0. 0. 1. ]] SLAMing on 31.742414037 meters Centerline goodness : 0.761671 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:-0.29 [[ 0.98053422 -0.16102773 -0.11235088 3.90988363] [ 0.16399257 0.98630446 0.01760518 0.20110847] [ 0.10797725 -0.03568719 0.99351263 -0.29023875] [ 0. 0. 0. 1. ]] SLAMing on 31.772414037 meters Centerline goodness : 0.764000 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:-0.29 [[ 0.98045585 -0.16154469 -0.11229264 3.90939649] [ 0.16442468 0.9862463 0.01681573 0.20343268] [ 0.10803171 -0.03495077 0.99353289 -0.28993362] [ 0. 0. 0. 1. ]] SLAMing on 31.802414037 meters Centerline goodness : 0.762469 Centerline is valid? [False, False] Translation: X:3.91, Y:0.21, Z:-0.29 [[ 0.98038583 -0.16206677 -0.11215162 3.9087015 ] [ 0.16485701 0.98618757 0.0160073 0.20579509] [ 0.10800828 -0.03418232 0.99356217 -0.28960736] [ 0. 0. 0. 1. ]] SLAMing on 31.832414037 meters Centerline goodness : 0.763828 Centerline is valid? [False, False] Translation: X:3.91, Y:0.21, Z:-0.29 [[ 0.98028262 -0.16295002 -0.11177329 3.90690102] [ 0.16557025 0.98609122 0.01451206 0.20951824] [ 0.10785392 -0.03273225 0.99362776 -0.28842573] [ 0. 0. 0. 1. ]] SLAMing on 31.862414037 meters Centerline goodness : 0.763204 Centerline is valid? [False, False] Translation: X:3.91, Y:0.21, Z:-0.29 [[ 0.98024532 -0.16328945 -0.11160492 3.90633316] [ 0.16583715 0.98605552 0.01387598 0.21105819] [ 0.10778285 -0.0321101 0.99365578 -0.28816665] [ 0. 0. 0. 1. ]] SLAMing on 31.892414037 meters Centerline goodness : 0.764282 Centerline is valid? [False, False] Translation: X:3.91, Y:0.21, Z:-0.29 [[ 0.98020926 -0.16358442 -0.11148963 3.90597009] [ 0.16607792 0.98602166 0.01339443 0.21224804] [ 0.10774007 -0.03164531 0.99367532 -0.28803686] [ 0. 0. 0. 1. ]] SLAMing on 31.922414037 meters Centerline goodness : 0.764773 Centerline is valid? [False, False] Translation: X:3.90, Y:0.22, Z:-0.29 [[ 0.98011207 -0.16426041 -0.11135011 3.90466423] [ 0.16661151 0.98594856 0.01208471 0.21532812] [ 0.10780044 -0.03039658 0.99370776 -0.28676251] [ 0. 0. 0. 1. ]] SLAMing on 31.952414037 meters Centerline goodness : 0.767515 Centerline is valid? [False, False] Translation: X:3.90, Y:0.22, Z:-0.29 [[ 0.98005281 -0.16459204 -0.11138198 3.90421894] [ 0.16686917 0.98591342 0.01137615 0.21731121] [ 0.10794057 -0.02973545 0.99371255 -0.28617499] [ 0. 0. 0. 1. ]] SLAMing on 31.982414037 meters Centerline goodness : 0.767575 Centerline is valid? [False, False] Translation: X:3.90, Y:0.22, Z:-0.29 [[ 0.98003813 -0.16458062 -0.11152792 3.90450815] [ 0.16681179 0.98592835 0.01091402 0.21902173] [ 0.1081623 -0.02930033 0.99370137 -0.28605412] [ 0. 0. 0. 1. ]] SLAMing on 32.012414037 meters Centerline goodness : 0.767039 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.29 [[ 0.98004182 -0.16440678 -0.11175168 3.90541408] [ 0.16663551 0.98595897 0.01084032 0.22004002] [ 0.10840035 -0.02924577 0.99367704 -0.28657396] [ 0. 0. 0. 1. ]] SLAMing on 32.042414037 meters Centerline goodness : 0.767564 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.29 [[ 0.98008435 -0.16391637 -0.11209853 3.90696172] [ 0.16616921 0.98603597 0.01099397 0.2204643 ] [ 0.10873109 -0.02940234 0.99363628 -0.28738217] [ 0. 0. 0. 1. ]] SLAMing on 32.072414037 meters Centerline goodness : 0.765398 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.29 [[ 0.9800686 -0.1639783 -0.1121457 3.90681546] [ 0.16620805 0.98603193 0.01076677 0.22063397] [ 0.10881372 -0.02919169 0.99363344 -0.28696017] [ 0. 0. 0. 1. ]] SLAMing on 32.102414037 meters Centerline goodness : 0.765914 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.29 [[ 0.98005132 -0.16407406 -0.11215668 3.90643701] [ 0.16627217 0.98602432 0.01046967 0.22109371] [ 0.10887141 -0.02890935 0.99363538 -0.28635579] [ 0. 0. 0. 1. ]] SLAMing on 32.132414037 meters Centerline goodness : 0.766036 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.29 [[ 0.98003971 -0.16413746 -0.1121653 3.90602906] [ 0.16628547 0.98602688 0.01000678 0.22242612] [ 0.10895551 -0.0284585 0.99363917 -0.28570285] [ 0. 0. 0. 1. ]] SLAMing on 32.162414037 meters Centerline goodness : 0.767642 Centerline is valid? [False, False] Translation: X:3.90, Y:0.22, Z:-0.28 [[ 0.98062215 -0.16033896 -0.11256827 3.90442455] [ 0.1628597 0.98655679 0.01350592 0.22283212] [ 0.10888946 -0.03157704 0.9935522 -0.28464251] [ 0. 0. 0. 1. ]] SLAMing on 32.192414037 meters Centerline goodness : 0.767788 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.28 [[ 0.98063601 -0.15997969 -0.11295802 3.90531796] [ 0.16249462 0.98661898 0.01335961 0.22363352] [ 0.10930926 -0.03145599 0.99350994 -0.28446997] [ 0. 0. 0. 1. ]] SLAMing on 32.222414037 meters Centerline goodness : 0.767995 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.28 [[ 0.98068572 -0.15939684 -0.11334974 3.90678853] [ 0.16193768 0.98670845 0.01351351 0.22403024] [ 0.10968913 -0.0316081 0.99346325 -0.28497121] [ 0. 0. 0. 1. ]] SLAMing on 32.252414037 meters Centerline goodness : 0.766771 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.29 [[ 0.98076698 -0.1585133 -0.11388446 3.90886369] [ 0.1611025 0.98684057 0.01384433 0.22427328] [ 0.11019129 -0.03192514 0.99339754 -0.28567849] [ 0. 0. 0. 1. ]] SLAMing on 32.282414037 meters Centerline goodness : 0.767893 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:-0.29 [[ 0.98145716 -0.15351372 -0.11478409 3.91061919] [ 0.156594 0.98749418 0.0182639 0.22379029] [ 0.11054486 -0.03589973 0.99322255 -0.28695603] [ 0. 0. 0. 1. ]] SLAMing on 32.312414037 meters Centerline goodness : 0.767788 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:-0.29 [[ 0.9815188 -0.15288346 -0.11509771 3.91141103] [ 0.15595534 0.98759787 0.01812131 0.22517349] [ 0.11089981 -0.03573651 0.99318887 -0.28675499] [ 0. 0. 0. 1. ]] SLAMing on 32.342414037 meters Centerline goodness : 0.770363 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:-0.29 [[ 0.98159069 -0.15219689 -0.11539423 3.912229 ] [ 0.15525163 0.98771258 0.01791056 0.2265942 ] [ 0.1112504 -0.03549598 0.99315829 -0.28647864] [ 0. 0. 0. 1. ]] SLAMing on 32.372414037 meters Centerline goodness : 0.769231 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:-0.29 [[ 0.9816675 -0.15136918 -0.11582871 3.91327681] [ 0.15441188 0.98784781 0.01771071 0.22807557] [ 0.11174028 -0.03527136 0.99311129 -0.28604391] [ 0. 0. 0. 1. ]] SLAMing on 32.402414037 meters Centerline goodness : 0.768329 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:-0.29 [[ 0.98249814 -0.14570177 -0.11605344 3.91332238] [ 0.14923878 0.98854861 0.02234784 0.22742425] [ 0.11146834 -0.03927638 0.99299153 -0.286434 ] [ 0. 0. 0. 1. ]] SLAMing on 32.432414037 meters Centerline goodness : 0.769050 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:-0.29 [[ 0.98308358 -0.14122856 -0.11662405 3.91314201] [ 0.14521421 0.98904867 0.02637344 0.22626178] [ 0.11162218 -0.04286277 0.9928259 -0.28605194] [ 0. 0. 0. 1. ]] SLAMing on 32.462414037 meters Centerline goodness : 0.767724 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:-0.29 [[ 0.98366218 -0.13665703 -0.11719035 3.91319211] [ 0.14109335 0.98952958 0.03039519 0.22570248] [ 0.1118096 -0.04643338 0.99264422 -0.2859226 ] [ 0. 0. 0. 1. ]] SLAMing on 32.492414037 meters Centerline goodness : 0.770713 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:-0.29 [[ 0.98422312 -0.13196146 -0.11786019 3.9136143 ] [ 0.13686372 0.98998958 0.03448125 0.22537737] [ 0.11213017 -0.05006802 0.99243137 -0.28595964] [ 0. 0. 0. 1. ]] SLAMing on 32.522414037 meters Centerline goodness : 0.769219 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.98534585 -0.12220843 -0.11899017 3.91550337] [ 0.12807699 0.9908333 0.04296114 0.22422371] [ 0.11264921 -0.05757148 0.99196556 -0.28724147] [ 0. 0. 0. 1. ]] SLAMing on 32.552414037 meters Centerline goodness : 0.768816 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.98585082 -0.11749374 -0.1195549 3.91601701] [ 0.12384241 0.99118294 0.04711101 0.22341379] [ 0.11296553 -0.06125039 0.99170922 -0.28741091] [ 0. 0. 0. 1. ]] SLAMing on 32.582414037 meters Centerline goodness : 0.767356 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.98596335 -0.11598979 -0.12009426 3.9178791 ] [ 0.122406 0.99134374 0.04748 0.22387991] [ 0.1135475 -0.0615138 0.99162645 -0.2874107 ] [ 0. 0. 0. 1. ]] SLAMing on 32.612414037 meters Centerline goodness : 0.768593 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.98604854 -0.11490636 -0.12043586 3.91905088] [ 0.12135913 0.99146359 0.04766455 0.22400216] [ 0.11393081 -0.06161555 0.99157617 -0.28718078] [ 0. 0. 0. 1. ]] SLAMing on 32.642414037 meters Centerline goodness : 0.769254 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.98711113 -0.10914551 -0.11704221 3.91690774] [ 0.11567161 0.9920041 0.05047707 0.22021946] [ 0.110597 -0.06336493 0.99184333 -0.29033283] [ 0. 0. 0. 1. ]] SLAMing on 32.672414037 meters Centerline goodness : 0.770328 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.9871557 -0.10847124 -0.11729288 3.91779881] [ 0.11502363 0.99207328 0.05059822 0.22037483] [ 0.11087468 -0.06343978 0.99180754 -0.29025111] [ 0. 0. 0. 1. ]] SLAMing on 32.702414037 meters Centerline goodness : 0.769733 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.98716585 -0.10818708 -0.11746976 3.91799774] [ 0.11474 0.99211041 0.05051409 0.22052971] [ 0.111078 -0.06334426 0.9917909 -0.28973413] [ 0. 0. 0. 1. ]] SLAMing on 32.732414037 meters Centerline goodness : 0.767663 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-0.29 [[ 0.98719991 -0.10769017 -0.11763996 3.91803161] [ 0.11432392 0.99212536 0.05115965 0.21772957] [ 0.11120419 -0.06395386 0.99173763 -0.2888476 ] [ 0. 0. 0. 1. ]] SLAMing on 32.762414037 meters Centerline goodness : 0.768591 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.29 [[ 0.98720112 -0.10761606 -0.1176976 3.9179678 ] [ 0.11431041 0.99210047 0.05166992 0.21496252] [ 0.11120734 -0.06446267 0.99170434 -0.2884035 ] [ 0. 0. 0. 1. ]] SLAMing on 32.792414037 meters Centerline goodness : 0.766774 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.29 [[ 0.98682099 -0.11094478 -0.11779466 3.91940184] [ 0.11726918 0.99193127 0.04816942 0.21413028] [ 0.11150006 -0.06134828 0.99186901 -0.28798528] [ 0. 0. 0. 1. ]] SLAMing on 32.822414037 meters Centerline goodness : 0.766086 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.29 [[ 0.98640892 -0.11464649 -0.11770146 3.92040903] [ 0.12056669 0.99170949 0.04445182 0.21343964] [ 0.11162941 -0.05803855 0.99205363 -0.28754833] [ 0. 0. 0. 1. ]] SLAMing on 32.852414037 meters Centerline goodness : 0.832294 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.29 [[ 0.98591132 -0.11919198 -0.11735475 3.91989077] [ 0.12472806 0.99134383 0.04099177 0.20985745] [ 0.11145301 -0.05505168 0.99224369 -0.28625455] [ 0. 0. 0. 1. ]] SLAMing on 32.882414037 meters Centerline goodness : 0.766175 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.29 [[ 0.98541894 -0.12339688 -0.11714402 3.92032395] [ 0.12851304 0.9910119 0.0371458 0.20910717] [ 0.11150744 -0.0516587 0.99242001 -0.2856838 ] [ 0. 0. 0. 1. ]] SLAMing on 32.912414037 meters Centerline goodness : 0.766577 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.29 [[ 0.98491838 -0.12748724 -0.11697343 3.92113793] [ 0.13221543 0.99065266 0.03356176 0.20761776] [ 0.11160134 -0.04852129 0.99256779 -0.28543493] [ 0. 0. 0. 1. ]] SLAMing on 32.942414037 meters Centerline goodness : 0.765897 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.29 [[ 0.98439825 -0.13159822 -0.11679896 3.92217485] [ 0.13596236 0.9902541 0.0301838 0.20517127] [ 0.11168851 -0.04559314 0.9926968 -0.28540977] [ 0. 0. 0. 1. ]] SLAMing on 32.972414037 meters Centerline goodness : 0.763726 Centerline is valid? [False, False] Translation: X:3.92, Y:0.20, Z:-0.29 [[ 0.98333333 -0.13970865 -0.11634889 3.92413941] [ 0.14337675 0.98938349 0.02373642 0.19904608] [ 0.11179749 -0.04002254 0.99292473 -0.28536456] [ 0. 0. 0. 1. ]] SLAMing on 33.002414037 meters Centerline goodness : 0.765933 Centerline is valid? [False, False] Translation: X:3.92, Y:0.20, Z:-0.28 [[ 0.98280502 -0.14365307 -0.11600897 3.92459658] [ 0.14702438 0.98890989 0.02100146 0.19677378] [ 0.11170549 -0.03769649 0.99302611 -0.28482787] [ 0. 0. 0. 1. ]] SLAMing on 33.032414037 meters Centerline goodness : 0.767502 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-0.28 [[ 0.98221808 -0.14782894 -0.11573351 3.92407004] [ 0.15106451 0.98832849 0.01965494 0.19214444] [ 0.11147716 -0.03678866 0.99308582 -0.28243879] [ 0. 0. 0. 1. ]] SLAMing on 33.062414037 meters Centerline goodness : 0.766587 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-0.28 [[ 0.98211141 -0.14835103 -0.11597046 3.9238655 ] [ 0.15171267 0.98820851 0.020669 0.18962302] [ 0.11153673 -0.03789345 0.99303758 -0.2809253 ] [ 0. 0. 0. 1. ]] SLAMing on 33.092414037 meters Centerline goodness : 0.769613 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-0.28 [[ 0.98203551 -0.14875423 -0.11609666 3.92355814] [ 0.15224658 0.98810282 0.02176704 0.1869221 ] [ 0.1114775 -0.03905133 0.99299938 -0.27954665] [ 0. 0. 0. 1. ]] SLAMing on 33.122414037 meters Centerline goodness : 0.770330 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-0.28 [[ 0.98189376 -0.15053726 -0.11499212 3.92155459] [ 0.15370697 0.98793065 0.0191626 0.18524884] [ 0.11071956 -0.03649073 0.99318156 -0.27857373] [ 0. 0. 0. 1. ]] SLAMing on 33.152414037 meters Centerline goodness : 0.770108 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-0.28 [[ 0.98198851 -0.15131102 -0.1131527 3.91964879] [ 0.15424628 0.98787565 0.01760101 0.17962853] [ 0.10911757 -0.03473737 0.9934217 -0.27901235] [ 0. 0. 0. 1. ]] SLAMing on 33.182414037 meters Centerline goodness : 0.769344 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-0.28 [[ 0.98196352 -0.15249832 -0.1117672 3.91785427] [ 0.15508644 0.98779021 0.01478853 0.17820927] [ 0.10814732 -0.03185537 0.99362437 -0.27931809] [ 0. 0. 0. 1. ]] SLAMing on 33.212414037 meters Centerline goodness : 0.769037 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-0.28 [[ 0.98206458 -0.15209336 -0.11143059 3.91764353] [ 0.1546781 0.98785287 0.01487939 0.17651185] [ 0.10781397 -0.03184839 0.99366082 -0.27963367] [ 0. 0. 0. 1. ]] SLAMing on 33.242414037 meters Centerline goodness : 0.826636 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-0.28 [[ 0.98218301 -0.15162166 -0.11102883 3.91737841] [ 0.15418452 0.98793089 0.01482219 0.17553002] [ 0.10744144 -0.03167702 0.99370665 -0.28021241] [ 0. 0. 0. 1. ]] SLAMing on 33.272414037 meters Centerline goodness : 0.769380 Centerline is valid? [False, False] Translation: X:3.91, Y:0.18, Z:-0.29 [[ 0.98330294 -0.15478282 -0.09569537 3.91421838] [ 0.15652637 0.98761314 0.010944 0.17622075] [ 0.09281606 -0.02574012 0.9953505 -0.28640107] [ 0. 0. 0. 1. ]] SLAMing on 33.302414037 meters Centerline goodness : 0.824606 Centerline is valid? [False, False] Translation: X:3.91, Y:0.17, Z:-0.29 [[ 0.98359573 -0.15345836 -0.0948155 3.91359333] [ 0.15516695 0.98782841 0.01087401 0.17405623] [ 0.09199274 -0.02540786 0.99543547 -0.28771255] [ 0. 0. 0. 1. ]] SLAMing on 33.332414037 meters Centerline goodness : 0.824921 Centerline is valid? [False, False] Translation: X:3.91, Y:0.17, Z:-0.29 [[ 0.98388076 -0.15213214 -0.09399185 3.91364977] [ 0.15382451 0.98803709 0.01098796 0.17157049] [ 0.09119581 -0.02526909 0.99551233 -0.28967604] [ 0. 0. 0. 1. ]] SLAMing on 33.362414037 meters Centerline goodness : 0.770821 Centerline is valid? [False, False] Translation: X:3.91, Y:0.17, Z:-0.29 [[ 0.98410353 -0.1511138 -0.09329988 3.91310744] [ 0.15281186 0.9881908 0.01129078 0.16912845] [ 0.09049189 -0.02536863 0.99557403 -0.29044503] [ 0. 0. 0. 1. ]] SLAMing on 33.392414037 meters Centerline goodness : 0.771444 Centerline is valid? [False, False] Translation: X:3.91, Y:0.17, Z:-0.29 [[ 0.98433655 -0.14998501 -0.0926609 3.91192171] [ 0.15173313 0.98834771 0.01207766 0.16666286] [ 0.08976972 -0.02594821 0.99562447 -0.29032874] [ 0. 0. 0. 1. ]] SLAMing on 33.422414037 meters Centerline goodness : 0.775146 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:-0.29 [[ 0.9848333 -0.14733658 -0.09162592 3.90870474] [ 0.14930692 0.98867716 0.01499705 0.16084884] [ 0.08837884 -0.02844998 0.99568056 -0.28829234] [ 0. 0. 0. 1. ]] SLAMing on 33.452414037 meters Centerline goodness : 0.773835 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:-0.29 [[ 0.98494231 -0.14688583 -0.09117678 3.90777688] [ 0.14890453 0.98872677 0.01571028 0.1584274 ] [ 0.08784131 -0.02905036 0.99571079 -0.28787727] [ 0. 0. 0. 1. ]] SLAMing on 33.482414037 meters Centerline goodness : 0.824497 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:-0.29 [[ 0.98499777 -0.1466429 -0.09096846 3.90804482] [ 0.14871741 0.98874332 0.01642467 0.15552963] [ 0.08753589 -0.02970686 0.99571832 -0.28812932] [ 0. 0. 0. 1. ]] SLAMing on 33.512414037 meters Centerline goodness : 0.824497 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:-0.29 [[ 0.98499777 -0.1466429 -0.09096846 3.90804482] [ 0.14871741 0.98874332 0.01642467 0.15552963] [ 0.08753589 -0.02970686 0.99571832 -0.28812932] [ 0. 0. 0. 1. ]] SLAMing on 33.542414037 meters Centerline goodness : 0.822381 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:-0.29 [[ 0.98466827 -0.14946865 -0.08993059 3.90774678] [ 0.15131608 0.98838558 0.01404954 0.15160095] [ 0.08678614 -0.02744208 0.99584893 -0.28824532] [ 0. 0. 0. 1. ]] SLAMing on 33.572414037 meters Centerline goodness : 0.823492 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:-0.29 [[ 0.98457333 -0.15014947 -0.08983588 3.9086354 ] [ 0.15202197 0.98827311 0.01433836 0.14878716] [ 0.08662949 -0.0277742 0.99585337 -0.28865124] [ 0. 0. 0. 1. ]] SLAMing on 33.602414037 meters Centerline goodness : 0.822693 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:-0.29 [[ 0.98435085 -0.15207291 -0.08903504 3.90885889] [ 0.1537354 0.98803818 0.01208207 0.14640634] [ 0.08613266 -0.02558083 0.99595521 -0.28947196] [ 0. 0. 0. 1. ]] SLAMing on 33.632414037 meters Centerline goodness : 0.821347 Centerline is valid? [False, False] Translation: X:3.91, Y:0.14, Z:-0.29 [[ 0.98401227 -0.15489077 -0.087913 3.91060677] [ 0.15633256 0.98765668 0.00971702 0.1405302 ] [ 0.08532278 -0.02330533 0.99608076 -0.29199226] [ 0. 0. 0. 1. ]] SLAMing on 33.662414037 meters Centerline goodness : 0.819886 Centerline is valid? [False, False] Translation: X:3.91, Y:0.14, Z:-0.29 [[ 0.98403033 -0.15508668 -0.08736377 3.91123866] [ 0.15647779 0.98763803 0.00926458 0.13678668] [ 0.08484697 -0.02278712 0.99613339 -0.29303103] [ 0. 0. 0. 1. ]] SLAMing on 33.692414037 meters Centerline goodness : 0.818771 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-0.29 [[ 0.98393632 -0.15551613 -0.0876587 3.9122082 ] [ 0.15714645 0.98750273 0.0119726 0.13010098] [ 0.08470128 -0.02555553 0.99607862 -0.29188449] [ 0. 0. 0. 1. ]] SLAMing on 33.722414037 meters Centerline goodness : 0.822551 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-0.29 [[ 0.9837829 -0.1563596 -0.0878799 3.91244592] [ 0.15816897 0.98731317 0.01397414 0.12514131] [ 0.08457999 -0.02764739 0.99603306 -0.29009839] [ 0. 0. 0. 1. ]] SLAMing on 33.752414037 meters Centerline goodness : 0.822660 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-0.29 [[ 0.98376782 -0.15627444 -0.08819967 3.91333448] [ 0.15822105 0.98728228 0.01548523 0.12227681] [ 0.08465802 -0.02918891 0.99598244 -0.28970922] [ 0. 0. 0. 1. ]] SLAMing on 33.782414037 meters Centerline goodness : 0.824297 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-0.29 [[ 0.983743 -0.15644365 -0.08817651 3.91347215] [ 0.15846927 0.98722742 0.01641671 0.11932731] [ 0.08448198 -0.03012309 0.99596958 -0.28911755] [ 0. 0. 0. 1. ]] SLAMing on 33.812414037 meters Centerline goodness : 0.824297 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-0.29 [[ 0.983743 -0.15644365 -0.08817651 3.91347215] [ 0.15846927 0.98722742 0.01641671 0.11932731] [ 0.08448198 -0.03012309 0.99596958 -0.28911755] [ 0. 0. 0. 1. ]] SLAMing on 33.842414037 meters Centerline goodness : 0.818837 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-0.29 [[ 0.98369923 -0.15649824 -0.08856708 3.91535717] [ 0.15866388 0.98717001 0.01792054 0.1156614 ] [ 0.08462623 -0.03168082 0.995909 -0.28957767] [ 0. 0. 0. 1. ]] SLAMing on 33.872414037 meters Centerline goodness : 0.826423 Centerline is valid? [False, False] Translation: X:3.92, Y:0.11, Z:-0.29 [[ 0.98363041 -0.15669012 -0.08899112 3.91750168] [ 0.15898724 0.98709207 0.01929531 0.1117477 ] [ 0.08481905 -0.03312791 0.99584551 -0.29018795] [ 0. 0. 0. 1. ]] SLAMing on 33.902414037 meters Centerline goodness : 0.829522 Centerline is valid? [False, False] Translation: X:3.92, Y:0.11, Z:-0.29 [[ 0.9831876 -0.15970833 -0.0885178 3.91924182] [ 0.16187674 0.98664974 0.01783845 0.1062206 ] [ 0.08448712 -0.03186752 0.99591485 -0.29096376] [ 0. 0. 0. 1. ]] SLAMing on 33.932414037 meters Centerline goodness : 0.827364 Centerline is valid? [False, False] Translation: X:3.92, Y:0.10, Z:-0.29 [[ 0.98312492 -0.15991181 -0.08884599 3.92019202] [ 0.16223009 0.98656088 0.01946869 0.10284752] [ 0.0845387 -0.03355365 0.99585509 -0.29041187] [ 0. 0. 0. 1. ]] SLAMing on 33.962414037 meters Centerline goodness : 0.828936 Centerline is valid? [False, False] Translation: X:3.92, Y:0.10, Z:-0.29 [[ 0.98302961 -0.16007638 -0.08960099 3.92172697] [ 0.16256578 0.98647071 0.02116401 0.10033138] [ 0.08500089 -0.03537091 0.99575285 -0.28966912] [ 0. 0. 0. 1. ]] SLAMing on 33.992414037 meters Centerline goodness : 0.830011 Centerline is valid? [False, False] Translation: X:3.92, Y:0.10, Z:-0.29 [[ 0.98296458 -0.16076967 -0.08907161 3.92191247] [ 0.16323343 0.98636277 0.02105566 0.09568845] [ 0.08447181 -0.03523643 0.99580264 -0.28962083] [ 0. 0. 0. 1. ]] SLAMing on 34.022414037 meters Centerline goodness : 0.833217 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.29 [[ 0.98293451 -0.16075984 -0.0894205 3.92403859] [ 0.16330237 0.98633439 0.0218359 0.09306791] [ 0.08468817 -0.03606584 0.99575457 -0.29070103] [ 0. 0. 0. 1. ]] SLAMing on 34.052414037 meters Centerline goodness : 0.831939 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-0.29 [[ 0.98288193 -0.16086918 -0.08980098 3.92626606] [ 0.16348094 0.98629034 0.02248016 0.09072632] [ 0.08495347 -0.03677609 0.99570599 -0.29186863] [ 0. 0. 0. 1. ]] SLAMing on 34.082414037 meters Centerline goodness : 0.831782 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-0.29 [[ 0.98288514 -0.16083556 -0.08982607 3.92745731] [ 0.16355203 0.98625001 0.023699 0.08645509] [ 0.08477932 -0.03798463 0.99567547 -0.29222245] [ 0. 0. 0. 1. ]] SLAMing on 34.112414037 meters Centerline goodness : 0.832135 Centerline is valid? [False, False] Translation: X:3.93, Y:0.08, Z:-0.29 [[ 0.9829181 -0.16053707 -0.08999919 3.92845449] [ 0.16334843 0.98625803 0.02474637 0.0837858 ] [ 0.08478972 -0.03902488 0.99563435 -0.29241307] [ 0. 0. 0. 1. ]] SLAMing on 34.142414037 meters Centerline goodness : 0.833439 Centerline is valid? [False, False] Translation: X:3.93, Y:0.08, Z:-0.29 [[ 0.98295143 -0.16016771 -0.0902928 3.92980107] [ 0.16310183 0.98626491 0.02606394 0.080885 ] [ 0.08487802 -0.04034651 0.99557415 -0.29270542] [ 0. 0. 0. 1. ]] SLAMing on 34.172414037 meters Centerline goodness : 0.831863 Centerline is valid? [False, False] Translation: X:3.93, Y:0.08, Z:-0.29 [[ 0.98289542 -0.16032621 -0.09062062 3.93128053] [ 0.16344594 0.98615275 0.02807447 0.07576301] [ 0.0848647 -0.04240584 0.99548969 -0.29244282] [ 0. 0. 0. 1. ]] SLAMing on 34.202414037 meters Centerline goodness : 0.832943 Centerline is valid? [False, False] Translation: X:3.93, Y:0.07, Z:-0.29 [[ 0.9828373 -0.16044575 -0.09103851 3.93229826] [ 0.16367849 0.98608204 0.02918165 0.07347798] [ 0.08508937 -0.04358186 0.99541972 -0.29199266] [ 0. 0. 0. 1. ]] SLAMing on 34.232414037 meters Centerline goodness : 0.830909 Centerline is valid? [False, False] Translation: X:3.93, Y:0.07, Z:-0.29 [[ 0.98275775 -0.16056596 -0.09168304 3.93396203] [ 0.16391847 0.9860103 0.03023956 0.07146703] [ 0.08554498 -0.0447467 0.99532899 -0.29183423] [ 0. 0. 0. 1. ]] SLAMing on 34.262414037 meters Centerline goodness : 0.828459 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-0.29 [[ 0.98261926 -0.16102225 -0.09236464 3.93629914] [ 0.16454978 0.98585314 0.03188983 0.06767927] [ 0.085923 -0.04653414 0.99521445 -0.29196946] [ 0. 0. 0. 1. ]] SLAMing on 34.292414037 meters Centerline goodness : 0.825113 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-0.29 [[ 0.98248154 -0.16155663 -0.09289497 3.9377421 ] [ 0.16513679 0.98574527 0.03218861 0.0669333 ] [ 0.08637049 -0.04696509 0.99515547 -0.29198894] [ 0. 0. 0. 1. ]] SLAMing on 34.322414037 meters Centerline goodness : 0.827940 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-0.29 [[ 0.98241578 -0.16165966 -0.09340982 3.93938678] [ 0.16532605 0.98569028 0.0328934 0.06580085] [ 0.08675562 -0.04775808 0.99508423 -0.2923274 ] [ 0. 0. 0. 1. ]] SLAMing on 34.352414037 meters Centerline goodness : 0.832966 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-0.29 [[ 0.98236032 -0.16178872 -0.09376893 3.94051416] [ 0.1655057 0.98564753 0.03326882 0.0652264 ] [ 0.08704059 -0.04820126 0.99503798 -0.29261569] [ 0. 0. 0. 1. ]] SLAMing on 34.382414037 meters Centerline goodness : 0.826265 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.29 [[ 0.98233889 -0.16187341 -0.09384724 3.94107197] [ 0.16560665 0.98562587 0.03340787 0.06428489] [ 0.08709042 -0.04835957 0.99502593 -0.29281982] [ 0. 0. 0. 1. ]] SLAMing on 34.412414037 meters Centerline goodness : 0.828561 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.29 [[ 0.98233951 -0.16162927 -0.09426059 3.94195348] [ 0.16542028 0.98564225 0.03384493 0.06424702] [ 0.08743689 -0.04883983 0.99497209 -0.29285167] [ 0. 0. 0. 1. ]] SLAMing on 34.442414037 meters Centerline goodness : 0.830613 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.29 [[ 0.98237786 -0.16135188 -0.09433612 3.94225129] [ 0.16514624 0.98568799 0.03385122 0.06439738] [ 0.08752402 -0.04883395 0.99496472 -0.29308175] [ 0. 0. 0. 1. ]] SLAMing on 34.472414037 meters Centerline goodness : 0.827980 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.29 [[ 0.9824644 -0.1608701 -0.09425774 3.94194439] [ 0.16465886 0.98576957 0.03384998 0.06466348] [ 0.08747097 -0.04877677 0.99497219 -0.29304105] [ 0. 0. 0. 1. ]] SLAMing on 34.502414037 meters Centerline goodness : 0.829662 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-0.29 [[ 0.98254211 -0.16035888 -0.09431877 3.94208296] [ 0.16415135 0.98585326 0.03387749 0.0651215 ] [ 0.08755191 -0.04876862 0.99496547 -0.2933189 ] [ 0. 0. 0. 1. ]] SLAMing on 34.532414037 meters Centerline goodness : 0.831640 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.30 [[ 0.98276048 -0.1593964 -0.093673 3.94201529] [ 0.16311017 0.98604313 0.03337679 0.06444893] [ 0.08704548 -0.04808041 0.9950434 -0.29509217] [ 0. 0. 0. 1. ]] SLAMing on 34.562414037 meters Centerline goodness : 0.829594 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.30 [[ 0.98279753 -0.15905392 -0.09386625 3.943266 ] [ 0.16279758 0.98608639 0.03362398 0.06368829] [ 0.08721221 -0.04832677 0.99501686 -0.29602325] [ 0. 0. 0. 1. ]] SLAMing on 34.592414037 meters Centerline goodness : 0.827538 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.30 [[ 0.98281768 -0.15893537 -0.09385605 3.94369718] [ 0.16267937 0.98610543 0.03363796 0.06314339] [ 0.0872057 -0.04832842 0.99501735 -0.29651231] [ 0. 0. 0. 1. ]] SLAMing on 34.622414037 meters Centerline goodness : 0.826108 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.30 [[ 0.98287835 -0.15859977 -0.09378836 3.94311347] [ 0.16239584 0.98612994 0.03428322 0.06226379] [ 0.0870502 -0.04892707 0.99500171 -0.29572986] [ 0. 0. 0. 1. ]] SLAMing on 34.652414037 meters Centerline goodness : 0.833529 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.30 [[ 0.98293032 -0.15804917 -0.0941724 3.94355132] [ 0.16195897 0.98616292 0.03538351 0.0613871 ] [ 0.08727699 -0.05003159 0.99492692 -0.29519161] [ 0. 0. 0. 1. ]] SLAMing on 34.682414037 meters Centerline goodness : 0.830277 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.29 [[ 0.9829705 -0.15792466 -0.09396169 3.94281932] [ 0.16183443 0.98617884 0.03550928 0.0609654 ] [ 0.08705524 -0.05011082 0.99494236 -0.29473538] [ 0. 0. 0. 1. ]] SLAMing on 34.712414037 meters Centerline goodness : 0.832938 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.29 [[ 0.98299577 -0.15767745 -0.09411235 3.94324384] [ 0.16164912 0.98618639 0.03613814 0.06007678] [ 0.08711415 -0.05073682 0.99490547 -0.2947176 ] [ 0. 0. 0. 1. ]] SLAMing on 34.742414037 meters Centerline goodness : 0.831286 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.30 [[ 0.98285319 -0.15881967 -0.09367987 3.94494653] [ 0.16257464 0.98611489 0.03386599 0.05905937] [ 0.08700053 -0.04851526 0.99502622 -0.29704638] [ 0. 0. 0. 1. ]] SLAMing on 34.772414037 meters Centerline goodness : 0.836773 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-0.30 [[ 0.9827297 -0.15919378 -0.09433812 3.94711859] [ 0.16301998 0.98602656 0.03429453 0.05833721] [ 0.08756042 -0.04908125 0.99494935 -0.29774952] [ 0. 0. 0. 1. ]] SLAMing on 34.802414037 meters Centerline goodness : 0.834127 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-0.30 [[ 0.98270599 -0.15906178 -0.09480661 3.94847699] [ 0.16299684 0.98599602 0.03526857 0.05698342] [ 0.08786906 -0.05011181 0.99487076 -0.29791397] [ 0. 0. 0. 1. ]] SLAMing on 34.832414037 meters Centerline goodness : 0.835445 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-0.30 [[ 0.98259036 -0.15931462 -0.0955774 3.94933004] [ 0.16339683 0.98588595 0.03647415 0.0559297 ] [ 0.08841755 -0.05145619 0.99475354 -0.29656 ] [ 0. 0. 0. 1. ]] SLAMing on 34.862414037 meters Centerline goodness : 0.833759 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.29 [[ 0.9824834 -0.15958345 -0.0962263 3.9497921 ] [ 0.16382447 0.98576261 0.03786311 0.05452335] [ 0.08881396 -0.0529641 0.99463907 -0.29496586] [ 0. 0. 0. 1. ]] SLAMing on 34.892414037 meters Centerline goodness : 0.835225 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.29 [[ 0.98207229 -0.16128143 -0.09758232 3.95202349] [ 0.1657618 0.98536872 0.03964235 0.05189185] [ 0.08976099 -0.05510708 0.99443762 -0.29293289] [ 0. 0. 0. 1. ]] SLAMing on 34.922414037 meters Centerline goodness : 0.836294 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.29 [[ 0.98183396 -0.16240829 -0.09811022 3.95346226] [ 0.16696776 0.98514459 0.04014841 0.04986747] [ 0.09013232 -0.05580031 0.99436537 -0.29244399] [ 0. 0. 0. 1. ]] SLAMing on 34.952414037 meters Centerline goodness : 0.837669 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.29 [[ 0.98103118 -0.1668895 -0.09861908 3.95673822] [ 0.1712641 0.984506 0.03763688 0.04798716] [ 0.09080987 -0.05381286 0.99441327 -0.292863 ] [ 0. 0. 0. 1. ]] SLAMing on 34.982414037 meters Centerline goodness : 0.834965 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.29 [[ 0.98088293 -0.1674538 -0.09913576 3.95835638] [ 0.17190288 0.98437607 0.03812031 0.04656755] [ 0.09120348 -0.05443328 0.99434347 -0.29296266] [ 0. 0. 0. 1. ]] SLAMing on 35.012414037 meters Centerline goodness : 0.833215 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.29 [[ 0.98072484 -0.16790846 -0.0999277 3.96035366] [ 0.17245659 0.98425648 0.03870271 0.04614562] [ 0.09185598 -0.0551899 0.9942417 -0.29305038] [ 0. 0. 0. 1. ]] SLAMing on 35.042414037 meters Centerline goodness : 0.836790 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.29 [[ 0.98063125 -0.16804842 -0.1006086 3.96188762] [ 0.17268466 0.98419537 0.03923617 0.04598458] [ 0.09242494 -0.05584977 0.99415212 -0.29308454] [ 0. 0. 0. 1. ]] SLAMing on 35.072414037 meters Centerline goodness : 0.833128 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.29 [[ 0.98054124 -0.16824136 -0.10116184 3.96301606] [ 0.17289532 0.98416443 0.03908423 0.04792374] [ 0.0929843 -0.05581411 0.99410196 -0.29338987] [ 0. 0. 0. 1. ]] SLAMing on 35.102414037 meters Centerline goodness : 0.837432 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.29 [[ 0.98064933 -0.16756605 -0.10123495 3.96320928] [ 0.17226262 0.98425789 0.039522 0.04797183] [ 0.09301876 -0.05619622 0.99407721 -0.29368252] [ 0. 0. 0. 1. ]] SLAMing on 35.132414037 meters Centerline goodness : 0.836434 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.29 [[ 0.98079834 -0.16692802 -0.10084474 3.9624773 ] [ 0.17157835 0.98438676 0.03928837 0.04785894] [ 0.09271189 -0.05583674 0.99412613 -0.2939619 ] [ 0. 0. 0. 1. ]] SLAMing on 35.162414037 meters Centerline goodness : 0.833198 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98095665 -0.16606867 -0.10072364 3.96301928] [ 0.17069568 0.98454591 0.03914499 0.04774471] [ 0.09266629 -0.05559263 0.99414406 -0.29522008] [ 0. 0. 0. 1. ]] SLAMing on 35.192414037 meters Centerline goodness : 0.833654 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98134486 -0.16404318 -0.10026019 3.96357699] [ 0.1686169 0.98491258 0.03893017 0.04791223] [ 0.09236129 -0.05510948 0.99419934 -0.29784823] [ 0. 0. 0. 1. ]] SLAMing on 35.222414037 meters Centerline goodness : 0.836454 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98157558 -0.16284294 -0.09995773 3.96303414] [ 0.16739136 0.98512338 0.03888523 0.04807173] [ 0.09213851 -0.05490085 0.99423156 -0.29843738] [ 0. 0. 0. 1. ]] SLAMing on 35.252414037 meters Centerline goodness : 0.834897 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98179198 -0.16168332 -0.0997147 3.96240147] [ 0.16623721 0.9853089 0.03913519 0.04837073] [ 0.09192228 -0.05499891 0.99424615 -0.29873578] [ 0. 0. 0. 1. ]] SLAMing on 35.282414037 meters Centerline goodness : 0.828905 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.9821221 -0.16024169 -0.09878656 3.95995021] [ 0.16467337 0.98559968 0.03841814 0.05016092] [ 0.09120782 -0.05399882 0.99436676 -0.29881443] [ 0. 0. 0. 1. ]] SLAMing on 35.312414036999996 meters Centerline goodness : 0.829201 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98220717 -0.15957784 -0.09901506 3.96026497] [ 0.16402545 0.98570524 0.03848159 0.05140167] [ 0.09145885 -0.05403789 0.99434158 -0.29907583] [ 0. 0. 0. 1. ]] SLAMing on 35.342414037 meters Centerline goodness : 0.829281 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98227365 -0.1592079 -0.09895106 3.9598546 ] [ 0.16361514 0.98578845 0.03809496 0.05256474] [ 0.0914798 -0.05360957 0.99436284 -0.29908511] [ 0. 0. 0. 1. ]] SLAMing on 35.372414037 meters Centerline goodness : 0.830907 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98253832 -0.15801439 -0.09823387 3.95872461] [ 0.16233847 0.98601639 0.03765493 0.05278256] [ 0.09091019 -0.05294455 0.99445071 -0.29991872] [ 0. 0. 0. 1. ]] SLAMing on 35.402414037 meters Centerline goodness : 0.830907 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98253832 -0.15801439 -0.09823387 3.95872461] [ 0.16233847 0.98601639 0.03765493 0.05278256] [ 0.09091019 -0.05294455 0.99445071 -0.29991872] [ 0. 0. 0. 1. ]] SLAMing on 35.432414037 meters Centerline goodness : 0.827779 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98266049 -0.15732641 -0.09811609 3.95912388] [ 0.16164395 0.98612957 0.03767884 0.05237872] [ 0.0908273 -0.05288538 0.99446143 -0.30087742] [ 0. 0. 0. 1. ]] SLAMing on 35.462414037 meters Centerline goodness : 0.827794 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98276279 -0.15678248 -0.09796197 3.95968964] [ 0.16107298 0.98623006 0.03749353 0.05189207] [ 0.09073471 -0.05262627 0.99448363 -0.30203729] [ 0. 0. 0. 1. ]] SLAMing on 35.492414037 meters Centerline goodness : 0.829832 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98284838 -0.15619996 -0.09803388 3.96059574] [ 0.16051648 0.98631065 0.03775915 0.05120393] [ 0.09079388 -0.05284758 0.99446649 -0.30301009] [ 0. 0. 0. 1. ]] SLAMing on 35.522414037 meters Centerline goodness : 0.833271 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98294782 -0.15568507 -0.09785568 3.96005487] [ 0.16003732 0.98636862 0.03827541 0.05057901] [ 0.09056286 -0.0532833 0.99446431 -0.30273048] [ 0. 0. 0. 1. ]] SLAMing on 35.552414037 meters Centerline goodness : 0.842402 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98286345 -0.15581653 -0.09849187 3.96097831] [ 0.16024982 0.98631437 0.03878096 0.05103191] [ 0.09110123 -0.0538997 0.99438191 -0.30227419] [ 0. 0. 0. 1. ]] SLAMing on 35.582414037 meters Centerline goodness : 0.830407 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98273019 -0.1562182 -0.09918294 3.96252015] [ 0.16071376 0.98622895 0.0390325 0.05151827] [ 0.0917195 -0.05429848 0.99430338 -0.3022909 ] [ 0. 0. 0. 1. ]] SLAMing on 35.612414037 meters Centerline goodness : 0.832724 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-0.30 [[ 0.98252958 -0.1571699 -0.09966566 3.96429991] [ 0.16165279 0.98609354 0.03857327 0.05190613] [ 0.0922171 -0.05401062 0.99427303 -0.30293809] [ 0. 0. 0. 1. ]] SLAMing on 35.642414037 meters Centerline goodness : 0.831770 Centerline is valid? [False, False] Translation: X:3.97, Y:0.05, Z:-0.30 [[ 0.98185505 -0.16124228 -0.09980776 3.96734877] [ 0.16543981 0.98558936 0.0352602 0.05156431] [ 0.09268403 -0.05113259 0.99438178 -0.3045735 ] [ 0. 0. 0. 1. ]] SLAMing on 35.672414037 meters Centerline goodness : 0.832090 Centerline is valid? [False, False] Translation: X:3.97, Y:0.05, Z:-0.30 [[ 0.98169649 -0.16181529 -0.10043807 3.96887859] [ 0.16614343 0.98543388 0.03628259 0.0495561 ] [ 0.093104 -0.05230561 0.99428153 -0.30406214] [ 0. 0. 0. 1. ]] SLAMing on 35.702414037 meters Centerline goodness : 0.832737 Centerline is valid? [False, False] Translation: X:3.97, Y:0.05, Z:-0.30 [[ 0.98155318 -0.1623217 -0.10101993 3.96974874] [ 0.16677466 0.98529073 0.03726123 0.04806343] [ 0.0934857 -0.05342145 0.99418639 -0.30298088] [ 0. 0. 0. 1. ]] SLAMing on 35.732414037 meters Centerline goodness : 0.833117 Centerline is valid? [False, False] Translation: X:3.97, Y:0.05, Z:-0.30 [[ 0.98133976 -0.16294744 -0.10208039 3.97078731] [ 0.16759599 0.98509619 0.03869214 0.04734927] [ 0.09425422 -0.0550784 0.9940234 -0.30104063] [ 0. 0. 0. 1. ]] SLAMing on 35.762414037 meters Centerline goodness : 0.828640 Centerline is valid? [False, False] Translation: X:3.97, Y:0.05, Z:-0.30 [[ 0.98110879 -0.16369459 -0.10310004 3.9719048 ] [ 0.16850265 0.98490001 0.03973455 0.04745832] [ 0.0950389 -0.05635655 0.99387703 -0.29940472] [ 0. 0. 0. 1. ]] SLAMing on 35.792414037 meters Centerline goodness : 0.832392 Centerline is valid? [False, False] Translation: X:3.98, Y:0.05, Z:-0.30 [[ 0.98036293 -0.16677101 -0.10524236 3.97563436] [ 0.17177902 0.9843067 0.04040161 0.04857142] [ 0.09685294 -0.05768667 0.99362556 -0.29750558] [ 0. 0. 0. 1. ]] SLAMing on 35.822414037 meters Centerline goodness : 0.830013 Centerline is valid? [False, False] Translation: X:3.98, Y:0.05, Z:-0.30 [[ 0.97998257 -0.1684089 -0.10617252 3.97857105] [ 0.17348175 0.98400643 0.04044039 0.04792204] [ 0.09766392 -0.05804988 0.99352502 -0.29790294] [ 0. 0. 0. 1. ]] SLAMing on 35.852414037 meters Centerline goodness : 0.830435 Centerline is valid? [False, False] Translation: X:3.98, Y:0.05, Z:-0.30 [[ 0.97889075 -0.17423132 -0.10684733 3.9830531 ] [ 0.17903613 0.9831433 0.03708515 0.04669472] [ 0.09858484 -0.05543184 0.99358359 -0.29894246] [ 0. 0. 0. 1. ]] SLAMing on 35.882414037 meters Centerline goodness : 0.831505 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97859404 -0.17533143 -0.10776176 3.98519494] [ 0.18024975 0.98289973 0.03765822 0.04568498] [ 0.09931633 -0.05627614 0.99346327 -0.29849894] [ 0. 0. 0. 1. ]] SLAMing on 35.912414037 meters Centerline goodness : 0.832674 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97834298 -0.17623263 -0.10856833 3.98666584] [ 0.18122608 0.98271059 0.03790789 0.04614996] [ 0.10001064 -0.05676233 0.99336595 -0.29794263] [ 0. 0. 0. 1. ]] SLAMing on 35.942414037 meters Centerline goodness : 0.830728 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97808704 -0.17704355 -0.10955052 3.98828303] [ 0.18211807 0.98253772 0.03811354 0.04759331] [ 0.10088977 -0.05722949 0.99325024 -0.2973434 ] [ 0. 0. 0. 1. ]] SLAMing on 35.972414037 meters Centerline goodness : 0.829619 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97784717 -0.1778138 -0.1104408 3.98984469] [ 0.18293819 0.98238736 0.03806159 0.04959214] [ 0.10172777 -0.05742226 0.99315364 -0.29711833] [ 0. 0. 0. 1. ]] SLAMing on 36.002414037 meters Centerline goodness : 0.834922 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97755159 -0.17880215 -0.11145707 3.99150391] [ 0.18400741 0.98218125 0.03822658 0.05074467] [ 0.10263605 -0.05787738 0.99303376 -0.29642227] [ 0. 0. 0. 1. ]] SLAMing on 36.032414037 meters Centerline goodness : 0.828971 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97739624 -0.17929762 -0.11202216 3.99276634] [ 0.18455511 0.98207219 0.03838769 0.05085723] [ 0.10313103 -0.05819424 0.99296396 -0.29633045] [ 0. 0. 0. 1. ]] SLAMing on 36.062414036999996 meters Centerline goodness : 0.831339 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97735313 -0.17933896 -0.11233162 3.99363882] [ 0.18464525 0.98204382 0.03867916 0.05048495] [ 0.1033779 -0.0585447 0.99291768 -0.29642988] [ 0. 0. 0. 1. ]] SLAMing on 36.092414037 meters Centerline goodness : 0.830224 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.9772837 -0.17961405 -0.11249606 3.99355476] [ 0.18494517 0.98198217 0.03881119 0.05037837] [ 0.10349809 -0.05873515 0.99289392 -0.29570754] [ 0. 0. 0. 1. ]] SLAMing on 36.122414037 meters Centerline goodness : 0.828597 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.30 [[ 0.97721251 -0.17976931 -0.11286588 3.9939268 ] [ 0.18513163 0.98194383 0.03889201 0.05114381] [ 0.10383636 -0.0589008 0.99284878 -0.29530369] [ 0. 0. 0. 1. ]] SLAMing on 36.152414037 meters Centerline goodness : 0.831655 Centerline is valid? [False, False] Translation: X:3.99, Y:0.05, Z:-0.29 [[ 0.97674721 -0.18142417 -0.11423725 3.99499338] [ 0.18687644 0.98161336 0.03888968 0.05456285] [ 0.10508128 -0.05933364 0.99269202 -0.29349376] [ 0. 0. 0. 1. ]] SLAMing on 36.182414037 meters Centerline goodness : 0.843049 Centerline is valid? [False, False] Translation: X:4.00, Y:0.06, Z:-0.29 [[ 0.97639369 -0.18266335 -0.11527989 3.9963992 ] [ 0.18815015 0.98138277 0.03856658 0.05673459] [ 0.106089 -0.05934609 0.99258409 -0.29258285] [ 0. 0. 0. 1. ]] SLAMing on 36.212414037 meters Centerline goodness : 0.834178 Centerline is valid? [False, False] Translation: X:4.00, Y:0.06, Z:-0.29 [[ 0.97560796 -0.18554067 -0.11731904 3.99966006] [ 0.19105642 0.98086011 0.03756183 0.06249997] [ 0.10810432 -0.05906018 0.99238367 -0.29177747] [ 0. 0. 0. 1. ]] SLAMing on 36.242414037 meters Centerline goodness : 0.841999 Centerline is valid? [False, False] Translation: X:4.00, Y:0.06, Z:-0.29 [[ 0.9753036 -0.18663118 -0.11811724 4.00126081] [ 0.19212852 0.98067565 0.03690391 0.06462707] [ 0.10894728 -0.05868621 0.99231367 -0.29176777] [ 0. 0. 0. 1. ]] SLAMing on 36.272414037 meters Centerline goodness : 0.839583 Centerline is valid? [False, False] Translation: X:4.00, Y:0.07, Z:-0.29 [[ 0.975064 -0.18752943 -0.11867146 4.00292271] [ 0.19296781 0.98054352 0.03602543 0.06646851] [ 0.1096067 -0.05802687 0.99227983 -0.29248373] [ 0. 0. 0. 1. ]] SLAMing on 36.302414037 meters Centerline goodness : 0.840079 Centerline is valid? [False, False] Translation: X:4.00, Y:0.07, Z:-0.29 [[ 0.97485878 -0.18827865 -0.11917007 4.00489659] [ 0.19365123 0.98044127 0.03513 0.06808719] [ 0.11022503 -0.05732421 0.99225217 -0.2936415 ] [ 0. 0. 0. 1. ]] SLAMing on 36.332414037 meters Centerline goodness : 0.839017 Centerline is valid? [False, False] Translation: X:4.01, Y:0.07, Z:-0.29 [[ 0.97444552 -0.18973623 -0.12023352 4.00732219] [ 0.19497278 0.98024352 0.0332906 0.07359253] [ 0.11154169 -0.05588214 0.9921873 -0.2946776 ] [ 0. 0. 0. 1. ]] SLAMing on 36.362414037 meters Centerline goodness : 0.840086 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-0.29 [[ 0.97439212 -0.18901882 -0.12178625 4.00865323] [ 0.19455923 0.98025813 0.03522357 0.07674249] [ 0.11272404 -0.05801621 0.99193115 -0.29375786] [ 0. 0. 0. 1. ]] SLAMing on 36.392414037 meters Centerline goodness : 0.838411 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-0.29 [[ 0.97456136 -0.18702615 -0.12349643 4.01023082] [ 0.19298931 0.98045991 0.03812479 0.07913789] [ 0.11395297 -0.06098844 0.99161239 -0.29296716] [ 0. 0. 0. 1. ]] SLAMing on 36.422414037 meters Centerline goodness : 0.838314 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-0.29 [[ 0.97446562 -0.18727493 -0.12387436 4.01060902] [ 0.19314674 0.98046757 0.03711712 0.08298695] [ 0.11450369 -0.06009528 0.99160348 -0.29326689] [ 0. 0. 0. 1. ]] SLAMing on 36.452414037 meters Centerline goodness : 0.834404 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:-0.29 [[ 0.97463672 -0.18541909 -0.12531172 4.01250465] [ 0.19149876 0.98074748 0.03824396 0.08844545] [ 0.115808 -0.06127101 0.99138003 -0.29440189] [ 0. 0. 0. 1. ]] SLAMing on 36.482414037 meters Centerline goodness : 0.835102 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:-0.30 [[ 0.97463758 -0.18523854 -0.12557178 4.01317113] [ 0.19123609 0.98083072 0.03741468 0.09113152] [ 0.11623401 -0.06047961 0.99137877 -0.29517913] [ 0. 0. 0. 1. ]] SLAMing on 36.512414037 meters Centerline goodness : 0.833138 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:-0.30 [[ 0.97465997 -0.18503333 -0.12570045 4.01300514] [ 0.19094557 0.98091685 0.03663222 0.09382523] [ 0.11652351 -0.05970591 0.99139169 -0.29526911] [ 0. 0. 0. 1. ]] SLAMing on 36.542414037 meters Centerline goodness : 0.823107 Centerline is valid? [False, False] Translation: X:4.01, Y:0.10, Z:-0.29 [[ 0.97495826 -0.18281718 -0.12662652 4.01116514] [ 0.18904327 0.98119673 0.03893089 0.09814294] [ 0.1171283 -0.06189388 0.99118621 -0.29289024] [ 0. 0. 0. 1. ]] SLAMing on 36.572414037 meters Centerline goodness : 0.833344 Centerline is valid? [False, False] Translation: X:4.01, Y:0.10, Z:-0.29 [[ 0.97478158 -0.18306747 -0.1276212 4.01104868] [ 0.18942025 0.98110308 0.03945518 0.10181562] [ 0.11798659 -0.06263422 0.9910379 -0.29132029] [ 0. 0. 0. 1. ]] SLAMing on 36.602414037 meters Centerline goodness : 0.830317 Centerline is valid? [False, False] Translation: X:4.01, Y:0.10, Z:-0.29 [[ 0.97482789 -0.18169706 -0.12921598 4.01204034] [ 0.18843699 0.98119108 0.04189958 0.10435352] [ 0.11917254 -0.06519395 0.99073087 -0.2899978 ] [ 0. 0. 0. 1. ]] SLAMing on 36.632414037 meters Centerline goodness : 0.831863 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.29 [[ 0.9746718 -0.18237526 -0.12943782 4.0116633 ] [ 0.18900363 0.98112778 0.04081555 0.10771678] [ 0.1195513 -0.06424598 0.99074716 -0.28948815] [ 0. 0. 0. 1. ]] SLAMing on 36.662414037 meters Centerline goodness : 0.828716 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.29 [[ 0.97436549 -0.18332122 -0.13040407 4.01323906] [ 0.18987037 0.98101052 0.03959302 0.1124565 ] [ 0.12066953 -0.06333794 0.99067006 -0.28977003] [ 0. 0. 0. 1. ]] SLAMing on 36.692414037 meters Centerline goodness : 0.831002 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.29 [[ 0.97421298 -0.1840464 -0.130522 4.01388564] [ 0.19046401 0.9809424 0.03841189 0.11460771] [ 0.12096499 -0.0622811 0.99070103 -0.29041194] [ 0. 0. 0. 1. ]] SLAMing on 36.722414037 meters Centerline goodness : 0.831739 Centerline is valid? [False, False] Translation: X:4.02, Y:0.12, Z:-0.29 [[ 0.9741101 -0.18431832 -0.13090556 4.01586049] [ 0.19064142 0.980946 0.0374271 0.11702903] [ 0.12151278 -0.06141414 0.99068812 -0.29215417] [ 0. 0. 0. 1. ]] SLAMing on 36.752414037 meters Centerline goodness : 0.825950 Centerline is valid? [False, False] Translation: X:4.02, Y:0.12, Z:-0.29 [[ 0.97385809 -0.18553974 -0.13105502 4.01665135] [ 0.19155629 0.98086489 0.03478869 0.12252703] [ 0.12209259 -0.05898366 0.99076452 -0.29346744] [ 0. 0. 0. 1. ]] SLAMing on 36.782414037 meters Centerline goodness : 0.825274 Centerline is valid? [False, False] Translation: X:4.02, Y:0.12, Z:-0.29 [[ 0.97417191 -0.18315946 -0.13206706 4.01762802] [ 0.18956431 0.98114935 0.03756756 0.12333514] [ 0.12269666 -0.06163246 0.99052863 -0.29344322] [ 0. 0. 0. 1. ]] SLAMing on 36.812414036999996 meters Centerline goodness : 0.825891 Centerline is valid? [False, False] Translation: X:4.02, Y:0.13, Z:-0.29 [[ 0.97417326 -0.18279514 -0.1325609 4.01808903] [ 0.18917156 0.98124251 0.03711136 0.12673713] [ 0.12329062 -0.06122965 0.99047986 -0.29359371] [ 0. 0. 0. 1. ]] SLAMing on 36.842414037 meters Centerline goodness : 0.824965 Centerline is valid? [False, False] Translation: X:4.02, Y:0.13, Z:-0.29 [[ 0.9741943 -0.18216241 -0.13327534 4.01867024] [ 0.18861154 0.98134037 0.03737343 0.13016021] [ 0.12398044 -0.06154625 0.99037413 -0.29361098] [ 0. 0. 0. 1. ]] SLAMing on 36.872414037 meters Centerline goodness : 0.773852 Centerline is valid? [False, False] Translation: X:4.02, Y:0.14, Z:-0.29 [[ 0.97437033 -0.18143396 -0.13298187 4.01780653] [ 0.18758332 0.98161895 0.03516729 0.13661728] [ 0.12415698 -0.05921114 0.99049436 -0.29477099] [ 0. 0. 0. 1. ]] SLAMing on 36.902414037 meters Centerline goodness : 0.773023 Centerline is valid? [False, False] Translation: X:4.02, Y:0.14, Z:-0.30 [[ 0.97445126 -0.18098367 -0.13300243 4.01788096] [ 0.18701874 0.98175829 0.03427325 0.13933073] [ 0.12437334 -0.05827155 0.99052294 -0.29552418] [ 0. 0. 0. 1. ]] SLAMing on 36.932414037 meters Centerline goodness : 0.770616 Centerline is valid? [False, False] Translation: X:4.02, Y:0.14, Z:-0.30 [[ 0.97453166 -0.18048232 -0.13309464 4.01806519] [ 0.18641367 0.98190226 0.03343502 0.14219093] [ 0.1246515 -0.05739414 0.99053921 -0.29620227] [ 0. 0. 0. 1. ]] SLAMing on 36.962414037 meters Centerline goodness : 0.769621 Centerline is valid? [False, False] Translation: X:4.02, Y:0.15, Z:-0.30 [[ 0.97461709 -0.17973124 -0.13348485 4.0184975 ] [ 0.18562565 0.982066 0.0330074 0.14547429] [ 0.12515847 -0.05694779 0.99050104 -0.29668551] [ 0. 0. 0. 1. ]] SLAMing on 36.992414037 meters Centerline goodness : 0.767954 Centerline is valid? [False, False] Translation: X:4.02, Y:0.15, Z:-0.30 [[ 0.97499836 -0.17703614 -0.1342997 4.01655881] [ 0.18313703 0.98248454 0.03442323 0.15203858] [ 0.12585322 -0.05815784 0.99034268 -0.29509522] [ 0. 0. 0. 1. ]] SLAMing on 37.022414037 meters Centerline goodness : 0.768611 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.29 [[ 0.97504006 -0.17672012 -0.13441314 4.0158881 ] [ 0.18270807 0.98259623 0.03350239 0.15608955] [ 0.12615329 -0.05722453 0.99035887 -0.29489695] [ 0. 0. 0. 1. ]] SLAMing on 37.052414037 meters Centerline goodness : 0.769042 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.30 [[ 0.97533881 -0.17427058 -0.13543989 4.01627754] [ 0.18053225 0.98293475 0.0353183 0.16079196] [ 0.12697363 -0.05889858 0.99015587 -0.29512976] [ 0. 0. 0. 1. ]] SLAMing on 37.082414037 meters Centerline goodness : 0.766305 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.30 [[ 0.97517956 -0.17512471 -0.13548489 4.01661191] [ 0.18119433 0.98286805 0.03374933 0.16354027] [ 0.12725342 -0.05746075 0.99020444 -0.29567206] [ 0. 0. 0. 1. ]] SLAMing on 37.112414037 meters Centerline goodness : 0.767359 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.30 [[ 0.97504643 -0.17571268 -0.13568167 4.01775496] [ 0.18169427 0.98280321 0.03294009 0.165222 ] [ 0.12756038 -0.0567707 0.99020474 -0.29666415] [ 0. 0. 0. 1. ]] SLAMing on 37.142414037 meters Centerline goodness : 0.766656 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.30 [[ 0.97484441 -0.17666694 -0.13589397 4.0181097 ] [ 0.18253038 0.98268353 0.03187061 0.16693695] [ 0.12791028 -0.05587366 0.99021063 -0.29655039] [ 0. 0. 0. 1. ]] SLAMing on 37.172414037 meters Centerline goodness : 0.766913 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.30 [[ 0.97476882 -0.17677835 -0.13629075 4.01867872] [ 0.18267516 0.98265415 0.0319469 0.16832153] [ 0.12827915 -0.05603777 0.99015364 -0.29651305] [ 0. 0. 0. 1. ]] SLAMing on 37.202414037 meters Centerline goodness : 0.766029 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.30 [[ 0.97475565 -0.17689028 -0.1362397 4.01775609] [ 0.18270388 0.98266899 0.03132018 0.17061902] [ 0.12833829 -0.05542105 0.99018069 -0.29590964] [ 0. 0. 0. 1. ]] SLAMing on 37.232414037 meters Centerline goodness : 0.766415 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97522921 -0.17365365 -0.13701241 4.01630083] [ 0.17979818 0.98312513 0.03372812 0.17493575] [ 0.12884333 -0.05752723 0.98999496 -0.29467047] [ 0. 0. 0. 1. ]] SLAMing on 37.262414037 meters Centerline goodness : 0.767506 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.30 [[ 0.97536901 -0.17293288 -0.13692884 4.01578243] [ 0.17900749 0.9832849 0.03327332 0.17781905] [ 0.12888601 -0.05696505 0.99002191 -0.29506107] [ 0. 0. 0. 1. ]] SLAMing on 37.292414037 meters Centerline goodness : 0.767046 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.30 [[ 0.97547595 -0.17267618 -0.13649029 4.01456889] [ 0.17854019 0.98341656 0.03186342 0.18083689] [ 0.12872476 -0.05545101 0.99012884 -0.29529203] [ 0. 0. 0. 1. ]] SLAMing on 37.322414037 meters Centerline goodness : 0.825823 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.30 [[ 0.97565331 -0.17224938 -0.13575994 4.01318328] [ 0.17791373 0.98356817 0.03066518 0.18316878] [ 0.1282471 -0.05407214 0.99026708 -0.29590127] [ 0. 0. 0. 1. ]] SLAMing on 37.352414037 meters Centerline goodness : 0.825823 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.30 [[ 0.97565331 -0.17224938 -0.13575994 4.01318328] [ 0.17791373 0.98356817 0.03066518 0.18316878] [ 0.1282471 -0.05407214 0.99026708 -0.29590127] [ 0. 0. 0. 1. ]] SLAMing on 37.382414037 meters Centerline goodness : 0.766757 Centerline is valid? [False, False] Translation: X:4.01, Y:0.19, Z:-0.30 [[ 0.97588258 -0.17120287 -0.13543547 4.0130943 ] [ 0.17663607 0.98384651 0.02908185 0.18768412] [ 0.12826882 -0.05230326 0.99035927 -0.29766834] [ 0. 0. 0. 1. ]] SLAMing on 37.412414037 meters Centerline goodness : 0.766207 Centerline is valid? [False, False] Translation: X:4.01, Y:0.19, Z:-0.30 [[ 0.97599742 -0.17086491 -0.13503411 4.01257607] [ 0.17617082 0.9839532 0.02828318 0.18933266] [ 0.12803464 -0.05139338 0.9904372 -0.29844189] [ 0. 0. 0. 1. ]] SLAMing on 37.442414037 meters Centerline goodness : 0.766127 Centerline is valid? [False, False] Translation: X:4.01, Y:0.19, Z:-0.30 [[ 0.97603547 -0.17067003 -0.1350056 4.01239087] [ 0.17588083 0.98402528 0.02757152 0.19155231] [ 0.12814329 -0.05065568 0.99046115 -0.29875328] [ 0. 0. 0. 1. ]] SLAMing on 37.472414037 meters Centerline goodness : 0.766036 Centerline is valid? [False, False] Translation: X:4.01, Y:0.19, Z:-0.30 [[ 0.97605871 -0.17062006 -0.13490064 4.01138916] [ 0.17570493 0.98408228 0.02664294 0.19444456] [ 0.12820751 -0.04970778 0.99050087 -0.29833705] [ 0. 0. 0. 1. ]] SLAMing on 37.502414037 meters Centerline goodness : 0.764881 Centerline is valid? [False, False] Translation: X:4.01, Y:0.20, Z:-0.30 [[ 0.97638845 -0.16727287 -0.13669448 4.01288639] [ 0.17283025 0.98450171 0.02976733 0.1981173 ] [ 0.12959668 -0.05268941 0.99016591 -0.2979059 ] [ 0. 0. 0. 1. ]] SLAMing on 37.532414037 meters Centerline goodness : 0.764621 Centerline is valid? [False, False] Translation: X:4.01, Y:0.20, Z:-0.30 [[ 0.9763701 -0.16750251 -0.13654425 4.01219856] [ 0.17289766 0.98452522 0.02857432 0.20090417] [ 0.12964499 -0.05150729 0.99022178 -0.29783543] [ 0. 0. 0. 1. ]] SLAMing on 37.562414036999996 meters Centerline goodness : 0.766327 Centerline is valid? [False, False] Translation: X:4.01, Y:0.20, Z:-0.30 [[ 0.97638515 -0.16757404 -0.13634872 4.0115603 ] [ 0.1728611 0.98455319 0.02782172 0.20235121] [ 0.12958037 -0.0507341 0.99027015 -0.29777483] [ 0. 0. 0. 1. ]] SLAMing on 37.592414037 meters Centerline goodness : 0.764684 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.30 [[ 0.97631322 -0.16821868 -0.13606973 4.01009616] [ 0.17333335 0.9845047 0.0265714 0.20503643] [ 0.12949149 -0.04952743 0.99034286 -0.29667412] [ 0. 0. 0. 1. ]] SLAMing on 37.622414037 meters Centerline goodness : 0.765097 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.30 [[ 0.97626018 -0.16859835 -0.13598037 4.00950738] [ 0.17362416 0.98447131 0.02590163 0.20605289] [ 0.1295018 -0.04889621 0.99037288 -0.29604457] [ 0. 0. 0. 1. ]] SLAMing on 37.652414037 meters Centerline goodness : 0.764332 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.30 [[ 0.97621947 -0.16887042 -0.13593499 4.00926353] [ 0.17382613 0.98444963 0.02536525 0.20685506] [ 0.12953771 -0.0483911 0.99039299 -0.29571872] [ 0. 0. 0. 1. ]] SLAMing on 37.682414037 meters Centerline goodness : 0.765197 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.30 [[ 0.97620261 -0.16883554 -0.13609936 4.00984867] [ 0.1737723 0.98446438 0.02516103 0.20745194] [ 0.12973689 -0.04821256 0.99037563 -0.29585444] [ 0. 0. 0. 1. ]] SLAMing on 37.712414037 meters Centerline goodness : 0.764867 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.30 [[ 0.97632961 -0.1680099 -0.13621 4.01084274] [ 0.1729532 0.98460703 0.02522278 0.2097989 ] [ 0.12987565 -0.0481837 0.99035885 -0.29664358] [ 0. 0. 0. 1. ]] SLAMing on 37.742414037 meters Centerline goodness : 0.763802 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.30 [[ 0.97633947 -0.16788913 -0.13628824 4.01101386] [ 0.17278587 0.98464597 0.02484663 0.21177204] [ 0.13002419 -0.04780743 0.99035759 -0.29664488] [ 0. 0. 0. 1. ]] SLAMing on 37.772414037 meters Centerline goodness : 0.763645 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.30 [[ 0.97633431 -0.16792831 -0.13627691 4.01069821] [ 0.17276307 0.98466173 0.02437633 0.21367418] [ 0.13009318 -0.04734306 0.99037084 -0.29634464] [ 0. 0. 0. 1. ]] SLAMing on 37.802414037 meters Centerline goodness : 0.763782 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.30 [[ 0.97630335 -0.16817094 -0.13619954 4.01009345] [ 0.17293339 0.984645 0.02383834 0.21510929] [ 0.13009928 -0.0468269 0.99039458 -0.29581263] [ 0. 0. 0. 1. ]] SLAMing on 37.832414037 meters Centerline goodness : 0.763207 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97626579 -0.16855802 -0.13599005 4.00883334] [ 0.17321329 0.98461405 0.02307239 0.21554122] [ 0.13000868 -0.04608007 0.9904415 -0.29445296] [ 0. 0. 0. 1. ]] SLAMing on 37.862414037 meters Centerline goodness : 0.763250 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97623244 -0.16880961 -0.13591739 4.00834018] [ 0.17341139 0.98458842 0.02267436 0.21541199] [ 0.12999504 -0.04570507 0.99046067 -0.29379768] [ 0. 0. 0. 1. ]] SLAMing on 37.892414037 meters Centerline goodness : 0.762791 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97620415 -0.16895363 -0.13594166 4.00853945] [ 0.17351965 0.984576 0.02238394 0.21566457] [ 0.13006304 -0.04543984 0.99046394 -0.29375531] [ 0. 0. 0. 1. ]] SLAMing on 37.922414037 meters Centerline goodness : 0.762899 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97616711 -0.16899449 -0.13615666 4.0093567 ] [ 0.17354344 0.98457651 0.02217585 0.21620461] [ 0.13030905 -0.04527643 0.99043909 -0.29405575] [ 0. 0. 0. 1. ]] SLAMing on 37.952414037 meters Centerline goodness : 0.763871 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.30 [[ 0.97615003 -0.16898092 -0.13629589 4.01040234] [ 0.17351873 0.98458384 0.02204348 0.21770322] [ 0.1304698 -0.04516763 0.9904229 -0.29502388] [ 0. 0. 0. 1. ]] SLAMing on 37.982414037 meters Centerline goodness : 0.762980 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97611568 -0.16913928 -0.13634545 4.0105661 ] [ 0.17363122 0.98457235 0.02166781 0.21856391] [ 0.13057708 -0.04482412 0.99042437 -0.29496151] [ 0. 0. 0. 1. ]] SLAMing on 38.012414037 meters Centerline goodness : 0.763113 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97610453 -0.16919765 -0.13635288 4.01064359] [ 0.17366307 0.98457128 0.02146018 0.21907332] [ 0.13061811 -0.04462684 0.99042786 -0.29493224] [ 0. 0. 0. 1. ]] SLAMing on 38.042414037 meters Centerline goodness : 0.761956 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97606548 -0.16959064 -0.13614403 4.0096485 ] [ 0.17396562 0.98453161 0.02081978 0.21962721] [ 0.13050726 -0.04400585 0.99047026 -0.29405855] [ 0. 0. 0. 1. ]] SLAMing on 38.072414037 meters Centerline goodness : 0.761803 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97602134 -0.16994192 -0.13602241 4.00899057] [ 0.17426026 0.98448813 0.02040789 0.22004845] [ 0.13044429 -0.04362183 0.99049554 -0.29353438] [ 0. 0. 0. 1. ]] SLAMing on 38.102414037 meters Centerline goodness : 0.762393 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97597741 -0.17028125 -0.13591321 4.00842725] [ 0.17454897 0.98444459 0.02003774 0.22048918] [ 0.13038697 -0.04327989 0.99051809 -0.2930969 ] [ 0. 0. 0. 1. ]] SLAMing on 38.132414037 meters Centerline goodness : 0.762972 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97592392 -0.17067019 -0.13580935 4.00804934] [ 0.17489737 0.98438879 0.0197387 0.22091822] [ 0.13032039 -0.04301616 0.99053834 -0.29297971] [ 0. 0. 0. 1. ]] SLAMing on 38.162414037 meters Centerline goodness : 0.762979 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.9758869 -0.17095888 -0.13571227 4.00791192] [ 0.17515437 0.98434763 0.01951107 0.22073978] [ 0.13025246 -0.0428112 0.99055616 -0.2928984 ] [ 0. 0. 0. 1. ]] SLAMing on 38.192414037 meters Centerline goodness : 0.764541 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97519522 -0.175276 -0.1351762 4.00769062] [ 0.17893087 0.98374293 0.01528378 0.22117446] [ 0.13029976 -0.03909187 0.99070369 -0.29188556] [ 0. 0. 0. 1. ]] SLAMing on 38.222414037 meters Centerline goodness : 0.764731 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97507735 -0.1761985 -0.13482674 4.00587096] [ 0.17976436 0.98360061 0.01464995 0.22068678] [ 0.13003436 -0.03852187 0.99076088 -0.29055765] [ 0. 0. 0. 1. ]] SLAMing on 38.252414037 meters Centerline goodness : 0.767027 Centerline is valid? [False, False] Translation: X:4.00, Y:0.22, Z:-0.29 [[ 0.97497102 -0.17695622 -0.13460315 4.00460534] [ 0.18046111 0.9834796 0.01420113 0.22015269] [ 0.12986647 -0.03813632 0.99079782 -0.28961487] [ 0. 0. 0. 1. ]] SLAMing on 38.282414037 meters Centerline goodness : 0.767150 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97424086 -0.18115999 -0.13429747 4.00575513] [ 0.1841809 0.98283821 0.01031734 0.22078264] [ 0.1301236 -0.0347866 0.99088735 -0.28977573] [ 0. 0. 0. 1. ]] SLAMing on 38.312414036999996 meters Centerline goodness : 0.765766 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97417742 -0.18155684 -0.13422175 4.00592047] [ 0.18458254 0.98276254 0.01034764 0.21970054] [ 0.13002943 -0.03485543 0.99089729 -0.290067 ] [ 0. 0. 0. 1. ]] SLAMing on 38.342414037 meters Centerline goodness : 0.764591 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97411381 -0.18186415 -0.13426732 4.00662598] [ 0.18490987 0.98269974 0.01046725 0.2186914 ] [ 0.13004084 -0.03502365 0.99088986 -0.29073776] [ 0. 0. 0. 1. ]] SLAMing on 38.372414037 meters Centerline goodness : 0.764397 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97341325 -0.18597397 -0.13371732 4.0080913 ] [ 0.18859572 0.98202913 0.00710241 0.21744183] [ 0.12999344 -0.0321321 0.99099406 -0.29181959] [ 0. 0. 0. 1. ]] SLAMing on 38.402414037 meters Centerline goodness : 0.766025 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:-0.29 [[ 0.97328868 -0.18689149 -0.13334436 4.0068535 ] [ 0.1894665 0.9818638 0.00677656 0.21572553] [ 0.12965952 -0.03185984 0.9910466 -0.29116528] [ 0. 0. 0. 1. ]] SLAMing on 38.432414037 meters Centerline goodness : 0.766456 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.29 [[ 0.97315691 -0.18779558 -0.13303554 4.00550055] [ 0.19032094 0.98170099 0.00641204 0.21446345] [ 0.12939697 -0.03155937 0.99109053 -0.29031367] [ 0. 0. 0. 1. ]] SLAMing on 38.462414037 meters Centerline goodness : 0.766327 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97298725 -0.18892833 -0.13267218 4.00364367] [ 0.19138081 0.98149833 0.00586594 0.21374782] [ 0.12910928 -0.03109839 0.99114261 -0.28911889] [ 0. 0. 0. 1. ]] SLAMing on 38.492414037 meters Centerline goodness : 0.767918 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97290381 -0.18950224 -0.13246537 4.00247517] [ 0.19189415 0.98140071 0.0054121 0.21412476] [ 0.12897601 -0.03068478 0.99117286 -0.28832381] [ 0. 0. 0. 1. ]] SLAMing on 38.522414037 meters Centerline goodness : 0.766839 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97273878 -0.19069026 -0.13197154 4.00011784] [ 0.19298071 0.98119144 0.00466894 0.21369922] [ 0.12859902 -0.03000962 0.99124251 -0.28680802] [ 0. 0. 0. 1. ]] SLAMing on 38.552414037 meters Centerline goodness : 0.765822 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97269473 -0.19093855 -0.13193725 4.00011686] [ 0.19323573 0.98114104 0.00471227 0.21214008] [ 0.1285493 -0.03007859 0.99124687 -0.28663749] [ 0. 0. 0. 1. ]] SLAMing on 38.582414037 meters Centerline goodness : 0.763236 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97268059 -0.19099949 -0.13195329 4.00062082] [ 0.19333324 0.98112048 0.00498644 0.2098808 ] [ 0.12850967 -0.03036117 0.99124339 -0.28682715] [ 0. 0. 0. 1. ]] SLAMing on 38.612414037 meters Centerline goodness : 0.764358 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97265544 -0.19116379 -0.13190072 4.00084283] [ 0.19351647 0.98108359 0.00513411 0.20813406] [ 0.12842418 -0.03051868 0.99124964 -0.28693252] [ 0. 0. 0. 1. ]] SLAMing on 38.642414037 meters Centerline goodness : 0.762790 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.9726467 -0.19122543 -0.13187582 4.00102788] [ 0.19358336 0.98107017 0.0051765 0.2074618 ] [ 0.12838955 -0.03056387 0.99125273 -0.28703628] [ 0. 0. 0. 1. ]] SLAMing on 38.672414037 meters Centerline goodness : 0.764305 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.9726391 -0.1911891 -0.13198452 4.00125924] [ 0.19354551 0.98107783 0.00514103 0.20780499] [ 0.12850418 -0.03054538 0.99123845 -0.28702132] [ 0. 0. 0. 1. ]] SLAMing on 38.702414037 meters Centerline goodness : 0.762864 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97263653 -0.19105361 -0.1321995 4.00149826] [ 0.19340081 0.98110695 0.00502779 0.20855519] [ 0.12874127 -0.0304577 0.99121038 -0.28672335] [ 0. 0. 0. 1. ]] SLAMing on 38.732414037 meters Centerline goodness : 0.764316 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.9726519 -0.19087179 -0.13234897 4.00177732] [ 0.19321903 0.98114288 0.00500467 0.20893169] [ 0.128898 -0.03044014 0.99119055 -0.28660359] [ 0. 0. 0. 1. ]] SLAMing on 38.762414037 meters Centerline goodness : 0.765585 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97270068 -0.19036858 -0.13271467 4.00240114] [ 0.19275663 0.98123247 0.0052645 0.20779796] [ 0.12922174 -0.03070242 0.9911403 -0.28602474] [ 0. 0. 0. 1. ]] SLAMing on 38.792414037 meters Centerline goodness : 0.766246 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97273835 -0.19002649 -0.13292868 4.00318972] [ 0.19244659 0.98129214 0.00548174 0.20682463] [ 0.12940019 -0.03091397 0.99111045 -0.28609133] [ 0. 0. 0. 1. ]] SLAMing on 38.822414037 meters Centerline goodness : 0.765227 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.29 [[ 0.97287984 -0.18902749 -0.13331698 4.005219 ] [ 0.19154492 0.98146427 0.00619919 0.20616164] [ 0.12967404 -0.03156726 0.99105406 -0.287196 ] [ 0. 0. 0. 1. ]] SLAMing on 38.852414037 meters Centerline goodness : 0.766680 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.29 [[ 0.97291291 -0.18875867 -0.13345652 4.00578678] [ 0.19129009 0.98151339 0.00628998 0.20686544] [ 0.12980208 -0.03164852 0.99103471 -0.28753646] [ 0. 0. 0. 1. ]] SLAMing on 38.882414037 meters Centerline goodness : 0.769569 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.29 [[ 0.97289824 -0.18880822 -0.13349335 4.00564098] [ 0.19131122 0.98151072 0.0060607 0.20804155] [ 0.12988084 -0.03143522 0.99103118 -0.28737004] [ 0. 0. 0. 1. ]] SLAMing on 38.912414037 meters Centerline goodness : 0.769473 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:-0.29 [[ 0.97286547 -0.18897754 -0.13349256 4.00513633] [ 0.19142814 0.98149037 0.00564967 0.20911411] [ 0.12995401 -0.0310506 0.99103371 -0.28678609] [ 0. 0. 0. 1. ]] SLAMing on 38.942414037 meters Centerline goodness : 0.770922 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97283593 -0.18916076 -0.13344835 4.00472985] [ 0.19156059 0.98146669 0.0052608 0.20975413] [ 0.12997997 -0.03068134 0.99104181 -0.28626563] [ 0. 0. 0. 1. ]] SLAMing on 38.972414037 meters Centerline goodness : 0.767420 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.29 [[ 0.97280011 -0.18950404 -0.13322224 4.00389238] [ 0.19184786 0.98141263 0.00486383 0.2094351 ] [ 0.12982427 -0.03028993 0.99107426 -0.28560403] [ 0. 0. 0. 1. ]] SLAMing on 39.002414037 meters Centerline goodness : 0.768492 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 0.97273875 -0.18991211 -0.13308911 4.00324035] [ 0.19219275 0.9813474 0.0043849 0.20931841] [ 0.1297739 -0.02984412 0.99109438 -0.28491482] [ 0. 0. 0. 1. ]] SLAMing on 39.032414037 meters Centerline goodness : 0.769188 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72685487e-01 -1.90293775e-01 -1.32933152e-01 4.00251463e+00] [ 1.92519523e-01 9.81285089e-01 3.97570350e-03 2.09394636e-01] [ 1.29688768e-01 -2.94593362e-02 9.91117032e-01 -2.84309968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062414036999996 meters Centerline goodness : 0.769633 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72567163e-01 -1.91189336e-01 -1.32513210e-01 4.00057710e+00] [ 1.93279696e-01 9.81139191e-01 2.97430944e-03 2.11609045e-01] [ 1.29445248e-01 -2.85048288e-02 9.91176777e-01 -2.83290064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092414037 meters Centerline goodness : 0.770713 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72519819e-01 -1.91453786e-01 -1.32478862e-01 4.00025054e+00] [ 1.93496315e-01 9.81097563e-01 2.59783673e-03 2.12852117e-01] [ 1.29477323e-01 -2.81606194e-02 9.91182426e-01 -2.83077281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122414037 meters Centerline goodness : 0.767757 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72480096e-01 -1.91637502e-01 -1.32504830e-01 4.00029029e+00] [ 1.93656392e-01 9.81066485e-01 2.39882924e-03 2.13692186e-01] [ 1.29536342e-01 -2.79932210e-02 9.91179457e-01 -2.83138034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152414037 meters Centerline goodness : 0.767934 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72360841e-01 -1.92445174e-01 -1.32209118e-01 3.99947442e+00] [ 1.94419098e-01 9.80916385e-01 2.06410248e-03 2.13015726e-01] [ 1.29288863e-01 -2.77110298e-02 9.91219697e-01 -2.82928690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182414037 meters Centerline goodness : 0.770876 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72250673e-01 -1.93160477e-01 -1.31975983e-01 3.99862232e+00] [ 1.95093221e-01 9.80783142e-01 1.75013482e-03 2.11948521e-01] [ 1.29101762e-01 -2.74491893e-02 9.91251369e-01 -2.82409916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212414037 meters Centerline goodness : 0.769078 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72185894e-01 -1.93647384e-01 -1.31739435e-01 3.99828327e+00] [ 1.95575158e-01 9.80687190e-01 1.72993370e-03 2.10672766e-01] [ 1.28860180e-01 -2.74467780e-02 9.91282870e-01 -2.82508196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242414037 meters Centerline goodness : 0.769078 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.72185894e-01 -1.93647384e-01 -1.31739435e-01 3.99828327e+00] [ 1.95575158e-01 9.80687190e-01 1.72993370e-03 2.10672766e-01] [ 1.28860180e-01 -2.74467780e-02 9.91282870e-01 -2.82508196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272414037 meters Centerline goodness : 0.771443 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.71893272e-01 -1.94472731e-01 -1.32679407e-01 4.00066770e+00] [ 1.96497113e-01 9.80501911e-01 2.21087199e-03 2.09361028e-01] [ 1.29662458e-01 -2.82198520e-02 9.91156540e-01 -2.82533481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302414037 meters Centerline goodness : 0.772937 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.71091601e-01 -1.98818551e-01 -1.32107101e-01 4.00144702e+00] [ 2.00355789e-01 9.79721750e-01 -1.68828077e-03 2.10009534e-01] [ 1.29763862e-01 -2.48289473e-02 9.91234010e-01 -2.82861811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332414037 meters Centerline goodness : 0.772001 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.70991989e-01 -1.99467963e-01 -1.31860115e-01 4.00075524e+00] [ 2.00963390e-01 9.79596702e-01 -2.00452179e-03 2.09517979e-01] [ 1.29569571e-01 -2.45526811e-02 9.91266307e-01 -2.82572314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362414037 meters Centerline goodness : 0.775008 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.70916060e-01 -1.99990790e-01 -1.31627081e-01 4.00026668e+00] [ 2.01478775e-01 9.79490730e-01 -2.05236053e-03 2.08489766e-01] [ 1.29337959e-01 -2.45273932e-02 9.91297180e-01 -2.82576888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392414037 meters Centerline goodness : 0.775042 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.70839413e-01 -2.00551509e-01 -1.31338974e-01 3.99961002e+00] [ 2.02028244e-01 9.79377398e-01 -2.12148030e-03 2.07002050e-01] [ 1.29055888e-01 -2.44745655e-02 9.91335248e-01 -2.82369208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422414037 meters Centerline goodness : 0.775485 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.70685063e-01 -2.01621085e-01 -1.30841304e-01 3.99777913e+00] [ 2.03024976e-01 9.79169947e-01 -2.65966995e-03 2.05073029e-01] [ 1.28652118e-01 -2.39823508e-02 9.91399758e-01 -2.81120647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452414037 meters Centerline goodness : 0.778105 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.70656846e-01 -2.01781125e-01 -1.30803920e-01 3.99731132e+00] [ 2.03163853e-01 9.79140674e-01 -2.82654064e-03 2.04816338e-01] [ 1.28645781e-01 -2.38310272e-02 9.91404229e-01 -2.80544268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482414037 meters Centerline goodness : 0.776381 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.70660735e-01 -2.01701590e-01 -1.30897695e-01 3.99737769e+00] [ 2.03078126e-01 9.79158283e-01 -2.88637312e-03 2.04777587e-01] [ 1.28751749e-01 -2.37807696e-02 9.91391680e-01 -2.80224628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512414037 meters Centerline goodness : 0.777826 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71212070e-01 -1.97989539e-01 -1.32466064e-01 3.99889431e+00] [ 1.99938302e-01 9.79807430e-01 1.44090452e-03 2.03631876e-01] [ 1.29505949e-01 -2.78844637e-02 9.91186494e-01 -2.79871818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542414037 meters Centerline goodness : 0.777559 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71224657e-01 -1.97763865e-01 -1.32710662e-01 3.99921912e+00] [ 1.99694417e-01 9.79857409e-01 1.26405281e-03 2.04704227e-01] [ 1.29787542e-01 -2.77292576e-02 9.91154015e-01 -2.79571168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572414037 meters Centerline goodness : 0.780329 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:-0.28 [[ 9.71253125e-01 -1.97488434e-01 -1.32912323e-01 3.99952729e+00] [ 1.99404032e-01 9.79916714e-01 1.12534411e-03 2.05437351e-01] [ 1.30020764e-01 -2.75962471e-02 9.91127160e-01 -2.79267895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602414037 meters Centerline goodness : 0.777925 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71652636e-01 -1.95873642e-01 -1.32380783e-01 3.99928213e+00] [ 1.97829186e-01 9.80235112e-01 1.65453321e-03 2.03909466e-01] [ 1.29440213e-01 -2.77964142e-02 9.91197554e-01 -2.80300008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632414037 meters Centerline goodness : 0.780148 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71845092e-01 -1.94938200e-01 -1.32348841e-01 3.99988250e+00] [ 1.96965729e-01 9.80407732e-01 2.27624748e-03 2.02441735e-01] [ 1.29312099e-01 -2.82803459e-02 9.91200587e-01 -2.80983581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662414037 meters Centerline goodness : 0.779795 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.72007734e-01 -1.94141026e-01 -1.32326219e-01 4.00021758e+00] [ 1.96225051e-01 9.80554979e-01 2.76829111e-03 2.01508309e-01] [ 1.29215694e-01 -2.86565193e-02 9.91202355e-01 -2.81364554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692414037 meters Centerline goodness : 0.781262 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.72022145e-01 -1.94034738e-01 -1.32376244e-01 4.00029769e+00] [ 1.96106500e-01 9.80578967e-01 2.67024891e-03 2.02129064e-01] [ 1.29287239e-01 -2.85553829e-02 9.91195944e-01 -2.81249818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722414037 meters Centerline goodness : 0.778213 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.72065088e-01 -1.93727242e-01 -1.32511206e-01 4.00048536e+00] [ 1.95785621e-01 9.80643383e-01 2.55849618e-03 2.03828331e-01] [ 1.29450587e-01 -2.84308135e-02 9.91178205e-01 -2.81164975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752414037 meters Centerline goodness : 0.778956 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.72074130e-01 -1.93573435e-01 -1.32669555e-01 4.00071945e+00] [ 1.95639005e-01 9.80672564e-01 2.58882547e-03 2.03736847e-01] [ 1.29604265e-01 -2.84718700e-02 9.91156944e-01 -2.80928133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782414037 meters Centerline goodness : 0.777472 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.72063338e-01 -1.93665989e-01 -1.32613540e-01 4.00061323e+00] [ 1.95722898e-01 9.80655981e-01 2.52871996e-03 2.03420691e-01] [ 1.29558534e-01 -2.84135822e-02 9.91164595e-01 -2.80830005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812414036999996 meters Centerline goodness : 0.774820 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.72054173e-01 -1.93708220e-01 -1.32619042e-01 4.00121205e+00] [ 1.95791428e-01 9.80641773e-01 2.72587501e-03 2.01827490e-01] [ 1.29523748e-01 -2.86153698e-02 9.91163336e-01 -2.81240730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842414037 meters Centerline goodness : 0.773501 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.72035460e-01 -1.93876797e-01 -1.32509815e-01 4.00134210e+00] [ 1.95962084e-01 9.80607604e-01 2.75475937e-03 2.00952270e-01] [ 1.29406048e-01 -2.86446232e-02 9.91177865e-01 -2.81501882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872414037 meters Centerline goodness : 0.774699 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71888643e-01 -1.94958239e-01 -1.31999058e-01 3.99963603e+00] [ 1.96962277e-01 9.80408662e-01 2.17164176e-03 2.00084636e-01] [ 1.28989641e-01 -2.81094291e-02 9.91247463e-01 -2.80721192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902414037 meters Centerline goodness : 0.777109 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71807279e-01 -1.95505957e-01 -1.31787833e-01 3.99849473e+00] [ 1.97452815e-01 9.80310846e-01 1.74123424e-03 2.00166736e-01] [ 1.28852620e-01 -2.77140227e-02 9.91276417e-01 -2.79890219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932414037 meters Centerline goodness : 0.777702 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71735503e-01 -1.95994618e-01 -1.31591115e-01 3.99779810e+00] [ 1.97930112e-01 9.80214723e-01 1.66353732e-03 1.98797741e-01] [ 1.28661504e-01 -2.76623625e-02 9.91302684e-01 -2.79445280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962414037 meters Centerline goodness : 0.775964 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71688257e-01 -1.96343767e-01 -1.31419387e-01 3.99738659e+00] [ 1.98280402e-01 9.80143887e-01 1.68616894e-03 1.97512120e-01] [ 1.28478840e-01 -2.76963195e-02 9.91325427e-01 -2.79264226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992414037 meters Centerline goodness : 0.775964 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71688257e-01 -1.96343767e-01 -1.31419387e-01 3.99738659e+00] [ 1.98280402e-01 9.80143887e-01 1.68616894e-03 1.97512120e-01] [ 1.28478840e-01 -2.76963195e-02 9.91325427e-01 -2.79264226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022414037 meters Centerline goodness : 0.776912 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-0.28 [[ 9.71565582e-01 -1.96492619e-01 -1.32102122e-01 3.99907509e+00] [ 1.98523403e-01 9.80093563e-01 2.25094867e-03 1.96227789e-01] [ 1.29030144e-01 -2.84123070e-02 9.91233556e-01 -2.79231610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052414037 meters Centerline goodness : 0.777423 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:-0.28 [[ 9.71275395e-01 -1.97059364e-01 -1.33385586e-01 4.00181861e+00] [ 1.99322836e-01 9.79926892e-01 3.70052136e-03 1.93630806e-01] [ 1.29978900e-01 -3.01810185e-02 9.91057310e-01 -2.78916684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082414037 meters Centerline goodness : 0.775343 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:-0.28 [[ 0.97117474 -0.19700711 -0.13419325 4.00398756] [ 0.19943859 0.97989862 0.00478957 0.19133496] [ 0.1305522 -0.03141483 0.99094361 -0.27907853] [ 0. 0. 0. 1. ]] SLAMing on 40.112414037 meters Centerline goodness : 0.775923 Centerline is valid? [False, False] Translation: X:4.01, Y:0.19, Z:-0.28 [[ 0.97104397 -0.19719194 -0.13486637 4.00608721] [ 0.19975937 0.97982875 0.00564111 0.18904236] [ 0.13103357 -0.03241858 0.99084774 -0.27935492] [ 0. 0. 0. 1. ]] SLAMing on 40.142414037 meters Centerline goodness : 0.774605 Centerline is valid? [False, False] Translation: X:4.01, Y:0.19, Z:-0.28 [[ 9.70579510e-01 -1.99984118e-01 -1.34096115e-01 4.00711045e+00] [ 2.02207359e-01 9.79338044e-01 3.02964706e-03 1.87027448e-01] [ 1.30719546e-01 -3.00557347e-02 9.90963699e-01 -2.80333187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172414037 meters Centerline goodness : 0.774760 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.28 [[ 0.97062659 -0.19944471 -0.1345579 4.00830219] [ 0.20183134 0.97941131 0.00419496 0.18495052] [ 0.13095087 -0.03122975 0.99089685 -0.28040166] [ 0. 0. 0. 1. ]] SLAMing on 40.202414037 meters Centerline goodness : 0.774525 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.28 [[ 0.97073312 -0.19871221 -0.13487275 4.00880713] [ 0.20124932 0.97952568 0.00530627 0.18345033] [ 0.1310569 -0.03229402 0.99084872 -0.28014244] [ 0. 0. 0. 1. ]] SLAMing on 40.232414037 meters Centerline goodness : 0.830147 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.28 [[ 0.97130651 -0.19510024 -0.13601308 4.00957198] [ 0.19834117 0.9800761 0.01056508 0.17886247] [ 0.13124192 -0.03723892 0.99065071 -0.27930895] [ 0. 0. 0. 1. ]] SLAMing on 40.262414037 meters Centerline goodness : 0.776081 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.28 [[ 0.97126702 -0.19484843 -0.13665454 4.0111761 ] [ 0.19821171 0.98009388 0.01131862 0.17796891] [ 0.13172886 -0.03807993 0.9905541 -0.27953119] [ 0. 0. 0. 1. ]] SLAMing on 40.292414037 meters Centerline goodness : 0.829832 Centerline is valid? [False, False] Translation: X:4.01, Y:0.18, Z:-0.28 [[ 0.97130521 -0.19452166 -0.13684849 4.01274481] [ 0.19793958 0.98014446 0.01169483 0.17695545] [ 0.1318564 -0.03844698 0.99052295 -0.28065934] [ 0. 0. 0. 1. ]] SLAMing on 40.322414037 meters Centerline goodness : 0.774257 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:-0.28 [[ 0.97129462 -0.1942055 -0.1373717 4.01508669] [ 0.19773217 0.98017794 0.01237696 0.17558884] [ 0.13224503 -0.03918448 0.99044224 -0.28184838] [ 0. 0. 0. 1. ]] SLAMing on 40.352414037 meters Centerline goodness : 0.774294 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.28 [[ 0.97150424 -0.19314543 -0.13738399 4.01680885] [ 0.19678605 0.98035625 0.01329963 0.17236662] [ 0.13211649 -0.0399559 0.99042857 -0.28336656] [ 0. 0. 0. 1. ]] SLAMing on 40.382414037 meters Centerline goodness : 0.773249 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.28 [[ 0.97158552 -0.19247323 -0.13775205 4.01758319] [ 0.19623396 0.98045526 0.01413176 0.17162112] [ 0.13233974 -0.04076185 0.99036592 -0.28333254] [ 0. 0. 0. 1. ]] SLAMing on 40.412414037 meters Centerline goodness : 0.774799 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.28 [[ 0.97170248 -0.19166711 -0.13805073 4.0179963 ] [ 0.19553782 0.98058272 0.01491578 0.17147479] [ 0.1325113 -0.04148784 0.99031284 -0.28323674] [ 0. 0. 0. 1. ]] SLAMing on 40.442414037 meters Centerline goodness : 0.775312 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.28 [[ 0.97215997 -0.18837654 -0.13935306 4.01902479] [ 0.19285485 0.98103866 0.01923958 0.16951901] [ 0.13308645 -0.04557887 0.99005584 -0.28242861] [ 0. 0. 0. 1. ]] SLAMing on 40.472414037 meters Centerline goodness : 0.774365 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.28 [[ 0.97249602 -0.18715204 -0.13865642 4.01856696] [ 0.19157943 0.98128962 0.01918327 0.16921419] [ 0.13247192 -0.04521937 0.99015474 -0.28376253] [ 0. 0. 0. 1. ]] SLAMing on 40.502414037 meters Centerline goodness : 0.773821 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97264441 -0.18625319 -0.13882578 4.02023771] [ 0.19071233 0.9814538 0.01942275 0.16865323] [ 0.13263354 -0.04536721 0.99012634 -0.28529097] [ 0. 0. 0. 1. ]] SLAMing on 40.532414037 meters Centerline goodness : 0.774283 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97276884 -0.1855186 -0.13893748 4.02134918] [ 0.19000372 0.98158715 0.0196277 0.1682741 ] [ 0.13273794 -0.04549185 0.99010663 -0.28635902] [ 0. 0. 0. 1. ]] SLAMing on 40.562414036999996 meters Centerline goodness : 0.774791 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97298258 -0.18451156 -0.1387818 4.02110574] [ 0.18900446 0.98177644 0.01980766 0.16857239] [ 0.13259796 -0.04550288 0.99012488 -0.28674218] [ 0. 0. 0. 1. ]] SLAMing on 40.592414037 meters Centerline goodness : 0.775461 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97307589 -0.18400321 -0.13880248 4.021129 ] [ 0.18854926 0.98185531 0.0202317 0.1684387 ] [ 0.13256126 -0.04585808 0.9901134 -0.28680575] [ 0. 0. 0. 1. ]] SLAMing on 40.622414037 meters Centerline goodness : 0.775060 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97304372 -0.18418594 -0.13878564 4.02079336] [ 0.18872573 0.9818225 0.02017851 0.16847652] [ 0.13254627 -0.04582699 0.99011685 -0.28634515] [ 0. 0. 0. 1. ]] SLAMing on 40.652414037 meters Centerline goodness : 0.772127 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97296134 -0.18408191 -0.13949943 4.02207148] [ 0.1887763 0.98179369 0.02108676 0.1682818 ] [ 0.13307797 -0.04685079 0.98999761 -0.28611161] [ 0. 0. 0. 1. ]] SLAMing on 40.682414037 meters Centerline goodness : 0.777278 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97296847 -0.1842911 -0.1391731 4.02121873] [ 0.18899542 0.98174774 0.02126278 0.16672556] [ 0.13271433 -0.04699109 0.99003977 -0.28535959] [ 0. 0. 0. 1. ]] SLAMing on 40.712414037 meters Centerline goodness : 0.776370 Centerline is valid? [False, False] Translation: X:4.02, Y:0.17, Z:-0.29 [[ 0.97292714 -0.18448057 -0.13921097 4.02134298] [ 0.18922833 0.98169638 0.02156062 0.16563034] [ 0.13268539 -0.04731957 0.990028 -0.28504131] [ 0. 0. 0. 1. ]] SLAMing on 40.742414037 meters Centerline goodness : 0.825825 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.29 [[ 0.97284938 -0.18442631 -0.13982494 4.02277789] [ 0.18933717 0.98165302 0.02255606 0.1645496 ] [ 0.13309964 -0.04841771 0.98991929 -0.28502622] [ 0. 0. 0. 1. ]] SLAMing on 40.772414037 meters Centerline goodness : 0.775506 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.28 [[ 0.97272904 -0.18486903 -0.1400773 4.02314293] [ 0.18984889 0.98154515 0.02294611 0.1635333 ] [ 0.13325017 -0.04891387 0.98987465 -0.28447002] [ 0. 0. 0. 1. ]] SLAMing on 40.802414037 meters Centerline goodness : 0.776615 Centerline is valid? [False, False] Translation: X:4.02, Y:0.16, Z:-0.28 [[ 0.97247426 -0.18596557 -0.14039454 4.02354616] [ 0.19101046 0.98131292 0.02323691 0.16195239] [ 0.13344971 -0.04941412 0.98982292 -0.2835 ] [ 0. 0. 0. 1. ]] SLAMing on 40.832414037 meters Centerline goodness : 0.773945 Centerline is valid? [False, False] Translation: X:4.03, Y:0.16, Z:-0.28 [[ 0.97231424 -0.18624455 -0.14113108 4.02575803] [ 0.19143038 0.98121311 0.02398404 0.16071857] [ 0.13401277 -0.0503368 0.98970035 -0.28391177] [ 0. 0. 0. 1. ]] SLAMing on 40.862414037 meters Centerline goodness : 0.773857 Centerline is valid? [False, False] Translation: X:4.03, Y:0.16, Z:-0.28 [[ 0.97216834 -0.18691098 -0.14125511 4.02706597] [ 0.19209071 0.9810874 0.02384697 0.15942534] [ 0.13412635 -0.05031707 0.98968597 -0.28453041] [ 0. 0. 0. 1. ]] SLAMing on 40.892414037 meters Centerline goodness : 0.773212 Centerline is valid? [False, False] Translation: X:4.03, Y:0.16, Z:-0.29 [[ 0.9720951 -0.1870125 -0.14162429 4.02927492] [ 0.19227801 0.9810388 0.02433201 0.15716522] [ 0.13438853 -0.05088427 0.9896214 -0.28550005] [ 0. 0. 0. 1. ]] SLAMing on 40.922414037 meters Centerline goodness : 0.773174 Centerline is valid? [False, False] Translation: X:4.03, Y:0.16, Z:-0.29 [[ 0.97140202 -0.19071215 -0.14144604 4.03190479] [ 0.19558066 0.9804579 0.02122512 0.15629807] [ 0.134634 -0.04828224 0.9897184 -0.28702806] [ 0. 0. 0. 1. ]] SLAMing on 40.952414037 meters Centerline goodness : 0.772102 Centerline is valid? [False, False] Translation: X:4.03, Y:0.16, Z:-0.29 [[ 0.97125149 -0.19104618 -0.14202784 4.03344896] [ 0.19601934 0.9803586 0.0217585 0.15522099] [ 0.13508134 -0.04897318 0.98962349 -0.28701877] [ 0. 0. 0. 1. ]] SLAMing on 40.982414037 meters Centerline goodness : 0.830753 Centerline is valid? [False, False] Translation: X:4.03, Y:0.15, Z:-0.29 [[ 0.97117778 -0.19129207 -0.14220081 4.03399665] [ 0.19630522 0.98029666 0.02197097 0.15476269] [ 0.13519611 -0.04925247 0.98959396 -0.28700624] [ 0. 0. 0. 1. ]] SLAMing on 41.012414037 meters Centerline goodness : 0.830517 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97110237 -0.19123197 -0.14279535 4.03534534] [ 0.19635606 0.98027296 0.02256595 0.15431004] [ 0.13566309 -0.04995258 0.98949495 -0.28705703] [ 0. 0. 0. 1. ]] SLAMing on 41.042414037 meters Centerline goodness : 0.830133 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.9710819 -0.19114963 -0.14304464 4.03612506] [ 0.1963789 0.98025252 0.02324511 0.15279604] [ 0.13577658 -0.05066385 0.98944322 -0.28695375] [ 0. 0. 0. 1. ]] SLAMing on 41.072414037 meters Centerline goodness : 0.828011 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.971056 -0.19087227 -0.14358976 4.03676559] [ 0.19625509 0.98025483 0.02417453 0.15196465] [ 0.13614031 -0.05165505 0.98934199 -0.28637181] [ 0. 0. 0. 1. ]] SLAMing on 41.102414037 meters Centerline goodness : 0.836435 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97105203 -0.19103386 -0.14340162 4.03566106] [ 0.19640343 0.98022599 0.0241392 0.15165905] [ 0.13595459 -0.05160499 0.98937014 -0.28539751] [ 0. 0. 0. 1. ]] SLAMing on 41.132414037 meters Centerline goodness : 0.836435 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97105203 -0.19103386 -0.14340162 4.03566106] [ 0.19640343 0.98022599 0.0241392 0.15165905] [ 0.13595459 -0.05160499 0.98937014 -0.28539751] [ 0. 0. 0. 1. ]] SLAMing on 41.162414037 meters Centerline goodness : 0.776923 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.28 [[ 0.9710061 -0.19086366 -0.14393822 4.03573535] [ 0.19636277 0.98021548 0.02488523 0.1515093 ] [ 0.13634078 -0.05242782 0.98927373 -0.28421995] [ 0. 0. 0. 1. ]] SLAMing on 41.192414037 meters Centerline goodness : 0.777384 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.28 [[ 0.97091953 -0.19083457 -0.14455948 4.03734071] [ 0.19641087 0.98019769 0.02520449 0.15171231] [ 0.13688698 -0.05286458 0.98917506 -0.28462841] [ 0. 0. 0. 1. ]] SLAMing on 41.222414037 meters Centerline goodness : 0.777396 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97085261 -0.19087736 -0.14495189 4.03910901] [ 0.19648182 0.98018225 0.02525177 0.15179405] [ 0.13725928 -0.05299616 0.98911642 -0.28566104] [ 0. 0. 0. 1. ]] SLAMing on 41.252414037 meters Centerline goodness : 0.829665 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.970841 -0.19075396 -0.1451919 4.04127448] [ 0.19634413 0.98021466 0.02506405 0.15147635] [ 0.13753816 -0.05284079 0.989086 -0.28740773] [ 0. 0. 0. 1. ]] SLAMing on 41.282414037 meters Centerline goodness : 0.831275 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97091894 -0.19055088 -0.14493712 4.0412452 ] [ 0.19611672 0.98026177 0.02500183 0.1510104 ] [ 0.1373122 -0.05269935 0.98912494 -0.28780023] [ 0. 0. 0. 1. ]] SLAMing on 41.312414036999996 meters Centerline goodness : 0.828086 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97102689 -0.18984442 -0.14514087 4.04178225] [ 0.19549812 0.98036979 0.02560407 0.15055422] [ 0.13743094 -0.05323701 0.98907965 -0.28798409] [ 0. 0. 0. 1. ]] SLAMing on 41.342414037 meters Centerline goodness : 0.776898 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97113854 -0.18919735 -0.14523878 4.04189182] [ 0.19489928 0.98047972 0.02595749 0.15069713] [ 0.13749259 -0.05351525 0.98905607 -0.2880253 ] [ 0. 0. 0. 1. ]] SLAMing on 41.372414037 meters Centerline goodness : 0.828953 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.971757 -0.1849921 -0.14651364 4.04301481] [ 0.19134765 0.98105085 0.03041877 0.15056613] [ 0.1381101 -0.05759469 0.98874084 -0.28814155] [ 0. 0. 0. 1. ]] SLAMing on 41.402414037 meters Centerline goodness : 0.833944 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97191362 -0.18441424 -0.14620298 4.04264311] [ 0.19069719 0.98118829 0.03006846 0.1516535 ] [ 0.1379076 -0.05710444 0.98879754 -0.28869878] [ 0. 0. 0. 1. ]] SLAMing on 41.432414037 meters Centerline goodness : 0.828814 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97203909 -0.18393226 -0.14597576 4.04251699] [ 0.19019012 0.9812883 0.03001636 0.15189994] [ 0.13772333 -0.05694022 0.98883269 -0.28924618] [ 0. 0. 0. 1. ]] SLAMing on 41.462414037 meters Centerline goodness : 0.775225 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.9721638 -0.18320648 -0.14605794 4.04317785] [ 0.1895432 0.98139552 0.03059758 0.151034 ] [ 0.13773493 -0.05743015 0.98880274 -0.28983819] [ 0. 0. 0. 1. ]] SLAMing on 41.492414037 meters Centerline goodness : 0.828416 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97220011 -0.18320005 -0.14582417 4.04283191] [ 0.18956268 0.98138282 0.03088294 0.14928502] [ 0.13745157 -0.05766722 0.98882838 -0.28947585] [ 0. 0. 0. 1. ]] SLAMing on 41.522414037 meters Centerline goodness : 0.827821 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97211371 -0.183635 -0.1458531 4.04272163] [ 0.1900028 0.98129785 0.03087831 0.14875388] [ 0.137455 -0.05772972 0.98882425 -0.28898464] [ 0. 0. 0. 1. ]] SLAMing on 41.552414037 meters Centerline goodness : 0.828897 Centerline is valid? [False, False] Translation: X:4.04, Y:0.15, Z:-0.29 [[ 0.97202543 -0.18379666 -0.1462373 4.04388445] [ 0.19025797 0.98123263 0.03137579 0.1476151 ] [ 0.13772605 -0.05832087 0.98875185 -0.28904055] [ 0. 0. 0. 1. ]] SLAMing on 41.582414037 meters Centerline goodness : 0.824663 Centerline is valid? [False, False] Translation: X:4.05, Y:0.15, Z:-0.29 [[ 0.97124126 -0.18790506 -0.14622618 4.04642237] [ 0.19394583 0.98061018 0.02808374 0.14737401] [ 0.13811381 -0.05563604 0.98885247 -0.2900067 ] [ 0. 0. 0. 1. ]] SLAMing on 41.612414037 meters Centerline goodness : 0.825422 Centerline is valid? [False, False] Translation: X:4.05, Y:0.15, Z:-0.29 [[ 0.97098538 -0.18870888 -0.14688892 4.04834186] [ 0.19484638 0.98042111 0.02844882 0.14603992] [ 0.13864445 -0.05624416 0.9887438 -0.28994652] [ 0. 0. 0. 1. ]] SLAMing on 41.642414037 meters Centerline goodness : 0.829187 Centerline is valid? [False, False] Translation: X:4.05, Y:0.14, Z:-0.29 [[ 0.97076325 -0.18946377 -0.14738449 4.04989712] [ 0.19569973 0.98023812 0.02889379 0.14456222] [ 0.13899757 -0.05689214 0.98865715 -0.28994135] [ 0. 0. 0. 1. ]] SLAMing on 41.672414037 meters Centerline goodness : 0.830130 Centerline is valid? [False, False] Translation: X:4.05, Y:0.14, Z:-0.29 [[ 0.96994989 -0.19364193 -0.14730926 4.05209472] [ 0.1995304 0.97954231 0.02616279 0.14291933] [ 0.13922944 -0.05476927 0.9887444 -0.29033802] [ 0. 0. 0. 1. ]] SLAMing on 41.702414037 meters Centerline goodness : 0.825648 Centerline is valid? [False, False] Translation: X:4.05, Y:0.14, Z:-0.29 [[ 0.96975976 -0.19419121 -0.14783701 4.05414359] [ 0.20020157 0.97938873 0.02677777 0.14052965] [ 0.13958989 -0.0555652 0.98864916 -0.29065534] [ 0. 0. 0. 1. ]] SLAMing on 41.732414037 meters Centerline goodness : 0.828190 Centerline is valid? [False, False] Translation: X:4.06, Y:0.14, Z:-0.29 [[ 0.96960098 -0.19485919 -0.14799942 4.05506537] [ 0.20093625 0.97922836 0.02713757 0.13839203] [ 0.13963723 -0.05605107 0.98861505 -0.29054689] [ 0. 0. 0. 1. ]] SLAMing on 41.762414037 meters Centerline goodness : 0.826632 Centerline is valid? [False, False] Translation: X:4.06, Y:0.14, Z:-0.29 [[ 0.96949048 -0.19503429 -0.14849188 4.05657367] [ 0.20126481 0.97913633 0.02800937 0.13599098] [ 0.13993101 -0.05704101 0.98851689 -0.29043624] [ 0. 0. 0. 1. ]] SLAMing on 41.792414037 meters Centerline goodness : 0.827783 Centerline is valid? [False, False] Translation: X:4.06, Y:0.13, Z:-0.29 [[ 0.96939494 -0.19562732 -0.14833543 4.05646983] [ 0.20195394 0.97897406 0.0287123 0.13203421] [ 0.13959963 -0.05779048 0.98852021 -0.28949292] [ 0. 0. 0. 1. ]] SLAMing on 41.822414037 meters Centerline goodness : 0.830772 Centerline is valid? [False, False] Translation: X:4.06, Y:0.13, Z:-0.29 [[ 0.96945712 -0.19507148 -0.14866069 4.05687299] [ 0.2015819 0.97901473 0.02991478 0.13002355] [ 0.13970549 -0.0589684 0.98843569 -0.28891612] [ 0. 0. 0. 1. ]] SLAMing on 41.852414037 meters Centerline goodness : 0.831859 Centerline is valid? [False, False] Translation: X:4.06, Y:0.13, Z:-0.29 [[ 0.96955472 -0.19446284 -0.14882156 4.05675758] [ 0.20109932 0.97908716 0.03077993 0.12910578] [ 0.13972372 -0.05977074 0.98838491 -0.28837855] [ 0. 0. 0. 1. ]] SLAMing on 41.882414037 meters Centerline goodness : 0.830774 Centerline is valid? [False, False] Translation: X:4.06, Y:0.13, Z:-0.29 [[ 0.96969602 -0.19350201 -0.14915298 4.05681315] [ 0.20028227 0.97922465 0.03171898 0.12864159] [ 0.13991659 -0.06063046 0.98830526 -0.28784232] [ 0. 0. 0. 1. ]] SLAMing on 41.912414037 meters Centerline goodness : 0.827630 Centerline is valid? [False, False] Translation: X:4.06, Y:0.13, Z:-0.29 [[ 0.96987064 -0.1924239 -0.14941214 4.05805882] [ 0.19932559 0.979393 0.03253694 0.12775887] [ 0.14007232 -0.06133829 0.98823953 -0.28868819] [ 0. 0. 0. 1. ]] SLAMing on 41.942414037 meters Centerline goodness : 0.827535 Centerline is valid? [False, False] Translation: X:4.06, Y:0.13, Z:-0.29 [[ 0.96989672 -0.1924305 -0.1492342 4.05905035] [ 0.19927346 0.97941473 0.03220047 0.12678019] [ 0.13996583 -0.06096954 0.98827743 -0.2898765 ] [ 0. 0. 0. 1. ]] SLAMing on 41.972414037 meters Centerline goodness : 0.832666 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97004287 -0.19138874 -0.14962347 4.06126078] [ 0.19842534 0.97954449 0.033466 0.12465252] [ 0.14015783 -0.06215254 0.98817652 -0.29125625] [ 0. 0. 0. 1. ]] SLAMing on 42.002414037 meters Centerline goodness : 0.827161 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.9701432 -0.19101241 -0.14945374 4.06069001] [ 0.19802383 0.97962833 0.03339025 0.12476358] [ 0.14003117 -0.06198873 0.98820477 -0.29104246] [ 0. 0. 0. 1. ]] SLAMing on 42.032414037 meters Centerline goodness : 0.832865 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97027439 -0.1902944 -0.14951808 4.0606684 ] [ 0.19738401 0.97973776 0.03396275 0.12469781] [ 0.14002559 -0.06246567 0.98817553 -0.29101273] [ 0. 0. 0. 1. ]] SLAMing on 42.062414036999996 meters Centerline goodness : 0.833034 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97039697 -0.18988874 -0.14923801 4.0598147 ] [ 0.19696579 0.97981966 0.03402812 0.12468356] [ 0.13976478 -0.06241556 0.98821562 -0.29078687] [ 0. 0. 0. 1. ]] SLAMing on 42.092414037 meters Centerline goodness : 0.829217 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.9705909 -0.1894056 -0.14858947 4.0596181 ] [ 0.19647701 0.9799078 0.03431449 0.12217414] [ 0.13910463 -0.06249974 0.98830344 -0.29161955] [ 0. 0. 0. 1. ]] SLAMing on 42.122414037 meters Centerline goodness : 0.830852 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97050768 -0.19064358 -0.14754616 4.06002484] [ 0.19729831 0.97982996 0.03172723 0.12108289] [ 0.13852156 -0.05990213 0.98854616 -0.29325583] [ 0. 0. 0. 1. ]] SLAMing on 42.152414037 meters Centerline goodness : 0.831779 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97044937 -0.19062032 -0.14795916 4.0618753 ] [ 0.19740025 0.97978609 0.03244006 0.11919467] [ 0.1387846 -0.06068861 0.98846129 -0.29392603] [ 0. 0. 0. 1. ]] SLAMing on 42.182414037 meters Centerline goodness : 0.832093 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97037864 -0.1908337 -0.14814788 4.0627417 ] [ 0.19766392 0.97972429 0.03270004 0.11816557] [ 0.13890381 -0.06101491 0.98842446 -0.29409635] [ 0. 0. 0. 1. ]] SLAMing on 42.212414037 meters Centerline goodness : 0.833818 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97016679 -0.19125042 -0.14899558 4.06372646] [ 0.19817505 0.97961216 0.03296479 0.11994349] [ 0.13965336 -0.06150855 0.98828824 -0.29333299] [ 0. 0. 0. 1. ]] SLAMing on 42.242414036999996 meters Centerline goodness : 0.831559 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97010312 -0.19113345 -0.14955917 4.06425142] [ 0.19816111 0.97959855 0.03344937 0.12092139] [ 0.14011465 -0.06208615 0.98818682 -0.29282518] [ 0. 0. 0. 1. ]] SLAMing on 42.272414037 meters Centerline goodness : 0.830578 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.29 [[ 0.97001274 -0.19140711 -0.14979522 4.06443605] [ 0.19842911 0.97954989 0.03328515 0.12160863] [ 0.14036088 -0.06201075 0.98815661 -0.29243616] [ 0. 0. 0. 1. ]] SLAMing on 42.302414037 meters Centerline goodness : 0.830498 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.96987934 -0.19183501 -0.1501113 4.06672729] [ 0.19890372 0.97944826 0.03344279 0.11948223] [ 0.14061075 -0.06229316 0.98810332 -0.29361813] [ 0. 0. 0. 1. ]] SLAMing on 42.332414037 meters Centerline goodness : 0.826781 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.96977013 -0.19208687 -0.15049426 4.06871351] [ 0.19920903 0.97937983 0.03362893 0.11806755] [ 0.14093137 -0.06259215 0.98803875 -0.29449456] [ 0. 0. 0. 1. ]] SLAMing on 42.362414037 meters Centerline goodness : 0.831988 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.9696821 -0.19244385 -0.15060543 4.06924407] [ 0.19956606 0.97930969 0.03355462 0.11760909] [ 0.14103197 -0.06259305 0.98802434 -0.29447525] [ 0. 0. 0. 1. ]] SLAMing on 42.392414037 meters Centerline goodness : 0.830403 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.96955989 -0.1926951 -0.15107026 4.06972445] [ 0.19989133 0.97923332 0.03384621 0.11858788] [ 0.14141103 -0.06301356 0.98794343 -0.29401411] [ 0. 0. 0. 1. ]] SLAMing on 42.422414037 meters Centerline goodness : 0.831372 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.96934515 -0.19342029 -0.15152086 4.06838035] [ 0.20058246 0.9791088 0.03335603 0.12274277] [ 0.14190367 -0.06272593 0.98789109 -0.29200091] [ 0. 0. 0. 1. ]] SLAMing on 42.452414037 meters Centerline goodness : 0.824711 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.96929585 -0.19332631 -0.15195559 4.0694185 ] [ 0.20052577 0.97911797 0.03342776 0.12370486] [ 0.14231998 -0.0628724 0.98782189 -0.292319 ] [ 0. 0. 0. 1. ]] SLAMing on 42.482414037 meters Centerline goodness : 0.830038 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.96922051 -0.19380608 -0.15182489 4.06964556] [ 0.2008745 0.97907631 0.03254236 0.12444958] [ 0.14234125 -0.06203847 0.98787155 -0.29279041] [ 0. 0. 0. 1. ]] SLAMing on 42.512414037 meters Centerline goodness : 0.829252 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.9692132 -0.19346374 -0.15230741 4.07121883] [ 0.20065897 0.97909734 0.03323207 0.12388809] [ 0.14269458 -0.06277081 0.98777431 -0.29332065] [ 0. 0. 0. 1. ]] SLAMing on 42.542414037 meters Centerline goodness : 0.829279 Centerline is valid? [False, False] Translation: X:4.07, Y:0.12, Z:-0.29 [[ 0.96928215 -0.19311756 -0.15230797 4.07144675] [ 0.20029104 0.97917695 0.03310577 0.12440197] [ 0.14274315 -0.06259475 0.98777846 -0.2937551 ] [ 0. 0. 0. 1. ]] SLAMing on 42.572414037 meters Centerline goodness : 0.829078 Centerline is valid? [False, False] Translation: X:4.07, Y:0.13, Z:-0.29 [[ 0.96938865 -0.19255392 -0.15234383 4.07099896] [ 0.19973467 0.97928808 0.03317995 0.12561615] [ 0.14279956 -0.06259261 0.98777044 -0.29354359] [ 0. 0. 0. 1. ]] SLAMing on 42.602414037 meters Centerline goodness : 0.828787 Centerline is valid? [False, False] Translation: X:4.07, Y:0.13, Z:-0.29 [[ 0.96936691 -0.19264371 -0.15236859 4.0700535 ] [ 0.19969601 0.97932622 0.03227476 0.12878924] [ 0.14300103 -0.06171348 0.98779661 -0.29287796] [ 0. 0. 0. 1. ]] SLAMing on 42.632414037 meters Centerline goodness : 0.827126 Centerline is valid? [False, False] Translation: X:4.07, Y:0.13, Z:-0.29 [[ 0.96977779 -0.18952858 -0.1536553 4.0704381 ] [ 0.19714437 0.97972052 0.03580222 0.12985065] [ 0.14375371 -0.06501247 0.9874757 -0.29195693] [ 0. 0. 0. 1. ]] SLAMing on 42.662414037 meters Centerline goodness : 0.831321 Centerline is valid? [False, False] Translation: X:4.07, Y:0.13, Z:-0.29 [[ 0.97035174 -0.18614184 -0.15417106 4.06942267] [ 0.19418036 0.98020212 0.03870133 0.13139706] [ 0.14391487 -0.06749089 0.98728592 -0.29146694] [ 0. 0. 0. 1. ]] SLAMing on 42.692414037 meters Centerline goodness : 0.830357 Centerline is valid? [False, False] Translation: X:4.07, Y:0.13, Z:-0.29 [[ 0.97041128 -0.18613322 -0.15380629 4.06908528] [ 0.19405048 0.98025368 0.03804135 0.13199891] [ 0.14368843 -0.06676194 0.98736846 -0.2919881 ] [ 0. 0. 0. 1. ]] SLAMing on 42.722414037 meters Centerline goodness : 0.826147 Centerline is valid? [False, False] Translation: X:4.07, Y:0.13, Z:-0.29 [[ 0.97039278 -0.18643266 -0.15356017 4.0698846 ] [ 0.19416837 0.98027444 0.03688724 0.13343903] [ 0.14365412 -0.06561164 0.98745056 -0.29361987] [ 0. 0. 0. 1. ]] SLAMing on 42.752414037 meters Centerline goodness : 0.824896 Centerline is valid? [False, False] Translation: X:4.07, Y:0.13, Z:-0.29 [[ 0.97025146 -0.18702078 -0.15373789 4.07095095] [ 0.19465586 0.98020804 0.03607344 0.13474708] [ 0.14394863 -0.06492629 0.98745297 -0.29430947] [ 0. 0. 0. 1. ]] SLAMing on 42.782414037 meters Centerline goodness : 0.817638 Centerline is valid? [False, False] Translation: X:4.07, Y:0.14, Z:-0.29 [[ 0.97007892 -0.18783591 -0.15383292 4.07133566] [ 0.19533772 0.98010918 0.03505948 0.13648887] [ 0.14418763 -0.06405983 0.98747469 -0.29454858] [ 0. 0. 0. 1. ]] SLAMing on 42.812414036999996 meters Centerline goodness : 0.825173 Centerline is valid? [False, False] Translation: X:4.07, Y:0.14, Z:-0.29 [[ 0.9699549 -0.18800734 -0.15440442 4.0726672 ] [ 0.19556645 0.98005916 0.03518242 0.13711243] [ 0.14471091 -0.06432169 0.98738112 -0.29478109] [ 0. 0. 0. 1. ]] SLAMing on 42.842414037 meters Centerline goodness : 0.824234 Centerline is valid? [False, False] Translation: X:4.07, Y:0.14, Z:-0.29 [[ 0.96982762 -0.1885753 -0.15451132 4.07306863] [ 0.19607821 0.97997372 0.0347109 0.1377575 ] [ 0.14487142 -0.06395989 0.98738108 -0.29486501] [ 0. 0. 0. 1. ]] SLAMing on 42.872414037 meters Centerline goodness : 0.825988 Centerline is valid? [False, False] Translation: X:4.07, Y:0.14, Z:-0.29 [[ 0.96964157 -0.18951797 -0.1545256 4.07277057] [ 0.1969016 0.97983961 0.0338246 0.13984714] [ 0.14499994 -0.06322408 0.98740961 -0.29456108] [ 0. 0. 0. 1. ]] SLAMing on 42.902414037 meters Centerline goodness : 0.825938 Centerline is valid? [False, False] Translation: X:4.07, Y:0.14, Z:-0.29 [[ 0.9695348 -0.18967367 -0.15500375 4.07334628] [ 0.19709224 0.97980074 0.03384036 0.14122429] [ 0.14545416 -0.06335945 0.98733412 -0.29437309] [ 0. 0. 0. 1. ]] SLAMing on 42.932414037 meters Centerline goodness : 0.826599 Centerline is valid? [False, False] Translation: X:4.07, Y:0.14, Z:-0.29 [[ 0.96949743 -0.18952747 -0.15541578 4.07444032] [ 0.19695667 0.97983139 0.03374189 0.14273385] [ 0.14588625 -0.06332285 0.98727272 -0.29496577] [ 0. 0. 0. 1. ]] SLAMing on 42.962414037 meters Centerline goodness : 0.828527 Centerline is valid? [False, False] Translation: X:4.07, Y:0.15, Z:-0.30 [[ 0.96957736 -0.18937256 -0.15510572 4.07480902] [ 0.19660615 0.97994164 0.0325637 0.14515958] [ 0.14582789 -0.06206777 0.98736104 -0.29651449] [ 0. 0. 0. 1. ]] SLAMing on 42.992414036999996 meters Centerline goodness : 0.826522 Centerline is valid? [False, False] Translation: X:4.08, Y:0.15, Z:-0.30 [[ 0.96961861 -0.18915806 -0.1551096 4.07536676] [ 0.19634194 0.98000528 0.0322411 0.14614289] [ 0.14590956 -0.06171609 0.98737102 -0.29733825] [ 0. 0. 0. 1. ]] SLAMing on 43.022414037 meters Centerline goodness : 0.826522 Centerline is valid? [False, False] Translation: X:4.08, Y:0.15, Z:-0.30 [[ 0.96961861 -0.18915806 -0.1551096 4.07536676] [ 0.19634194 0.98000528 0.0322411 0.14614289] [ 0.14590956 -0.06171609 0.98737102 -0.29733825] [ 0. 0. 0. 1. ]] SLAMing on 43.052414037 meters Centerline goodness : 0.825546 Centerline is valid? [False, False] Translation: X:4.07, Y:0.15, Z:-0.30 [[ 0.96964903 -0.18931466 -0.15472786 4.07462296] [ 0.19633331 0.98003839 0.03127281 0.14762622] [ 0.14571884 -0.06070188 0.98746205 -0.29754196] [ 0. 0. 0. 1. ]] SLAMing on 43.082414037 meters Centerline goodness : 0.828482 Centerline is valid? [False, False] Translation: X:4.07, Y:0.15, Z:-0.30 [[ 0.97010573 -0.18630043 -0.15552177 4.07429481] [ 0.19377924 0.98044664 0.03426348 0.14889039] [ 0.1460975 -0.06337609 0.98723806 -0.29695094] [ 0. 0. 0. 1. ]] SLAMing on 43.112414037 meters Centerline goodness : 0.825600 Centerline is valid? [False, False] Translation: X:4.07, Y:0.15, Z:-0.30 [[ 0.97003865 -0.18620118 -0.15605813 4.07497199] [ 0.19369636 0.9804671 0.03414644 0.15119405] [ 0.14665175 -0.06335126 0.98715748 -0.29689338] [ 0. 0. 0. 1. ]] SLAMing on 43.142414037 meters Centerline goodness : 0.774297 Centerline is valid? [False, False] Translation: X:4.07, Y:0.15, Z:-0.30 [[ 0.96992935 -0.18678889 -0.15603512 4.07429098] [ 0.19413642 0.98041527 0.03312031 0.15379525] [ 0.14679271 -0.06241646 0.98719607 -0.29649234] [ 0. 0. 0. 1. ]] SLAMing on 43.172414037 meters Centerline goodness : 0.829292 Centerline is valid? [False, False] Translation: X:4.07, Y:0.16, Z:-0.30 [[ 0.96978563 -0.18747866 -0.15610121 4.07374691] [ 0.1946967 0.98033575 0.0321716 0.15611447] [ 0.1470001 -0.06159195 0.987217 -0.295963 ] [ 0. 0. 0. 1. ]] SLAMing on 43.202414037 meters Centerline goodness : 0.826801 Centerline is valid? [False, False] Translation: X:4.07, Y:0.16, Z:-0.30 [[ 0.96961348 -0.18825906 -0.15623129 4.0738354 ] [ 0.19532432 0.98024754 0.03103489 0.1585345 ] [ 0.14730274 -0.06060762 0.98723281 -0.29587352] [ 0. 0. 0. 1. ]] SLAMing on 43.232414037 meters Centerline goodness : 0.772339 Centerline is valid? [False, False] Translation: X:4.07, Y:0.16, Z:-0.30 [[ 0.96953186 -0.18879391 -0.15609236 4.07381296] [ 0.19568128 0.98021282 0.02986069 0.16099176] [ 0.14736622 -0.05949524 0.987291 -0.29647405] [ 0. 0. 0. 1. ]] SLAMing on 43.262414037 meters Centerline goodness : 0.830990 Centerline is valid? [False, False] Translation: X:4.07, Y:0.16, Z:-0.30 [[ 0.96948059 -0.18894314 -0.1562302 4.07390991] [ 0.19579952 0.98019754 0.02958605 0.16171939] [ 0.14754637 -0.0592729 0.98727746 -0.29627449] [ 0. 0. 0. 1. ]] SLAMing on 43.292414037 meters Centerline goodness : 0.773623 Centerline is valid? [False, False] Translation: X:4.07, Y:0.16, Z:-0.30 [[ 0.96950205 -0.18876881 -0.15630777 4.07377999] [ 0.19563368 0.9802295 0.02962424 0.1623291 ] [ 0.14762535 -0.05929983 0.98726404 -0.29610119] [ 0. 0. 0. 1. ]] SLAMing on 43.322414037 meters Centerline goodness : 0.773306 Centerline is valid? [False, False] Translation: X:4.07, Y:0.17, Z:-0.30 [[ 0.96938421 -0.18898253 -0.15677964 4.07358046] [ 0.1957984 0.98021259 0.02909063 0.16567047] [ 0.14817975 -0.0588972 0.98720509 -0.29533162] [ 0. 0. 0. 1. ]] SLAMing on 43.352414037 meters Centerline goodness : 0.775991 Centerline is valid? [False, False] Translation: X:4.08, Y:0.17, Z:-0.30 [[ 0.96969615 -0.18605215 -0.15834765 4.07533543] [ 0.19351495 0.98054367 0.03295562 0.16611838] [ 0.14913532 -0.06259958 0.98683329 -0.29514923] [ 0. 0. 0. 1. ]] SLAMing on 43.382414037 meters Centerline goodness : 0.773190 Centerline is valid? [False, False] Translation: X:4.08, Y:0.17, Z:-0.30 [[ 0.9696164 -0.18538166 -0.15961729 4.07734728] [ 0.19292803 0.9806572 0.03301852 0.17172312] [ 0.15040882 -0.06280995 0.98662663 -0.29601944] [ 0. 0. 0. 1. ]] SLAMing on 43.412414037 meters Centerline goodness : 0.772806 Centerline is valid? [False, False] Translation: X:4.08, Y:0.17, Z:-0.30 [[ 0.96956532 -0.1857903 -0.15945235 4.077474 ] [ 0.19312787 0.98066178 0.03168747 0.17408216] [ 0.1504816 -0.06151777 0.98669694 -0.29680682] [ 0. 0. 0. 1. ]] SLAMing on 43.442414037 meters Centerline goodness : 0.829308 Centerline is valid? [False, False] Translation: X:4.08, Y:0.18, Z:-0.30 [[ 0.96956357 -0.18605388 -0.15915539 4.07757401] [ 0.19319485 0.98068625 0.03049979 0.1757959 ] [ 0.1504069 -0.06031949 0.98678231 -0.29776694] [ 0. 0. 0. 1. ]] SLAMing on 43.472414037 meters Centerline goodness : 0.771282 Centerline is valid? [False, False] Translation: X:4.08, Y:0.18, Z:-0.30 [[ 0.96965552 -0.18573513 -0.15896738 4.07790264] [ 0.19280293 0.98077512 0.03011958 0.17653773] [ 0.15031699 -0.05985499 0.98682429 -0.29879503] [ 0. 0. 0. 1. ]] SLAMing on 43.502414037 meters Centerline goodness : 0.771607 Centerline is valid? [False, False] Translation: X:4.08, Y:0.18, Z:-0.30 [[ 0.96960895 -0.18608812 -0.15883857 4.07700705] [ 0.19294036 0.9807898 0.0287296 0.17985469] [ 0.15044101 -0.05850285 0.98688648 -0.29851986] [ 0. 0. 0. 1. ]] SLAMing on 43.532414037 meters Centerline goodness : 0.773506 Centerline is valid? [False, False] Translation: X:4.08, Y:0.19, Z:-0.30 [[ 0.97030839 -0.19120126 -0.14813411 4.08039402] [ 0.19748907 0.97988104 0.02883069 0.18522566] [ 0.13964134 -0.05722953 0.98854695 -0.30309109] [ 0. 0. 0. 1. ]] SLAMing on 43.562414036999996 meters Centerline goodness : 0.774137 Centerline is valid? [False, False] Translation: X:4.08, Y:0.19, Z:-0.30 [[ 0.97021946 -0.19144144 -0.1484061 4.08023155] [ 0.19771607 0.97984178 0.02860837 0.18717043] [ 0.13993767 -0.05709867 0.98851261 -0.30260462] [ 0. 0. 0. 1. ]] SLAMing on 43.592414037 meters Centerline goodness : 0.772675 Centerline is valid? [False, False] Translation: X:4.08, Y:0.19, Z:-0.30 [[ 0.97014884 -0.19147274 -0.14882683 4.0802784 ] [ 0.19777439 0.97982957 0.02862348 0.18845226] [ 0.14034431 -0.05720317 0.98844892 -0.30178833] [ 0. 0. 0. 1. ]] SLAMing on 43.622414037 meters Centerline goodness : 0.772351 Centerline is valid? [False, False] Translation: X:4.08, Y:0.19, Z:-0.30 [[ 0.97011634 -0.19132268 -0.14923108 4.08076187] [ 0.19765187 0.97985319 0.02866138 0.18963463] [ 0.14074097 -0.05730067 0.98838687 -0.30158531] [ 0. 0. 0. 1. ]] SLAMing on 43.652414037 meters Centerline goodness : 0.774547 Centerline is valid? [False, False] Translation: X:4.08, Y:0.19, Z:-0.30 [[ 0.97003373 -0.19137694 -0.14969777 4.08158252] [ 0.19773544 0.97983603 0.02867129 0.1907279 ] [ 0.14119225 -0.05741268 0.98831601 -0.30159003] [ 0. 0. 0. 1. ]] SLAMing on 43.682414037 meters Centerline goodness : 0.773893 Centerline is valid? [False, False] Translation: X:4.08, Y:0.19, Z:-0.30 [[ 0.96996259 -0.19163434 -0.14982939 4.08260049] [ 0.19792837 0.97981224 0.0281483 0.1913465 ] [ 0.14141049 -0.05695828 0.9883111 -0.30228442] [ 0. 0. 0. 1. ]] SLAMing on 43.712414037 meters Centerline goodness : 0.774145 Centerline is valid? [False, False] Translation: X:4.08, Y:0.19, Z:-0.30 [[ 0.96978777 -0.19192712 -0.15058437 4.08427678] [ 0.19823778 0.97975574 0.02793701 0.19347103] [ 0.14217403 -0.05694448 0.98820234 -0.30278495] [ 0. 0. 0. 1. ]] SLAMing on 43.742414036999996 meters Centerline goodness : 0.773043 Centerline is valid? [False, False] Translation: X:4.09, Y:0.20, Z:-0.30 [[ 0.96971355 -0.19197097 -0.15100591 4.08529195] [ 0.19824926 0.97976467 0.0275395 0.19550462] [ 0.14266347 -0.05664223 0.98814917 -0.30325082] [ 0. 0. 0. 1. ]] SLAMing on 43.772414037 meters Centerline goodness : 0.775006 Centerline is valid? [False, False] Translation: X:4.09, Y:0.20, Z:-0.30 [[ 0.96968138 -0.19191246 -0.15128655 4.0858601 ] [ 0.19814564 0.97979735 0.02711949 0.19803514] [ 0.14302559 -0.05627403 0.98811786 -0.30371247] [ 0. 0. 0. 1. ]] SLAMing on 43.802414037 meters Centerline goodness : 0.772472 Centerline is valid? [False, False] Translation: X:4.09, Y:0.20, Z:-0.30 [[ 0.96972621 -0.19165886 -0.15132074 4.08574152] [ 0.19781222 0.97987968 0.02657319 0.20021413] [ 0.14318314 -0.05570181 0.98812747 -0.3038535 ] [ 0. 0. 0. 1. ]] SLAMing on 43.832414037 meters Centerline goodness : 0.773358 Centerline is valid? [False, False] Translation: X:4.09, Y:0.20, Z:-0.30 [[ 0.96974274 -0.19155953 -0.15134056 4.08548224] [ 0.19756947 0.97995499 0.02558367 0.20432837] [ 0.14340614 -0.05470985 0.98815055 -0.30350393] [ 0. 0. 0. 1. ]] SLAMing on 43.862414037 meters Centerline goodness : 0.774278 Centerline is valid? [False, False] Translation: X:4.09, Y:0.21, Z:-0.30 [[ 0.96971453 -0.19178437 -0.15123652 4.08519725] [ 0.19770757 0.97994196 0.02500954 0.20614362] [ 0.14340657 -0.05415272 0.98818118 -0.30345625] [ 0. 0. 0. 1. ]] SLAMing on 43.892414037 meters Centerline goodness : 0.772539 Centerline is valid? [False, False] Translation: X:4.08, Y:0.21, Z:-0.30 [[ 0.96965641 -0.19214905 -0.15114624 4.08492244] [ 0.19795805 0.97991096 0.0242304 0.20801953] [ 0.14345401 -0.05341578 0.9882144 -0.30326143] [ 0. 0. 0. 1. ]] SLAMing on 43.922414037 meters Centerline goodness : 0.771516 Centerline is valid? [False, False] Translation: X:4.08, Y:0.21, Z:-0.30 [[ 0.96962209 -0.19240208 -0.15104448 4.08438586] [ 0.19807502 0.97990959 0.02331279 0.21086166] [ 0.14352451 -0.05252274 0.98825203 -0.30290628] [ 0. 0. 0. 1. ]] SLAMing on 43.952414037 meters Centerline goodness : 0.772196 Centerline is valid? [False, False] Translation: X:4.08, Y:0.21, Z:-0.30 [[ 0.9695813 -0.19261771 -0.15103153 4.08421197] [ 0.19821154 0.97989504 0.02275723 0.2120095 ] [ 0.1436116 -0.05200117 0.98826696 -0.30262325] [ 0. 0. 0. 1. ]] SLAMing on 43.982414037 meters Centerline goodness : 0.772490 Centerline is valid? [False, False] Translation: X:4.08, Y:0.21, Z:-0.30 [[ 0.96956463 -0.19268216 -0.15105635 4.0844107 ] [ 0.19822837 0.97989951 0.02241588 0.21321517] [ 0.1437009 -0.0516773 0.98827097 -0.30278643] [ 0. 0. 0. 1. ]] SLAMing on 44.012414037 meters Centerline goodness : 0.774349 Centerline is valid? [False, False] Translation: X:4.08, Y:0.21, Z:-0.30 [[ 0.96953384 -0.19266601 -0.15127442 4.08488037] [ 0.19816568 0.9799212 0.02201845 0.21496864] [ 0.14399481 -0.05132503 0.98824655 -0.30282114] [ 0. 0. 0. 1. ]] SLAMing on 44.042414037 meters Centerline goodness : 0.774003 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:-0.30 [[ 0.96962486 -0.19210729 -0.15140152 4.08535125] [ 0.1975581 0.98005144 0.02167892 0.21882588] [ 0.1442166 -0.05093101 0.98823459 -0.30326594] [ 0. 0. 0. 1. ]] SLAMing on 44.072414037 meters Centerline goodness : 0.772318 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:-0.30 [[ 0.96960826 -0.19210673 -0.15150849 4.08534345] [ 0.19750147 0.98007209 0.02125699 0.22037647] [ 0.14440564 -0.0505341 0.98822736 -0.30297192] [ 0. 0. 0. 1. ]] SLAMing on 44.102414037 meters Centerline goodness : 0.772719 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:-0.30 [[ 0.96959644 -0.19214237 -0.15153893 4.08545045] [ 0.19750048 0.98007798 0.02099299 0.22158625] [ 0.14448633 -0.05028374 0.98822834 -0.30306417] [ 0. 0. 0. 1. ]] SLAMing on 44.132414037 meters Centerline goodness : 0.772355 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:-0.30 [[ 0.96956523 -0.19229557 -0.15154429 4.08554909] [ 0.19761277 0.98006158 0.02070005 0.22226295] [ 0.14454221 -0.05001713 0.9882337 -0.30310557] [ 0. 0. 0. 1. ]] SLAMing on 44.162414037 meters Centerline goodness : 0.771092 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:-0.30 [[ 0.96956857 -0.1922395 -0.15159408 4.08656551] [ 0.19759647 0.98005937 0.02095861 0.22117624] [ 0.14454213 -0.05027526 0.98822061 -0.30402074] [ 0. 0. 0. 1. ]] SLAMing on 44.192414037 meters Centerline goodness : 0.772440 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:-0.30 [[ 0.96952258 -0.1926017 -0.15142838 4.08637546] [ 0.19791586 0.98000048 0.02069716 0.22095884] [ 0.14441358 -0.05003645 0.98825152 -0.30404452] [ 0. 0. 0. 1. ]] SLAMing on 44.222414037 meters Centerline goodness : 0.773169 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:-0.30 [[ 0.96945407 -0.19308742 -0.15124832 4.08552436] [ 0.19832751 0.97992728 0.02021702 0.22165418] [ 0.1443087 -0.04959617 0.98828904 -0.30355879] [ 0. 0. 0. 1. ]] SLAMing on 44.252414037 meters Centerline goodness : 0.773448 Centerline is valid? [False, False] Translation: X:4.08, Y:0.22, Z:-0.30 [[ 0.96930264 -0.19425969 -0.15071683 4.08259286] [ 0.1992822 0.97976139 0.01882085 0.2244254 ] [ 0.1440104 -0.04827828 0.9883978 -0.301683 ] [ 0. 0. 0. 1. ]] SLAMing on 44.282414037 meters Centerline goodness : 0.773619 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96925186 -0.19457259 -0.1506398 4.08184479] [ 0.19951896 0.97972305 0.01830106 0.22561264] [ 0.1440244 -0.04779383 0.98841931 -0.30102227] [ 0. 0. 0. 1. ]] SLAMing on 44.312414036999996 meters Centerline goodness : 0.772321 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96928351 -0.19419207 -0.15092688 4.08298685] [ 0.19913583 0.97980259 0.01821535 0.22686971] [ 0.14434127 -0.04771078 0.98837709 -0.30150342] [ 0. 0. 0. 1. ]] SLAMing on 44.342414037 meters Centerline goodness : 0.771285 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96929226 -0.19398075 -0.15114228 4.0841829 ] [ 0.19894432 0.97984002 0.01829454 0.22686852] [ 0.14454647 -0.04780165 0.98834271 -0.30215483] [ 0. 0. 0. 1. ]] SLAMing on 44.372414037 meters Centerline goodness : 0.772811 Centerline is valid? [False, False] Translation: X:4.09, Y:0.23, Z:-0.30 [[ 0.96929408 -0.19388423 -0.15125442 4.08503638] [ 0.19884726 0.97986035 0.01826067 0.2268905 ] [ 0.14466776 -0.04777649 0.98832619 -0.30262003] [ 0. 0. 0. 1. ]] SLAMing on 44.402414037 meters Centerline goodness : 0.770316 Centerline is valid? [False, False] Translation: X:4.09, Y:0.23, Z:-0.30 [[ 0.96928967 -0.19398955 -0.15114761 4.08527074] [ 0.19892863 0.97984636 0.01812476 0.22737263] [ 0.14458542 -0.04763573 0.98834503 -0.30311119] [ 0. 0. 0. 1. ]] SLAMing on 44.432414037 meters Centerline goodness : 0.771763 Centerline is valid? [False, False] Translation: X:4.09, Y:0.23, Z:-0.30 [[ 0.96926774 -0.19409053 -0.15115855 4.085401 ] [ 0.19899705 0.97983676 0.01789109 0.22827756] [ 0.14463821 -0.04742136 0.98834761 -0.30325586] [ 0. 0. 0. 1. ]] SLAMing on 44.462414037 meters Centerline goodness : 0.772038 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96919009 -0.1947915 -0.15075425 4.08327009] [ 0.19952298 0.97974956 0.01677437 0.23086443] [ 0.14443391 -0.04633649 0.98842894 -0.30193836] [ 0. 0. 0. 1. ]] SLAMing on 44.492414036999996 meters Centerline goodness : 0.772959 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96910077 -0.19545667 -0.15046726 4.08153411] [ 0.20003606 0.97966153 0.01577563 0.23245993] [ 0.14432353 -0.04538705 0.98848912 -0.30054272] [ 0. 0. 0. 1. ]] SLAMing on 44.522414037 meters Centerline goodness : 0.772261 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96905151 -0.19576526 -0.15038328 4.08050287] [ 0.20024989 0.97962802 0.01513016 0.23361814] [ 0.14435772 -0.04477614 0.98851199 -0.29949256] [ 0. 0. 0. 1. ]] SLAMing on 44.552414037 meters Centerline goodness : 0.774012 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96900396 -0.19585201 -0.15057659 4.0804715 ] [ 0.20027709 0.97962967 0.01465603 0.23461981] [ 0.14463888 -0.04435879 0.9884897 -0.29887439] [ 0. 0. 0. 1. ]] SLAMing on 44.582414037 meters Centerline goodness : 0.771643 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96898646 -0.19589466 -0.15063371 4.08085457] [ 0.20031044 0.97962411 0.01457157 0.23479702] [ 0.14470992 -0.04429316 0.98848225 -0.29908985] [ 0. 0. 0. 1. ]] SLAMing on 44.612414037 meters Centerline goodness : 0.770156 Centerline is valid? [False, False] Translation: X:4.08, Y:0.24, Z:-0.30 [[ 0.96891671 -0.19633321 -0.15051141 4.08061452] [ 0.20070301 0.97954831 0.01426227 0.23510882] [ 0.14463304 -0.04402704 0.98850539 -0.29911183] [ 0. 0. 0. 1. ]] SLAMing on 44.642414037 meters Centerline goodness : 0.773529 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96887531 -0.19657335 -0.15046447 4.08063363] [ 0.20092591 0.97950437 0.01414088 0.2346574 ] [ 0.14460089 -0.04393296 0.98851428 -0.29907372] [ 0. 0. 0. 1. ]] SLAMing on 44.672414037 meters Centerline goodness : 0.772175 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96883471 -0.19681937 -0.15040427 4.08065548] [ 0.20117384 0.97945329 0.01415399 0.23373912] [ 0.14452818 -0.04397029 0.98852325 -0.29912899] [ 0. 0. 0. 1. ]] SLAMing on 44.702414037 meters Centerline goodness : 0.771720 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96879928 -0.19701341 -0.1503784 4.08067987] [ 0.20135956 0.97941604 0.0140905 0.23293098] [ 0.144507 -0.04393099 0.98852809 -0.29900947] [ 0. 0. 0. 1. ]] SLAMing on 44.732414037 meters Centerline goodness : 0.772266 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96874233 -0.19739222 -0.15024846 4.07983766] [ 0.20170604 0.97934774 0.01388069 0.23181536] [ 0.14440555 -0.04375283 0.98855082 -0.29814863] [ 0. 0. 0. 1. ]] SLAMing on 44.762414037 meters Centerline goodness : 0.771484 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96872391 -0.19748283 -0.15024822 4.07965612] [ 0.20177355 0.97933616 0.01371591 0.23191645] [ 0.14443486 -0.04360304 0.98855316 -0.29783371] [ 0. 0. 0. 1. ]] SLAMing on 44.792414037 meters Centerline goodness : 0.772249 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96873815 -0.19726059 -0.15044822 4.08022928] [ 0.20156634 0.979378 0.01377436 0.2322453 ] [ 0.14462854 -0.04366904 0.98852193 -0.29791603] [ 0. 0. 0. 1. ]] SLAMing on 44.822414037 meters Centerline goodness : 0.770211 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96874336 -0.1971321 -0.15058297 4.08013527] [ 0.20139738 0.97941705 0.01346653 0.23369497] [ 0.14482884 -0.04337263 0.98850565 -0.29742106] [ 0. 0. 0. 1. ]] SLAMing on 44.852414037 meters Centerline goodness : 0.775071 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96871379 -0.1973131 -0.15053617 4.07968782] [ 0.20154198 0.97939068 0.01321867 0.2335501 ] [ 0.1448255 -0.04314446 0.98851612 -0.29687733] [ 0. 0. 0. 1. ]] SLAMing on 44.882414037 meters Centerline goodness : 0.771185 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96871467 -0.19723891 -0.1506277 4.0799431 ] [ 0.20147046 0.97940544 0.01321482 0.23250476] [ 0.14491911 -0.04314843 0.98850223 -0.29657557] [ 0. 0. 0. 1. ]] SLAMing on 44.912414037 meters Centerline goodness : 0.770541 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96873033 -0.19709496 -0.15071535 4.08058124] [ 0.20136208 0.97942464 0.01344186 0.23129532] [ 0.144965 -0.0433699 0.98848581 -0.29681685] [ 0. 0. 0. 1. ]] SLAMing on 44.942414037 meters Centerline goodness : 0.770541 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96873033 -0.19709496 -0.15071535 4.08058124] [ 0.20136208 0.97942464 0.01344186 0.23129532] [ 0.144965 -0.0433699 0.98848581 -0.29681685] [ 0. 0. 0. 1. ]] SLAMing on 44.972414037 meters Centerline goodness : 0.771727 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96874667 -0.19689873 -0.15086676 4.08169131] [ 0.20122992 0.97944616 0.01384735 0.22958317] [ 0.14503935 -0.04377348 0.98845712 -0.29738022] [ 0. 0. 0. 1. ]] SLAMing on 45.002414037 meters Centerline goodness : 0.770573 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96873355 -0.19696238 -0.15086794 4.08160258] [ 0.20128711 0.9794351 0.01379823 0.22947844] [ 0.14504763 -0.04373458 0.98845762 -0.29718836] [ 0. 0. 0. 1. ]] SLAMing on 45.032414037 meters Centerline goodness : 0.770870 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96870017 -0.19713937 -0.15085106 4.08118007] [ 0.20143818 0.97940663 0.01361338 0.22970091] [ 0.1450608 -0.04357444 0.98846276 -0.29673394] [ 0. 0. 0. 1. ]] SLAMing on 45.062414036999996 meters Centerline goodness : 0.769796 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96868191 -0.19726474 -0.15080443 4.08019757] [ 0.20152713 0.97939168 0.01336995 0.22978509] [ 0.14505918 -0.04334241 0.9884732 -0.29556221] [ 0. 0. 0. 1. ]] SLAMing on 45.092414037 meters Centerline goodness : 0.772199 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96862135 -0.19759593 -0.1507598 4.07940031] [ 0.20180616 0.97933916 0.01300295 0.22955728] [ 0.14507565 -0.04301919 0.9884849 -0.2945811 ] [ 0. 0. 0. 1. ]] SLAMing on 45.122414037 meters Centerline goodness : 0.772621 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96858005 -0.19783407 -0.15071289 4.07899941] [ 0.20201439 0.97929897 0.01279527 0.22899413] [ 0.14506163 -0.04283941 0.98849477 -0.29401384] [ 0. 0. 0. 1. ]] SLAMing on 45.152414037 meters Centerline goodness : 0.773614 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.9685576 -0.1979124 -0.15075427 4.07923965] [ 0.20208327 0.97928583 0.01271262 0.22818076] [ 0.14511553 -0.04277782 0.98848952 -0.29384777] [ 0. 0. 0. 1. ]] SLAMing on 45.182414037 meters Centerline goodness : 0.770874 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96855814 -0.1978386 -0.15084768 4.0800251 ] [ 0.20203119 0.97929494 0.01283822 0.22727726] [ 0.14518448 -0.0429105 0.98847365 -0.29423417] [ 0. 0. 0. 1. ]] SLAMing on 45.212414037 meters Centerline goodness : 0.772441 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96855275 -0.19778921 -0.15094702 4.080813 ] [ 0.20199713 0.97930093 0.0129166 0.22677004] [ 0.14526779 -0.04300127 0.98845746 -0.29468877] [ 0. 0. 0. 1. ]] SLAMing on 45.242414036999996 meters Centerline goodness : 0.772137 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96857442 -0.1976086 -0.15104449 4.08164435] [ 0.20184559 0.97932976 0.01309874 0.22670613] [ 0.14533394 -0.04317477 0.98844018 -0.29531997] [ 0. 0. 0. 1. ]] SLAMing on 45.272414037 meters Centerline goodness : 0.773188 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.96858485 -0.19745788 -0.15117465 4.08204175] [ 0.20169538 0.97936103 0.01307454 0.22689238] [ 0.14547289 -0.04315503 0.9884206 -0.29531939] [ 0. 0. 0. 1. ]] SLAMing on 45.302414037 meters Centerline goodness : 0.772064 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.30 [[ 0.9685882 -0.19730209 -0.15135651 4.08241651] [ 0.20153834 0.97939404 0.01302337 0.22701086] [ 0.14566812 -0.04311843 0.98839344 -0.29511242] [ 0. 0. 0. 1. ]] SLAMing on 45.332414037 meters Centerline goodness : 0.771001 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96861487 -0.19711453 -0.15143013 4.0825022 ] [ 0.20134805 0.97943353 0.01299695 0.22703332] [ 0.14575386 -0.0430792 0.98838251 -0.29486872] [ 0. 0. 0. 1. ]] SLAMing on 45.362414037 meters Centerline goodness : 0.773087 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96925346 -0.19384246 -0.15156792 4.0797275 ] [ 0.19849367 0.97997096 0.01603696 0.2261404 ] [ 0.14542351 -0.04562915 0.98831674 -0.29311595] [ 0. 0. 0. 1. ]] SLAMing on 45.392414037 meters Centerline goodness : 0.772570 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96922327 -0.19401022 -0.15154634 4.07888286] [ 0.19858818 0.97995992 0.01553353 0.22699015] [ 0.14549567 -0.04515077 0.98832809 -0.29205807] [ 0. 0. 0. 1. ]] SLAMing on 45.422414037 meters Centerline goodness : 0.776030 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96921482 -0.19394929 -0.15167831 4.07869517] [ 0.19850627 0.97997934 0.01535434 0.22715313] [ 0.14566365 -0.04499075 0.98831065 -0.29135037] [ 0. 0. 0. 1. ]] SLAMing on 45.452414037 meters Centerline goodness : 0.773193 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96917821 -0.19414063 -0.15166745 4.07823853] [ 0.19868149 0.97994571 0.01523393 0.2261738 ] [ 0.14566834 -0.04489791 0.98831418 -0.29058898] [ 0. 0. 0. 1. ]] SLAMing on 45.482414037 meters Centerline goodness : 0.773465 Centerline is valid? [False, False] Translation: X:4.08, Y:0.23, Z:-0.29 [[ 0.96913751 -0.19432778 -0.15168786 4.07828752] [ 0.19885545 0.97991212 0.01512404 0.22549313] [ 0.14570175 -0.04482123 0.98831273 -0.29036198] [ 0. 0. 0. 1. ]] SLAMing on 45.512414037 meters Centerline goodness : 0.775644 Centerline is valid? [False, False] Translation: X:3.59, Y:0.12, Z:-0.33 [[ 0.95274855 -0.11245228 -0.28217846 3.585486 ] [ 0.16691696 0.96994591 0.1770414 0.11832883] [ 0.25378913 -0.21577631 0.94288475 -0.33378192] [ 0. 0. 0. 1. ]] SLAMing on 45.542414037 meters Centerline goodness : 0.772747 Centerline is valid? [False, False] Translation: X:4.02, Y:0.34, Z:-0.21 [[ 0.90287692 -0.33565045 -0.2686113 4.0209726 ] [ 0.34572576 0.93827829 -0.01037082 0.34337469] [ 0.25551313 -0.08350227 0.96319282 -0.20730636] [ 0. 0. 0. 1. ]] SLAMing on 45.572414037 meters Centerline goodness : 0.771208 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:-0.22 [[ 0.90471695 -0.33603402 -0.26185566 3.98972996] [ 0.34461133 0.93864252 -0.0139012 0.33323264] [ 0.25046013 -0.07766178 0.96500693 -0.2234026 ] [ 0. 0. 0. 1. ]] SLAMing on 45.602414037 meters Centerline goodness : 0.771286 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:-0.22 [[ 0.90462367 -0.33643628 -0.2616613 3.98941461] [ 0.34498123 0.93850485 -0.01402154 0.33327564] [ 0.25028776 -0.07758402 0.9650579 -0.22360233] [ 0. 0. 0. 1. ]] SLAMing on 45.632414037 meters Centerline goodness : 0.771911 Centerline is valid? [False, False] Translation: X:3.98, Y:0.33, Z:-0.23 [[ 0.90740042 -0.33429136 -0.2547033 3.98161846] [ 0.3419565 0.93959687 -0.01494935 0.32976875] [ 0.24431586 -0.0735324 0.96690369 -0.22897391] [ 0. 0. 0. 1. ]] SLAMing on 45.662414037 meters Centerline goodness : 0.772398 Centerline is valid? [False, False] Translation: X:3.97, Y:0.33, Z:-0.23 [[ 0.91025414 -0.33166499 -0.24786233 3.97006464] [ 0.3378001 0.941033 -0.01865451 0.32550299] [ 0.23943367 -0.06674757 0.96861565 -0.23307124] [ 0. 0. 0. 1. ]] SLAMing on 45.692414037 meters Centerline goodness : 0.771627 Centerline is valid? [False, False] Translation: X:3.95, Y:0.32, Z:-0.24 [[ 0.9114525 -0.33171488 -0.24335071 3.95301727] [ 0.3361179 0.94150199 -0.02446972 0.3196743 ] [ 0.23723215 -0.05949154 0.96962965 -0.23543398] [ 0. 0. 0. 1. ]] SLAMing on 45.722414037 meters Centerline goodness : 0.771304 Centerline is valid? [False, False] Translation: X:3.94, Y:0.31, Z:-0.24 [[ 0.91306734 -0.33047587 -0.23894294 3.93693445] [ 0.33339374 0.94233152 -0.02932454 0.31382406] [ 0.23485451 -0.0528868 0.97059072 -0.23765816] [ 0. 0. 0. 1. ]] SLAMing on 45.752414037 meters Centerline goodness : 0.770347 Centerline is valid? [False, False] Translation: X:3.92, Y:0.31, Z:-0.24 [[ 0.91446093 -0.32938035 -0.23509529 3.91629173] [ 0.33133528 0.94295924 -0.03232339 0.30731292] [ 0.23233197 -0.04833689 0.97143471 -0.24060806] [ 0. 0. 0. 1. ]] SLAMing on 45.782414037 meters Centerline goodness : 0.772839 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:-0.25 [[ 0.91581858 -0.32930603 -0.22985618 3.88842113] [ 0.33130963 0.94301341 -0.03097801 0.30027865] [ 0.22695871 -0.04778333 0.97273146 -0.24851939] [ 0. 0. 0. 1. ]] SLAMing on 45.812414036999996 meters Centerline goodness : 0.775363 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.26 [[ 0.91676848 -0.32854318 -0.22714517 3.85954107] [ 0.33108745 0.94318627 -0.02794197 0.29244944] [ 0.22342035 -0.0495886 0.97345997 -0.2579393 ] [ 0. 0. 0. 1. ]] SLAMing on 45.842414037 meters Centerline goodness : 0.772519 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.26 [[ 0.91673366 -0.32862265 -0.22717076 3.85978962] [ 0.33115246 0.94316111 -0.02802079 0.2929982 ] [ 0.22346689 -0.04954055 0.97345174 -0.25818505] [ 0. 0. 0. 1. ]] SLAMing on 45.872414037 meters Centerline goodness : 0.772587 Centerline is valid? [False, False] Translation: X:3.85, Y:0.29, Z:-0.26 [[ 0.91674653 -0.32749701 -0.22873896 3.84849196] [ 0.32797744 0.94395927 -0.03703637 0.29136035] [ 0.22804957 -0.04106826 0.97278301 -0.25788382] [ 0. 0. 0. 1. ]] SLAMing on 45.902414037 meters Centerline goodness : 0.772891 Centerline is valid? [False, False] Translation: X:3.84, Y:0.29, Z:-0.26 [[ 0.9161201 -0.32727596 -0.23154787 3.83807971] [ 0.32547149 0.94437898 -0.04708127 0.28982846] [ 0.23407751 -0.03223013 0.97168356 -0.25755669] [ 0. 0. 0. 1. ]] SLAMing on 45.932414037 meters Centerline goodness : 0.771351 Centerline is valid? [False, False] Translation: X:3.82, Y:0.28, Z:-0.26 [[ 0.9173658 -0.3246054 -0.23037212 3.81949223] [ 0.32208986 0.94541224 -0.04953595 0.28400961] [ 0.23387626 -0.02875794 0.97184097 -0.26144435] [ 0. 0. 0. 1. ]] SLAMing on 45.962414037 meters Centerline goodness : 0.772617 Centerline is valid? [False, False] Translation: X:3.82, Y:0.28, Z:-0.26 [[ 0.91735189 -0.32470472 -0.23028754 3.81920454] [ 0.32214289 0.94538398 -0.04973025 0.28451733] [ 0.2338578 -0.02856535 0.9718511 -0.26134711] [ 0. 0. 0. 1. ]] SLAMing on 45.992414036999996 meters Centerline goodness : 0.772681 Centerline is valid? [False, False] Translation: X:3.80, Y:0.28, Z:-0.26 [[ 0.91922496 -0.3209848 -0.22802244 3.80071335] [ 0.31772028 0.94676173 -0.05192344 0.27958608] [ 0.23254956 -0.02471803 0.9722704 -0.26411351] [ 0. 0. 0. 1. ]] SLAMing on 46.022414037 meters Centerline goodness : 0.771767 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.27 [[ 0.9216346 -0.31657799 -0.22442826 3.77273514] [ 0.31423011 0.94817851 -0.04708457 0.27268164] [ 0.22770399 -0.02712735 0.97335245 -0.27282806] [ 0. 0. 0. 1. ]] SLAMing on 46.052414037 meters Centerline goodness : 0.773628 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.27 [[ 0.92166872 -0.31631811 -0.22465445 3.77296109] [ 0.31393517 0.94826897 -0.04722994 0.27365435] [ 0.22797253 -0.02699657 0.97329323 -0.27254084] [ 0. 0. 0. 1. ]] SLAMing on 46.082414037 meters Centerline goodness : 0.774389 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.28 [[ 0.92466945 -0.31108891 -0.21956796 3.76732251] [ 0.3088581 0.95002764 -0.0453227 0.27056378] [ 0.22269503 -0.02590683 0.97454387 -0.27723709] [ 0. 0. 0. 1. ]] SLAMing on 46.112414037 meters Centerline goodness : 0.772822 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.28 [[ 0.92474386 -0.31070954 -0.21979165 3.76781092] [ 0.30846255 0.95015367 -0.0453746 0.27126798] [ 0.22293416 -0.02583761 0.97449103 -0.27707651] [ 0. 0. 0. 1. ]] SLAMing on 46.142414037 meters Centerline goodness : 0.774129 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.29 [[ 0.92593815 -0.3086339 -0.21767788 3.74065931] [ 0.30709871 0.95076244 -0.04172731 0.26347642] [ 0.21983842 -0.02821169 0.97512828 -0.28659429] [ 0. 0. 0. 1. ]] SLAMing on 46.172414037 meters Centerline goodness : 0.774180 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.29 [[ 0.92596614 -0.30836645 -0.21793769 3.74136571] [ 0.30683678 0.95084797 -0.04170521 0.26409386] [ 0.22008609 -0.02825369 0.9750712 -0.28670611] [ 0. 0. 0. 1. ]] SLAMing on 46.202414037 meters Centerline goodness : 0.774989 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.29 [[ 0.92814232 -0.30579324 -0.21223179 3.73563183] [ 0.30402292 0.95174918 -0.04175592 0.26156273] [ 0.21476011 -0.02576789 0.97632685 -0.29148085] [ 0. 0. 0. 1. ]] SLAMing on 46.232414037 meters Centerline goodness : 0.775806 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.29 [[ 0.92817573 -0.30558862 -0.21238035 3.73647695] [ 0.30386589 0.95180903 -0.04153429 0.26131787] [ 0.21483794 -0.02598402 0.97630399 -0.29196588] [ 0. 0. 0. 1. ]] SLAMing on 46.262414037 meters Centerline goodness : 0.773618 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.29 [[ 0.92912564 -0.30296897 -0.21197958 3.72176059] [ 0.29997069 0.95279157 -0.04696593 0.25748468] [ 0.21620157 -0.01995041 0.9761449 -0.29317201] [ 0. 0. 0. 1. ]] SLAMing on 46.292414037 meters Centerline goodness : 0.776419 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.29 [[ 0.9291231 -0.30287543 -0.21212437 3.72226861] [ 0.29988553 0.9528201 -0.04693105 0.25786523] [ 0.21633063 -0.02000831 0.97611512 -0.29344781] [ 0. 0. 0. 1. ]] SLAMing on 46.322414037 meters Centerline goodness : 0.776515 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.29 [[ 0.92916161 -0.30267672 -0.21223925 3.72306022] [ 0.29972058 0.95288008 -0.04676679 0.257882 ] [ 0.21639378 -0.02015856 0.97609803 -0.29393557] [ 0. 0. 0. 1. ]] SLAMing on 46.352414037 meters Centerline goodness : 0.774204 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.29 [[ 0.92916292 -0.30265854 -0.21225944 3.72344282] [ 0.29971395 0.95288472 -0.04671458 0.2577375 ] [ 0.21639735 -0.02021166 0.97609614 -0.29423411] [ 0. 0. 0. 1. ]] SLAMing on 46.382414037 meters Centerline goodness : 0.777971 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.29 [[ 0.92912315 -0.30280415 -0.21222584 3.72328348] [ 0.29983942 0.95284012 -0.046819 0.25743703] [ 0.21639428 -0.02013306 0.97609845 -0.29403363] [ 0. 0. 0. 1. ]] SLAMing on 46.412414037 meters Centerline goodness : 0.775766 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.29 [[ 0.92904395 -0.30331562 -0.21184187 3.72180481] [ 0.30029857 0.95268278 -0.04707754 0.25640414] [ 0.21609746 -0.01987871 0.97616941 -0.2931826 ] [ 0. 0. 0. 1. ]] SLAMing on 46.442414037 meters Centerline goodness : 0.774660 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.30 [[ 0.93066358 -0.30147396 -0.20731319 3.71641242] [ 0.29845101 0.95329263 -0.04647756 0.25355195] [ 0.21164191 -0.01861786 0.97716993 -0.29638322] [ 0. 0. 0. 1. ]] SLAMing on 46.472414037 meters Centerline goodness : 0.775658 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93190982 -0.2983052 -0.20629614 3.69979531] [ 0.29439897 0.95436747 -0.05011962 0.24882017] [ 0.21183327 -0.0140264 0.97720516 -0.29780994] [ 0. 0. 0. 1. ]] SLAMing on 46.502414037 meters Centerline goodness : 0.772672 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93187928 -0.29836568 -0.20634662 3.69966967] [ 0.29443449 0.95434993 -0.05024488 0.24930546] [ 0.21191822 -0.0139334 0.97718807 -0.29758398] [ 0. 0. 0. 1. ]] SLAMing on 46.532414037 meters Centerline goodness : 0.774967 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93266621 -0.29546873 -0.20695886 3.69785453] [ 0.29211654 0.95521258 -0.04729548 0.24800736] [ 0.21166404 -0.01634521 0.9772058 -0.29680873] [ 0. 0. 0. 1. ]] SLAMing on 46.562414036999996 meters Centerline goodness : 0.770638 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93266908 -0.29534301 -0.2071253 3.69821967] [ 0.29197167 0.95525253 -0.04738294 0.24811091] [ 0.21185118 -0.01628212 0.9771663 -0.2966213 ] [ 0. 0. 0. 1. ]] SLAMing on 46.592414037 meters Centerline goodness : 0.772660 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93272247 -0.29498479 -0.2073952 3.6989977 ] [ 0.29162872 0.9553617 -0.04729386 0.2482366 ] [ 0.21208841 -0.01637035 0.97711336 -0.29668332] [ 0. 0. 0. 1. ]] SLAMing on 46.622414037 meters Centerline goodness : 0.773429 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93384175 -0.29094448 -0.20806464 3.69794233] [ 0.28825892 0.95654991 -0.04380708 0.24777095] [ 0.21176964 -0.01906761 0.97713359 -0.29658552] [ 0. 0. 0. 1. ]] SLAMing on 46.652414037 meters Centerline goodness : 0.773429 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93384175 -0.29094448 -0.20806464 3.69794233] [ 0.28825892 0.95654991 -0.04380708 0.24777095] [ 0.21176964 -0.01906761 0.97713359 -0.29658552] [ 0. 0. 0. 1. ]] SLAMing on 46.682414037 meters Centerline goodness : 0.771435 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93501794 -0.28638064 -0.20911139 3.69742468] [ 0.28437484 0.95786741 -0.04026133 0.2491827 ] [ 0.21183105 -0.02182095 0.97706267 -0.29649786] [ 0. 0. 0. 1. ]] SLAMing on 46.712414037 meters Centerline goodness : 0.772901 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93512809 -0.2857776 -0.2094436 3.69830016] [ 0.28376105 0.95804872 -0.04027784 0.25067293] [ 0.21216767 -0.02176699 0.97699083 -0.29662318] [ 0. 0. 0. 1. ]] SLAMing on 46.742414036999996 meters Centerline goodness : 0.772146 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93525346 -0.28510597 -0.20979885 3.69947804] [ 0.28311408 0.95824649 -0.04012592 0.25146248] [ 0.21247915 -0.02186911 0.97692085 -0.29688549] [ 0. 0. 0. 1. ]] SLAMing on 46.772414037 meters Centerline goodness : 0.771201 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93567248 -0.28327738 -0.21040659 3.70207232] [ 0.28142886 0.95877595 -0.03932529 0.25185456] [ 0.21287274 -0.0224189 0.9768227 -0.29775403] [ 0. 0. 0. 1. ]] SLAMing on 46.802414037 meters Centerline goodness : 0.769779 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93579493 -0.28262503 -0.21073905 3.70318228] [ 0.28080624 0.95896562 -0.03915093 0.25246116] [ 0.21315654 -0.0225396 0.97675803 -0.29800295] [ 0. 0. 0. 1. ]] SLAMing on 46.832414037 meters Centerline goodness : 0.769779 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93579493 -0.28262503 -0.21073905 3.70318228] [ 0.28080624 0.95896562 -0.03915093 0.25246116] [ 0.21315654 -0.0225396 0.97675803 -0.29800295] [ 0. 0. 0. 1. ]] SLAMing on 46.862414037 meters Centerline goodness : 0.769366 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93589988 -0.28211252 -0.21095958 3.70371884] [ 0.28029524 0.95911678 -0.03910976 0.25347793] [ 0.21336823 -0.02252814 0.97671208 -0.29798645] [ 0. 0. 0. 1. ]] SLAMing on 46.892414037 meters Centerline goodness : 0.767474 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93684571 -0.2785194 -0.21153499 3.70209863] [ 0.27737757 0.9600985 -0.03567292 0.25250358] [ 0.21303003 -0.02525504 0.9767192 -0.29759941] [ 0. 0. 0. 1. ]] SLAMing on 46.922414037 meters Centerline goodness : 0.770203 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93782586 -0.27476973 -0.21209493 3.70010482] [ 0.27431887 0.96110131 -0.03214703 0.25221848] [ 0.21267774 -0.02803332 0.97672018 -0.29709371] [ 0. 0. 0. 1. ]] SLAMing on 46.952414037 meters Centerline goodness : 0.768090 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93782188 -0.27475667 -0.21212944 3.70001002] [ 0.27428243 0.96110801 -0.03225751 0.25246504] [ 0.21274227 -0.02793159 0.97670904 -0.29683789] [ 0. 0. 0. 1. ]] SLAMing on 46.982414037 meters Centerline goodness : 0.827115 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93787053 -0.27452138 -0.21221893 3.70061875] [ 0.27411232 0.96116702 -0.03194355 0.25057217] [ 0.21274702 -0.02821291 0.97669992 -0.29682476] [ 0. 0. 0. 1. ]] SLAMing on 47.012414037 meters Centerline goodness : 0.824863 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93787789 -0.27442106 -0.21231612 3.70136479] [ 0.27406014 0.96118916 -0.03172441 0.24919515] [ 0.2127818 -0.02843376 0.97668594 -0.29706085] [ 0. 0. 0. 1. ]] SLAMing on 47.042414037 meters Centerline goodness : 0.822926 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93792126 -0.27413848 -0.21248952 3.70254846] [ 0.27385693 0.9612593 -0.03135179 0.24805828] [ 0.21285226 -0.02878622 0.97666026 -0.29763386] [ 0. 0. 0. 1. ]] SLAMing on 47.072414037 meters Centerline goodness : 0.770667 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93794148 -0.27392185 -0.21267959 3.70319673] [ 0.27368687 0.96131462 -0.03113988 0.24830508] [ 0.21298189 -0.02900023 0.97662567 -0.29802053] [ 0. 0. 0. 1. ]] SLAMing on 47.102414037 meters Centerline goodness : 0.771139 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.9379398 -0.27384049 -0.21279174 3.70315255] [ 0.27357599 0.96134159 -0.03128145 0.24941988] [ 0.21313168 -0.02887459 0.97659672 -0.29782776] [ 0. 0. 0. 1. ]] SLAMing on 47.132414037 meters Centerline goodness : 0.771092 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93792419 -0.27381223 -0.21289687 3.70310421] [ 0.27351834 0.96135323 -0.03142742 0.25001562] [ 0.21327431 -0.02875466 0.97656912 -0.29752729] [ 0. 0. 0. 1. ]] SLAMing on 47.162414037 meters Centerline goodness : 0.826506 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93793755 -0.27374387 -0.2129259 3.70306259] [ 0.27345015 0.96137278 -0.03142285 0.24947429] [ 0.21330298 -0.02875195 0.97656293 -0.29716438] [ 0. 0. 0. 1. ]] SLAMing on 47.192414037 meters Centerline goodness : 0.824806 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.30 [[ 0.93790592 -0.2739058 -0.21285701 3.70268847] [ 0.27363777 0.96132294 -0.03131417 0.24611537] [ 0.21320146 -0.02887597 0.97658144 -0.29612471] [ 0. 0. 0. 1. ]] SLAMing on 47.222414037 meters Centerline goodness : 0.770996 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.30 [[ 0.93791075 -0.27390248 -0.21283998 3.70277031] [ 0.27368178 0.96131754 -0.03109461 0.24448756] [ 0.21312369 -0.02908645 0.97659217 -0.29592322] [ 0. 0. 0. 1. ]] SLAMing on 47.252414037 meters Centerline goodness : 0.770172 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.30 [[ 0.93783296 -0.27426319 -0.21271823 3.70290656] [ 0.27402363 0.96121656 -0.03120526 0.24366936] [ 0.21302674 -0.0290245 0.97661517 -0.29591635] [ 0. 0. 0. 1. ]] SLAMing on 47.282414037 meters Centerline goodness : 0.770742 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.30 [[ 0.93788632 -0.27389833 -0.21295296 3.70364679] [ 0.2737915 0.96130254 -0.03058824 0.2418962 ] [ 0.21309029 -0.02961642 0.97658353 -0.29602732] [ 0. 0. 0. 1. ]] SLAMing on 47.312414036999996 meters Centerline goodness : 0.769204 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.30 [[ 0.93776517 -0.27364044 -0.21381625 3.7059296 ] [ 0.27374914 0.96134254 -0.02969739 0.24125441] [ 0.21367707 -0.03068284 0.97642239 -0.29638601] [ 0. 0. 0. 1. ]] SLAMing on 47.342414037 meters Centerline goodness : 0.769945 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.30 [[ 0.93833096 -0.27999925 -0.20281869 3.70849618] [ 0.28009476 0.95953914 -0.02883686 0.24436346] [ 0.20268677 -0.02974994 0.97879161 -0.30236855] [ 0. 0. 0. 1. ]] SLAMing on 47.372414037 meters Centerline goodness : 0.769890 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.30 [[ 0.93860875 -0.27958948 -0.20209733 3.70950087] [ 0.27970552 0.95966023 -0.02858452 0.24073491] [ 0.2019367 -0.02969806 0.97894821 -0.30399819] [ 0. 0. 0. 1. ]] SLAMing on 47.402414037 meters Centerline goodness : 0.768829 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.30 [[ 0.9387182 -0.27908007 -0.20229301 3.71096377] [ 0.27931159 0.95979221 -0.02799903 0.23924896] [ 0.20197323 -0.03021958 0.97892471 -0.30474522] [ 0. 0. 0. 1. ]] SLAMing on 47.432414037 meters Centerline goodness : 0.769426 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.31 [[ 0.93881875 -0.27860827 -0.20247665 3.71264834] [ 0.27893328 0.959916 -0.02752288 0.23806225] [ 0.20202868 -0.03063848 0.97890025 -0.30580192] [ 0. 0. 0. 1. ]] SLAMing on 47.462414037 meters Centerline goodness : 0.768652 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.31 [[ 0.93999934 -0.28335564 -0.19002847 3.71356488] [ 0.28365916 0.95856756 -0.02618612 0.24009437] [ 0.18957511 -0.02928838 0.9814293 -0.31148577] [ 0. 0. 0. 1. ]] SLAMing on 47.492414036999996 meters Centerline goodness : 0.770796 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.31 [[ 0.94030452 -0.2822961 -0.19009554 3.71377396] [ 0.28276071 0.95885797 -0.02525409 0.23908709] [ 0.18940376 -0.03000501 0.98144074 -0.31178679] [ 0. 0. 0. 1. ]] SLAMing on 47.522414037 meters Centerline goodness : 0.767872 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.31 [[ 0.94060613 -0.28142049 -0.1899016 3.71404399] [ 0.28193146 0.95911157 -0.02489283 0.23817512] [ 0.18914217 -0.03012488 0.98148751 -0.31245668] [ 0. 0. 0. 1. ]] SLAMing on 47.552414037 meters Centerline goodness : 0.770267 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.31 [[ 0.9409805 -0.28041954 -0.18952724 3.71471353] [ 0.28094343 0.95940739 -0.02466289 0.2369234 ] [ 0.18874979 -0.03003913 0.98156567 -0.31384007] [ 0. 0. 0. 1. ]] SLAMing on 47.582414037 meters Centerline goodness : 0.769184 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.32 [[ 0.94137004 -0.27950089 -0.18894896 3.71552541] [ 0.27998745 0.95968661 -0.02467052 0.2360173 ] [ 0.18822722 -0.02967925 0.98167696 -0.31596858] [ 0. 0. 0. 1. ]] SLAMing on 47.612414037 meters Centerline goodness : 0.767994 Centerline is valid? [False, False] Translation: X:3.72, Y:0.24, Z:-0.32 [[ 0.94261315 -0.28401939 -0.17553755 3.71617564] [ 0.28426425 0.95843822 -0.02429005 0.23869891] [ 0.17514074 -0.02700293 0.98417304 -0.32331612] [ 0. 0. 0. 1. ]] SLAMing on 47.642414037 meters Centerline goodness : 0.770459 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.32 [[ 0.94360806 -0.281607 -0.17407275 3.71465841] [ 0.28171611 0.9591823 -0.02460382 0.23669558] [ 0.17389611 -0.02582274 0.98442538 -0.3249997 ] [ 0. 0. 0. 1. ]] SLAMing on 47.672414037 meters Centerline goodness : 0.771196 Centerline is valid? [False, False] Translation: X:3.71, Y:0.24, Z:-0.33 [[ 0.94422761 -0.27985905 -0.17353137 3.7136802 ] [ 0.280056 0.9596871 -0.02386027 0.23536757] [ 0.17321332 -0.02606898 0.98453926 -0.32549176] [ 0. 0. 0. 1. ]] SLAMing on 47.702414037 meters Centerline goodness : 0.821295 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.32 [[ 0.9451436 -0.27742777 -0.17244536 3.71017439] [ 0.27784251 0.96036957 -0.02222224 0.23136303] [ 0.17177634 -0.02690944 0.98476838 -0.32415867] [ 0. 0. 0. 1. ]] SLAMing on 47.732414037 meters Centerline goodness : 0.772222 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.32 [[ 0.94541455 -0.27638279 -0.17263798 3.71080847] [ 0.27705484 0.96063151 -0.02068108 0.22873339] [ 0.17155738 -0.02827799 0.98476821 -0.32429568] [ 0. 0. 0. 1. ]] SLAMing on 47.762414037 meters Centerline goodness : 0.772233 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:-0.32 [[ 0.94538594 -0.2766329 -0.17239393 3.71101617] [ 0.27736648 0.96054951 -0.02030944 0.22638451] [ 0.17121117 -0.02861604 0.98481869 -0.32429851] [ 0. 0. 0. 1. ]] SLAMing on 47.792414037 meters Centerline goodness : 0.771724 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.32 [[ 0.94525486 -0.27705355 -0.17243716 3.712289 ] [ 0.27783634 0.96041869 -0.02007257 0.22477881] [ 0.17117305 -0.02893562 0.98481598 -0.32485637] [ 0. 0. 0. 1. ]] SLAMing on 47.822414037 meters Centerline goodness : 0.770853 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.33 [[ 0.94500567 -0.27754591 -0.17301026 3.71460008] [ 0.27845228 0.96025194 -0.01950761 0.22349873] [ 0.17154769 -0.02974029 0.98472682 -0.3254382 ] [ 0. 0. 0. 1. ]] SLAMing on 47.852414037 meters Centerline goodness : 0.770486 Centerline is valid? [False, False] Translation: X:3.72, Y:0.22, Z:-0.33 [[ 0.94433218 -0.27916531 -0.1740789 3.71873258] [ 0.28033387 0.95972716 -0.01834936 0.22009922] [ 0.17219075 -0.03147232 0.98456073 -0.32595977] [ 0. 0. 0. 1. ]] SLAMing on 47.882414037 meters Centerline goodness : 0.822594 Centerline is valid? [False, False] Translation: X:3.72, Y:0.22, Z:-0.33 [[ 0.94398086 -0.28010121 -0.1744805 3.72125822] [ 0.28134853 0.95943565 -0.01806196 0.21813547] [ 0.17246199 -0.03203969 0.98449496 -0.32666342] [ 0. 0. 0. 1. ]] SLAMing on 47.912414037 meters Centerline goodness : 0.771937 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.33 [[ 0.94345125 -0.28122156 -0.17553969 3.72528062] [ 0.28263915 0.95906847 -0.01740044 0.21650179] [ 0.17324797 -0.03319792 0.98431857 -0.32757463] [ 0. 0. 0. 1. ]] SLAMing on 47.942414037 meters Centerline goodness : 0.772530 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.33 [[ 0.94266691 -0.2833312 -0.1763591 3.72872579] [ 0.28499288 0.95838971 -0.01637764 0.21263513] [ 0.17366105 -0.03482243 0.98418964 -0.32758253] [ 0. 0. 0. 1. ]] SLAMing on 47.972414037 meters Centerline goodness : 0.768464 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.33 [[ 0.94231987 -0.2842274 -0.17677116 3.72939969] [ 0.28601636 0.95809403 -0.01582654 0.21098899] [ 0.17386173 -0.03564578 0.98412473 -0.32656185] [ 0. 0. 0. 1. ]] SLAMing on 48.002414037 meters Centerline goodness : 0.773027 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.33 [[ 0.94199301 -0.28471228 -0.17773038 3.73221654] [ 0.28671179 0.95790122 -0.01488628 0.20940612] [ 0.17448645 -0.03693462 0.98396662 -0.3266696 ] [ 0. 0. 0. 1. ]] SLAMing on 48.032414037 meters Centerline goodness : 0.823740 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.33 [[ 0.94116526 -0.28784823 -0.17706314 3.73483306] [ 0.28952731 0.95702139 -0.01685202 0.20594898] [ 0.17430404 -0.03540408 0.98405521 -0.32787056] [ 0. 0. 0. 1. ]] SLAMing on 48.062414036999996 meters Centerline goodness : 0.822796 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.33 [[ 0.94084804 -0.28844365 -0.17777857 3.73746576] [ 0.29032999 0.95679465 -0.01589023 0.20363317] [ 0.17468102 -0.03666416 0.98394221 -0.3281308 ] [ 0. 0. 0. 1. ]] SLAMing on 48.092414037 meters Centerline goodness : 0.825653 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.33 [[ 0.9405395 -0.28901933 -0.17847485 3.73991807] [ 0.29111095 0.95657262 -0.0149412 0.20128074] [ 0.17504245 -0.03790319 0.98383103 -0.3282408 ] [ 0. 0. 0. 1. ]] SLAMing on 48.122414037 meters Centerline goodness : 0.825877 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.33 [[ 0.93964462 -0.29088964 -0.18014217 3.74457398] [ 0.29334913 0.95591094 -0.01343747 0.19806346] [ 0.17610869 -0.0402181 0.98354879 -0.32801035] [ 0. 0. 0. 1. ]] SLAMing on 48.152414037 meters Centerline goodness : 0.825547 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.33 [[ 0.93927768 -0.29136992 -0.18127605 3.74714425] [ 0.29409564 0.95569725 -0.01226836 0.19681314] [ 0.17681966 -0.0417891 0.98335572 -0.32763972] [ 0. 0. 0. 1. ]] SLAMing on 48.182414037 meters Centerline goodness : 0.823508 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.33 [[ 0.93902909 -0.29154686 -0.18227669 3.74918373] [ 0.2945413 0.955575 -0.01103838 0.19559224] [ 0.17739725 -0.04332265 0.98318531 -0.32720862] [ 0. 0. 0. 1. ]] SLAMing on 48.212414037 meters Centerline goodness : 0.824547 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.33 [[ 0.93890175 -0.29156995 -0.18289471 3.75076443] [ 0.29479755 0.9555084 -0.00990514 0.19389702] [ 0.17764548 -0.04461696 0.98308261 -0.32697191] [ 0. 0. 0. 1. ]] SLAMing on 48.242414036999996 meters Centerline goodness : 0.826975 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.33 [[ 0.9387778 -0.29160675 -0.18347139 3.75253538] [ 0.29501853 0.95544877 -0.00903939 0.19236252] [ 0.17793346 -0.04564148 0.98298349 -0.32710675] [ 0. 0. 0. 1. ]] SLAMing on 48.272414037 meters Centerline goodness : 0.825402 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.33 [[ 0.93858669 -0.29193357 -0.18392884 3.75572125] [ 0.29553976 0.95529594 -0.00811871 0.18856433] [ 0.1780766 -0.04673817 0.98290603 -0.32809603] [ 0. 0. 0. 1. ]] SLAMing on 48.302414037 meters Centerline goodness : 0.828445 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.33 [[ 0.93849127 -0.29179383 -0.18463612 3.75826403] [ 0.29562186 0.95527885 -0.00707303 0.18654595] [ 0.17844284 -0.0479445 0.9827815 -0.32861981] [ 0. 0. 0. 1. ]] SLAMing on 48.332414037 meters Centerline goodness : 0.827430 Centerline is valid? [False, False] Translation: X:3.76, Y:0.18, Z:-0.33 [[ 0.93815669 -0.29231728 -0.18550643 3.76115566] [ 0.29642405 0.95503861 -0.00583311 0.18369275] [ 0.17887093 -0.0495162 0.98262574 -0.32872945] [ 0. 0. 0. 1. ]] SLAMing on 48.362414037 meters Centerline goodness : 0.825437 Centerline is valid? [False, False] Translation: X:3.76, Y:0.18, Z:-0.33 [[ 0.93802258 -0.29226395 -0.18626707 3.76287922] [ 0.2965719 0.95499775 -0.00494065 0.18293233] [ 0.17932861 -0.05060714 0.98248673 -0.32859921] [ 0. 0. 0. 1. ]] SLAMing on 48.392414037 meters Centerline goodness : 0.827773 Centerline is valid? [False, False] Translation: X:3.76, Y:0.18, Z:-0.33 [[ 9.37936138e-01 -2.91967019e-01 -1.87165863e-01 3.76410064e+00] [ 2.96537333e-01 9.55013949e-01 -3.73730206e-03 1.82207164e-01] [ 1.79837179e-01 -5.19963152e-02 9.82321216e-01 -3.27883214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422414037 meters Centerline goodness : 0.811913 Centerline is valid? [False, False] Translation: X:3.76, Y:0.18, Z:-0.33 [[ 9.37994619e-01 -2.91350709e-01 -1.87831995e-01 3.76494358e+00] [ 2.96153510e-01 9.55136802e-01 -2.60544437e-03 1.81643366e-01] [ 1.80164349e-01 -5.31832117e-02 9.82197716e-01 -3.27403948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452414037 meters Centerline goodness : 0.828338 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.37978317e-01 -2.90962035e-01 -1.88514645e-01 3.76593311e+00] [ 2.95994854e-01 9.55188323e-01 -1.52127862e-03 1.80749252e-01] [ 1.80509622e-01 -5.43724385e-02 9.82069200e-01 -3.26905485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482414037 meters Centerline goodness : 0.826373 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.37987435e-01 -2.90724808e-01 -1.88835000e-01 3.76742086e+00] [ 2.95840543e-01 9.55236652e-01 -1.14533964e-03 1.79895869e-01] [ 1.80715092e-01 -5.47907347e-02 9.82008162e-01 -3.27501884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512414037 meters Centerline goodness : 0.824843 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 0.93769872 -0.29250025 -0.18752257 3.76921953] [ 0.29701264 0.95486426 -0.00421106 0.17856337] [ 0.18029034 -0.05174787 0.98225127 -0.33026639] [ 0. 0. 0. 1. ]] SLAMing on 48.542414037 meters Centerline goodness : 0.827989 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.37745641e-01 -2.92071944e-01 -1.87955026e-01 3.77103241e+00] [ 2.96696851e-01 9.54964615e-01 -3.68275978e-03 1.77797189e-01] [ 1.80566030e-01 -5.23121725e-02 9.82170731e-01 -3.31067988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572414037 meters Centerline goodness : 0.825919 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.37830541e-01 -2.91488987e-01 -1.88435789e-01 3.77205569e+00] [ 2.96254657e-01 9.55104269e-01 -3.00213689e-03 1.77662622e-01] [ 1.80850916e-01 -5.30094843e-02 9.82080924e-01 -3.31243796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602414037 meters Centerline goodness : 0.825455 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.38492640e-01 -2.88674512e-01 -1.89469234e-01 3.77170846e+00] [ 2.94016929e-01 9.55800208e-01 9.27098035e-05 1.77376664e-01] [ 1.81067971e-01 -5.57941699e-02 9.81886654e-01 -3.30351620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632414037 meters Centerline goodness : 0.824434 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.38664327e-01 -2.87982290e-01 -1.89672039e-01 3.77236741e+00] [ 2.93379934e-01 9.55995845e-01 3.97556683e-04 1.77684688e-01] [ 1.81211192e-01 -5.60191425e-02 9.81847422e-01 -3.30928779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662414037 meters Centerline goodness : 0.820784 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.39225601e-01 -2.86390353e-01 -1.89303555e-01 3.77369680e+00] [ 2.91705036e-01 9.56508297e-01 2.22334871e-04 1.77003516e-01] [ 1.81006746e-01 -5.54296229e-02 9.81918589e-01 -3.33378174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692414037 meters Centerline goodness : 0.826474 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.33 [[ 9.39434713e-01 -2.85699116e-01 -1.89310419e-01 3.77490127e+00] [ 2.90975524e-01 9.56730494e-01 8.16209717e-05 1.77125076e-01] [ 1.81095732e-01 -5.51613759e-02 9.81917287e-01 -3.34773247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722414037 meters Centerline goodness : 0.821609 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 9.39628321e-01 -2.84997312e-01 -1.89407368e-01 3.77590789e+00] [ 2.90254004e-01 9.56949640e-01 1.48219177e-05 1.77421467e-01] [ 1.81249089e-01 -5.49901741e-02 9.81898594e-01 -3.35901991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.752414037 meters Centerline goodness : 0.822603 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 9.39883445e-01 -2.84167602e-01 -1.89388181e-01 3.77646384e+00] [ 2.89389414e-01 9.57211450e-01 -8.53445569e-05 1.78118964e-01] [ 1.81308787e-01 -5.47267207e-02 9.81902291e-01 -3.36972417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782414037 meters Centerline goodness : 0.822603 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 9.39883445e-01 -2.84167602e-01 -1.89388181e-01 3.77646384e+00] [ 2.89389414e-01 9.57211450e-01 -8.53445569e-05 1.78118964e-01] [ 1.81308787e-01 -5.47267207e-02 9.81902291e-01 -3.36972417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812414036999996 meters Centerline goodness : 0.827574 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 9.40450991e-01 -2.82362742e-01 -1.89270216e-01 3.77581427e+00] [ 2.87645936e-01 9.57736707e-01 4.63584138e-04 1.78892079e-01] [ 1.81140135e-01 -5.48787866e-02 9.81924931e-01 -3.37592011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842414037 meters Centerline goodness : 0.828763 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 9.40668933e-01 -2.81551685e-01 -1.89395375e-01 3.77580978e+00] [ 2.86926486e-01 9.57952080e-01 1.00218653e-03 1.79093738e-01] [ 1.81149526e-01 -5.52852751e-02 9.81900396e-01 -3.37694817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872414037 meters Centerline goodness : 0.827233 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 9.40844509e-01 -2.80614545e-01 -1.89913367e-01 3.77616201e+00] [ 2.86169247e-01 9.58177187e-01 1.90776256e-03 1.78618141e-01] [ 1.81435310e-01 -5.61422732e-02 9.81798999e-01 -3.37183455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902414037 meters Centerline goodness : 0.820283 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 9.40956090e-01 -2.79997438e-01 -1.90271049e-01 3.77631256e+00] [ 2.85743622e-01 9.58301738e-01 2.89150651e-03 1.77962416e-01] [ 1.81527462e-01 -5.70895193e-02 9.81727338e-01 -3.36711933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932414037 meters Centerline goodness : 0.826852 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 0.94080935 -0.27989936 -0.19113901 3.77746642] [ 0.28591278 0.95824703 0.00406344 0.17694356] [ 0.18202103 -0.05847201 0.98155457 -0.33586439] [ 0. 0. 0. 1. ]] SLAMing on 48.962414037 meters Centerline goodness : 0.825024 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 0.94050162 -0.28051232 -0.19175388 3.7797069 ] [ 0.28658848 0.95804484 0.00413835 0.17653687] [ 0.18254796 -0.05884657 0.98143432 -0.33630721] [ 0. 0. 0. 1. ]] SLAMing on 48.992414036999996 meters Centerline goodness : 0.825719 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.34 [[ 0.94011942 -0.28135992 -0.1923852 3.78251797] [ 0.28750677 0.95776929 0.0042249 0.17591888] [ 0.18307192 -0.05928396 0.98131039 -0.33713285] [ 0. 0. 0. 1. ]] SLAMing on 49.022414037 meters Centerline goodness : 0.824400 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.34 [[ 0.93920213 -0.28345657 -0.19378271 3.78664964] [ 0.28981908 0.95706991 0.00470086 0.17481812] [ 0.18413111 -0.06057698 0.98103321 -0.33712628] [ 0. 0. 0. 1. ]] SLAMing on 49.052414037 meters Centerline goodness : 0.825496 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.34 [[ 0.93892399 -0.28391608 -0.1944567 3.78733844] [ 0.29046124 0.95687153 0.00539869 0.17470782] [ 0.18453731 -0.06155109 0.98089625 -0.33613298] [ 0. 0. 0. 1. ]] SLAMing on 49.082414037 meters Centerline goodness : 0.828500 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.33 [[ 0.93905396 -0.28189476 -0.19675619 3.78958014] [ 0.28935336 0.95717384 0.00963697 0.1736505 ] [ 0.18561327 -0.0659817 0.98040508 -0.33458005] [ 0. 0. 0. 1. ]] SLAMing on 49.112414037 meters Centerline goodness : 0.823184 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.33 [[ 0.93872927 -0.28223997 -0.19780786 3.79097991] [ 0.28994537 0.95698539 0.01051868 0.17339588] [ 0.18633044 -0.06722766 0.98018437 -0.33354163] [ 0. 0. 0. 1. ]] SLAMing on 49.142414037 meters Centerline goodness : 0.823092 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.33 [[ 0.93862299 -0.28219302 -0.19837839 3.79291216] [ 0.29003779 0.95695145 0.01104511 0.17242121] [ 0.18672164 -0.06790442 0.98006327 -0.33389894] [ 0. 0. 0. 1. ]] SLAMing on 49.172414037 meters Centerline goodness : 0.826614 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.33 [[ 0.93842512 -0.28253326 -0.19882971 3.79481868] [ 0.29046668 0.9568183 0.01130736 0.17156917] [ 0.1870492 -0.06836451 0.97996882 -0.33430493] [ 0. 0. 0. 1. ]] SLAMing on 49.202414037 meters Centerline goodness : 0.825431 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93828222 -0.28262384 -0.19937461 3.79631481] [ 0.29069446 0.95674302 0.01181224 0.17097732] [ 0.18741184 -0.06904031 0.97985215 -0.3343661 ] [ 0. 0. 0. 1. ]] SLAMing on 49.232414037 meters Centerline goodness : 0.825597 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93771489 -0.28351481 -0.20077387 3.79831423] [ 0.29187489 0.95637219 0.01269961 0.17159348] [ 0.18841402 -0.07050947 0.97955529 -0.3331232 ] [ 0. 0. 0. 1. ]] SLAMing on 49.262414037 meters Centerline goodness : 0.825227 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.9373945 -0.28409798 -0.20144449 3.79899843] [ 0.2925537 0.95616236 0.01287916 0.17238962] [ 0.1889547 -0.07100618 0.97941526 -0.33226961] [ 0. 0. 0. 1. ]] SLAMing on 49.292414037 meters Centerline goodness : 0.825992 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93723688 -0.28424153 -0.20197469 3.79950446] [ 0.29286408 0.95605844 0.01352398 0.17242061] [ 0.18925553 -0.07182631 0.97929736 -0.3316272 ] [ 0. 0. 0. 1. ]] SLAMing on 49.322414037 meters Centerline goodness : 0.824030 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93712962 -0.28429065 -0.2024028 3.80044977] [ 0.29303381 0.95599992 0.01397622 0.17194784] [ 0.18952376 -0.0724084 0.97920262 -0.33141703] [ 0. 0. 0. 1. ]] SLAMing on 49.352414037 meters Centerline goodness : 0.827233 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93721926 -0.2840118 -0.20237922 3.80194087] [ 0.29277745 0.95607619 0.01413064 0.17061437] [ 0.18947669 -0.07249558 0.97920528 -0.33258233] [ 0. 0. 0. 1. ]] SLAMing on 49.382414037 meters Centerline goodness : 0.824990 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93730813 -0.28356981 -0.20258736 3.80284137] [ 0.29240149 0.95618668 0.01443632 0.17033317] [ 0.18961763 -0.07276812 0.97915778 -0.33306997] [ 0. 0. 0. 1. ]] SLAMing on 49.412414037 meters Centerline goodness : 0.828804 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93735782 -0.28338275 -0.20261921 3.80285018] [ 0.29222317 0.9562404 0.01448845 0.17075916] [ 0.18964689 -0.07279089 0.97915042 -0.33318502] [ 0. 0. 0. 1. ]] SLAMing on 49.442414037 meters Centerline goodness : 0.826932 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.33 [[ 0.93762021 -0.28263064 -0.20245558 3.80203935] [ 0.29149456 0.95645873 0.01475211 0.17101627] [ 0.18947101 -0.07284657 0.97918033 -0.33309556] [ 0. 0. 0. 1. ]] SLAMing on 49.472414037 meters Centerline goodness : 0.824745 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93825987 -0.28784292 -0.19187203 3.80566234] [ 0.29625506 0.9549738 0.01606167 0.1749163 ] [ 0.17860953 -0.07191308 0.98128851 -0.33855121] [ 0. 0. 0. 1. ]] SLAMing on 49.502414037 meters Centerline goodness : 0.821134 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93834097 -0.28766739 -0.19173862 3.80575648] [ 0.29605644 0.95503632 0.0160066 0.17496832] [ 0.17851277 -0.0717851 0.98131549 -0.3389933 ] [ 0. 0. 0. 1. ]] SLAMing on 49.532414037 meters Centerline goodness : 0.827547 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93842448 -0.28713765 -0.19212358 3.80672404] [ 0.29562982 0.95516064 0.01646687 0.17496516] [ 0.17878062 -0.07225037 0.98123258 -0.33930898] [ 0. 0. 0. 1. ]] SLAMing on 49.562414036999996 meters Centerline goodness : 0.825864 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.34 [[ 0.93852816 -0.28666195 -0.19232739 3.8072884 ] [ 0.29519069 0.95529362 0.01663019 0.1750305 ] [ 0.17896188 -0.07238116 0.9811899 -0.33963947] [ 0. 0. 0. 1. ]] SLAMing on 49.592414037 meters Centerline goodness : 0.824237 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93841475 -0.28698902 -0.19239301 3.808122 ] [ 0.29549381 0.95520319 0.01643992 0.1748425 ] [ 0.17905634 -0.07227841 0.98118024 -0.34003852] [ 0. 0. 0. 1. ]] SLAMing on 49.622414037 meters Centerline goodness : 0.824973 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93834595 -0.28684381 -0.19294429 3.80994667] [ 0.29544366 0.95521336 0.01674744 0.17453015] [ 0.17949906 -0.07271906 0.98106678 -0.34058853] [ 0. 0. 0. 1. ]] SLAMing on 49.652414037 meters Centerline goodness : 0.824349 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.9384125 -0.28654759 -0.19306077 3.81086577] [ 0.29522384 0.95527426 0.01714589 0.17352373] [ 0.17951287 -0.07308606 0.98103698 -0.34101927] [ 0. 0. 0. 1. ]] SLAMing on 49.682414037 meters Centerline goodness : 0.828756 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93859642 -0.28564334 -0.19350619 3.8113093 ] [ 0.2945541 0.955459 0.01832975 0.17207544] [ 0.17965146 -0.07420228 0.98092781 -0.34046031] [ 0. 0. 0. 1. ]] SLAMing on 49.712414037 meters Centerline goodness : 0.829821 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93866298 -0.28519222 -0.19384844 3.812048 ] [ 0.29420591 0.95555731 0.01879143 0.17212961] [ 0.17987412 -0.07467017 0.9808515 -0.34061539] [ 0. 0. 0. 1. ]] SLAMing on 49.742414036999996 meters Centerline goodness : 0.822863 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.9389797 -0.28452384 -0.19329592 3.81049757] [ 0.29339997 0.95581387 0.01833864 0.17341861] [ 0.17953714 -0.07393263 0.9809691 -0.34076757] [ 0. 0. 0. 1. ]] SLAMing on 49.772414037 meters Centerline goodness : 0.824552 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93936899 -0.28324372 -0.19328451 3.81057927] [ 0.29216143 0.95618626 0.01869591 0.17351158] [ 0.17952049 -0.07403264 0.98096461 -0.34139716] [ 0. 0. 0. 1. ]] SLAMing on 49.802414037 meters Centerline goodness : 0.829613 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.93986349 -0.28194178 -0.19278342 3.80998259] [ 0.29080955 0.95659703 0.01875998 0.17317437] [ 0.17912682 -0.07369507 0.98106198 -0.34224047] [ 0. 0. 0. 1. ]] SLAMing on 49.832414037 meters Centerline goodness : 0.828090 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.34 [[ 0.94098361 -0.27903181 -0.19154921 3.80903754] [ 0.2877608 0.95751786 0.01879544 0.17198542] [ 0.17816726 -0.07280656 0.98130303 -0.3447068 ] [ 0. 0. 0. 1. ]] SLAMing on 49.862414037 meters Centerline goodness : 0.819041 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.35 [[ 0.94163992 -0.27699073 -0.19128618 3.80877271] [ 0.28577448 0.95810043 0.019404 0.17168459] [ 0.17789665 -0.07293629 0.98134249 -0.34577364] [ 0. 0. 0. 1. ]] SLAMing on 49.892414037 meters Centerline goodness : 0.827237 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.35 [[ 0.94216479 -0.27548476 -0.190876 3.80719749] [ 0.28427343 0.95853986 0.01974735 0.17180552] [ 0.17752216 -0.07286623 0.98141551 -0.34576095] [ 0. 0. 0. 1. ]] SLAMing on 49.922414037 meters Centerline goodness : 0.825785 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.35 [[ 0.94268149 -0.27391932 -0.19057756 3.80605439] [ 0.28275231 0.95897881 0.02026754 0.17198378] [ 0.17720817 -0.07299209 0.9814629 -0.34593556] [ 0. 0. 0. 1. ]] SLAMing on 49.952414037 meters Centerline goodness : 0.825240 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.35 [[ 0.94317034 -0.2726533 -0.1899734 3.80419439] [ 0.28146385 0.95935246 0.02051727 0.17172243] [ 0.17665735 -0.07282193 0.98157483 -0.34578618] [ 0. 0. 0. 1. ]] SLAMing on 49.982414037 meters Centerline goodness : 0.825497 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.35 [[ 0.94328457 -0.27222927 -0.1900143 3.80546141] [ 0.28107407 0.95946214 0.02073082 0.17096411] [ 0.17666799 -0.07296316 0.98156243 -0.34684548] [ 0. 0. 0. 1. ]] SLAMing on 50.012414037 meters Centerline goodness : 0.821900 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.35 [[ 0.94328449 -0.27225469 -0.18997831 3.8066022 ] [ 0.28110451 0.95945235 0.0207714 0.16957699] [ 0.17662002 -0.07299709 0.98156854 -0.34754175] [ 0. 0. 0. 1. ]] SLAMing on 50.042414037 meters Centerline goodness : 0.823224 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.35 [[ 0.94283861 -0.27314778 -0.19090741 3.80950393] [ 0.28228559 0.95908064 0.0218902 0.16688147] [ 0.17711634 -0.07452934 0.98136394 -0.34729811] [ 0. 0. 0. 1. ]] SLAMing on 50.072414037 meters Centerline goodness : 0.824604 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.35 [[ 0.94247505 -0.27355023 -0.19212249 3.8116841 ] [ 0.28306244 0.95881608 0.02339616 0.16526953] [ 0.17781011 -0.07643295 0.98109203 -0.34624231] [ 0. 0. 0. 1. ]] SLAMing on 50.102414037 meters Centerline goodness : 0.822113 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.35 [[ 0.94198911 -0.27442668 -0.19325245 3.81384774] [ 0.28424038 0.95844062 0.02447404 0.16424983] [ 0.17850467 -0.07798443 0.98084378 -0.34524236] [ 0. 0. 0. 1. ]] SLAMing on 50.132414037 meters Centerline goodness : 0.819617 Centerline is valid? [False, False] Translation: X:3.82, Y:0.16, Z:-0.34 [[ 0.94130516 -0.27579886 -0.19462678 3.81640555] [ 0.2859633 0.95789727 0.02564784 0.16299072] [ 0.17935882 -0.07979856 0.980542 -0.34391678] [ 0. 0. 0. 1. ]] SLAMing on 50.162414037 meters Centerline goodness : 0.821566 Centerline is valid? [False, False] Translation: X:3.82, Y:0.16, Z:-0.34 [[ 0.94044367 -0.27798265 -0.19568178 3.81911554] [ 0.28831409 0.95718641 0.02586829 0.16220467] [ 0.180113 -0.08074549 0.98032621 -0.3430493 ] [ 0. 0. 0. 1. ]] SLAMing on 50.192414037 meters Centerline goodness : 0.824727 Centerline is valid? [False, False] Translation: X:3.82, Y:0.16, Z:-0.34 [[ 0.93837147 -0.28418183 -0.1967223 3.82483241] [ 0.29432077 0.95541162 0.0237471 0.1595984 ] [ 0.18120227 -0.08018306 0.98017162 -0.34278376] [ 0. 0. 0. 1. ]] SLAMing on 50.222414037 meters Centerline goodness : 0.824019 Centerline is valid? [False, False] Translation: X:3.83, Y:0.16, Z:-0.34 [[ 0.93776781 -0.28556297 -0.1975989 3.82819506] [ 0.29593518 0.95489445 0.02447376 0.15700501] [ 0.18169729 -0.08142717 0.9799774 -0.34280612] [ 0. 0. 0. 1. ]] SLAMing on 50.252414037 meters Centerline goodness : 0.819834 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.34 [[ 0.93718758 -0.28681272 -0.19853944 3.83044304] [ 0.29744658 0.95440246 0.02532729 0.15491645] [ 0.18222234 -0.0827913 0.97976559 -0.34178297] [ 0. 0. 0. 1. ]] SLAMing on 50.282414037 meters Centerline goodness : 0.825236 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.34 [[ 0.93676365 -0.28734438 -0.19976754 3.83253865] [ 0.2983737 0.95407214 0.02682303 0.15326975] [ 0.1828852 -0.08473222 0.97947611 -0.34053983] [ 0. 0. 0. 1. ]] SLAMing on 50.312414036999996 meters Centerline goodness : 0.828369 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.34 [[ 0.93596005 -0.2888311 -0.20138364 3.83478567] [ 0.30035167 0.95340182 0.02852797 0.15139078] [ 0.18375976 -0.08718695 0.97909692 -0.33815934] [ 0. 0. 0. 1. ]] SLAMing on 50.342414037 meters Centerline goodness : 0.831918 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.34 [[ 0.93552071 -0.28949745 -0.2024654 3.837229 ] [ 0.30127737 0.95308581 0.02931516 0.15040146] [ 0.18448023 -0.08842318 0.97885054 -0.33755671] [ 0. 0. 0. 1. ]] SLAMing on 50.372414037 meters Centerline goodness : 0.824527 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.34 [[ 0.93518243 -0.28996162 -0.20336193 3.83953409] [ 0.30201592 0.9528218 0.03028213 0.14889244] [ 0.18498703 -0.08973786 0.97863523 -0.33718394] [ 0. 0. 0. 1. ]] SLAMing on 50.402414037 meters Centerline goodness : 0.829284 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.34 [[ 0.93444941 -0.29127611 -0.20484758 3.84241578] [ 0.30379976 0.95220218 0.03188592 0.14618351] [ 0.1857687 -0.09202843 0.97827438 -0.33553944] [ 0. 0. 0. 1. ]] SLAMing on 50.432414037 meters Centerline goodness : 0.834336 Centerline is valid? [False, False] Translation: X:3.84, Y:0.14, Z:-0.33 [[ 0.93408922 -0.29183153 -0.20569807 3.84432423] [ 0.30460527 0.95191671 0.03271393 0.14482648] [ 0.18626047 -0.09321445 0.97806856 -0.33488534] [ 0. 0. 0. 1. ]] SLAMing on 50.462414037 meters Centerline goodness : 0.831235 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.33 [[ 0.93389249 -0.29191032 -0.20647802 3.84650815] [ 0.30496821 0.95176269 0.03379618 0.14295376] [ 0.18665262 -0.09453123 0.9778674 -0.33463586] [ 0. 0. 0. 1. ]] SLAMing on 50.492414036999996 meters Centerline goodness : 0.839709 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.33 [[ 0.93269328 -0.29594114 -0.20616037 3.84839682] [ 0.30847189 0.95073495 0.03079192 0.14291322] [ 0.18689127 -0.09231409 0.97803362 -0.33473486] [ 0. 0. 0. 1. ]] SLAMing on 50.522414037 meters Centerline goodness : 0.830883 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.34 [[ 0.93235513 -0.29646035 -0.20694244 3.85082366] [ 0.3091205 0.95051682 0.03102087 0.14303049] [ 0.18750581 -0.09289262 0.9778612 -0.3351444 ] [ 0. 0. 0. 1. ]] SLAMing on 50.552414037 meters Centerline goodness : 0.830454 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.34 [[ 0.93207991 -0.29674507 -0.20777248 3.85307545] [ 0.30954555 0.95036925 0.03130252 0.14321791] [ 0.18817171 -0.0934915 0.9776762 -0.33540166] [ 0. 0. 0. 1. ]] SLAMing on 50.582414037 meters Centerline goodness : 0.835016 Centerline is valid? [False, False] Translation: X:3.85, Y:0.14, Z:-0.33 [[ 0.93180097 -0.29692145 -0.20876925 3.85469906] [ 0.30992689 0.95022707 0.03184082 0.14358385] [ 0.18892397 -0.09437252 0.97744645 -0.33484184] [ 0. 0. 0. 1. ]] SLAMing on 50.612414037 meters Centerline goodness : 0.831843 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.33 [[ 0.93166473 -0.29696573 -0.20931362 3.85552104] [ 0.31004804 0.95018368 0.03195604 0.14466455] [ 0.18939654 -0.09466959 0.97732626 -0.33475622] [ 0. 0. 0. 1. ]] SLAMing on 50.642414037 meters Centerline goodness : 0.835045 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.34 [[ 0.93165137 -0.29676013 -0.20966437 3.85681312] [ 0.30991335 0.95022061 0.03216379 0.14466109] [ 0.18968248 -0.09494322 0.97724426 -0.33531571] [ 0. 0. 0. 1. ]] SLAMing on 50.672414036999996 meters Centerline goodness : 0.835045 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.34 [[ 0.93165137 -0.29676013 -0.20966437 3.85681312] [ 0.30991335 0.95022061 0.03216379 0.14466109] [ 0.18968248 -0.09494322 0.97724426 -0.33531571] [ 0. 0. 0. 1. ]] SLAMing on 50.702414037 meters Centerline goodness : 0.834381 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.34 [[ 0.93170389 -0.29639171 -0.20995195 3.85840172] [ 0.30960892 0.95031236 0.03238423 0.14401255] [ 0.18992152 -0.09517551 0.97717524 -0.33611704] [ 0. 0. 0. 1. ]] SLAMing on 50.732414037 meters Centerline goodness : 0.833681 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.34 [[ 0.93172452 -0.2961162 -0.21024893 3.85965683] [ 0.3094241 0.95036082 0.03272684 0.14321876] [ 0.1901214 -0.09554848 0.97709996 -0.33647505] [ 0. 0. 0. 1. ]] SLAMing on 50.762414037 meters Centerline goodness : 0.832893 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.34 [[ 0.93214247 -0.29339771 -0.21219851 3.86170962] [ 0.30759048 0.95081757 0.03652452 0.14261738] [ 0.19104586 -0.09931629 0.97654378 -0.33587134] [ 0. 0. 0. 1. ]] SLAMing on 50.792414037 meters Centerline goodness : 0.833513 Centerline is valid? [False, False] Translation: X:3.86, Y:0.14, Z:-0.34 [[ 0.93216467 -0.2930183 -0.21262482 3.86186759] [ 0.30726542 0.95091919 0.03661492 0.14420059] [ 0.19146018 -0.09946339 0.97644766 -0.33566503] [ 0. 0. 0. 1. ]] SLAMing on 50.822414037 meters Centerline goodness : 0.839027 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.34 [[ 0.93228425 -0.29239449 -0.21295903 3.86181265] [ 0.30669348 0.95109797 0.0367662 0.14567212] [ 0.19179467 -0.09958969 0.97636914 -0.33556365] [ 0. 0. 0. 1. ]] SLAMing on 50.852414037 meters Centerline goodness : 0.841467 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.33 [[ 0.9331093 -0.28885697 -0.21416974 3.8617214 ] [ 0.30389784 0.95185402 0.04024955 0.14533514] [ 0.19223197 -0.10264295 0.97596685 -0.33485853] [ 0. 0. 0. 1. ]] SLAMing on 50.882414037 meters Centerline goodness : 0.830374 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.34 [[ 0.93322074 -0.28867218 -0.21393322 3.86171455] [ 0.30360978 0.95196181 0.03987249 0.14588022] [ 0.19214617 -0.10216205 0.9760342 -0.33552094] [ 0. 0. 0. 1. ]] SLAMing on 50.912414037 meters Centerline goodness : 0.837788 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.34 [[ 0.93332628 -0.28829731 -0.21397833 3.86253297] [ 0.30318671 0.95210628 0.0396416 0.14636818] [ 0.19230154 -0.10187393 0.97603372 -0.33644154] [ 0. 0. 0. 1. ]] SLAMing on 50.942414037 meters Centerline goodness : 0.832476 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.34 [[ 0.93340098 -0.28800533 -0.21404565 3.86333633] [ 0.30285654 0.95221967 0.03944136 0.14720521] [ 0.19245916 -0.10163973 0.97602707 -0.33736784] [ 0. 0. 0. 1. ]] SLAMing on 50.972414037 meters Centerline goodness : 0.831017 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.34 [[ 0.93320705 -0.28860235 -0.21408711 3.8627755 ] [ 0.30325955 0.95213498 0.03837486 0.15038689] [ 0.19276475 -0.10073565 0.97606049 -0.3373371 ] [ 0. 0. 0. 1. ]] SLAMing on 51.002414037 meters Centerline goodness : 0.826130 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.34 [[ 0.93300175 -0.2887023 -0.2148458 3.86343612] [ 0.30349179 0.95205073 0.03862833 0.15197302] [ 0.19339202 -0.10124423 0.97588377 -0.33670852] [ 0. 0. 0. 1. ]] SLAMing on 51.032414037 meters Centerline goodness : 0.824493 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.34 [[ 0.93273022 -0.28936627 -0.21513137 3.86359609] [ 0.30412967 0.95186138 0.03827597 0.1533451 ] [ 0.19369947 -0.10112899 0.97583474 -0.33632689] [ 0. 0. 0. 1. ]] SLAMing on 51.062414036999996 meters Centerline goodness : 0.824128 Centerline is valid? [False, False] Translation: X:3.87, Y:0.15, Z:-0.34 [[ 0.93237526 -0.28998262 -0.21583895 3.86508168] [ 0.30481896 0.95164384 0.03820201 0.15431914] [ 0.19432389 -0.10141042 0.97568138 -0.33612424] [ 0. 0. 0. 1. ]] SLAMing on 51.092414037 meters Centerline goodness : 0.836357 Centerline is valid? [False, False] Translation: X:3.87, Y:0.15, Z:-0.34 [[ 0.93178392 -0.29153187 -0.21630508 3.86609643] [ 0.30637798 0.95115747 0.03784172 0.15461383] [ 0.19470812 -0.10153142 0.97559219 -0.33552338] [ 0. 0. 0. 1. ]] SLAMing on 51.122414037 meters Centerline goodness : 0.825951 Centerline is valid? [False, False] Translation: X:3.87, Y:0.15, Z:-0.33 [[ 0.93156615 -0.29164733 -0.21708601 3.86698586] [ 0.30672206 0.95101786 0.03855648 0.15441997] [ 0.19520778 -0.10250298 0.97539072 -0.33459682] [ 0. 0. 0. 1. ]] SLAMing on 51.152414037 meters Centerline goodness : 0.836536 Centerline is valid? [False, False] Translation: X:3.87, Y:0.15, Z:-0.33 [[ 0.93137286 -0.29200729 -0.21743122 3.86700245] [ 0.30714972 0.95087515 0.03867169 0.1549571 ] [ 0.19545753 -0.1028017 0.97530927 -0.33387238] [ 0. 0. 0. 1. ]] SLAMing on 51.182414037 meters Centerline goodness : 0.835405 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.33 [[ 0.93081979 -0.29327016 -0.21809889 3.867536 ] [ 0.30829728 0.95054637 0.03760831 0.1591588 ] [ 0.19628371 -0.10224585 0.97520177 -0.33365821] [ 0. 0. 0. 1. ]] SLAMing on 51.212414037 meters Centerline goodness : 0.840002 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.33 [[ 0.93049216 -0.29371815 -0.21889262 3.86975517] [ 0.30872209 0.95043138 0.03702519 0.1620888 ] [ 0.19716745 -0.10202864 0.97504623 -0.33463369] [ 0. 0. 0. 1. ]] SLAMing on 51.242414036999996 meters Centerline goodness : 0.835693 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.34 [[ 0.93023875 -0.29409184 -0.21946721 3.87112515] [ 0.30906753 0.95033777 0.03654306 0.16427574] [ 0.19782096 -0.10182396 0.97493525 -0.33509807] [ 0. 0. 0. 1. ]] SLAMing on 51.272414037 meters Centerline goodness : 0.831501 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.34 [[ 0.9301725 -0.2941796 -0.21963033 3.87114377] [ 0.30903866 0.95037265 0.03587399 0.16648743] [ 0.19817727 -0.10124326 0.97492337 -0.33532918] [ 0. 0. 0. 1. ]] SLAMing on 51.302414037 meters Centerline goodness : 0.832604 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.34 [[ 0.93016097 -0.29454036 -0.21919522 3.87012767] [ 0.30922327 0.95033799 0.03519476 0.1670486 ] [ 0.19794327 -0.10051706 0.97504604 -0.33522936] [ 0. 0. 0. 1. ]] SLAMing on 51.332414037 meters Centerline goodness : 0.831574 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.33 [[ 0.93012456 -0.29436433 -0.21958585 3.87044851] [ 0.30911815 0.95036606 0.03535984 0.16791042] [ 0.19827827 -0.10076703 0.97495217 -0.33499703] [ 0. 0. 0. 1. ]] SLAMing on 51.362414037 meters Centerline goodness : 0.835241 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.33 [[ 0.93006709 -0.29447075 -0.21968655 3.86956802] [ 0.30918225 0.95035528 0.03508822 0.16958152] [ 0.19844782 -0.10055758 0.9749393 -0.33432128] [ 0. 0. 0. 1. ]] SLAMing on 51.392414037 meters Centerline goodness : 0.831650 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.33 [[ 0.93048825 -0.29182398 -0.22142807 3.8700793 ] [ 0.30735068 0.95081912 0.03845214 0.17038054] [ 0.19931678 -0.10383533 0.97441831 -0.33304468] [ 0. 0. 0. 1. ]] SLAMing on 51.422414036999996 meters Centerline goodness : 0.833130 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.33 [[ 0.93011158 -0.29256973 -0.22202567 3.86869637] [ 0.30811209 0.95058559 0.03813099 0.17401346] [ 0.19989843 -0.10387487 0.97429494 -0.33130717] [ 0. 0. 0. 1. ]] SLAMing on 51.452414037 meters Centerline goodness : 0.832235 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.33 [[ 0.92978366 -0.2934191 -0.22227814 3.86935027] [ 0.30887204 0.95036521 0.0374705 0.17531443] [ 0.20025085 -0.10349496 0.974263 -0.33129751] [ 0. 0. 0. 1. ]] SLAMing on 51.482414037 meters Centerline goodness : 0.822945 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.33 [[ 0.92906299 -0.29498866 -0.22321212 3.87185933] [ 0.31041497 0.94989323 0.0366796 0.1770511 ] [ 0.20120762 -0.10336604 0.97407954 -0.33150572] [ 0. 0. 0. 1. ]] SLAMing on 51.512414037 meters Centerline goodness : 0.820340 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.33 [[ 0.92870583 -0.29575964 -0.2236777 3.87346894] [ 0.31114561 0.94967421 0.03615663 0.17847657] [ 0.20172728 -0.10317521 0.97399229 -0.33207598] [ 0. 0. 0. 1. ]] SLAMing on 51.542414037 meters Centerline goodness : 0.829177 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.33 [[ 0.92843133 -0.29647397 -0.2238715 3.87413968] [ 0.31175217 0.94950162 0.0354577 0.18025943] [ 0.20205406 -0.10271247 0.97397346 -0.33240158] [ 0. 0. 0. 1. ]] SLAMing on 51.572414037 meters Centerline goodness : 0.817836 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.33 [[ 0.92824262 -0.29705813 -0.22387966 3.87390613] [ 0.31221781 0.94937228 0.03481838 0.1820518 ] [ 0.20220206 -0.10221912 0.97399465 -0.33242289] [ 0. 0. 0. 1. ]] SLAMing on 51.602414037 meters Centerline goodness : 0.827700 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:-0.33 [[ 0.92818309 -0.29625178 -0.22519109 3.87405223] [ 0.31177883 0.94947281 0.03599089 0.18559509] [ 0.20315046 -0.10361595 0.97364964 -0.33162531] [ 0. 0. 0. 1. ]] SLAMing on 51.632414037 meters Centerline goodness : 0.825057 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:-0.33 [[ 0.92805957 -0.29682196 -0.22494922 3.87291964] [ 0.31213969 0.94938942 0.03505057 0.18781342] [ 0.20316063 -0.10274459 0.97373986 -0.33139125] [ 0. 0. 0. 1. ]] SLAMing on 51.662414037 meters Centerline goodness : 0.823793 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:-0.33 [[ 0.92805511 -0.29668694 -0.22514568 3.87297448] [ 0.31196932 0.94945483 0.03479469 0.18934138] [ 0.20344252 -0.10252993 0.97370363 -0.33146042] [ 0. 0. 0. 1. ]] SLAMing on 51.692414037 meters Centerline goodness : 0.825383 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:-0.33 [[ 0.92863867 -0.29363233 -0.22673834 3.87264386] [ 0.30970173 0.9500718 0.03805801 0.19051742] [ 0.20424264 -0.10556339 0.97321186 -0.33006619] [ 0. 0. 0. 1. ]] SLAMing on 51.722414037 meters Centerline goodness : 0.822114 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:-0.33 [[ 0.92853788 -0.29393238 -0.22676236 3.8714811 ] [ 0.30991045 0.95002288 0.03757725 0.19249438] [ 0.20438426 -0.10516792 0.97322494 -0.32931829] [ 0. 0. 0. 1. ]] SLAMing on 51.752414037 meters Centerline goodness : 0.822823 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:-0.33 [[ 0.92845563 -0.29397832 -0.22703939 3.87140296] [ 0.30995804 0.95001299 0.03743436 0.19400806] [ 0.20468548 -0.10512883 0.97316586 -0.32903355] [ 0. 0. 0. 1. ]] SLAMing on 51.782414037 meters Centerline goodness : 0.822628 Centerline is valid? [False, False] Translation: X:3.87, Y:0.20, Z:-0.33 [[ 0.9282283 -0.29440636 -0.22741397 3.87166961] [ 0.31033436 0.94990929 0.03694498 0.19607135] [ 0.20514581 -0.10486774 0.97309709 -0.32879943] [ 0. 0. 0. 1. ]] SLAMing on 51.812414036999996 meters Centerline goodness : 0.814609 Centerline is valid? [False, False] Translation: X:3.87, Y:0.20, Z:-0.33 [[ 0.92779505 -0.29538426 -0.22791332 3.87191767] [ 0.31115859 0.94968163 0.03584872 0.2005312 ] [ 0.20585594 -0.10417745 0.97302127 -0.32889145] [ 0. 0. 0. 1. ]] SLAMing on 51.842414037 meters Centerline goodness : 0.822525 Centerline is valid? [False, False] Translation: X:3.87, Y:0.20, Z:-0.33 [[ 0.9277687 -0.29559424 -0.2277483 3.8715045 ] [ 0.31119441 0.94969833 0.0350873 0.20252405] [ 0.20592058 -0.1034269 0.97308766 -0.32922512] [ 0. 0. 0. 1. ]] SLAMing on 51.872414037 meters Centerline goodness : 0.824339 Centerline is valid? [False, False] Translation: X:3.87, Y:0.20, Z:-0.33 [[ 0.92778245 -0.2954339 -0.22790028 3.87158495] [ 0.3109556 0.94979236 0.03465679 0.20442409] [ 0.20621916 -0.10302083 0.9730675 -0.32953649] [ 0. 0. 0. 1. ]] SLAMing on 51.902414037 meters Centerline goodness : 0.822125 Centerline is valid? [False, False] Translation: X:3.87, Y:0.21, Z:-0.33 [[ 0.92793357 -0.29507568 -0.22774905 3.87145528] [ 0.31043968 0.94998377 0.03402998 0.20651439] [ 0.20631648 -0.1022799 0.97312503 -0.33035466] [ 0. 0. 0. 1. ]] SLAMing on 51.932414037 meters Centerline goodness : 0.820333 Centerline is valid? [False, False] Translation: X:3.87, Y:0.21, Z:-0.33 [[ 0.92883143 -0.29142899 -0.22878225 3.87138043] [ 0.30724141 0.95094959 0.03602203 0.21039148] [ 0.20706253 -0.10374978 0.97281092 -0.33136529] [ 0. 0. 0. 1. ]] SLAMing on 51.962414037 meters Centerline goodness : 0.820853 Centerline is valid? [False, False] Translation: X:3.87, Y:0.21, Z:-0.33 [[ 0.9292059 -0.29082092 -0.22803419 3.8692691 ] [ 0.30625341 0.95131794 0.03468479 0.21339606] [ 0.20684595 -0.10206555 0.97303514 -0.3318096 ] [ 0. 0. 0. 1. ]] SLAMing on 51.992414036999996 meters Centerline goodness : 0.775191 Centerline is valid? [False, False] Translation: X:3.87, Y:0.22, Z:-0.33 [[ 0.93062159 -0.2861621 -0.228155 3.86677564] [ 0.30189136 0.95264185 0.03653932 0.2175029 ] [ 0.20689383 -0.1028823 0.97293894 -0.33274534] [ 0. 0. 0. 1. ]] SLAMing on 52.022414037 meters Centerline goodness : 0.775191 Centerline is valid? [False, False] Translation: X:3.87, Y:0.22, Z:-0.33 [[ 0.93062159 -0.2861621 -0.228155 3.86677564] [ 0.30189136 0.95264185 0.03653932 0.2175029 ] [ 0.20689383 -0.1028823 0.97293894 -0.33274534] [ 0. 0. 0. 1. ]] SLAMing on 52.052414037 meters Centerline goodness : 0.774024 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:-0.33 [[ 0.93178483 -0.28238123 -0.22811813 3.86413848] [ 0.29825243 0.95374437 0.03764533 0.22191139] [ 0.20693605 -0.10311413 0.97290542 -0.3334616 ] [ 0. 0. 0. 1. ]] SLAMing on 52.082414037 meters Centerline goodness : 0.775949 Centerline is valid? [False, False] Translation: X:3.86, Y:0.23, Z:-0.34 [[ 0.93358372 -0.28666032 -0.21505184 3.86303588] [ 0.30106924 0.95289136 0.03681529 0.22895433] [ 0.19436756 -0.09911565 0.97590847 -0.33786529] [ 0. 0. 0. 1. ]] SLAMing on 52.112414037 meters Centerline goodness : 0.774822 Centerline is valid? [False, False] Translation: X:3.86, Y:0.23, Z:-0.34 [[ 0.93381197 -0.28609863 -0.21480869 3.8610288 ] [ 0.30029723 0.9531682 0.03594375 0.23240499] [ 0.19446536 -0.09807116 0.9759945 -0.33750366] [ 0. 0. 0. 1. ]] SLAMing on 52.142414037 meters Centerline goodness : 0.758449 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:-0.34 [[ 0.93472676 -0.28242523 -0.21568929 3.85997512] [ 0.29708588 0.95408698 0.03818404 0.23608393] [ 0.19500221 -0.09976989 0.97571518 -0.33780405] [ 0. 0. 0. 1. ]] SLAMing on 52.172414036999996 meters Centerline goodness : 0.771000 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:-0.34 [[ 0.93603772 -0.28845852 -0.2015566 3.85914614] [ 0.30124006 0.95289733 0.03522936 0.24218898] [ 0.18190054 -0.09369294 0.97884311 -0.34401582] [ 0. 0. 0. 1. ]] SLAMing on 52.202414037 meters Centerline goodness : 0.772408 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:-0.35 [[ 0.93607138 -0.28851051 -0.20132575 3.85935851] [ 0.30110248 0.95297382 0.03432475 0.2437451 ] [ 0.18195512 -0.09275009 0.97892275 -0.34503758] [ 0. 0. 0. 1. ]] SLAMing on 52.232414037 meters Centerline goodness : 0.772469 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:-0.35 [[ 0.93610904 -0.28826677 -0.20149973 3.86018225] [ 0.30082075 0.9530725 0.03405409 0.24496066] [ 0.18222719 -0.09249364 0.97889641 -0.34589304] [ 0. 0. 0. 1. ]] SLAMing on 52.262414037 meters Centerline goodness : 0.772170 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:-0.35 [[ 0.9361894 -0.28834744 -0.20101037 3.857915 ] [ 0.3006027 0.95318899 0.03269211 0.24911722] [ 0.18217418 -0.09103027 0.97904344 -0.34573738] [ 0. 0. 0. 1. ]] SLAMing on 52.292414037 meters Centerline goodness : 0.771548 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:-0.35 [[ 0.93603741 -0.2887801 -0.20109705 3.85668661] [ 0.30090775 0.95311888 0.03192062 0.25228237] [ 0.18245135 -0.09039055 0.9790511 -0.34503782] [ 0. 0. 0. 1. ]] SLAMing on 52.322414037 meters Centerline goodness : 0.770537 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.35 [[ 0.93595077 -0.28913458 -0.20099091 3.85580188] [ 0.30108956 0.95309143 0.03101292 0.25518676] [ 0.18259581 -0.08954283 0.97910206 -0.34503495] [ 0. 0. 0. 1. ]] SLAMing on 52.352414037 meters Centerline goodness : 0.768985 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.35 [[ 0.9361017 -0.28902519 -0.20044462 3.85548788] [ 0.30065562 0.95327477 0.02955339 0.25787593] [ 0.18253712 -0.08792978 0.97925919 -0.34646804] [ 0. 0. 0. 1. ]] SLAMing on 52.382414037 meters Centerline goodness : 0.770317 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.35 [[ 0.93661099 -0.28783884 -0.19977151 3.85467246] [ 0.29929994 0.95371555 0.02908939 0.25863521] [ 0.18215214 -0.08703705 0.97941061 -0.34760644] [ 0. 0. 0. 1. ]] SLAMing on 52.412414037 meters Centerline goodness : 0.770317 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.35 [[ 0.93661099 -0.28783884 -0.19977151 3.85467246] [ 0.29929994 0.95371555 0.02908939 0.25863521] [ 0.18215214 -0.08703705 0.97941061 -0.34760644] [ 0. 0. 0. 1. ]] SLAMing on 52.442414037 meters Centerline goodness : 0.770929 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.35 [[ 0.93680992 -0.28718675 -0.19977721 3.85426436] [ 0.29863602 0.95392373 0.02908703 0.25978094] [ 0.18221881 -0.08690969 0.97940952 -0.34773107] [ 0. 0. 0. 1. ]] SLAMing on 52.472414037 meters Centerline goodness : 0.770668 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.35 [[ 0.93740249 -0.28426039 -0.20117802 3.85265104] [ 0.29638075 0.9545241 0.03228314 0.26192299] [ 0.18285245 -0.08988759 0.97902258 -0.34573461] [ 0. 0. 0. 1. ]] SLAMing on 52.502414037 meters Centerline goodness : 0.770760 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.34 [[ 0.93726023 -0.28468573 -0.20123943 3.85125474] [ 0.29668359 0.95445435 0.03155546 0.26473148] [ 0.18309046 -0.08928011 0.97903368 -0.3448349 ] [ 0. 0. 0. 1. ]] SLAMing on 52.532414037 meters Centerline goodness : 0.769850 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.34 [[ 0.93723156 -0.28431172 -0.2019006 3.85207266] [ 0.29638946 0.95454126 0.0316903 0.26651252] [ 0.18371253 -0.08954236 0.97889319 -0.34485301] [ 0. 0. 0. 1. ]] SLAMing on 52.562414036999996 meters Centerline goodness : 0.769850 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.34 [[ 0.93723156 -0.28431172 -0.2019006 3.85207266] [ 0.29638946 0.95454126 0.0316903 0.26651252] [ 0.18371253 -0.08954236 0.97889319 -0.34485301] [ 0. 0. 0. 1. ]] SLAMing on 52.592414037 meters Centerline goodness : 0.770875 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.35 [[ 0.93727204 -0.28456225 -0.20135902 3.85232199] [ 0.2963528 0.95459456 0.0304015 0.26777792] [ 0.1835651 -0.08816778 0.9790456 -0.34620241] [ 0. 0. 0. 1. ]] SLAMing on 52.622414037 meters Centerline goodness : 0.769303 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.35 [[ 0.93728513 -0.28474499 -0.20103949 3.85213831] [ 0.29644077 0.95457889 0.03003371 0.26768533] [ 0.1833561 -0.08774645 0.97912262 -0.34657021] [ 0. 0. 0. 1. ]] SLAMing on 52.652414037 meters Centerline goodness : 0.767851 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.35 [[ 0.93715992 -0.28522053 -0.20094909 3.8519619 ] [ 0.29683295 0.954471 0.02958571 0.26810255] [ 0.18336162 -0.08737485 0.97915481 -0.3464132 ] [ 0. 0. 0. 1. ]] SLAMing on 52.682414037 meters Centerline goodness : 0.769463 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.35 [[ 0.93698784 -0.28568102 -0.20109736 3.8514248 ] [ 0.29726038 0.95434703 0.02929192 0.26927681] [ 0.18354852 -0.08722445 0.97913321 -0.34570099] [ 0. 0. 0. 1. ]] SLAMing on 52.712414037 meters Centerline goodness : 0.771568 Centerline is valid? [False, False] Translation: X:3.83, Y:0.28, Z:-0.32 [[ 0.93827251 -0.30645441 -0.16040692 3.82873214] [ 0.30818944 0.95121336 -0.0145745 0.28363144] [ 0.15704763 -0.03576086 0.98694336 -0.31907669] [ 0. 0. 0. 1. ]] SLAMing on 52.742414036999996 meters Centerline goodness : 0.769818 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-0.33 [[ 0.93825442 -0.31530423 -0.14234428 3.92001942] [ 0.34012476 0.915925 0.21306464 0.24895175] [ 0.0631965 -0.24832365 0.96661345 -0.33380362] [ 0. 0. 0. 1. ]] SLAMing on 52.772414037 meters Centerline goodness : 0.768057 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-0.33 [[ 0.93737364 -0.318369 -0.14132172 3.91900842] [ 0.34266698 0.91567288 0.21005359 0.25030554] [ 0.06252992 -0.24532498 0.96742217 -0.33345259] [ 0. 0. 0. 1. ]] SLAMing on 52.802414037 meters Centerline goodness : 0.768003 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-0.33 [[ 0.93636604 -0.32195643 -0.13986672 3.91818963] [ 0.34557038 0.91544967 0.20623534 0.25121816] [ 0.06164215 -0.24144556 0.96845459 -0.33339233] [ 0. 0. 0. 1. ]] SLAMing on 52.832414037 meters Centerline goodness : 0.767387 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-0.33 [[ 0.93472751 -0.32777209 -0.1372951 3.91587838] [ 0.35027055 0.91497432 0.20033107 0.2518941 ] [ 0.05995856 -0.23534539 0.97006058 -0.33239975] [ 0. 0. 0. 1. ]] SLAMing on 52.862414037 meters Centerline goodness : 0.768921 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-0.33 [[ 0.93356947 -0.33147026 -0.13629203 3.91519417] [ 0.35342374 0.91457921 0.19656176 0.25440338] [ 0.05949548 -0.2316729 0.97097269 -0.33229231] [ 0. 0. 0. 1. ]] SLAMing on 52.892414037 meters Centerline goodness : 0.769841 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.33 [[ 0.9329489 -0.33317699 -0.13637978 3.91446173] [ 0.35504849 0.91418731 0.19545366 0.25619429] [ 0.059556 -0.23076971 0.97118403 -0.33114509] [ 0. 0. 0. 1. ]] SLAMing on 52.922414036999996 meters Centerline goodness : 0.767654 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.33 [[ 0.93243416 -0.33439077 -0.13692825 3.91442901] [ 0.35633456 0.91379459 0.19494906 0.25817433] [ 0.05993512 -0.23056943 0.97120828 -0.33030207] [ 0. 0. 0. 1. ]] SLAMing on 52.952414037 meters Centerline goodness : 0.767868 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.33 [[ 0.93118149 -0.33802802 -0.13652141 3.91382966] [ 0.35961014 0.91318433 0.19176788 0.26190739] [ 0.05984629 -0.22766518 0.97189865 -0.32998894] [ 0. 0. 0. 1. ]] SLAMing on 52.982414037 meters Centerline goodness : 0.766749 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.33 [[ 0.93032377 -0.34102148 -0.13491495 3.91299292] [ 0.361941 0.91307971 0.18784078 0.26352723] [ 0.05913036 -0.22358399 0.97288941 -0.33056834] [ 0. 0. 0. 1. ]] SLAMing on 53.012414037 meters Centerline goodness : 0.767313 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.33 [[ 0.92956705 -0.3438799 -0.13285974 3.9125541 ] [ 0.36404896 0.91305157 0.18386188 0.2640044 ] [ 0.05808139 -0.21927939 0.97393177 -0.33207278] [ 0. 0. 0. 1. ]] SLAMing on 53.042414037 meters Centerline goodness : 0.767811 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.33 [[ 0.92962528 -0.34388077 -0.13244948 3.91171213] [ 0.36394135 0.91315476 0.1835622 0.26398255] [ 0.05782337 -0.2188479 0.97404417 -0.33178547] [ 0. 0. 0. 1. ]] SLAMing on 53.072414037 meters Centerline goodness : 0.768299 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.33 [[ 0.92961583 -0.3439485 -0.13233986 3.9102665 ] [ 0.36397126 0.91318496 0.18335255 0.2652075 ] [ 0.05778693 -0.21861534 0.97409856 -0.33091331] [ 0. 0. 0. 1. ]] SLAMing on 53.102414037 meters Centerline goodness : 0.767304 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.33 [[ 0.9297131 -0.34386397 -0.13187539 3.90804917] [ 0.36376606 0.91333413 0.18301647 0.26662268] [ 0.05751352 -0.2181246 0.97422475 -0.33006367] [ 0. 0. 0. 1. ]] SLAMing on 53.132414037 meters Centerline goodness : 0.766339 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.33 [[ 0.92983605 -0.3436765 -0.13149672 3.90617064] [ 0.36347356 0.91353586 0.18259025 0.26833626] [ 0.057375 -0.21757458 0.9743559 -0.3295227 ] [ 0. 0. 0. 1. ]] SLAMing on 53.162414037 meters Centerline goodness : 0.766608 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:-0.33 [[ 0.93024648 -0.34278658 -0.13091539 3.90396375] [ 0.36246026 0.9139777 0.18239333 0.26949944] [ 0.05713176 -0.21712238 0.97447105 -0.3290826 ] [ 0. 0. 0. 1. ]] SLAMing on 53.192414037 meters Centerline goodness : 0.766970 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:-0.33 [[ 0.93030938 -0.34275009 -0.13056348 3.90348596] [ 0.36232119 0.91412231 0.18194436 0.26963399] [ 0.05698955 -0.21657046 0.97460219 -0.32908716] [ 0. 0. 0. 1. ]] SLAMing on 53.222414037 meters Centerline goodness : 0.767436 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:-0.32 [[ 0.93065914 -0.34011628 -0.1348869 3.89731137] [ 0.36002718 0.91696907 0.17189578 0.2688681 ] [ 0.06522256 -0.20853933 0.97583675 -0.32413339] [ 0. 0. 0. 1. ]] SLAMing on 53.252414037 meters Centerline goodness : 0.765062 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.32 [[ 0.93125095 -0.33718043 -0.13813407 3.89059386] [ 0.35714105 0.9198056 0.16250518 0.26785727] [ 0.07226292 -0.20066645 0.97699081 -0.31898322] [ 0. 0. 0. 1. ]] SLAMing on 53.282414037 meters Centerline goodness : 0.764444 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.32 [[ 0.93110661 -0.33794178 -0.13724373 3.88883785] [ 0.35759816 0.91990253 0.16094372 0.26911752] [ 0.07186124 -0.19893387 0.97737469 -0.31855971] [ 0. 0. 0. 1. ]] SLAMing on 53.312414036999996 meters Centerline goodness : 0.764317 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.32 [[ 0.93120262 -0.33772943 -0.13711498 3.88805111] [ 0.35734068 0.92005443 0.16064706 0.2705799 ] [ 0.07189801 -0.19859172 0.97744156 -0.31870746] [ 0. 0. 0. 1. ]] SLAMing on 53.342414037 meters Centerline goodness : 0.765042 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:-0.32 [[ 0.93372612 -0.33335177 -0.13050717 3.87028975] [ 0.35082687 0.92462857 0.14826498 0.27096183] [ 0.07124627 -0.18422431 0.98029861 -0.31878272] [ 0. 0. 0. 1. ]] SLAMing on 53.372414037 meters Centerline goodness : 0.766306 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:-0.32 [[ 0.93495403 -0.33143182 -0.12654607 3.85876017] [ 0.34736662 0.92771255 0.13669618 0.27165603] [ 0.07209291 -0.17176253 0.98249694 -0.31772002] [ 0. 0. 0. 1. ]] SLAMing on 53.402414037 meters Centerline goodness : 0.767299 Centerline is valid? [False, False] Translation: X:3.84, Y:0.27, Z:-0.32 [[ 0.93706226 -0.32803628 -0.11960985 3.84263094] [ 0.34185845 0.93164991 0.12313098 0.27031193] [ 0.07104308 -0.15627104 0.98515595 -0.31867686] [ 0. 0. 0. 1. ]] SLAMing on 53.432414037 meters Centerline goodness : 0.765783 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:-0.32 [[ 0.93870349 -0.32532506 -0.11401478 3.82877773] [ 0.33741884 0.93483326 0.11061334 0.26973896] [ 0.07059952 -0.14230386 0.98730204 -0.31880416] [ 0. 0. 0. 1. ]] SLAMing on 53.462414037 meters Centerline goodness : 0.766008 Centerline is valid? [False, False] Translation: X:3.82, Y:0.27, Z:-0.32 [[ 0.94119219 -0.32109826 -0.10513406 3.81708962] [ 0.33167112 0.93739179 0.10625867 0.26804458] [ 0.06443233 -0.13487976 0.98876485 -0.32029381] [ 0. 0. 0. 1. ]] SLAMing on 53.492414036999996 meters Centerline goodness : 0.767266 Centerline is valid? [False, False] Translation: X:3.81, Y:0.27, Z:-0.32 [[ 0.94253397 -0.31907791 -0.09909091 3.80920794] [ 0.32878423 0.938523 0.10524023 0.26641951] [ 0.05941926 -0.13177202 0.98949759 -0.32196178] [ 0. 0. 0. 1. ]] SLAMing on 53.522414037 meters Centerline goodness : 0.767288 Centerline is valid? [False, False] Translation: X:3.80, Y:0.26, Z:-0.32 [[ 0.94453013 -0.3157751 -0.0902714 3.79678478] [ 0.32409696 0.94065767 0.10061959 0.26400226] [ 0.05314132 -0.12429492 0.99082126 -0.3227009 ] [ 0. 0. 0. 1. ]] SLAMing on 53.552414037 meters Centerline goodness : 0.768461 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.32 [[ 0.94579319 -0.31303846 -0.08649947 3.78236092] [ 0.32043089 0.94284114 0.09151296 0.26239391] [ 0.05290819 -0.11426944 0.99203993 -0.31979891] [ 0. 0. 0. 1. ]] SLAMing on 53.582414037 meters Centerline goodness : 0.767366 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.32 [[ 0.94578145 -0.31268394 -0.08789878 3.77341503] [ 0.31950847 0.94431353 0.07865303 0.26306171] [ 0.05841047 -0.10247298 0.99301939 -0.31669316] [ 0. 0. 0. 1. ]] SLAMing on 53.612414037 meters Centerline goodness : 0.766480 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.32 [[ 0.94614295 -0.31157691 -0.08793943 3.76690062] [ 0.31763943 0.94590759 0.0660607 0.26303897] [ 0.06259959 -0.09043589 0.99393292 -0.31538995] [ 0. 0. 0. 1. ]] SLAMing on 53.642414037 meters Centerline goodness : 0.767677 Centerline is valid? [False, False] Translation: X:3.76, Y:0.26, Z:-0.31 [[ 0.9458856 -0.3118711 -0.08964848 3.7569016 ] [ 0.31724249 0.94684302 0.05334318 0.26306036] [ 0.06824684 -0.07889685 0.99454394 -0.31234465] [ 0. 0. 0. 1. ]] SLAMing on 53.672414036999996 meters Centerline goodness : 0.766681 Centerline is valid? [False, False] Translation: X:3.76, Y:0.26, Z:-0.31 [[ 0.94588728 -0.31183204 -0.08976658 3.75791933] [ 0.31722742 0.94683604 0.05355635 0.26259747] [ 0.06829364 -0.07913469 0.99452183 -0.3132348 ] [ 0. 0. 0. 1. ]] SLAMing on 53.702414037 meters Centerline goodness : 0.820338 Centerline is valid? [False, False] Translation: X:3.76, Y:0.26, Z:-0.31 [[ 0.94669714 -0.30581447 -0.10120295 3.75675535] [ 0.31204558 0.94861601 0.05249016 0.25803839] [ 0.07995049 -0.08127221 0.99348012 -0.30650908] [ 0. 0. 0. 1. ]] SLAMing on 53.732414037 meters Centerline goodness : 0.821499 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.30 [[ 0.94741989 -0.30069979 -0.10943119 3.75253739] [ 0.30725129 0.95038846 0.04856359 0.25429746] [ 0.08939907 -0.07963299 0.99280733 -0.29976968] [ 0. 0. 0. 1. ]] SLAMing on 53.762414037 meters Centerline goodness : 0.764979 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.30 [[ 0.94755787 -0.30034241 -0.10921775 3.75124788] [ 0.30692013 0.95047001 0.04905917 0.25350491] [ 0.08907365 -0.08000753 0.99280647 -0.29859046] [ 0. 0. 0. 1. ]] SLAMing on 53.792414037 meters Centerline goodness : 0.822824 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.30 [[ 0.94760738 -0.30026743 -0.1089941 3.75004605] [ 0.30683564 0.95049221 0.04915737 0.25316439] [ 0.08883769 -0.08002516 0.99282619 -0.29759062] [ 0. 0. 0. 1. ]] SLAMing on 53.822414037 meters Centerline goodness : 0.765882 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.30 [[ 0.94758927 -0.30041853 -0.10873495 3.748951 ] [ 0.30695865 0.95045689 0.04907217 0.25288174] [ 0.0886057 -0.07987739 0.99285882 -0.29668305] [ 0. 0. 0. 1. ]] SLAMing on 53.852414037 meters Centerline goodness : 0.821040 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.30 [[ 0.94749861 -0.30078951 -0.10849912 3.74852634] [ 0.30730154 0.95035199 0.04895778 0.25224634] [ 0.08838637 -0.07972938 0.99289026 -0.2961871 ] [ 0. 0. 0. 1. ]] SLAMing on 53.882414037 meters Centerline goodness : 0.766091 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.29 [[ 0.9471946 -0.29809691 -0.11815509 3.74614237] [ 0.30488856 0.95137588 0.04389642 0.24746355] [ 0.09932451 -0.07760259 0.99202443 -0.28980813] [ 0. 0. 0. 1. ]] SLAMing on 53.912414037 meters Centerline goodness : 0.765603 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.28 [[ 0.94697577 -0.29489382 -0.12757166 3.74499742] [ 0.30186879 0.95255653 0.03887541 0.24390995] [ 0.1100551 -0.07532397 0.99106719 -0.28289504] [ 0. 0. 0. 1. ]] SLAMing on 53.942414037 meters Centerline goodness : 0.764992 Centerline is valid? [False, False] Translation: X:3.75, Y:0.24, Z:-0.28 [[ 0.94655698 -0.29032107 -0.1405118 3.74515143] [ 0.29818568 0.95374615 0.03812585 0.2390733 ] [ 0.12294384 -0.0779869 0.98934466 -0.27652868] [ 0. 0. 0. 1. ]] SLAMing on 53.972414037 meters Centerline goodness : 0.765991 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.27 [[ 0.94648995 -0.28594856 -0.14963351 3.74374598] [ 0.29410868 0.95512686 0.03511086 0.23503887] [ 0.13287909 -0.07724059 0.98811793 -0.27037517] [ 0. 0. 0. 1. ]] SLAMing on 54.002414037 meters Centerline goodness : 0.767350 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.27 [[ 0.94611579 -0.28701058 -0.14996614 3.74387124] [ 0.29524008 0.95476859 0.03535874 0.23404983] [ 0.13303462 -0.07772948 0.98805866 -0.26908381] [ 0. 0. 0. 1. ]] SLAMing on 54.032414037 meters Centerline goodness : 0.765820 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.27 [[ 0.94600685 -0.287175 -0.15033816 3.74403101] [ 0.29544599 0.95470203 0.03543596 0.23372917] [ 0.13335182 -0.07793947 0.98799936 -0.26806035] [ 0. 0. 0. 1. ]] SLAMing on 54.062414036999996 meters Centerline goodness : 0.768211 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.26 [[ 0.94635499 -0.28083609 -0.1598228 3.7424375 ] [ 0.28964343 0.95652024 0.03428864 0.22920517] [ 0.14324426 -0.07874085 0.98655003 -0.26196588] [ 0. 0. 0. 1. ]] SLAMing on 54.092414037 meters Centerline goodness : 0.769551 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.26 [[ 0.94639303 -0.28038453 -0.16038936 3.74359496] [ 0.28934201 0.95658428 0.03503866 0.22856949] [ 0.14360164 -0.07956772 0.98643172 -0.26193624] [ 0. 0. 0. 1. ]] SLAMing on 54.122414037 meters Centerline goodness : 0.769925 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.26 [[ 0.94623651 -0.28094932 -0.1603245 3.7441364 ] [ 0.28984788 0.95644607 0.03462836 0.22816462] [ 0.14361293 -0.07923634 0.98645676 -0.2621604 ] [ 0. 0. 0. 1. ]] SLAMing on 54.152414037 meters Centerline goodness : 0.768002 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.26 [[ 0.94577258 -0.28338101 -0.1587748 3.74332251] [ 0.29166617 0.9560154 0.03107079 0.22818319] [ 0.14298628 -0.07569513 0.98682581 -0.26264711] [ 0. 0. 0. 1. ]] SLAMing on 54.182414037 meters Centerline goodness : 0.768168 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.26 [[ 0.94569886 -0.28369836 -0.15864709 3.74383592] [ 0.29196489 0.95592695 0.03098673 0.22672992] [ 0.14286415 -0.07562349 0.98684899 -0.26269434] [ 0. 0. 0. 1. ]] SLAMing on 54.212414037 meters Centerline goodness : 0.771069 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.26 [[ 0.94561795 -0.28404547 -0.15850821 3.74270768] [ 0.2924115 0.95576624 0.03172383 0.22363024] [ 0.14248579 -0.07634825 0.98684788 -0.26065614] [ 0. 0. 0. 1. ]] SLAMing on 54.242414036999996 meters Centerline goodness : 0.769961 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.26 [[ 0.94547303 -0.28403869 -0.15938249 3.74417412] [ 0.292583 0.95568833 0.03248081 0.22306968] [ 0.14309418 -0.07734233 0.98668243 -0.26010355] [ 0. 0. 0. 1. ]] SLAMing on 54.272414037 meters Centerline goodness : 0.770427 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.26 [[ 0.94518956 -0.28485995 -0.15959795 3.74437807] [ 0.29342396 0.95543194 0.03243759 0.22285917] [ 0.14324481 -0.07748953 0.98664902 -0.25937218] [ 0. 0. 0. 1. ]] SLAMing on 54.302414037 meters Centerline goodness : 0.767805 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.25 [[ 0.94399396 -0.28230755 -0.17081523 3.74372354] [ 0.29117273 0.95623821 0.02875642 0.21891239] [ 0.15522189 -0.07688262 0.98488336 -0.25362809] [ 0. 0. 0. 1. ]] SLAMing on 54.332414037 meters Centerline goodness : 0.769855 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.25 [[ 0.94358273 -0.28344302 -0.17120655 3.74528287] [ 0.29229354 0.95590764 0.02837386 0.21829711] [ 0.15561527 -0.07681565 0.9848265 -0.25353228] [ 0. 0. 0. 1. ]] SLAMing on 54.362414037 meters Centerline goodness : 0.769328 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.25 [[ 0.94322612 -0.28439931 -0.17158533 3.74675196] [ 0.29327763 0.95560893 0.02828098 0.21746261] [ 0.15592538 -0.0769975 0.98476325 -0.25349095] [ 0. 0. 0. 1. ]] SLAMing on 54.392414037 meters Centerline goodness : 0.768650 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.25 [[ 0.94225006 -0.2878849 -0.17113478 3.74884673] [ 0.29630551 0.95475746 0.02532287 0.21694325] [ 0.15610213 -0.07456866 0.98492215 -0.25422968] [ 0. 0. 0. 1. ]] SLAMing on 54.422414036999996 meters Centerline goodness : 0.769387 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.25 [[ 0.94185576 -0.28887905 -0.17162934 3.75016614] [ 0.29734219 0.95443656 0.025268 0.2163543 ] [ 0.15650992 -0.07483146 0.9848375 -0.25383806] [ 0. 0. 0. 1. ]] SLAMing on 54.452414037 meters Centerline goodness : 0.769387 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.25 [[ 0.94185576 -0.28887905 -0.17162934 3.75016614] [ 0.29734219 0.95443656 0.025268 0.2163543 ] [ 0.15650992 -0.07483146 0.9848375 -0.25383806] [ 0. 0. 0. 1. ]] SLAMing on 54.482414037 meters Centerline goodness : 0.770203 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.25 [[ 0.94160539 -0.28911803 -0.17259798 3.75220358] [ 0.29777624 0.95428154 0.02600096 0.21547243] [ 0.15718972 -0.07587822 0.98464912 -0.25345378] [ 0. 0. 0. 1. ]] SLAMing on 54.512414037 meters Centerline goodness : 0.771608 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.25 [[ 0.94126853 -0.28994408 -0.17304908 3.75252524] [ 0.29867855 0.95399442 0.02618727 0.21508596] [ 0.15749501 -0.0763353 0.984565 -0.25228581] [ 0. 0. 0. 1. ]] SLAMing on 54.542414037 meters Centerline goodness : 0.770166 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-0.25 [[ 0.94084799 -0.29080895 -0.17388276 3.75393497] [ 0.29971493 0.95365307 0.02677285 0.2140769 ] [ 0.15803804 -0.07730445 0.98440236 -0.25124268] [ 0. 0. 0. 1. ]] SLAMing on 54.572414037 meters Centerline goodness : 0.769617 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.25 [[ 0.94071103 -0.2909271 -0.1744253 3.75506911] [ 0.29990527 0.95358845 0.02694259 0.2140468 ] [ 0.15849162 -0.07765626 0.98430174 -0.25106167] [ 0. 0. 0. 1. ]] SLAMing on 54.602414037 meters Centerline goodness : 0.770947 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.25 [[ 0.94064943 -0.29104721 -0.17455708 3.75531937] [ 0.30001821 0.95355631 0.02682249 0.21417221] [ 0.1586434 -0.07760086 0.98428166 -0.25088725] [ 0. 0. 0. 1. ]] SLAMing on 54.632414037 meters Centerline goodness : 0.770318 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.25 [[ 0.94058532 -0.29092022 -0.17511334 3.75585453] [ 0.29997586 0.95356231 0.0270815 0.21448841] [ 0.15910293 -0.07800223 0.98417575 -0.25028567] [ 0. 0. 0. 1. ]] SLAMing on 54.662414037 meters Centerline goodness : 0.770009 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.94028003 -0.29130548 -0.17610959 3.75818442] [ 0.30045026 0.95341232 0.0271033 0.21554641] [ 0.16000971 -0.07839686 0.98399737 -0.25071646] [ 0. 0. 0. 1. ]] SLAMing on 54.692414037 meters Centerline goodness : 0.771606 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.94005295 -0.29152656 -0.176954 3.76031855] [ 0.3007566 0.95331332 0.02718775 0.21564618] [ 0.16076666 -0.07877801 0.98384354 -0.25085195] [ 0. 0. 0. 1. ]] SLAMing on 54.722414037 meters Centerline goodness : 0.769194 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.93968956 -0.29254812 -0.17719797 3.76072379] [ 0.30171746 0.95302604 0.02660733 0.21634096] [ 0.16109035 -0.07846635 0.9838155 -0.2504571 ] [ 0. 0. 0. 1. ]] SLAMing on 54.752414037 meters Centerline goodness : 0.771331 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.93936366 -0.29304029 -0.17811039 3.76216596] [ 0.30228879 0.95284528 0.02659614 0.21784205] [ 0.1619179 -0.07882422 0.98365102 -0.25013776] [ 0. 0. 0. 1. ]] SLAMing on 54.782414037 meters Centerline goodness : 0.768607 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.93915656 -0.29310483 -0.17909361 3.76382518] [ 0.30246576 0.95278381 0.02678577 0.2195673 ] [ 0.16278646 -0.07932572 0.98346734 -0.25015469] [ 0. 0. 0. 1. ]] SLAMing on 54.812414036999996 meters Centerline goodness : 0.769047 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.93917234 -0.29278949 -0.17952611 3.76449456] [ 0.30219203 0.95286884 0.02685075 0.22027096] [ 0.16320322 -0.07946884 0.98338671 -0.25007734] [ 0. 0. 0. 1. ]] SLAMing on 54.842414037 meters Centerline goodness : 0.769418 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.93923227 -0.29239957 -0.17984784 3.76498298] [ 0.30183784 0.95297853 0.02694127 0.22086944] [ 0.16351351 -0.07958899 0.98332544 -0.25007402] [ 0. 0. 0. 1. ]] SLAMing on 54.872414037 meters Centerline goodness : 0.771839 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.93945515 -0.29155866 -0.18004881 3.7642757 ] [ 0.30111361 0.95318827 0.02761718 0.22082863] [ 0.16356838 -0.08016025 0.98326991 -0.24921043] [ 0. 0. 0. 1. ]] SLAMing on 54.902414037 meters Centerline goodness : 0.773629 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.25 [[ 0.93941348 -0.29158517 -0.1802232 3.76452502] [ 0.30112923 0.9531878 0.02746277 0.22111561] [ 0.16377882 -0.08006937 0.98324229 -0.24898048] [ 0. 0. 0. 1. ]] SLAMing on 54.932414037 meters Centerline goodness : 0.772951 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.25 [[ 0.939273 -0.29164741 -0.18085356 3.76600188] [ 0.3012552 0.95314616 0.0275265 0.22185659] [ 0.16435184 -0.08033797 0.98312475 -0.2491833 ] [ 0. 0. 0. 1. ]] SLAMing on 54.962414037 meters Centerline goodness : 0.773723 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.24 [[ 0.93868102 -0.28865769 -0.18855951 3.76276524] [ 0.2978587 0.95436101 0.02180037 0.22065614] [ 0.173661 -0.07662768 0.98181977 -0.24454745] [ 0. 0. 0. 1. ]] SLAMing on 54.992414036999996 meters Centerline goodness : 0.771496 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.24 [[ 0.93827792 -0.28940432 -0.18941932 3.76480278] [ 0.29864337 0.95412125 0.02155889 0.22161014] [ 0.17448976 -0.07679706 0.98165958 -0.24460582] [ 0. 0. 0. 1. ]] SLAMing on 55.022414037 meters Centerline goodness : 0.771253 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.25 [[ 0.93801878 -0.28980233 -0.19009305 3.76668884] [ 0.2990792 0.95398758 0.02143203 0.22232768] [ 0.17513535 -0.07695653 0.98153212 -0.24503313] [ 0. 0. 0. 1. ]] SLAMing on 55.052414037 meters Centerline goodness : 0.771152 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.25 [[ 0.93787587 -0.28979699 -0.19080502 3.76871511] [ 0.2991263 0.95397335 0.0214079 0.22312222] [ 0.17581896 -0.07715276 0.98139449 -0.24560234] [ 0. 0. 0. 1. ]] SLAMing on 55.082414037 meters Centerline goodness : 0.771408 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.25 [[ 0.93793436 -0.28920017 -0.19142205 3.77051364] [ 0.29859407 0.95413688 0.02154971 0.22463128] [ 0.17641066 -0.07736971 0.98127122 -0.24670281] [ 0. 0. 0. 1. ]] SLAMing on 55.112414037 meters Centerline goodness : 0.770797 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.25 [[ 0.93803783 -0.28886315 -0.19142391 3.77032648] [ 0.29822247 0.95425671 0.02138896 0.22530945] [ 0.17648907 -0.07715056 0.98127437 -0.24665423] [ 0. 0. 0. 1. ]] SLAMing on 55.142414037 meters Centerline goodness : 0.770728 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.25 [[ 0.93805835 -0.28834905 -0.19209726 3.77083323] [ 0.29783029 0.95436954 0.02181517 0.22633141] [ 0.17704139 -0.07767629 0.9811334 -0.24616626] [ 0. 0. 0. 1. ]] SLAMing on 55.172414036999996 meters Centerline goodness : 0.770931 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.93864541 -0.28474381 -0.19459126 3.77189915] [ 0.29516381 0.95508727 0.02620348 0.22721979] [ 0.17839036 -0.08203207 0.98053435 -0.24472058] [ 0. 0. 0. 1. ]] SLAMing on 55.202414037 meters Centerline goodness : 0.772911 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.93856769 -0.28450314 -0.19531682 3.77215972] [ 0.29502557 0.95512322 0.02644887 0.22870657] [ 0.17902684 -0.08244751 0.9803835 -0.24394216] [ 0. 0. 0. 1. ]] SLAMing on 55.232414037 meters Centerline goodness : 0.773296 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.93847336 -0.28455881 -0.19568864 3.77190123] [ 0.29509533 0.9551045 0.02634648 0.22974221] [ 0.17940598 -0.08247227 0.9803121 -0.24305975] [ 0. 0. 0. 1. ]] SLAMing on 55.262414037 meters Centerline goodness : 0.772122 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.9383687 -0.28492406 -0.19565903 3.77153369] [ 0.29536292 0.95503694 0.02579139 0.23061863] [ 0.17951302 -0.08199226 0.98033277 -0.24261684] [ 0. 0. 0. 1. ]] SLAMing on 55.292414037 meters Centerline goodness : 0.772157 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.93829843 -0.2850419 -0.19582434 3.77279457] [ 0.29544375 0.95501973 0.02550127 0.23137153] [ 0.17974717 -0.08178288 0.98030736 -0.24341079] [ 0. 0. 0. 1. ]] SLAMing on 55.322414037 meters Centerline goodness : 0.771673 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.93824619 -0.28515337 -0.19591232 3.77351038] [ 0.29552216 0.95500163 0.02526953 0.23181545] [ 0.17989089 -0.08160548 0.98029578 -0.24381104] [ 0. 0. 0. 1. ]] SLAMing on 55.352414037 meters Centerline goodness : 0.769447 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.93820328 -0.28528323 -0.19592877 3.77381933] [ 0.29561746 0.95497762 0.025061 0.23231457] [ 0.17995811 -0.08143228 0.98029784 -0.24405741] [ 0. 0. 0. 1. ]] SLAMing on 55.382414037 meters Centerline goodness : 0.772531 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.24 [[ 0.9381782 -0.28541675 -0.19585439 3.77317175] [ 0.29563571 0.9549877 0.02445438 0.23497431] [ 0.18005885 -0.08084412 0.98032803 -0.24388342] [ 0. 0. 0. 1. ]] SLAMing on 55.412414037 meters Centerline goodness : 0.770831 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.24 [[ 0.93818789 -0.28537052 -0.19587532 3.77307285] [ 0.29552758 0.95502987 0.02411239 0.23670697] [ 0.18018582 -0.08050851 0.98033232 -0.24387854] [ 0. 0. 0. 1. ]] SLAMing on 55.442414037 meters Centerline goodness : 0.770343 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.24 [[ 0.93819865 -0.28525051 -0.19599855 3.77303509] [ 0.29534918 0.95509411 0.02375077 0.23821254] [ 0.18042214 -0.08017095 0.98031651 -0.24357471] [ 0. 0. 0. 1. ]] SLAMing on 55.472414037 meters Centerline goodness : 0.770208 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.24 [[ 0.93848666 -0.28447127 -0.1957521 3.7723387 ] [ 0.29454503 0.95534111 0.02380297 0.23927103] [ 0.18023877 -0.07999658 0.98036449 -0.24321716] [ 0. 0. 0. 1. ]] SLAMing on 55.502414037 meters Centerline goodness : 0.769276 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.24 [[ 0.93847832 -0.28436166 -0.19595126 3.77273244] [ 0.2944085 0.95538879 0.02357756 0.24015491] [ 0.18050508 -0.07981675 0.98033015 -0.24313215] [ 0. 0. 0. 1. ]] SLAMing on 55.532414037 meters Centerline goodness : 0.768575 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.24 [[ 0.93847144 -0.28423289 -0.19617091 3.77322873] [ 0.29425709 0.95544057 0.02336858 0.24130257] [ 0.18078753 -0.07965543 0.98029122 -0.24321241] [ 0. 0. 0. 1. ]] SLAMing on 55.562414036999996 meters Centerline goodness : 0.768136 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.24 [[ 0.93848423 -0.28404452 -0.19638244 3.77378047] [ 0.29403575 0.95551491 0.02311376 0.24274722] [ 0.18108101 -0.07943535 0.98025491 -0.24331788] [ 0. 0. 0. 1. ]] SLAMing on 55.592414037 meters Centerline goodness : 0.770396 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.24 [[ 0.93853048 -0.28389662 -0.19637527 3.77372429] [ 0.29381436 0.95559212 0.02273386 0.24481157] [ 0.1812006 -0.0790343 0.98026523 -0.24346644] [ 0. 0. 0. 1. ]] SLAMing on 55.622414037 meters Centerline goodness : 0.769166 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.24 [[ 0.93849699 -0.28405789 -0.19630212 3.77347569] [ 0.29389102 0.95557894 0.02229267 0.24586046] [ 0.18124976 -0.07861304 0.98029002 -0.24330365] [ 0. 0. 0. 1. ]] SLAMing on 55.652414037 meters Centerline goodness : 0.770125 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.24 [[ 0.93852042 -0.28391636 -0.1963948 3.77373114] [ 0.29371041 0.95563999 0.02205451 0.24709332] [ 0.18142109 -0.07838181 0.98027684 -0.24336801] [ 0. 0. 0. 1. ]] SLAMing on 55.682414037 meters Centerline goodness : 0.768917 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.24 [[ 0.93849678 -0.28391455 -0.19651037 3.77380219] [ 0.29364096 0.95567084 0.02163873 0.24889204] [ 0.18165568 -0.07801137 0.98026294 -0.24333345] [ 0. 0. 0. 1. ]] SLAMing on 55.712414037 meters Centerline goodness : 0.767872 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.24 [[ 0.93857068 -0.28359852 -0.19661371 3.77380101] [ 0.2932311 0.9558083 0.02111908 0.25167255] [ 0.18193567 -0.077475 0.98025356 -0.2432321 ] [ 0. 0. 0. 1. ]] SLAMing on 55.742414036999996 meters Centerline goodness : 0.768240 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.24 [[ 0.93854857 -0.28362004 -0.19668821 3.77352033] [ 0.29317806 0.9558341 0.02068325 0.2528186 ] [ 0.18213511 -0.0770769 0.9802479 -0.24268186] [ 0. 0. 0. 1. ]] SLAMing on 55.772414037 meters Centerline goodness : 0.769486 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.24 [[ 0.93853977 -0.28363915 -0.19670263 3.7733737 ] [ 0.29314254 0.95585148 0.02038116 0.25376332] [ 0.1822376 -0.07679044 0.98025134 -0.24244074] [ 0. 0. 0. 1. ]] SLAMing on 55.802414037 meters Centerline goodness : 0.768931 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.24 [[ 0.93865094 -0.28316707 -0.19685231 3.77384286] [ 0.29265486 0.95600306 0.02028008 0.2552429 ] [ 0.18244876 -0.0766457 0.98022339 -0.24263608] [ 0. 0. 0. 1. ]] SLAMing on 55.832414037 meters Centerline goodness : 0.769507 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.24 [[ 0.93865421 -0.28303386 -0.19702818 3.77446252] [ 0.29250673 0.9560514 0.02013803 0.25595158] [ 0.18266932 -0.07653471 0.98019098 -0.24282545] [ 0. 0. 0. 1. ]] SLAMing on 55.862414037 meters Centerline goodness : 0.767990 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.24 [[ 0.93865997 -0.28294033 -0.19713505 3.77479443] [ 0.29239567 0.9560881 0.02000773 0.25668767] [ 0.18281748 -0.07642189 0.98017216 -0.2429212 ] [ 0. 0. 0. 1. ]] SLAMing on 55.892414037 meters Centerline goodness : 0.822426 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.24 [[ 0.9386733 -0.28282511 -0.19723689 3.77525065] [ 0.2922546 0.95613479 0.01983734 0.25791091] [ 0.18297455 -0.07626417 0.98015514 -0.24325272] [ 0. 0. 0. 1. ]] SLAMing on 55.922414036999996 meters Centerline goodness : 0.768744 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.24 [[ 0.93876936 -0.28246083 -0.1973017 3.7750472 ] [ 0.29181474 0.95627725 0.01944167 0.26100961] [ 0.18318362 -0.07582679 0.98015002 -0.24327157] [ 0. 0. 0. 1. ]] SLAMing on 55.952414037 meters Centerline goodness : 0.769185 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.24 [[ 0.93875055 -0.28247797 -0.19736667 3.77463281] [ 0.29173866 0.95631104 0.01891416 0.2627015 ] [ 0.18340109 -0.07533516 0.98014726 -0.24267742] [ 0. 0. 0. 1. ]] SLAMing on 55.982414037 meters Centerline goodness : 0.770873 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.24 [[ 0.93872194 -0.28251521 -0.19744943 3.77438555] [ 0.29171383 0.95632586 0.01854439 0.26351162] [ 0.18358692 -0.07500675 0.98013766 -0.24212514] [ 0. 0. 0. 1. ]] SLAMing on 56.012414037 meters Centerline goodness : 0.771039 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.24 [[ 0.93869776 -0.28250624 -0.19757717 3.77442238] [ 0.2916562 0.95634943 0.01823256 0.26389388] [ 0.183802 -0.07473947 0.98011777 -0.24158963] [ 0. 0. 0. 1. ]] SLAMing on 56.042414037 meters Centerline goodness : 0.768761 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.24 [[ 0.93871046 -0.28239176 -0.19768048 3.77514043] [ 0.29153778 0.95638653 0.01818028 0.26353916] [ 0.18392499 -0.07469734 0.98009791 -0.24170789] [ 0. 0. 0. 1. ]] SLAMing on 56.072414037 meters Centerline goodness : 0.769928 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.24 [[ 0.93866973 -0.28241651 -0.19783843 3.77548332] [ 0.29155046 0.95638517 0.01804823 0.26384848] [ 0.18411262 -0.07462121 0.98006848 -0.24164543] [ 0. 0. 0. 1. ]] SLAMing on 56.102414037 meters Centerline goodness : 0.766837 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.24 [[ 0.93864473 -0.28241716 -0.19795608 3.77551949] [ 0.29151822 0.95639919 0.01782462 0.26480864] [ 0.18429106 -0.07443879 0.98004881 -0.24145807] [ 0. 0. 0. 1. ]] SLAMing on 56.132414037 meters Centerline goodness : 0.822615 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93870326 -0.28220071 -0.19798726 3.77528014] [ 0.29125075 0.95648553 0.0175624 0.26685024] [ 0.18441582 -0.07414982 0.98004725 -0.24136219] [ 0. 0. 0. 1. ]] SLAMing on 56.162414037 meters Centerline goodness : 0.769318 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93872114 -0.28206893 -0.19809022 3.7755206 ] [ 0.2911033 0.95653246 0.0174503 0.26746994] [ 0.18455754 -0.07404568 0.98002844 -0.24129832] [ 0. 0. 0. 1. ]] SLAMing on 56.192414037 meters Centerline goodness : 0.822887 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93867638 -0.28214691 -0.19819127 3.7753652 ] [ 0.29113052 0.95652994 0.01713184 0.26752331] [ 0.18474219 -0.07378078 0.98001363 -0.24062407] [ 0. 0. 0. 1. ]] SLAMing on 56.222414037 meters Centerline goodness : 0.822847 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93867746 -0.28213141 -0.19820821 3.7752603 ] [ 0.29108366 0.95654726 0.01696018 0.26728763] [ 0.18481052 -0.07361531 0.98001319 -0.24013125] [ 0. 0. 0. 1. ]] SLAMing on 56.252414037 meters Centerline goodness : 0.769362 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.24 [[ 0.938837 -0.28175853 -0.19798287 3.77434923] [ 0.29067879 0.95667109 0.01691945 0.26746733] [ 0.18463729 -0.07343402 0.98005944 -0.23938112] [ 0. 0. 0. 1. ]] SLAMing on 56.282414037 meters Centerline goodness : 0.823827 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.24 [[ 0.93884162 -0.28162343 -0.1981531 3.77447104] [ 0.29050164 0.95672978 0.01664122 0.26854101] [ 0.18489241 -0.07318727 0.98002981 -0.23903375] [ 0. 0. 0. 1. ]] SLAMing on 56.312414036999996 meters Centerline goodness : 0.770313 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.24 [[ 0.93880923 -0.281673 -0.19823612 3.77415963] [ 0.29049779 0.95673648 0.01631981 0.26940047] [ 0.18506287 -0.07290834 0.98001842 -0.23848679] [ 0. 0. 0. 1. ]] SLAMing on 56.342414037 meters Centerline goodness : 0.771590 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93887198 -0.28114168 -0.19869262 3.77508936] [ 0.29000871 0.95688324 0.01641377 0.26954095] [ 0.18551104 -0.07303302 0.9799244 -0.23819539] [ 0. 0. 0. 1. ]] SLAMing on 56.372414037 meters Centerline goodness : 0.771590 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93887198 -0.28114168 -0.19869262 3.77508936] [ 0.29000871 0.95688324 0.01641377 0.26954095] [ 0.18551104 -0.07303302 0.9799244 -0.23819539] [ 0. 0. 0. 1. ]] SLAMing on 56.402414037 meters Centerline goodness : 0.823925 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93893425 -0.28066899 -0.19906633 3.77660166] [ 0.28960744 0.95700001 0.01668849 0.26943439] [ 0.18582253 -0.07332049 0.97984391 -0.2387658 ] [ 0. 0. 0. 1. ]] SLAMing on 56.432414037 meters Centerline goodness : 0.825969 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93899524 -0.28018621 -0.19945836 3.77827558] [ 0.28919736 0.9571192 0.01696265 0.26930778] [ 0.18615272 -0.07361067 0.97975948 -0.23941809] [ 0. 0. 0. 1. ]] SLAMing on 56.462414037 meters Centerline goodness : 0.769981 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93902239 -0.27995203 -0.19965924 3.779261 ] [ 0.28898658 0.95718169 0.01702855 0.26917725] [ 0.18634299 -0.07368903 0.97971742 -0.23971207] [ 0. 0. 0. 1. ]] SLAMing on 56.492414036999996 meters Centerline goodness : 0.767659 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93908381 -0.27966768 -0.19976884 3.77919858] [ 0.28867678 0.95727781 0.01687964 0.26973625] [ 0.18651359 -0.07352002 0.97969765 -0.23917551] [ 0. 0. 0. 1. ]] SLAMing on 56.522414037 meters Centerline goodness : 0.770892 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93903144 -0.27988917 -0.1997048 3.7784555 ] [ 0.28881201 0.95724484 0.01642968 0.27031495] [ 0.1865679 -0.07310513 0.97971836 -0.23835047] [ 0. 0. 0. 1. ]] SLAMing on 56.552414037 meters Centerline goodness : 0.769709 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93898636 -0.28007833 -0.19965156 3.77786258] [ 0.288924 0.95721788 0.01602652 0.27051573] [ 0.18662136 -0.07273281 0.97973589 -0.23754736] [ 0. 0. 0. 1. ]] SLAMing on 56.582414037 meters Centerline goodness : 0.770698 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93907055 -0.27961978 -0.19989818 3.77854831] [ 0.28849749 0.95734455 0.01614333 0.2695277 ] [ 0.18685744 -0.07282985 0.97968368 -0.23705987] [ 0. 0. 0. 1. ]] SLAMing on 56.612414037 meters Centerline goodness : 0.771596 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93912839 -0.27931982 -0.20004577 3.77901629] [ 0.28821567 0.9574283 0.01621038 0.26958018] [ 0.18700161 -0.07287995 0.97965244 -0.23701664] [ 0. 0. 0. 1. ]] SLAMing on 56.642414037 meters Centerline goodness : 0.772805 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.9391631 -0.27903914 -0.20027437 3.77951433] [ 0.28794144 0.95751129 0.01618203 0.2700642 ] [ 0.18724955 -0.07286486 0.97960621 -0.23691135] [ 0. 0. 0. 1. ]] SLAMing on 56.672414036999996 meters Centerline goodness : 0.771555 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93920007 -0.27876677 -0.20048021 3.78006911] [ 0.28768296 0.95758866 0.01620086 0.27019256] [ 0.18746131 -0.07289059 0.97956379 -0.23683259] [ 0. 0. 0. 1. ]] SLAMing on 56.702414037 meters Centerline goodness : 0.771913 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.9393064 -0.27819682 -0.20077354 3.78087324] [ 0.28718676 0.957732 0.01652788 0.2692738 ] [ 0.18768924 -0.07318425 0.97949825 -0.23662038] [ 0. 0. 0. 1. ]] SLAMing on 56.732414037 meters Centerline goodness : 0.772405 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93932897 -0.27808283 -0.20082583 3.78105811] [ 0.28708329 0.95776224 0.01657364 0.2687309 ] [ 0.18773455 -0.07322184 0.97948675 -0.23640861] [ 0. 0. 0. 1. ]] SLAMing on 56.762414037 meters Centerline goodness : 0.773870 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93932957 -0.27803386 -0.20089086 3.78122079] [ 0.28703022 0.95777887 0.01653149 0.26852443] [ 0.18781271 -0.07319026 0.97947413 -0.23618602] [ 0. 0. 0. 1. ]] SLAMing on 56.792414037 meters Centerline goodness : 0.772331 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93927169 -0.27824356 -0.20087115 3.78089088] [ 0.2872042 0.95773014 0.01633151 0.26835643] [ 0.18783622 -0.07303076 0.97948153 -0.23569354] [ 0. 0. 0. 1. ]] SLAMing on 56.822414037 meters Centerline goodness : 0.773006 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.24 [[ 0.93912557 -0.27892663 -0.20060681 3.77993027] [ 0.28786042 0.9575349 0.01622626 0.26660303] [ 0.18756208 -0.07298525 0.97953745 -0.23500942] [ 0. 0. 0. 1. ]] SLAMing on 56.852414037 meters Centerline goodness : 0.773317 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 0.93895049 -0.27965117 -0.20041757 3.77925729] [ 0.28852716 0.95733926 0.01592513 0.26504698] [ 0.18741412 -0.07277882 0.97958113 -0.23428889] [ 0. 0. 0. 1. ]] SLAMing on 56.882414037 meters Centerline goodness : 0.772828 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 0.93776324 -0.28442733 -0.19925161 3.77931185] [ 0.29259403 0.95615923 0.01217612 0.26318413] [ 0.18705305 -0.06971815 0.97987271 -0.23383624] [ 0. 0. 0. 1. ]] SLAMing on 56.912414037 meters Centerline goodness : 0.773014 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 0.93715592 -0.2870004 -0.19841764 3.77880273] [ 0.29473165 0.95552835 0.00994112 0.26224569] [ 0.18674057 -0.06779634 0.98006715 -0.23319589] [ 0. 0. 0. 1. ]] SLAMing on 56.942414037 meters Centerline goodness : 0.773552 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 0.93602752 -0.29113385 -0.19772093 3.77977039] [ 0.29814555 0.95450161 0.00599183 0.26319366] [ 0.18698052 -0.06455813 0.98024004 -0.23287213] [ 0. 0. 0. 1. ]] SLAMing on 56.972414037 meters Centerline goodness : 0.773340 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.34801893e-01 -2.95615333e-01 -1.96867963e-01 3.78058662e+00] [ 3.01970554e-01 9.53314285e-01 2.37888010e-03 2.62161330e-01] [ 1.86973807e-01 -6.16721093e-02 9.80427124e-01 -2.32680265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002414037 meters Centerline goodness : 0.772652 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.34666537e-01 -2.96188967e-01 -1.96648316e-01 3.78008030e+00] [ 3.02532350e-01 9.53136267e-01 2.33115794e-03 2.60680109e-01] [ 1.86742178e-01 -6.16713324e-02 9.80471318e-01 -2.32404643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032414037 meters Centerline goodness : 0.772955 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.34337406e-01 -2.97550109e-01 -1.96156937e-01 3.77832812e+00] [ 3.03796837e-01 9.52735047e-01 1.84714949e-03 2.58846347e-01] [ 1.86335969e-01 -6.13177178e-02 9.80570775e-01 -2.31416521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062414036999996 meters Centerline goodness : 0.773552 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.34200093e-01 -2.98147416e-01 -1.95903816e-01 3.77757109e+00] [ 3.04349027e-01 9.52559187e-01 1.63258587e-03 2.57712086e-01] [ 1.86123228e-01 -6.11482978e-02 9.80621757e-01 -2.30869867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092414037 meters Centerline goodness : 0.773552 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.34200093e-01 -2.98147416e-01 -1.95903816e-01 3.77757109e+00] [ 3.04349027e-01 9.52559187e-01 1.63258587e-03 2.57712086e-01] [ 1.86123228e-01 -6.11482978e-02 9.80621757e-01 -2.30869867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122414037 meters Centerline goodness : 0.773547 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.33669626e-01 -3.00290690e-01 -1.95157708e-01 3.77552712e+00] [ 3.06222514e-01 9.51959934e-01 2.35472287e-04 2.55246511e-01] [ 1.85711608e-01 -5.99815372e-02 9.80771846e-01 -2.29237733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152414037 meters Centerline goodness : 0.774327 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.23 [[ 9.33528141e-01 -3.00884727e-01 -1.94919448e-01 3.77468893e+00] [ 3.06772221e-01 9.51782961e-01 1.81860694e-05 2.53781838e-01] [ 1.85515537e-01 -5.98128491e-02 9.80819254e-01 -2.28491824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182414037 meters Centerline goodness : 0.775818 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.23 [[ 9.33205994e-01 -3.01156489e-01 -1.96039132e-01 3.77689486e+00] [ 3.07280802e-01 9.51618492e-01 8.68206910e-04 2.52828593e-01] [ 1.86292997e-01 -6.10492777e-02 9.80595689e-01 -2.28021766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.212414037 meters Centerline goodness : 0.774356 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.23 [[ 9.32197172e-01 -3.04567145e-01 -1.95569135e-01 3.77757526e+00] [ 3.10212353e-01 9.50665484e-01 -1.85302319e-03 2.52828882e-01] [ 1.86485197e-01 -5.89405787e-02 9.80688166e-01 -2.27558504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242414036999996 meters Centerline goodness : 0.773720 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.23 [[ 9.31865187e-01 -3.04994505e-01 -1.96483140e-01 3.77936010e+00] [ 3.10774349e-01 9.50482558e-01 -1.48695152e-03 2.53326661e-01] [ 1.87207309e-01 -5.96762814e-02 9.80506076e-01 -2.27386022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272414037 meters Centerline goodness : 0.773239 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.23 [[ 9.31681875e-01 -3.04989562e-01 -1.97358181e-01 3.78068469e+00] [ 3.10902100e-01 9.50441330e-01 -1.07841462e-03 2.53763424e-01] [ 1.87906277e-01 -6.03543334e-02 9.80330855e-01 -2.26911228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302414037 meters Centerline goodness : 0.775729 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.23 [[ 9.31579817e-01 -3.04853465e-01 -1.98049005e-01 3.78185386e+00] [ 3.10876566e-01 9.50450024e-01 -7.15218439e-04 2.54622115e-01] [ 1.88453719e-01 -6.09025117e-02 9.80191859e-01 -2.26972820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332414037 meters Centerline goodness : 0.773493 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.31692881e-01 -3.04404860e-01 -1.98207104e-01 3.78326528e+00] [ 3.10344209e-01 9.50623552e-01 -1.15505286e-03 2.56457281e-01] [ 1.88771945e-01 -6.04362723e-02 9.80159482e-01 -2.28561430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362414037 meters Centerline goodness : 0.776249 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.31808017e-01 -3.04068877e-01 -1.98181577e-01 3.78390043e+00] [ 3.09959598e-01 9.50748751e-01 -1.36373059e-03 2.56762035e-01] [ 1.88835555e-01 -6.01575470e-02 9.80164375e-01 -2.29312143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.392414037 meters Centerline goodness : 0.776279 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-0.23 [[ 9.32340610e-01 -3.01448782e-01 -1.99673782e-01 3.78566845e+00] [ 3.07960680e-01 9.51397680e-01 1.63554690e-03 2.55983399e-01] [ 1.89476139e-01 -6.30165603e-02 9.79861065e-01 -2.29369327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422414036999996 meters Centerline goodness : 0.775246 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-0.23 [[ 9.32629757e-01 -3.00424448e-01 -1.99867174e-01 3.78526688e+00] [ 3.07058383e-01 9.51687879e-01 2.30893194e-03 2.55954982e-01] [ 1.89517507e-01 -6.35242700e-02 9.79820280e-01 -2.28934023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452414037 meters Centerline goodness : 0.776335 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-0.23 [[ 0.93344736 -0.29679489 -0.20146668 3.78607472] [ 0.30414958 0.95260631 0.00585179 0.25648436] [ 0.19018165 -0.06673834 0.97947789 -0.22876034] [ 0. 0. 0. 1. ]] SLAMing on 57.482414037 meters Centerline goodness : 0.777804 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-0.23 [[ 0.93345252 -0.29665043 -0.20165543 3.78638105] [ 0.30396539 0.95266665 0.00559511 0.2577615 ] [ 0.19045061 -0.06651904 0.97944054 -0.22871335] [ 0. 0. 0. 1. ]] SLAMing on 57.512414037 meters Centerline goodness : 0.777983 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-0.23 [[ 0.93342395 -0.29674948 -0.20164194 3.78612577] [ 0.30400483 0.95265584 0.00528292 0.2589542 ] [ 0.19052766 -0.06623133 0.97944506 -0.22858254] [ 0. 0. 0. 1. ]] SLAMing on 57.542414037 meters Centerline goodness : 0.775446 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 0.93333737 -0.29715039 -0.20145225 3.784881 ] [ 0.30427139 0.9525742 0.0046168 0.26093557] [ 0.19052633 -0.06560519 0.97948746 -0.2279762 ] [ 0. 0. 0. 1. ]] SLAMing on 57.572414037 meters Centerline goodness : 0.774733 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 0.93328562 -0.29741609 -0.20129983 3.78434061] [ 0.30447392 0.95251089 0.00431727 0.26171609] [ 0.19045626 -0.0653198 0.97952016 -0.22786976] [ 0. 0. 0. 1. ]] SLAMing on 57.602414036999996 meters Centerline goodness : 0.776866 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 0.93321344 -0.29773714 -0.20115982 3.78406935] [ 0.30473227 0.95242961 0.00400963 0.26218519] [ 0.19039676 -0.06504173 0.97955023 -0.22789873] [ 0. 0. 0. 1. ]] SLAMing on 57.632414037 meters Centerline goodness : 0.774951 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.33130982e-01 -2.98157556e-01 -2.00919489e-01 3.78354989e+00] [ 3.05079155e-01 9.52319924e-01 3.67027780e-03 2.62258271e-01] [ 1.90245312e-01 -6.47211980e-02 9.79600882e-01 -2.27752243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662414037 meters Centerline goodness : 0.776212 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.32881884e-01 -2.99377057e-01 -2.00261747e-01 3.78149485e+00] [ 3.06137200e-01 9.51982875e-01 2.93623872e-03 2.61699468e-01] [ 1.89766711e-01 -6.40467344e-02 9.79738032e-01 -2.26934946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692414037 meters Centerline goodness : 0.777098 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.32736316e-01 -3.00034584e-01 -1.99955528e-01 3.78054168e+00] [ 3.06704972e-01 9.51801328e-01 2.50830884e-03 2.61689219e-01] [ 1.89565358e-01 -6.36669453e-02 9.79801763e-01 -2.26544253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722414037 meters Centerline goodness : 0.775533 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.32681627e-01 -3.00219064e-01 -1.99933727e-01 3.78069764e+00] [ 3.06872086e-01 9.51747725e-01 2.40652387e-03 2.61798549e-01] [ 1.89563986e-01 -6.35986006e-02 9.79806467e-01 -2.26710141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.752414037 meters Centerline goodness : 0.774235 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.32642659e-01 -3.00278430e-01 -2.00026338e-01 3.78124847e+00] [ 3.06935578e-01 9.51727292e-01 2.38986749e-03 2.62181721e-01] [ 1.89652899e-01 -6.36240920e-02 9.79787606e-01 -2.27125024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782414037 meters Centerline goodness : 0.771896 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.23 [[ 9.32605791e-01 -3.00420938e-01 -1.99984244e-01 3.78105469e+00] [ 3.07005131e-01 9.51705732e-01 2.01232810e-03 2.64504781e-01] [ 1.89721606e-01 -6.32728978e-02 9.79797047e-01 -2.27466537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812414036999996 meters Centerline goodness : 0.772055 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 9.32548243e-01 -3.00608804e-01 -1.99970301e-01 3.78063555e+00] [ 3.07112104e-01 9.51672034e-01 1.57954072e-03 2.65890853e-01] [ 1.89831319e-01 -6.28862978e-02 9.79800686e-01 -2.27198154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842414037 meters Centerline goodness : 0.773380 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 9.32478940e-01 -3.00982003e-01 -1.99731974e-01 3.77970564e+00] [ 3.07391797e-01 9.51582361e-01 1.13758665e-03 2.66743820e-01] [ 1.89719030e-01 -6.24567461e-02 9.79849909e-01 -2.26817949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872414037 meters Centerline goodness : 0.774014 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 9.32357538e-01 -3.01657328e-01 -1.99279396e-01 3.77803317e+00] [ 3.07911427e-01 9.51414937e-01 4.12748605e-04 2.67373904e-01] [ 1.89472886e-01 -6.17452325e-02 9.79942627e-01 -2.25984274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902414037 meters Centerline goodness : 0.773951 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 9.32267811e-01 -3.02121067e-01 -1.98996456e-01 3.77701408e+00] [ 3.08260693e-01 9.51301912e-01 -1.34813407e-04 2.68061044e-01] [ 1.89346439e-01 -6.12171033e-02 9.80000200e-01 -2.25457387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932414037 meters Centerline goodness : 0.774299 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 9.32203333e-01 -3.02388390e-01 -1.98892449e-01 3.77651942e+00] [ 3.08455380e-01 9.51238678e-01 -5.04790836e-04 2.68618709e-01] [ 1.89346833e-01 -6.08788784e-02 9.80021193e-01 -2.25134716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962414037 meters Centerline goodness : 0.772758 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 9.32153749e-01 -3.02589929e-01 -1.98818316e-01 3.77631266e+00] [ 3.08593843e-01 9.51193542e-01 -8.28287250e-04 2.69593216e-01] [ 1.89365329e-01 -6.05820170e-02 9.80036015e-01 -2.25139981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992414036999996 meters Centerline goodness : 0.773995 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.23 [[ 9.32112627e-01 -3.02650767e-01 -1.98918488e-01 3.77642667e+00] [ 3.08614661e-01 9.51186541e-01 -1.07437843e-03 2.70419807e-01] [ 1.89533750e-01 -6.03877200e-02 9.80015449e-01 -2.25055078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022414037 meters Centerline goodness : 0.773994 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.22 [[ 9.32077302e-01 -3.02663843e-01 -1.99064065e-01 3.77644312e+00] [ 3.08585169e-01 9.51195769e-01 -1.34295861e-03 2.71335437e-01] [ 1.89755361e-01 -6.01764768e-02 9.79985558e-01 -2.24782769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052414037 meters Centerline goodness : 0.772441 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.22 [[ 9.32077803e-01 -3.02619016e-01 -1.99129860e-01 3.77652419e+00] [ 3.08497444e-01 9.51223858e-01 -1.58091648e-03 2.72102291e-01] [ 1.89895489e-01 -5.99575156e-02 9.79971836e-01 -2.24624863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082414037 meters Centerline goodness : 0.773268 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.22 [[ 9.32148495e-01 -3.02386616e-01 -1.99151995e-01 3.77655079e+00] [ 3.08234039e-01 9.51308997e-01 -1.72337020e-03 2.72894413e-01] [ 1.89976208e-01 -5.97789868e-02 9.79967098e-01 -2.24512401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112414037 meters Centerline goodness : 0.771667 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.22 [[ 9.32163449e-01 -3.02316490e-01 -1.99188466e-01 3.77663764e+00] [ 3.08136017e-01 9.51340471e-01 -1.87149052e-03 2.73567766e-01] [ 1.90061831e-01 -5.96326055e-02 9.79959414e-01 -2.24510428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142414037 meters Centerline goodness : 0.770403 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:-0.22 [[ 9.32148385e-01 -3.02350170e-01 -1.99207838e-01 3.77652947e+00] [ 3.08121133e-01 9.51344745e-01 -2.13158561e-03 2.74376276e-01] [ 1.90159815e-01 -5.93931907e-02 9.79954945e-01 -2.24331915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172414036999996 meters Centerline goodness : 0.770722 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 9.32130619e-01 -3.02334484e-01 -1.99314750e-01 3.77663439e+00] [ 3.08059668e-01 9.51364012e-01 -2.39971416e-03 2.75099785e-01] [ 1.90346396e-01 -5.91639885e-02 9.79932585e-01 -2.24101390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202414037 meters Centerline goodness : 0.770355 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 9.32176497e-01 -3.02191886e-01 -1.99316438e-01 3.77666070e+00] [ 3.07872138e-01 9.51424144e-01 -2.61636911e-03 2.76659545e-01] [ 1.90425117e-01 -5.89250600e-02 9.79931688e-01 -2.24269851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232414037 meters Centerline goodness : 0.771387 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 9.32160785e-01 -3.02256187e-01 -1.99292418e-01 3.77642839e+00] [ 3.07898047e-01 9.51415198e-01 -2.81317675e-03 2.77324732e-01] [ 1.90460135e-01 -5.87394131e-02 9.79936028e-01 -2.24120651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262414037 meters Centerline goodness : 0.771387 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 9.32160785e-01 -3.02256187e-01 -1.99292418e-01 3.77642839e+00] [ 3.07898047e-01 9.51415198e-01 -2.81317675e-03 2.77324732e-01] [ 1.90460135e-01 -5.87394131e-02 9.79936028e-01 -2.24120651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292414037 meters Centerline goodness : 0.771403 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 9.32127859e-01 -3.02383039e-01 -1.99253991e-01 3.77609974e+00] [ 3.07979317e-01 9.51388166e-01 -3.04909065e-03 2.77757113e-01] [ 1.90489883e-01 -5.85239658e-02 9.79943136e-01 -2.23787436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322414037 meters Centerline goodness : 0.771557 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 9.32096560e-01 -3.02512839e-01 -1.99203374e-01 3.77597599e+00] [ 3.08059415e-01 9.51361387e-01 -3.30272293e-03 2.78000227e-01] [ 1.90513514e-01 -5.82880181e-02 9.79952605e-01 -2.23584757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352414036999996 meters Centerline goodness : 0.770556 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 9.32055238e-01 -3.02699915e-01 -1.99112518e-01 3.77581504e+00] [ 3.08193619e-01 9.51316969e-01 -3.56626535e-03 2.78485722e-01] [ 1.90498626e-01 -5.80412514e-02 9.79970146e-01 -2.23554598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382414037 meters Centerline goodness : 0.770070 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 0.93202835 -0.30290383 -0.19892818 3.77549653] [ 0.30834787 0.95126613 -0.00378627 0.27897177] [ 0.19038051 -0.05781016 0.98000676 -0.22361685] [ 0. 0. 0. 1. ]] SLAMing on 58.412414037 meters Centerline goodness : 0.770343 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:-0.22 [[ 0.93195675 -0.30318318 -0.19883805 3.77515381] [ 0.30858001 0.95118985 -0.0040311 0.27946894] [ 0.19035489 -0.05760063 0.98002407 -0.22355569] [ 0. 0. 0. 1. ]] SLAMing on 58.442414037 meters Centerline goodness : 0.768790 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.93185504 -0.30371724 -0.19849942 3.77456646] [ 0.30902881 0.95104239 -0.00442274 0.28030409] [ 0.19012463 -0.05722069 0.98009103 -0.2238094 ] [ 0. 0. 0. 1. ]] SLAMing on 58.472414037 meters Centerline goodness : 0.768458 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.93177632 -0.30405611 -0.19835011 3.77415183] [ 0.30930416 0.95095135 -0.0047405 0.28055252] [ 0.19006269 -0.05693343 0.98011977 -0.22359463] [ 0. 0. 0. 1. ]] SLAMing on 58.502414037 meters Centerline goodness : 0.769353 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.93167117 -0.30455817 -0.19807359 3.7732267 ] [ 0.30971662 0.95081484 -0.00517174 0.28095 ] [ 0.18990641 -0.05652832 0.98017351 -0.2232351 ] [ 0. 0. 0. 1. ]] SLAMing on 58.532414037 meters Centerline goodness : 0.767598 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.9315615 -0.30503013 -0.19786306 3.77244831] [ 0.31010155 0.9506869 -0.00560737 0.28130371] [ 0.18981624 -0.05613403 0.98021363 -0.2227909 ] [ 0. 0. 0. 1. ]] SLAMing on 58.562414036999996 meters Centerline goodness : 0.767922 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.93143295 -0.30560983 -0.19757352 3.77155025] [ 0.31059628 0.95052286 -0.00602066 0.28176081] [ 0.18963812 -0.05575776 0.98026958 -0.2225879 ] [ 0. 0. 0. 1. ]] SLAMing on 58.592414037 meters Centerline goodness : 0.768541 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.93133287 -0.30607002 -0.19733276 3.77096935] [ 0.3110079 0.95038679 -0.00624843 0.28193772] [ 0.18945491 -0.05555268 0.98031665 -0.22258583] [ 0. 0. 0. 1. ]] SLAMing on 58.622414037 meters Centerline goodness : 0.768837 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.9310106 -0.30745935 -0.19669268 3.76917287] [ 0.31227159 0.94996813 -0.00685548 0.28195855] [ 0.18895956 -0.05503901 0.98044122 -0.22243685] [ 0. 0. 0. 1. ]] SLAMing on 58.652414037 meters Centerline goodness : 0.768978 Centerline is valid? [False, False] Translation: X:3.77, Y:0.28, Z:-0.22 [[ 0.93081457 -0.3083325 -0.19625317 3.76788876] [ 0.31306166 0.94970514 -0.00724884 0.28151089] [ 0.18861769 -0.05469202 0.98052646 -0.222071 ] [ 0. 0. 0. 1. ]] SLAMing on 58.682414037 meters Centerline goodness : 0.768885 Centerline is valid? [False, False] Translation: X:3.74, Y:0.27, Z:-0.23 [[ 0.93120491 -0.30960858 -0.19235371 3.74194918] [ 0.31383594 0.94943571 -0.0088788 0.2746685 ] [ 0.18537644 -0.05209953 0.98128549 -0.22800635] [ 0. 0. 0. 1. ]] SLAMing on 58.712414037 meters Centerline goodness : 0.765929 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:-0.23 [[ 0.93169891 -0.3092012 -0.19060891 3.72175378] [ 0.31264133 0.94978862 -0.01252926 0.26855177] [ 0.18491224 -0.04791872 0.98158609 -0.23079966] [ 0. 0. 0. 1. ]] SLAMing on 58.742414036999996 meters Centerline goodness : 0.767276 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:-0.23 [[ 0.93052862 -0.31328495 -0.18965503 3.72313312] [ 0.31603843 0.94860548 -0.01635086 0.27036143] [ 0.18503028 -0.04472333 0.98171463 -0.23165081] [ 0. 0. 0. 1. ]] SLAMing on 58.772414037 meters Centerline goodness : 0.766963 Centerline is valid? [False, False] Translation: X:3.70, Y:0.26, Z:-0.24 [[ 0.93099959 -0.31349799 -0.18697268 3.6960898 ] [ 0.31627889 0.94853863 -0.01556075 0.26376943] [ 0.18222907 -0.04464846 0.98224186 -0.23921486] [ 0. 0. 0. 1. ]] SLAMing on 58.802414037 meters Centerline goodness : 0.767415 Centerline is valid? [False, False] Translation: X:3.69, Y:0.27, Z:-0.24 [[ 0.93077164 -0.31449727 -0.18642861 3.69396675] [ 0.31709282 0.94825049 -0.0165274 0.26623578] [ 0.18197884 -0.04373194 0.98232949 -0.23864643] [ 0. 0. 0. 1. ]] SLAMing on 58.832414037 meters Centerline goodness : 0.768635 Centerline is valid? [False, False] Translation: X:3.69, Y:0.26, Z:-0.24 [[ 0.93219286 -0.31311847 -0.1815855 3.68746951] [ 0.31553787 0.94877514 -0.01617346 0.26452337] [ 0.17734802 -0.04222031 0.98324215 -0.24155902] [ 0. 0. 0. 1. ]] SLAMing on 58.862414037 meters Centerline goodness : 0.769535 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-0.24 [[ 0.93334354 -0.31107935 -0.17916323 3.66559317] [ 0.31299089 0.94958106 -0.01823498 0.25931227] [ 0.17580254 -0.03905696 0.98365036 -0.24416595] [ 0. 0. 0. 1. ]] SLAMing on 58.892414037 meters Centerline goodness : 0.768805 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.24 [[ 0.93322559 -0.31160121 -0.1788706 3.66463659] [ 0.31340818 0.94943229 -0.01880532 0.26013524] [ 0.17568528 -0.0385099 0.98369287 -0.24376191] [ 0. 0. 0. 1. ]] SLAMing on 58.922414036999996 meters Centerline goodness : 0.767301 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.24 [[ 0.93308688 -0.31223803 -0.17848331 3.66375977] [ 0.31394157 0.94924488 -0.01936088 0.2613113 ] [ 0.17546957 -0.03796795 0.98375244 -0.2439087 ] [ 0. 0. 0. 1. ]] SLAMing on 58.952414037 meters Centerline goodness : 0.769407 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.24 [[ 0.93365878 -0.31051337 -0.17850131 3.64763432] [ 0.31110695 0.95003585 -0.02538413 0.25801735] [ 0.17746476 -0.03183289 0.98361218 -0.24484696] [ 0. 0. 0. 1. ]] SLAMing on 58.982414037 meters Centerline goodness : 0.768816 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.25 [[ 0.93359147 -0.31073491 -0.17846789 3.64780837] [ 0.3113044 0.94996718 -0.02553308 0.25835022] [ 0.17747265 -0.03172037 0.98361439 -0.24514293] [ 0. 0. 0. 1. ]] SLAMing on 59.012414037 meters Centerline goodness : 0.766260 Centerline is valid? [False, False] Translation: X:3.64, Y:0.26, Z:-0.25 [[ 0.93584618 -0.30788393 -0.17146256 3.63971988] [ 0.3080986 0.95099811 -0.02603561 0.25515711] [ 0.17107652 -0.02846205 0.98484656 -0.25034507] [ 0. 0. 0. 1. ]] SLAMing on 59.042414037 meters Centerline goodness : 0.767347 Centerline is valid? [False, False] Translation: X:3.61, Y:0.25, Z:-0.26 [[ 0.93711791 -0.30584561 -0.16813237 3.61215387] [ 0.30643214 0.95161224 -0.02309717 0.24834247] [ 0.16706099 -0.02987639 0.9854938 -0.25766821] [ 0. 0. 0. 1. ]] SLAMing on 59.072414037 meters Centerline goodness : 0.767867 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-0.26 [[ 0.93856409 -0.30231041 -0.16645081 3.59476048] [ 0.30220982 0.95287155 -0.02655264 0.24426022] [ 0.16663339 -0.02538171 0.98569218 -0.25880327] [ 0. 0. 0. 1. ]] SLAMing on 59.102414036999996 meters Centerline goodness : 0.766931 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-0.26 [[ 0.93854473 -0.30234269 -0.16650131 3.59472767] [ 0.30221629 0.95286493 -0.02671592 0.24476858] [ 0.16673063 -0.02524532 0.98567924 -0.25862408] [ 0. 0. 0. 1. ]] SLAMing on 59.132414037 meters Centerline goodness : 0.768872 Centerline is valid? [False, False] Translation: X:3.58, Y:0.24, Z:-0.26 [[ 0.93972803 -0.29934598 -0.16523683 3.57675834] [ 0.29856031 0.95391387 -0.03016752 0.24088652] [ 0.16665223 -0.02098389 0.98579243 -0.26015404] [ 0. 0. 0. 1. ]] SLAMing on 59.162414037 meters Centerline goodness : 0.769295 Centerline is valid? [False, False] Translation: X:3.58, Y:0.24, Z:-0.26 [[ 0.93965794 -0.29956351 -0.1652412 3.57670185] [ 0.29873051 0.95385105 -0.03046743 0.24170108] [ 0.16674242 -0.02073363 0.98578247 -0.26010527] [ 0. 0. 0. 1. ]] SLAMing on 59.192414037 meters Centerline goodness : 0.768197 Centerline is valid? [False, False] Translation: X:3.58, Y:0.24, Z:-0.26 [[ 0.93965031 -0.29959056 -0.16523559 3.57700981] [ 0.29874808 0.9538437 -0.03052518 0.242215 ] [ 0.16675398 -0.02068082 0.98578163 -0.26048174] [ 0. 0. 0. 1. ]] SLAMing on 59.222414037 meters Centerline goodness : 0.767925 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.27 [[ 0.94191403 -0.2965066 -0.15773967 3.56854419] [ 0.29522087 0.95489065 -0.03206994 0.23904379] [ 0.16013309 -0.01636092 0.98695983 -0.26579489] [ 0. 0. 0. 1. ]] SLAMing on 59.252414037 meters Centerline goodness : 0.768310 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.27 [[ 0.94186513 -0.29672512 -0.15762068 3.56849626] [ 0.29538673 0.95482819 -0.0324009 0.23945409] [ 0.16011483 -0.01604178 0.98696803 -0.26584786] [ 0. 0. 0. 1. ]] SLAMing on 59.282414037 meters Centerline goodness : 0.769097 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.27 [[ 0.94183804 -0.29680424 -0.1576336 3.56831285] [ 0.29540834 0.95480913 -0.03276323 0.2402897 ] [ 0.16023427 -0.01570862 0.98695401 -0.26546597] [ 0. 0. 0. 1. ]] SLAMing on 59.312414036999996 meters Centerline goodness : 0.769263 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.27 [[ 0.94184849 -0.29671415 -0.15774071 3.56828484] [ 0.29525476 0.95484305 -0.03315686 0.24173611] [ 0.16045573 -0.01534496 0.98692375 -0.26507674] [ 0. 0. 0. 1. ]] SLAMing on 59.342414037 meters Centerline goodness : 0.769507 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.26 [[ 0.94281414 -0.29334334 -0.15827564 3.56650505] [ 0.29240502 0.95583271 -0.02971758 0.2410691 ] [ 0.16000249 -0.01826244 0.98694766 -0.26480944] [ 0. 0. 0. 1. ]] SLAMing on 59.372414037 meters Centerline goodness : 0.770371 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.27 [[ 0.94467983 -0.28807993 -0.1568119 3.55006363] [ 0.28658863 0.95750104 -0.03253795 0.23769126] [ 0.15952108 -0.01420256 0.98709235 -0.26579309] [ 0. 0. 0. 1. ]] SLAMing on 59.402414037 meters Centerline goodness : 0.771775 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.27 [[ 0.94575389 -0.28406085 -0.15766742 3.54874302] [ 0.28307587 0.95865442 -0.0291505 0.23910951] [ 0.15942908 -0.01706264 0.98706192 -0.26534059] [ 0. 0. 0. 1. ]] SLAMing on 59.432414037 meters Centerline goodness : 0.771785 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.27 [[ 0.94582895 -0.28364666 -0.15796254 3.54929077] [ 0.28263344 0.95877972 -0.02932202 0.24020555] [ 0.15976837 -0.01691188 0.98700965 -0.26504727] [ 0. 0. 0. 1. ]] SLAMing on 59.462414037 meters Centerline goodness : 0.770483 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.27 [[ 0.94590919 -0.28320969 -0.15826583 3.55014564] [ 0.28219059 0.95890919 -0.02935378 0.2410395 ] [ 0.16007583 -0.01689512 0.98696012 -0.26512958] [ 0. 0. 0. 1. ]] SLAMing on 59.492414036999996 meters Centerline goodness : 0.773075 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.27 [[ 0.94642444 -0.281285 -0.15861757 3.5521816 ] [ 0.28041745 0.95946102 -0.02829491 0.24236086] [ 0.16014631 -0.01770014 0.98693458 -0.26661546] [ 0. 0. 0. 1. ]] SLAMing on 59.522414037 meters Centerline goodness : 0.772491 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.27 [[ 0.94648444 -0.28095727 -0.15884023 3.55283528] [ 0.28004639 0.95956158 -0.02855861 0.24434935] [ 0.16044073 -0.01745236 0.98689117 -0.26682141] [ 0. 0. 0. 1. ]] SLAMing on 59.552414037 meters Centerline goodness : 0.773037 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-0.27 [[ 0.94653488 -0.28072751 -0.15894586 3.55302613] [ 0.27977243 0.95963361 -0.02882229 0.24598828] [ 0.160621 -0.01718736 0.9868665 -0.26676204] [ 0. 0. 0. 1. ]] SLAMing on 59.582414037 meters Centerline goodness : 0.772152 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-0.27 [[ 0.94654859 -0.28075553 -0.15881464 3.5526937 ] [ 0.27974961 0.95963118 -0.02912302 0.24682163] [ 0.16057993 -0.01686198 0.9868788 -0.26659004] [ 0. 0. 0. 1. ]] SLAMing on 59.612414037 meters Centerline goodness : 0.771704 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-0.27 [[ 0.94652872 -0.28086502 -0.15873947 3.55256613] [ 0.27984737 0.95960045 -0.02919643 0.24656524] [ 0.16052672 -0.01678757 0.98688872 -0.26647668] [ 0. 0. 0. 1. ]] SLAMing on 59.642414037 meters Centerline goodness : 0.771002 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-0.27 [[ 0.94648299 -0.28110091 -0.15859454 3.55190384] [ 0.28004634 0.95953532 -0.02942825 0.24689906] [ 0.16044937 -0.01656048 0.98690514 -0.26607244] [ 0. 0. 0. 1. ]] SLAMing on 59.672414036999996 meters Centerline goodness : 0.773827 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-0.27 [[ 0.94645523 -0.28116298 -0.15865021 3.55168378] [ 0.28008007 0.95951977 -0.02961351 0.24751982] [ 0.16055423 -0.0164069 0.98689065 -0.26571691] [ 0. 0. 0. 1. ]] SLAMing on 59.702414037 meters Centerline goodness : 0.774672 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-0.27 [[ 0.94641307 -0.28126503 -0.15872079 3.55142764] [ 0.28014819 0.95949293 -0.02983794 0.2481078 ] [ 0.16068384 -0.01622632 0.98687254 -0.26525868] [ 0. 0. 0. 1. ]] SLAMing on 59.732414037 meters Centerline goodness : 0.774013 Centerline is valid? [False, False] Translation: X:3.52, Y:0.24, Z:-0.27 [[ 0.94746008 -0.27946594 -0.15562192 3.52371127] [ 0.2787542 0.95998762 -0.02683023 0.24043271] [ 0.15689325 -0.01795969 0.98745226 -0.27262357] [ 0. 0. 0. 1. ]] SLAMing on 59.762414037 meters Centerline goodness : 0.773237 Centerline is valid? [False, False] Translation: X:3.52, Y:0.24, Z:-0.27 [[ 0.94746635 -0.27935722 -0.1557789 3.52424373] [ 0.27865694 0.96001762 -0.02676733 0.24006916] [ 0.15702813 -0.01804773 0.98742921 -0.27262818] [ 0. 0. 0. 1. ]] SLAMing on 59.792414037 meters Centerline goodness : 0.773237 Centerline is valid? [False, False] Translation: X:3.52, Y:0.24, Z:-0.27 [[ 0.94746635 -0.27935722 -0.1557789 3.52424373] [ 0.27865694 0.96001762 -0.02676733 0.24006916] [ 0.15702813 -0.01804773 0.98742921 -0.27262818] [ 0. 0. 0. 1. ]] SLAMing on 59.822414037 meters Centerline goodness : 0.772663 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:-0.27 [[ 0.94751944 -0.27902818 -0.15604544 3.52535265] [ 0.2783691 0.9601082 -0.02651215 0.23939795] [ 0.15721814 -0.01831745 0.98739401 -0.27299933] [ 0. 0. 0. 1. ]] SLAMing on 59.852414036999996 meters Centerline goodness : 0.770919 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:-0.27 [[ 0.94766715 -0.27830975 -0.15643101 3.52687618] [ 0.27770522 0.9603102 -0.0261558 0.23911824] [ 0.15750171 -0.01865472 0.9873425 -0.27346067] [ 0. 0. 0. 1. ]] SLAMing on 59.882414037 meters Centerline goodness : 0.772112 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:-0.27 [[ 0.94771366 -0.2780081 -0.15668539 3.52728741] [ 0.27738243 0.96039973 -0.02629337 0.24015911] [ 0.15779038 -0.01854319 0.98729851 -0.2731825 ] [ 0. 0. 0. 1. ]] SLAMing on 59.912414037 meters Centerline goodness : 0.772199 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:-0.27 [[ 0.94857429 -0.2747138 -0.15728684 3.52561918] [ 0.27460454 0.96128548 -0.02285999 0.23911055] [ 0.15747751 -0.02150728 0.98728834 -0.27265469] [ 0. 0. 0. 1. ]] SLAMing on 59.942414037 meters Centerline goodness : 0.773999 Centerline is valid? [False, False] Translation: X:3.52, Y:0.24, Z:-0.27 [[ 0.94954567 -0.27097273 -0.15791391 3.52402011] [ 0.27140224 0.96227334 -0.01925746 0.23846372] [ 0.15717459 -0.02457235 0.98726509 -0.27215836] [ 0. 0. 0. 1. ]] SLAMing on 59.972414037 meters Centerline goodness : 0.773524 Centerline is valid? [False, False] Translation: X:3.52, Y:0.24, Z:-0.27 [[ 0.9496239 -0.27054452 -0.15817749 3.52493768] [ 0.27098694 0.96239188 -0.0191821 0.23835365] [ 0.15741834 -0.02464825 0.98722436 -0.27214986] [ 0. 0. 0. 1. ]] SLAMing on 60.002414037 meters Centerline goodness : 0.773226 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:-0.27 [[ 0.9496912 -0.27015893 -0.15843225 3.52591323] [ 0.27063443 0.96249502 -0.01898276 0.23773328] [ 0.15761861 -0.02484946 0.98718736 -0.27230485] [ 0. 0. 0. 1. ]] SLAMing on 60.032414037 meters Centerline goodness : 0.772273 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:-0.27 [[ 0.94976116 -0.26983392 -0.15856669 3.52664812] [ 0.27034322 0.96258112 -0.01876527 0.23730501] [ 0.15769681 -0.0250449 0.98716993 -0.27259614] [ 0. 0. 0. 1. ]] SLAMing on 60.062414036999996 meters Centerline goodness : 0.773432 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95229625 -0.26470933 -0.15185791 3.51709055] [ 0.26520276 0.96403619 -0.01737007 0.23346506] [ 0.15099454 -0.02373168 0.98824969 -0.27662868] [ 0. 0. 0. 1. ]] SLAMing on 60.092414037 meters Centerline goodness : 0.773684 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:-0.28 [[ 0.9531063 -0.2615666 -0.15222119 3.51462629] [ 0.26254431 0.96481832 -0.01400342 0.23215759] [ 0.15052862 -0.02661806 0.98824724 -0.27560428] [ 0. 0. 0. 1. ]] SLAMing on 60.122414037 meters Centerline goodness : 0.774475 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:-0.28 [[ 0.95316874 -0.26119811 -0.15246276 3.51489767] [ 0.26216167 0.96492082 -0.01410956 0.23317497] [ 0.15079988 -0.0265211 0.98820849 -0.27522671] [ 0. 0. 0. 1. ]] SLAMing on 60.152414037 meters Centerline goodness : 0.772514 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95348315 -0.25959089 -0.15323986 3.51791678] [ 0.26069513 0.96533094 -0.01319959 0.23216726] [ 0.15135367 -0.02736329 0.98810086 -0.27611375] [ 0. 0. 0. 1. ]] SLAMing on 60.182414037 meters Centerline goodness : 0.771480 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95362077 -0.25882539 -0.1536777 3.51985186] [ 0.26002756 0.96551925 -0.01257966 0.23080884] [ 0.15163472 -0.02796421 0.98804095 -0.27684944] [ 0. 0. 0. 1. ]] SLAMing on 60.212414037 meters Centerline goodness : 0.771480 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95362077 -0.25882539 -0.1536777 3.51985186] [ 0.26002756 0.96551925 -0.01257966 0.23080884] [ 0.15163472 -0.02796421 0.98804095 -0.27684944] [ 0. 0. 0. 1. ]] SLAMing on 60.242414036999996 meters Centerline goodness : 0.768132 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95373289 -0.25826816 -0.15391924 3.52104019] [ 0.25953688 0.96565681 -0.01214633 0.22998828] [ 0.15177018 -0.02836337 0.98800877 -0.27731513] [ 0. 0. 0. 1. ]] SLAMing on 60.272414037 meters Centerline goodness : 0.769942 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.9537695 -0.25800116 -0.15414002 3.52139357] [ 0.25927438 0.96572744 -0.01213706 0.23016686] [ 0.15198862 -0.0283886 0.98797447 -0.27701 ] [ 0. 0. 0. 1. ]] SLAMing on 60.302414037 meters Centerline goodness : 0.773016 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95459962 -0.25452256 -0.15478317 3.51964441] [ 0.25633695 0.96655045 -0.00846178 0.22865827] [ 0.15175946 -0.03159903 0.98791223 -0.27618324] [ 0. 0. 0. 1. ]] SLAMing on 60.332414037 meters Centerline goodness : 0.771547 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95464224 -0.25426129 -0.15494964 3.52006059] [ 0.25611265 0.96661186 -0.00823511 0.22801332] [ 0.15187003 -0.03182298 0.98788805 -0.27609598] [ 0. 0. 0. 1. ]] SLAMing on 60.362414037 meters Centerline goodness : 0.769842 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:-0.28 [[ 0.95469021 -0.25396389 -0.15514169 3.52099925] [ 0.25587078 0.96667879 -0.00789071 0.22647944] [ 0.15197614 -0.03216304 0.98786071 -0.27628424] [ 0. 0. 0. 1. ]] SLAMing on 60.392414037 meters Centerline goodness : 0.772127 Centerline is valid? [False, False] Translation: X:3.52, Y:0.22, Z:-0.28 [[ 0.95477629 -0.25341506 -0.15550899 3.52269671] [ 0.25541025 0.96680482 -0.00735167 0.22478942] [ 0.15220986 -0.03269939 0.98780712 -0.27686231] [ 0. 0. 0. 1. ]] SLAMing on 60.422414036999996 meters Centerline goodness : 0.771571 Centerline is valid? [False, False] Translation: X:3.52, Y:0.22, Z:-0.28 [[ 0.95482695 -0.25308151 -0.15574092 3.52384778] [ 0.25513479 0.96688017 -0.00699828 0.22352684] [ 0.15235395 -0.03305278 0.98777315 -0.27727064] [ 0. 0. 0. 1. ]] SLAMing on 60.452414037 meters Centerline goodness : 0.767839 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.28 [[ 0.95496999 -0.25229467 -0.15614004 3.52513925] [ 0.25442417 0.96707069 -0.00652836 0.2228018 ] [ 0.15264553 -0.03349141 0.98771335 -0.2773989 ] [ 0. 0. 0. 1. ]] SLAMing on 60.482414037 meters Centerline goodness : 0.770248 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.28 [[ 0.95504487 -0.25184658 -0.15640521 3.52563487] [ 0.25399438 0.96718431 -0.00643221 0.22305026] [ 0.15289259 -0.03358299 0.98767203 -0.27714259] [ 0. 0. 0. 1. ]] SLAMing on 60.512414037 meters Centerline goodness : 0.766633 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.28 [[ 0.95511178 -0.25147086 -0.1566011 3.52600867] [ 0.25364281 0.96727751 -0.006289 0.22315412] [ 0.15305822 -0.03371404 0.98764191 -0.27696687] [ 0. 0. 0. 1. ]] SLAMing on 60.542414037 meters Centerline goodness : 0.767587 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.28 [[ 0.95513688 -0.25119945 -0.15688334 3.52646496] [ 0.25337389 0.96734782 -0.00631355 0.22324496] [ 0.15334672 -0.03371983 0.98759696 -0.27656206] [ 0. 0. 0. 1. ]] SLAMing on 60.572414037 meters Centerline goodness : 0.768126 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.28 [[ 0.95528068 -0.25043786 -0.15722503 3.52710148] [ 0.25266142 0.96753608 -0.00601106 0.22192415] [ 0.15362629 -0.03398245 0.98754451 -0.27574608] [ 0. 0. 0. 1. ]] SLAMing on 60.602414036999996 meters Centerline goodness : 0.766666 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.28 [[ 0.95531058 -0.25026264 -0.15732229 3.52723186] [ 0.25249572 0.96757967 -0.00595725 0.22100137] [ 0.15371273 -0.03403218 0.98752935 -0.27525342] [ 0. 0. 0. 1. ]] SLAMing on 60.632414037 meters Centerline goodness : 0.767658 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.27 [[ 0.95531983 -0.25011033 -0.15750826 3.52762635] [ 0.25235398 0.96761689 -0.00591854 0.22013743] [ 0.15388794 -0.03409373 0.98749993 -0.27486536] [ 0. 0. 0. 1. ]] SLAMing on 60.662414037 meters Centerline goodness : 0.767391 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.27 [[ 0.95534368 -0.24991094 -0.15767996 3.52817659] [ 0.25219058 0.96766074 -0.00570979 0.21904469] [ 0.15400764 -0.03431059 0.98747376 -0.27473637] [ 0. 0. 0. 1. ]] SLAMing on 60.692414037 meters Centerline goodness : 0.766242 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.27 [[ 0.95535657 -0.24974747 -0.1578608 3.52894377] [ 0.25211991 0.96768234 -0.00514252 0.21647274] [ 0.15404344 -0.03488691 0.98744798 -0.27479222] [ 0. 0. 0. 1. ]] SLAMing on 60.722414037 meters Centerline goodness : 0.767961 Centerline is valid? [False, False] Translation: X:3.53, Y:0.22, Z:-0.27 [[ 0.95537327 -0.24955463 -0.15806457 3.52971884] [ 0.251976 0.96772128 -0.00485997 0.21519604] [ 0.15417528 -0.03518539 0.98741682 -0.27482944] [ 0. 0. 0. 1. ]] SLAMing on 60.752414037 meters Centerline goodness : 0.765810 Centerline is valid? [False, False] Translation: X:3.53, Y:0.21, Z:-0.27 [[ 0.95540545 -0.24934698 -0.15819771 3.53023391] [ 0.25181717 0.96776408 -0.0045611 0.21407444] [ 0.15423535 -0.0354792 0.98739692 -0.27485863] [ 0. 0. 0. 1. ]] SLAMing on 60.782414037 meters Centerline goodness : 0.766914 Centerline is valid? [False, False] Translation: X:3.53, Y:0.21, Z:-0.27 [[ 0.9554621 -0.2488932 -0.15856969 3.53137966] [ 0.25142704 0.96786713 -0.00420345 0.21319523] [ 0.1545206 -0.03585247 0.98733884 -0.27498699] [ 0. 0. 0. 1. ]] SLAMing on 60.812414036999996 meters Centerline goodness : 0.765692 Centerline is valid? [False, False] Translation: X:3.53, Y:0.21, Z:-0.28 [[ 9.55666082e-01 -2.47680997e-01 -1.59237132e-01 3.53372808e+00] [ 2.50377116e-01 9.68143012e-01 -3.22606108e-03 2.12117011e-01] [ 1.54963351e-01 -3.67862968e-02 9.87235093e-01 -2.75840669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842414037 meters Centerline goodness : 0.764845 Centerline is valid? [False, False] Translation: X:3.53, Y:0.21, Z:-0.28 [[ 9.55738064e-01 -2.47203118e-01 -1.59547395e-01 3.53465395e+00] [ 2.49939629e-01 9.68256763e-01 -3.00395965e-03 2.11619598e-01] [ 1.55225432e-01 -3.70062180e-02 9.87185699e-01 -2.75789321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872414037 meters Centerline goodness : 0.767508 Centerline is valid? [False, False] Translation: X:3.54, Y:0.21, Z:-0.28 [[ 9.55800344e-01 -2.46836468e-01 -1.59741855e-01 3.53511373e+00] [ 2.49605496e-01 9.68343523e-01 -2.81376637e-03 2.10551300e-01] [ 1.55379531e-01 -3.71830461e-02 9.87154812e-01 -2.75405669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902414037 meters Centerline goodness : 0.765535 Centerline is valid? [False, False] Translation: X:3.54, Y:0.21, Z:-0.27 [[ 9.55969368e-01 -2.46022314e-01 -1.59986211e-01 3.53582414e+00] [ 2.48865942e-01 9.68535134e-01 -2.33168070e-03 2.07676719e-01] [ 1.55525912e-01 -3.75861039e-02 9.87116495e-01 -2.74428579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932414037 meters Centerline goodness : 0.765884 Centerline is valid? [False, False] Translation: X:3.54, Y:0.21, Z:-0.27 [[ 9.56016623e-01 -2.45701886e-01 -1.60196129e-01 3.53614487e+00] [ 2.48552259e-01 9.68615725e-01 -2.31353515e-03 2.07209167e-01] [ 1.55736929e-01 -3.76053315e-02 9.87082493e-01 -2.73844433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962414037 meters Centerline goodness : 0.766793 Centerline is valid? [False, False] Translation: X:3.54, Y:0.21, Z:-0.27 [[ 9.56090570e-01 -2.45224666e-01 -1.60485780e-01 3.53653305e+00] [ 2.48093307e-01 9.68733577e-01 -2.22883504e-03 2.07071396e-01] [ 1.56014530e-01 -3.76844799e-02 9.87035636e-01 -2.73249553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992414036999996 meters Centerline goodness : 0.825157 Centerline is valid? [False, False] Translation: X:3.54, Y:0.21, Z:-0.27 [[ 9.56148679e-01 -2.44828452e-01 -1.60744306e-01 3.53689740e+00] [ 2.47706738e-01 9.68832566e-01 -2.19794556e-03 2.07086503e-01] [ 1.56272438e-01 -3.77158850e-02 9.86993636e-01 -2.72729746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022414037 meters Centerline goodness : 0.767318 Centerline is valid? [False, False] Translation: X:3.54, Y:0.21, Z:-0.27 [[ 9.56223464e-01 -2.44233244e-01 -1.61204249e-01 3.53763674e+00] [ 2.47178623e-01 9.68968189e-01 -1.83769849e-03 2.05201875e-01] [ 1.56650617e-01 -3.80889940e-02 9.86919355e-01 -2.71754933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052414037 meters Centerline goodness : 0.825074 Centerline is valid? [False, False] Translation: X:3.54, Y:0.20, Z:-0.27 [[ 9.56206175e-01 -2.44276166e-01 -1.61241763e-01 3.53765223e+00] [ 2.47233825e-01 9.68954226e-01 -1.77319664e-03 2.03751920e-01] [ 1.56669037e-01 -3.81688762e-02 9.86913345e-01 -2.71262377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082414037 meters Centerline goodness : 0.824603 Centerline is valid? [False, False] Translation: X:3.54, Y:0.20, Z:-0.27 [[ 9.56192504e-01 -2.44222305e-01 -1.61404341e-01 3.53812858e+00] [ 2.47234846e-01 9.68954483e-01 -1.46335395e-03 2.01610263e-01] [ 1.56750844e-01 -3.85055294e-02 9.86887277e-01 -2.70998287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112414037 meters Centerline goodness : 0.823712 Centerline is valid? [False, False] Translation: X:3.54, Y:0.20, Z:-0.27 [[ 9.56163693e-01 -2.44277261e-01 -1.61491830e-01 3.53864950e+00] [ 2.47351738e-01 9.68925130e-01 -1.09990232e-03 1.98819428e-01] [ 1.56742174e-01 -3.88935982e-02 9.86873436e-01 -2.70842027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142414037 meters Centerline goodness : 0.822704 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.27 [[ 0.95524168 -0.24814483 -0.16105115 3.54056246] [ 0.25080041 0.96803074 -0.00395413 0.19453875] [ 0.15688366 -0.03661454 0.98693814 -0.27084338] [ 0. 0. 0. 1. ]] SLAMing on 61.172414036999996 meters Centerline goodness : 0.763227 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.27 [[ 0.95509894 -0.24872064 -0.16100948 3.54057313] [ 0.25143131 0.96786828 -0.00364594 0.19128207] [ 0.15674279 -0.03700059 0.98694613 -0.27061557] [ 0. 0. 0. 1. ]] SLAMing on 61.202414037 meters Centerline goodness : 0.762567 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.27 [[ 0.95366699 -0.25413571 -0.16104133 3.54132597] [ 0.25667103 0.96648477 -0.00521357 0.18772356] [ 0.15696895 -0.03636264 0.98693389 -0.26821024] [ 0. 0. 0. 1. ]] SLAMing on 61.232414037 meters Centerline goodness : 0.763804 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.27 [[ 0.95287873 -0.25729144 -0.16069613 3.54202933] [ 0.25955826 0.96570143 -0.0070889 0.18591653] [ 0.1570084 -0.03495514 0.98697847 -0.26748899] [ 0. 0. 0. 1. ]] SLAMing on 61.262414037 meters Centerline goodness : 0.764332 Centerline is valid? [False, False] Translation: X:3.54, Y:0.18, Z:-0.27 [[ 0.95207473 -0.26044995 -0.16037309 3.54329054] [ 0.26238078 0.96491867 -0.00939629 0.1846425 ] [ 0.15719426 -0.03313285 0.98701174 -0.26735275] [ 0. 0. 0. 1. ]] SLAMing on 61.292414037 meters Centerline goodness : 0.762885 Centerline is valid? [False, False] Translation: X:3.55, Y:0.18, Z:-0.27 [[ 0.9516805 -0.26135113 -0.1612446 3.54631973] [ 0.26345601 0.96463333 -0.00857123 0.18229976] [ 0.15778201 -0.03432378 0.98687725 -0.26773634] [ 0. 0. 0. 1. ]] SLAMing on 61.322414037 meters Centerline goodness : 0.764259 Centerline is valid? [False, False] Translation: X:3.55, Y:0.18, Z:-0.27 [[ 0.95069633 -0.26547534 -0.16031009 3.54725723] [ 0.26720528 0.96357605 -0.01106977 0.1787861 ] [ 0.15740972 -0.03231171 0.98700463 -0.26765112] [ 0. 0. 0. 1. ]] SLAMing on 61.352414036999996 meters Centerline goodness : 0.764828 Centerline is valid? [False, False] Translation: X:3.55, Y:0.18, Z:-0.27 [[ 0.9504085 -0.26691586 -0.15962333 3.54756593] [ 0.26843906 0.9632175 -0.01234945 0.17625389] [ 0.15704825 -0.03111212 0.98710075 -0.26777261] [ 0. 0. 0. 1. ]] SLAMing on 61.382414037 meters Centerline goodness : 0.764749 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.27 [[ 0.95012293 -0.26730678 -0.16066583 3.55031704] [ 0.26905517 0.96305982 -0.01118431 0.17431594] [ 0.15772045 -0.0326015 0.98694549 -0.2678726 ] [ 0. 0. 0. 1. ]] SLAMing on 61.412414037 meters Centerline goodness : 0.765406 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.27 [[ 0.949933 -0.26783834 -0.16090342 3.55127918] [ 0.26970328 0.96288568 -0.01055079 0.17249095] [ 0.1577575 -0.03337364 0.98691376 -0.26768312] [ 0. 0. 0. 1. ]] SLAMing on 61.442414037 meters Centerline goodness : 0.769247 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.27 [[ 0.94976875 -0.26800434 -0.16159514 3.5514716 ] [ 0.27016152 0.96277397 -0.0088903 0.16954992] [ 0.15796223 -0.03521306 0.98681709 -0.2657031 ] [ 0. 0. 0. 1. ]] SLAMing on 61.472414037 meters Centerline goodness : 0.769306 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.27 [[ 0.9497969 -0.26764398 -0.16202637 3.55216345] [ 0.26997516 0.96283511 -0.00787188 0.16825091] [ 0.15811154 -0.0362664 0.98675503 -0.26533091] [ 0. 0. 0. 1. ]] SLAMing on 61.502414037 meters Centerline goodness : 0.767378 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.27 [[ 0.94983467 -0.26729311 -0.1623838 3.55341698] [ 0.26974034 0.96290616 -0.00720176 0.1668884 ] [ 0.15828535 -0.03696098 0.98670139 -0.26557988] [ 0. 0. 0. 1. ]] SLAMing on 61.532414037 meters Centerline goodness : 0.768788 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.94992031 -0.26718455 -0.16206118 3.55562534] [ 0.26961562 0.96294098 -0.00721704 0.16387284] [ 0.15798363 -0.03683861 0.98675432 -0.26761603] [ 0. 0. 0. 1. ]] SLAMing on 61.562414036999996 meters Centerline goodness : 0.768946 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.94990081 -0.26732651 -0.16194135 3.55687371] [ 0.2697418 0.96290502 -0.00729942 0.16245404] [ 0.15788546 -0.03674862 0.98677339 -0.26862735] [ 0. 0. 0. 1. ]] SLAMing on 61.592414037 meters Centerline goodness : 0.769318 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.9499345 -0.26705421 -0.16219276 3.55834785] [ 0.26952726 0.9629675 -0.00697493 0.16150295] [ 0.15804904 -0.03708965 0.98673444 -0.26937415] [ 0. 0. 0. 1. ]] SLAMing on 61.622414037 meters Centerline goodness : 0.770399 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.95000453 -0.26648102 -0.16272447 3.55931912] [ 0.26910628 0.96309114 -0.00610434 0.16090091] [ 0.15834518 -0.03799103 0.98665267 -0.2693431 ] [ 0. 0. 0. 1. ]] SLAMing on 61.652414037 meters Centerline goodness : 0.771643 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.95009707 -0.26612636 -0.16276458 3.55899492] [ 0.26884627 0.96316743 -0.00549375 0.15978766] [ 0.15823158 -0.03853905 0.98664964 -0.26863978] [ 0. 0. 0. 1. ]] SLAMing on 61.682414037 meters Centerline goodness : 0.771558 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.95010707 -0.26588873 -0.16309427 3.56056476] [ 0.2686786 0.96321628 -0.00511921 0.15956253] [ 0.1584562 -0.03895614 0.98659721 -0.26951396] [ 0. 0. 0. 1. ]] SLAMing on 61.712414037 meters Centerline goodness : 0.771424 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.95007579 -0.2657933 -0.16343172 3.56237372] [ 0.26861497 0.96323467 -0.0049974 0.15926109] [ 0.15875137 -0.03915229 0.98654199 -0.27049631] [ 0. 0. 0. 1. ]] SLAMing on 61.742414036999996 meters Centerline goodness : 0.771142 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.95036271 -0.26520271 -0.16272139 3.56295788] [ 0.26797962 0.96341136 -0.0050483 0.15692206] [ 0.15810646 -0.0388083 0.98665914 -0.27215868] [ 0. 0. 0. 1. ]] SLAMing on 61.772414037 meters Centerline goodness : 0.772582 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.27 [[ 0.9505725 -0.26455608 -0.16254847 3.56322637] [ 0.26740048 0.96357484 -0.00452817 0.15519922] [ 0.15782557 -0.03916118 0.98669017 -0.27255004] [ 0. 0. 0. 1. ]] SLAMing on 61.802414037 meters Centerline goodness : 0.771921 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.50898080e-01 -2.63456244e-01 -1.62430443e-01 3.56320637e+00] [ 2.66447105e-01 9.63843233e-01 -3.48751162e-03 1.53304174e-01] [ 1.57476290e-01 -3.99628531e-02 9.86713833e-01 -2.72717455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832414037 meters Centerline goodness : 0.821529 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.51228700e-01 -2.62176447e-01 -1.62565282e-01 3.56276815e+00] [ 2.65384206e-01 9.64140553e-01 -2.05376623e-03 1.51679476e-01] [ 1.57274230e-01 -4.11886568e-02 9.86695653e-01 -2.72140752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862414037 meters Centerline goodness : 0.775071 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.51712138e-01 -2.60507481e-01 -1.62418775e-01 3.56002113e+00] [ 2.63945006e-01 9.64537636e-01 -4.28546912e-04 1.50218091e-01] [ 1.56770661e-01 -4.24617712e-02 9.86721824e-01 -2.69978113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.892414037 meters Centerline goodness : 0.774133 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.51820238e-01 -2.60069291e-01 -1.62487534e-01 3.56036587e+00] [ 2.63546899e-01 9.64646571e-01 -1.58027549e-04 1.49819183e-01] [ 1.56784141e-01 -4.26726720e-02 9.86710584e-01 -2.70218801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922414036999996 meters Centerline goodness : 0.773463 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.51915968e-01 -2.60056963e-01 -1.61945564e-01 3.56061404e+00] [ 2.63405766e-01 9.64684782e-01 -8.20275088e-04 1.49177361e-01] [ 1.56439740e-01 -4.18765625e-02 9.86799352e-01 -2.71313464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952414037 meters Centerline goodness : 0.773567 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.52242551e-01 -2.59357310e-01 -1.61145616e-01 3.56223305e+00] [ 2.62492538e-01 9.64932158e-01 -1.89669723e-03 1.47918960e-01] [ 1.55986509e-01 -4.04934058e-02 9.86928819e-01 -2.74333122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982414037 meters Centerline goodness : 0.820137 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.52490768e-01 -2.58418075e-01 -1.61187580e-01 3.56259558e+00] [ 2.61622841e-01 9.65169188e-01 -1.38858651e-03 1.47548844e-01] [ 1.55932121e-01 -4.08477367e-02 9.86922812e-01 -2.74845391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012414037 meters Centerline goodness : 0.771471 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.52552166e-01 -2.58132991e-01 -1.61281521e-01 3.56195614e+00] [ 2.61378645e-01 9.65235684e-01 -1.13081488e-03 1.47419033e-01] [ 1.55966580e-01 -4.10783854e-02 9.86907793e-01 -2.73983573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042414037 meters Centerline goodness : 0.754301 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.27 [[ 9.52559014e-01 -2.57853455e-01 -1.61687726e-01 3.56374378e+00] [ 2.61189104e-01 9.65287435e-01 -6.47329128e-04 1.46872164e-01] [ 1.56242046e-01 -4.16144531e-02 9.86841760e-01 -2.74931941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.072414037 meters Centerline goodness : 0.757014 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.28 [[ 9.52463767e-01 -2.58282098e-01 -1.61564634e-01 3.56498294e+00] [ 2.61561229e-01 9.65186359e-01 -1.00742235e-03 1.45887791e-01] [ 1.56200180e-01 -4.12995110e-02 9.86861619e-01 -2.75909335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102414036999996 meters Centerline goodness : 0.757014 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:-0.28 [[ 9.52463767e-01 -2.58282098e-01 -1.61564634e-01 3.56498294e+00] [ 2.61561229e-01 9.65186359e-01 -1.00742235e-03 1.45887791e-01] [ 1.56200180e-01 -4.12995110e-02 9.86861619e-01 -2.75909335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132414037 meters Centerline goodness : 0.756313 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:-0.28 [[ 9.52432350e-01 -2.58204973e-01 -1.61872820e-01 3.56684504e+00] [ 2.61569484e-01 9.65184494e-01 -5.44862987e-04 1.44601021e-01] [ 1.56377823e-01 -4.18220449e-02 9.86811478e-01 -2.76804984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162414037 meters Centerline goodness : 0.759983 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:-0.28 [[ 9.52409673e-01 -2.58123165e-01 -1.62136506e-01 3.56799981e+00] [ 2.61573751e-01 9.65183489e-01 -6.68956802e-05 1.43401147e-01] [ 1.56508746e-01 -4.23469419e-02 9.86768336e-01 -2.77144328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192414037 meters Centerline goodness : 0.767820 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:-0.28 [[ 9.52332734e-01 -2.58084257e-01 -1.62649564e-01 3.56928486e+00] [ 2.61690759e-01 9.65151462e-01 7.76384033e-04 1.42399520e-01] [ 1.56781092e-01 -4.33032638e-02 9.86683595e-01 -2.77072727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222414037 meters Centerline goodness : 0.782286 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:-0.28 [[ 9.51910432e-01 -2.58860271e-01 -1.63883770e-01 3.57139329e+00] [ 2.62762395e-01 9.64858032e-01 2.21408796e-03 1.40645636e-01] [ 1.57551432e-01 -4.51701053e-02 9.86477170e-01 -2.75868783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.252414037 meters Centerline goodness : 0.789265 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:-0.28 [[ 9.51722489e-01 -2.59224382e-01 -1.64398975e-01 3.57284657e+00] [ 2.63278788e-01 9.64715177e-01 2.98449995e-03 1.39342087e-01] [ 1.57824531e-01 -4.61231787e-02 9.86389411e-01 -2.75730497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282414037 meters Centerline goodness : 0.814631 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.28 [[ 0.95143486 -0.25971516 -0.16528687 3.57513848] [ 0.26394313 0.96453092 0.00375944 0.13822275] [ 0.15844792 -0.04720319 0.98623837 -0.27564778] [ 0. 0. 0. 1. ]] SLAMing on 62.312414036999996 meters Centerline goodness : 0.813637 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.28 [[ 0.95128607 -0.26025415 -0.16529545 3.57634929] [ 0.26450602 0.96437631 0.00385951 0.13649058] [ 0.15840257 -0.04739314 0.98623654 -0.27612133] [ 0. 0. 0. 1. ]] SLAMing on 62.342414037 meters Centerline goodness : 0.816133 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:-0.28 [[ 0.95113199 -0.26041906 -0.16592125 3.57874522] [ 0.26493712 0.96425108 0.00530859 0.13292641] [ 0.15860728 -0.04900787 0.98612472 -0.27628666] [ 0. 0. 0. 1. ]] SLAMing on 62.372414037 meters Centerline goodness : 0.816657 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:-0.28 [[ 0.95108298 -0.26032543 -0.16634854 3.57901441] [ 0.26502738 0.96422015 0.00632414 0.13186609] [ 0.15875028 -0.0501017 0.98604674 -0.27543774] [ 0. 0. 0. 1. ]] SLAMing on 62.402414037 meters Centerline goodness : 0.816227 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:-0.27 [[ 0.95100255 -0.26021321 -0.16698275 3.57979567] [ 0.26511601 0.96418832 0.00737482 0.13161746] [ 0.15908379 -0.05128327 0.98593224 -0.27484338] [ 0. 0. 0. 1. ]] SLAMing on 62.432414037 meters Centerline goodness : 0.820511 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:-0.27 [[ 0.95054222 -0.26139038 -0.16776342 3.5809006 ] [ 0.26647039 0.96380896 0.00811239 0.1307859 ] [ 0.15957139 -0.05241515 0.98579391 -0.27357328] [ 0. 0. 0. 1. ]] SLAMing on 62.462414037 meters Centerline goodness : 0.820861 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:-0.27 [[ 0.95017312 -0.26211364 -0.16872308 3.58362666] [ 0.26736665 0.96355474 0.00879408 0.12975039] [ 0.16026888 -0.05346682 0.98562426 -0.2737058 ] [ 0. 0. 0. 1. ]] SLAMing on 62.492414036999996 meters Centerline goodness : 0.820316 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.27 [[ 0.94982155 -0.26305858 -0.16923124 3.58598595] [ 0.26837777 0.9632722 0.00894619 0.12845558] [ 0.16066237 -0.05391519 0.98553577 -0.27420618] [ 0. 0. 0. 1. ]] SLAMing on 62.522414037 meters Centerline goodness : 0.820785 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.27 [[ 0.94949064 -0.26379353 -0.16994266 3.58810622] [ 0.26928753 0.96301089 0.00970887 0.12692581] [ 0.1610955 -0.05498192 0.98540612 -0.27414087] [ 0. 0. 0. 1. ]] SLAMing on 62.552414037 meters Centerline goodness : 0.821580 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.27 [[ 0.94866917 -0.26573714 -0.17149514 3.5912802 ] [ 0.27150869 0.96237666 0.01068661 0.1257064 ] [ 0.16220309 -0.05670048 0.985127 -0.2729936 ] [ 0. 0. 0. 1. ]] SLAMing on 62.582414037 meters Centerline goodness : 0.824732 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.27 [[ 0.9482754 -0.26641385 -0.17261931 3.5932219 ] [ 0.27237885 0.96212258 0.01139726 0.1260224 ] [ 0.16304454 -0.05782559 0.98492268 -0.27239374] [ 0. 0. 0. 1. ]] SLAMing on 62.612414037 meters Centerline goodness : 0.825355 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:-0.27 [[ 0.94800179 -0.26699834 -0.17321803 3.59441828] [ 0.27305962 0.96192584 0.01171015 0.12595069] [ 0.1634963 -0.05840009 0.98481388 -0.27201417] [ 0. 0. 0. 1. ]] SLAMing on 62.642414037 meters Centerline goodness : 0.825133 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.27 [[ 0.94777009 -0.26743424 -0.1738125 3.59645538] [ 0.27357093 0.9617781 0.0119091 0.12580922] [ 0.16398415 -0.05883713 0.98470675 -0.27254812] [ 0. 0. 0. 1. ]] SLAMing on 62.672414036999996 meters Centerline goodness : 0.823012 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.27 [[ 0.94753081 -0.26821925 -0.17390745 3.59813166] [ 0.27435935 0.96155453 0.01182528 0.12417766] [ 0.16404973 -0.05891795 0.984691 -0.27322188] [ 0. 0. 0. 1. ]] SLAMing on 62.702414037 meters Centerline goodness : 0.819869 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.27 [[ 0.94748878 -0.26799113 -0.17448713 3.59932765] [ 0.27427389 0.96157052 0.0124884 0.12415672] [ 0.1644349 -0.05968988 0.98458026 -0.27330613] [ 0. 0. 0. 1. ]] SLAMing on 62.732414037 meters Centerline goodness : 0.815366 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.27 [[ 0.94748591 -0.26777373 -0.17483617 3.59958132] [ 0.27413812 0.96160425 0.01286719 0.12452398] [ 0.16467771 -0.06012074 0.98451346 -0.2729552 ] [ 0. 0. 0. 1. ]] SLAMing on 62.762414037 meters Centerline goodness : 0.823064 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.27 [[ 0.94749432 -0.26743549 -0.17530767 3.60015533] [ 0.27390072 0.96166567 0.01332426 0.12493826] [ 0.16502399 -0.06064156 0.98442353 -0.27271862] [ 0. 0. 0. 1. ]] SLAMing on 62.792414037 meters Centerline goodness : 0.820611 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.27 [[ 0.94767527 -0.26711653 -0.17481518 3.59920935] [ 0.27347081 0.96179416 0.01287307 0.12506223] [ 0.16469761 -0.06000634 0.98451711 -0.272855 ] [ 0. 0. 0. 1. ]] SLAMing on 62.822414037 meters Centerline goodness : 0.820127 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.27 [[ 0.94764702 -0.26696718 -0.17519604 3.60069283] [ 0.27337813 0.96181766 0.01308378 0.12536606] [ 0.1650137 -0.06029357 0.98444663 -0.27361177] [ 0. 0. 0. 1. ]] SLAMing on 62.852414036999996 meters Centerline goodness : 0.824241 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.27 [[ 0.9475941 -0.26713174 -0.17523145 3.60139006] [ 0.27352535 0.96177758 0.01295254 0.12524607] [ 0.16507365 -0.060204 0.98444206 -0.2740088 ] [ 0. 0. 0. 1. ]] SLAMing on 62.882414037 meters Centerline goodness : 0.826091 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.27 [[ 0.9472988 -0.26768172 -0.17598718 3.60332432] [ 0.2741674 0.96159179 0.01317086 0.12556587] [ 0.16570222 -0.06072669 0.98430434 -0.27416542] [ 0. 0. 0. 1. ]] SLAMing on 62.912414037 meters Centerline goodness : 0.822981 Centerline is valid? [False, False] Translation: X:3.60, Y:0.13, Z:-0.27 [[ 0.94723349 -0.26798364 -0.17587916 3.60295644] [ 0.2744602 0.96150882 0.01312979 0.12510385] [ 0.16559079 -0.0607088 0.9843242 -0.27364713] [ 0. 0. 0. 1. ]] SLAMing on 62.942414037 meters Centerline goodness : 0.823610 Centerline is valid? [False, False] Translation: X:3.60, Y:0.12, Z:-0.27 [[ 0.94714577 -0.26787934 -0.17650937 3.60434658] [ 0.27454133 0.96147332 0.01400388 0.12470062] [ 0.1659577 -0.06172283 0.98419934 -0.27366171] [ 0. 0. 0. 1. ]] SLAMing on 62.972414037 meters Centerline goodness : 0.819550 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.27 [[ 0.94705936 -0.26788559 -0.17696292 3.60545461] [ 0.27465347 0.96143456 0.01445883 0.1244976 ] [ 0.16626495 -0.06229685 0.98411131 -0.27368819] [ 0. 0. 0. 1. ]] SLAMing on 63.002414037 meters Centerline goodness : 0.820575 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.27 [[ 0.94690675 -0.26816441 -0.17735684 3.60592858] [ 0.27502663 0.96132205 0.0148413 0.1247772 ] [ 0.16651713 -0.06283118 0.9840347 -0.27335866] [ 0. 0. 0. 1. ]] SLAMing on 63.032414037 meters Centerline goodness : 0.827495 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.27 [[ 0.9468186 -0.26816841 -0.17782081 3.60689438] [ 0.27511522 0.9612917 0.01516211 0.12543087] [ 0.16687167 -0.06327698 0.98394607 -0.27350846] [ 0. 0. 0. 1. ]] SLAMing on 63.062414036999996 meters Centerline goodness : 0.829267 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.27 [[ 0.94673051 -0.26835073 -0.1780147 3.60741655] [ 0.27531808 0.96123314 0.01519208 0.12560118] [ 0.16703682 -0.06339347 0.98391055 -0.27352012] [ 0. 0. 0. 1. ]] SLAMing on 63.092414037 meters Centerline goodness : 0.827882 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.27 [[ 0.94661851 -0.26852913 -0.17834098 3.60917167] [ 0.27554837 0.96116456 0.0153554 0.12498886] [ 0.16729165 -0.06367727 0.98384892 -0.27440653] [ 0. 0. 0. 1. ]] SLAMing on 63.122414037 meters Centerline goodness : 0.828227 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:-0.27 [[ 0.94648826 -0.26872103 -0.17874276 3.60989474] [ 0.27585314 0.96106918 0.01584547 0.12485933] [ 0.16752614 -0.06430431 0.98376824 -0.27419622] [ 0. 0. 0. 1. ]] SLAMing on 63.152414037 meters Centerline goodness : 0.826652 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.27 [[ 0.94626202 -0.2690728 -0.17941022 3.61082586] [ 0.27632836 0.96092545 0.01627627 0.12528269] [ 0.16802034 -0.06497775 0.9836397 -0.27356565] [ 0. 0. 0. 1. ]] SLAMing on 63.182414037 meters Centerline goodness : 0.828542 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.27 [[ 0.94596547 -0.2694868 -0.18035019 3.61211108] [ 0.27693368 0.96073891 0.01698501 0.12597347] [ 0.16869221 -0.06601227 0.9834558 -0.27286703] [ 0. 0. 0. 1. ]] SLAMing on 63.212414037 meters Centerline goodness : 0.826967 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:-0.27 [[ 0.94524578 -0.27109374 -0.18171022 3.61461867] [ 0.2787127 0.96021878 0.0172951 0.12690066] [ 0.16979297 -0.06699307 0.98320002 -0.27208988] [ 0. 0. 0. 1. ]] SLAMing on 63.242414036999996 meters Centerline goodness : 0.821546 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.27 [[ 0.9449699 -0.27179101 -0.1821031 3.61655985] [ 0.27941674 0.96001741 0.01711289 0.12672714] [ 0.17017102 -0.06705382 0.98313051 -0.27279942] [ 0. 0. 0. 1. ]] SLAMing on 63.272414037 meters Centerline goodness : 0.828412 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.27 [[ 0.94467824 -0.27234067 -0.18279384 3.61879634] [ 0.28005038 0.95982996 0.01726948 0.12678232] [ 0.17074782 -0.06750559 0.98299958 -0.27327809] [ 0. 0. 0. 1. ]] SLAMing on 63.302414037 meters Centerline goodness : 0.824971 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.27 [[ 0.94417489 -0.27333652 -0.18390464 3.62039039] [ 0.28123804 0.95947238 0.01783019 0.12707995] [ 0.17157779 -0.0685558 0.98278236 -0.27221055] [ 0. 0. 0. 1. ]] SLAMing on 63.332414037 meters Centerline goodness : 0.828151 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.27 [[ 0.94404117 -0.27332861 -0.18460157 3.6211446 ] [ 0.28140155 0.95941124 0.01852697 0.12743878] [ 0.17204487 -0.06943739 0.9826388 -0.27157036] [ 0. 0. 0. 1. ]] SLAMing on 63.362414037 meters Centerline goodness : 0.829053 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.27 [[ 0.94393082 -0.27338437 -0.18508264 3.62121817] [ 0.28156917 0.95935355 0.01896206 0.12804712] [ 0.17237576 -0.07001244 0.98254 -0.27078382] [ 0. 0. 0. 1. ]] SLAMing on 63.392414037 meters Centerline goodness : 0.828992 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.27 [[ 0.94372004 -0.27367751 -0.18572322 3.62174207] [ 0.28193043 0.95924556 0.0190577 0.12963519] [ 0.17293851 -0.07034616 0.98241727 -0.27016468] [ 0. 0. 0. 1. ]] SLAMing on 63.422414036999996 meters Centerline goodness : 0.828340 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:-0.27 [[ 0.94357913 -0.27390826 -0.1860986 3.62319299] [ 0.28218565 0.95917126 0.01901979 0.129842 ] [ 0.17329075 -0.07046103 0.98234696 -0.27070739] [ 0. 0. 0. 1. ]] SLAMing on 63.452414037 meters Centerline goodness : 0.830336 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.27 [[ 0.94308571 -0.27530264 -0.18654168 3.62502635] [ 0.28347967 0.95880669 0.01813863 0.13085187] [ 0.17386379 -0.06998706 0.98227959 -0.27124171] [ 0. 0. 0. 1. ]] SLAMing on 63.482414037 meters Centerline goodness : 0.828042 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.27 [[ 0.94272931 -0.27580799 -0.1875937 3.62689395] [ 0.28410907 0.95861619 0.01835853 0.13205672] [ 0.17476692 -0.0706042 0.98207513 -0.2709252 ] [ 0. 0. 0. 1. ]] SLAMing on 63.512414037 meters Centerline goodness : 0.825724 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:-0.27 [[ 0.94251655 -0.27598514 -0.18840054 3.62764922] [ 0.28438179 0.95853172 0.01854575 0.13380884] [ 0.17546954 -0.07105736 0.98191715 -0.27030244] [ 0. 0. 0. 1. ]] SLAMing on 63.542414037 meters Centerline goodness : 0.829553 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.27 [[ 0.942321 -0.27617986 -0.18909211 3.62805401] [ 0.28464264 0.95845301 0.01861165 0.13580696] [ 0.17609573 -0.07136183 0.98178296 -0.26968793] [ 0. 0. 0. 1. ]] SLAMing on 63.572414037 meters Centerline goodness : 0.829488 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.27 [[ 0.94221704 -0.27614156 -0.18966521 3.62878701] [ 0.28464644 0.95845185 0.01861348 0.13744235] [ 0.17664502 -0.07152546 0.98167237 -0.26963637] [ 0. 0. 0. 1. ]] SLAMing on 63.602414036999996 meters Centerline goodness : 0.826145 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.27 [[ 0.94227435 -0.27584258 -0.1898155 3.6289347 ] [ 0.28433994 0.95854427 0.01853856 0.13868967] [ 0.17683283 -0.07144054 0.98164474 -0.26996439] [ 0. 0. 0. 1. ]] SLAMing on 63.632414037 meters Centerline goodness : 0.828561 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.27 [[ 0.9422726 -0.27578023 -0.18991472 3.62894065] [ 0.28424526 0.95857647 0.01832442 0.13948918] [ 0.17699427 -0.07124895 0.98162957 -0.26990902] [ 0. 0. 0. 1. ]] SLAMing on 63.662414037 meters Centerline goodness : 0.825188 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.27 [[ 0.94219832 -0.27570436 -0.19039283 3.6299324 ] [ 0.28420532 0.95858811 0.01833504 0.14090834] [ 0.17745325 -0.0713859 0.98153675 -0.2702311 ] [ 0. 0. 0. 1. ]] SLAMing on 63.692414037 meters Centerline goodness : 0.826740 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.27 [[ 0.94200648 -0.27596604 -0.19096214 3.63045981] [ 0.28448311 0.95850893 0.01816597 0.14263621] [ 0.17802573 -0.07143796 0.98142929 -0.26986119] [ 0. 0. 0. 1. ]] SLAMing on 63.722414037 meters Centerline goodness : 0.781452 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.27 [[ 0.94188681 -0.27493231 -0.19303227 3.63180949] [ 0.2840262 0.95859574 0.02057473 0.14538117] [ 0.17938325 -0.07420529 0.98097667 -0.26853903] [ 0. 0. 0. 1. ]] SLAMing on 63.752414037 meters Centerline goodness : 0.823952 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.27 [[ 0.94154895 -0.27585904 -0.1933581 3.63167359] [ 0.28490302 0.95834611 0.02007516 0.14694371] [ 0.17976607 -0.07399005 0.98092285 -0.26770363] [ 0. 0. 0. 1. ]] SLAMing on 63.782414037 meters Centerline goodness : 0.825920 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.27 [[ 0.94128073 -0.27638963 -0.19390556 3.63294448] [ 0.28544315 0.95819013 0.0198464 0.14785982] [ 0.18031305 -0.07403005 0.98081943 -0.26778424] [ 0. 0. 0. 1. ]] SLAMing on 63.812414036999996 meters Centerline goodness : 0.824069 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.27 [[ 0.94075572 -0.2778921 -0.19430556 3.63434361] [ 0.28688972 0.95777061 0.01922876 0.14875653] [ 0.18075663 -0.07383383 0.98075257 -0.26794215] [ 0. 0. 0. 1. ]] SLAMing on 63.842414037 meters Centerline goodness : 0.825184 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.27 [[ 0.94051325 -0.27857285 -0.19450449 3.63397867] [ 0.28758405 0.95756388 0.01915279 0.14953024] [ 0.18091503 -0.07394984 0.98071462 -0.26712092] [ 0. 0. 0. 1. ]] SLAMing on 63.872414037 meters Centerline goodness : 0.829533 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.27 [[ 0.94025894 -0.27873571 -0.19549815 3.63448374] [ 0.28795235 0.95743935 0.01983258 0.15039994] [ 0.18164957 -0.07494191 0.98050351 -0.26567057] [ 0. 0. 0. 1. ]] SLAMing on 63.902414037 meters Centerline goodness : 0.780294 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.26 [[ 0.94000142 -0.27931937 -0.19590308 3.63394854] [ 0.28855307 0.95726128 0.0196969 0.15199307] [ 0.18202871 -0.07504355 0.98042543 -0.26448421] [ 0. 0. 0. 1. ]] SLAMing on 63.932414037 meters Centerline goodness : 0.779499 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.26 [[ 0.93967522 -0.27964142 -0.19700547 3.63509433] [ 0.28901783 0.95711545 0.01996782 0.15390167] [ 0.18297315 -0.07570136 0.98019903 -0.26362925] [ 0. 0. 0. 1. ]] SLAMing on 63.962414037 meters Centerline goodness : 0.831181 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.26 [[ 0.93895518 -0.28114344 -0.19829658 3.6367099 ] [ 0.29056425 0.95665653 0.01951168 0.15764274] [ 0.18421614 -0.07593849 0.97994783 -0.26306884] [ 0. 0. 0. 1. ]] SLAMing on 63.992414036999996 meters Centerline goodness : 0.831181 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.26 [[ 0.93895518 -0.28114344 -0.19829658 3.6367099 ] [ 0.29056425 0.95665653 0.01951168 0.15764274] [ 0.18421614 -0.07593849 0.97994783 -0.26306884] [ 0. 0. 0. 1. ]] SLAMing on 64.02241403699999 meters Centerline goodness : 0.828955 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.26 [[ 0.93866063 -0.28165634 -0.19896212 3.63835148] [ 0.29107484 0.95650823 0.0191689 0.15895457] [ 0.18490986 -0.07590596 0.97981969 -0.26336617] [ 0. 0. 0. 1. ]] SLAMing on 64.05241403699999 meters Centerline goodness : 0.828913 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.26 [[ 0.93848637 -0.28191981 -0.19941051 3.63991482] [ 0.29132695 0.95643692 0.01889494 0.15966042] [ 0.18539672 -0.0758263 0.97973386 -0.26395782] [ 0. 0. 0. 1. ]] SLAMing on 64.08241403699999 meters Centerline goodness : 0.780158 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.26 [[ 0.9384045 -0.28195129 -0.19975102 3.64089188] [ 0.29131964 0.95644599 0.01854549 0.16106539] [ 0.18582214 -0.07559457 0.97967117 -0.26446766] [ 0. 0. 0. 1. ]] SLAMing on 64.112414037 meters Centerline goodness : 0.782087 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.26 [[ 0.93898444 -0.27909568 -0.2010319 3.63953942] [ 0.28899191 0.95709955 0.02107409 0.16443588] [ 0.18652586 -0.07788483 0.97935798 -0.2630986 ] [ 0. 0. 0. 1. ]] SLAMing on 64.142414037 meters Centerline goodness : 0.782781 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.26 [[ 0.93949942 -0.27633884 -0.20242944 3.63934414] [ 0.28686181 0.95767047 0.02403282 0.16597531] [ 0.1872195 -0.08064809 0.97900191 -0.26210308] [ 0. 0. 0. 1. ]] SLAMing on 64.172414037 meters Centerline goodness : 0.784269 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.26 [[ 0.94017329 -0.27342156 -0.20326052 3.63808343] [ 0.28428019 0.95839638 0.02571285 0.16991748] [ 0.1877737 -0.08195748 0.97878701 -0.26173243] [ 0. 0. 0. 1. ]] SLAMing on 64.202414037 meters Centerline goodness : 0.783100 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.26 [[ 0.94037683 -0.27280575 -0.20314637 3.63768036] [ 0.28356734 0.958618 0.02531996 0.17182374] [ 0.18783234 -0.08141598 0.97882095 -0.26223496] [ 0. 0. 0. 1. ]] SLAMing on 64.232414037 meters Centerline goodness : 0.783754 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.26 [[ 0.94063266 -0.27219973 -0.20277452 3.63716657] [ 0.28279692 0.95886205 0.02468764 0.17331154] [ 0.18771282 -0.08056601 0.9789142 -0.26293404] [ 0. 0. 0. 1. ]] SLAMing on 64.26241403699999 meters Centerline goodness : 0.782950 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.26 [[ 0.94075047 -0.27216212 -0.20227789 3.6360301 ] [ 0.28250088 0.9589777 0.02355886 0.17522068] [ 0.18756815 -0.0793067 0.97904476 -0.26317443] [ 0. 0. 0. 1. ]] SLAMing on 64.29241403699999 meters Centerline goodness : 0.782100 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.26 [[ 0.94138637 -0.2689996 -0.20354586 3.63695547] [ 0.27984229 0.9596952 0.02595039 0.17815478] [ 0.18836134 -0.08139009 0.97872144 -0.2639487 ] [ 0. 0. 0. 1. ]] SLAMing on 64.32241403699999 meters Centerline goodness : 0.781884 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.26 [[ 0.94126127 -0.26939051 -0.2036074 3.63628888] [ 0.28005341 0.95966013 0.02495049 0.1807493 ] [ 0.18867248 -0.08050587 0.97873464 -0.26360126] [ 0. 0. 0. 1. ]] SLAMing on 64.35241403699999 meters Centerline goodness : 0.831035 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.26 [[ 0.94109028 -0.26994324 -0.20366574 3.63609547] [ 0.28040138 0.95958754 0.02380787 0.18337324] [ 0.18900834 -0.07951351 0.97875096 -0.26368785] [ 0. 0. 0. 1. ]] SLAMing on 64.38241403699999 meters Centerline goodness : 0.782806 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.26 [[ 0.94100106 -0.26985515 -0.20419405 3.63753908] [ 0.28030426 0.95962243 0.023544 0.18547821] [ 0.18959572 -0.07939139 0.97864727 -0.26450211] [ 0. 0. 0. 1. ]] SLAMing on 64.41241403699999 meters Centerline goodness : 0.781006 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.27 [[ 0.94081932 -0.27064523 -0.2039857 3.6375754 ] [ 0.28077299 0.95952447 0.02189336 0.18904273] [ 0.18980393 -0.07787137 0.97872903 -0.26547067] [ 0. 0. 0. 1. ]] SLAMing on 64.44241403699999 meters Centerline goodness : 0.782106 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.26 [[ 0.94064708 -0.2711375 -0.20412628 3.63669327] [ 0.28119148 0.95941296 0.02140397 0.19042685] [ 0.19003798 -0.07753215 0.97871055 -0.26434457] [ 0. 0. 0. 1. ]] SLAMing on 64.472414037 meters Centerline goodness : 0.783501 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.26 [[ 0.94063502 -0.27086582 -0.20454208 3.63621927] [ 0.28102929 0.95945106 0.0218219 0.19165488] [ 0.19033731 -0.07800876 0.9786145 -0.26352095] [ 0. 0. 0. 1. ]] SLAMing on 64.502414037 meters Centerline goodness : 0.782037 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.94027367 -0.27276301 -0.20368056 3.63232494] [ 0.28248762 0.95906815 0.01972377 0.19520662] [ 0.18996362 -0.07608297 0.9788387 -0.26164649] [ 0. 0. 0. 1. ]] SLAMing on 64.532414037 meters Centerline goodness : 0.782446 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.94009736 -0.27358491 -0.20339186 3.63107592] [ 0.28313062 0.95889641 0.01883436 0.19670953] [ 0.18987893 -0.0752926 0.97891625 -0.26106686] [ 0. 0. 0. 1. ]] SLAMing on 64.562414037 meters Centerline goodness : 0.781357 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.93995764 -0.27427896 -0.20310264 3.63009082] [ 0.28369111 0.95874317 0.01819054 0.19784776] [ 0.18973399 -0.07471675 0.97898847 -0.26085114] [ 0. 0. 0. 1. ]] SLAMing on 64.592414037 meters Centerline goodness : 0.780628 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.93984571 -0.274877 -0.20281191 3.62940087] [ 0.28417601 0.95860945 0.01766124 0.19882421] [ 0.18956274 -0.07423312 0.97905843 -0.2608619 ] [ 0. 0. 0. 1. ]] SLAMing on 64.622414037 meters Centerline goodness : 0.780383 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.93956333 -0.27626994 -0.2022268 3.62766001] [ 0.28532474 0.95828908 0.0164874 0.20060766] [ 0.18923676 -0.07319127 0.97919992 -0.26057201] [ 0. 0. 0. 1. ]] SLAMing on 64.65241403699999 meters Centerline goodness : 0.779294 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.93938396 -0.27711401 -0.20190495 3.62651284] [ 0.28602107 0.95809368 0.01576203 0.20144578] [ 0.18907598 -0.07255567 0.97927828 -0.26011462] [ 0. 0. 0. 1. ]] SLAMing on 64.68241403699999 meters Centerline goodness : 0.779559 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.93922855 -0.27778112 -0.20171111 3.62570763] [ 0.28657491 0.95793754 0.015182 0.20201793] [ 0.18900937 -0.07206471 0.97932739 -0.25968079] [ 0. 0. 0. 1. ]] SLAMing on 64.71241403699999 meters Centerline goodness : 0.778924 Centerline is valid? [False, False] Translation: X:3.62, Y:0.20, Z:-0.26 [[ 0.93909772 -0.27846078 -0.20138288 3.62488759] [ 0.28714049 0.95777648 0.01464769 0.202736 ] [ 0.18880098 -0.07158079 0.97940307 -0.25962969] [ 0. 0. 0. 1. ]] SLAMing on 64.74241403699999 meters Centerline goodness : 0.780234 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.93898084 -0.27889491 -0.20132711 3.62549443] [ 0.28751692 0.95766842 0.01432512 0.20397804] [ 0.18880941 -0.07133597 0.97941931 -0.26055624] [ 0. 0. 0. 1. ]] SLAMing on 64.77241403699999 meters Centerline goodness : 0.777386 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.26 [[ 0.93897492 -0.27879843 -0.20148832 3.62654531] [ 0.28742952 0.95769474 0.01432004 0.20467852] [ 0.1889719 -0.07135984 0.97938623 -0.26129176] [ 0. 0. 0. 1. ]] SLAMing on 64.80241403699999 meters Centerline goodness : 0.779138 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.26 [[ 0.93897977 -0.27873334 -0.20155575 3.62706516] [ 0.28735115 0.95771956 0.01423202 0.20551019] [ 0.18906695 -0.07128085 0.97937364 -0.26175144] [ 0. 0. 0. 1. ]] SLAMing on 64.83241403699999 meters Centerline goodness : 0.781060 Centerline is valid? [False, False] Translation: X:3.63, Y:0.21, Z:-0.26 [[ 0.93895274 -0.27887029 -0.2014922 3.6269048 ] [ 0.28741474 0.95770591 0.01386224 0.20691132] [ 0.1891045 -0.07092782 0.97939202 -0.26183726] [ 0. 0. 0. 1. ]] SLAMing on 64.862414037 meters Centerline goodness : 0.779556 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.93970074 -0.27624822 -0.20161706 3.62333412] [ 0.28516764 0.95834363 0.01602803 0.20837876] [ 0.18879071 -0.07255621 0.97933328 -0.26045491] [ 0. 0. 0. 1. ]] SLAMing on 64.892414037 meters Centerline goodness : 0.780697 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.93964983 -0.27646869 -0.20155212 3.62255148] [ 0.28525198 0.95833004 0.0153247 0.210288 ] [ 0.18891665 -0.07189299 0.9793579 -0.25981821] [ 0. 0. 0. 1. ]] SLAMing on 64.922414037 meters Centerline goodness : 0.780915 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.93961171 -0.27659373 -0.20155827 3.62220226] [ 0.28527565 0.95833148 0.01478414 0.21193903] [ 0.18907044 -0.07139101 0.97936494 -0.25945898] [ 0. 0. 0. 1. ]] SLAMing on 64.952414037 meters Centerline goodness : 0.780065 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.93956953 -0.27670066 -0.20160813 3.62214886] [ 0.28531109 0.95832703 0.01438374 0.21298824] [ 0.18922653 -0.07103556 0.97936064 -0.25926599] [ 0. 0. 0. 1. ]] SLAMing on 64.982414037 meters Centerline goodness : 0.776913 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.93954224 -0.27672543 -0.2017013 3.62224118] [ 0.28524707 0.95835342 0.01388645 0.2144904 ] [ 0.1894584 -0.07058161 0.97934864 -0.25908582] [ 0. 0. 0. 1. ]] SLAMing on 65.01241403699999 meters Centerline goodness : 0.780341 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.9395004 -0.27687178 -0.20169534 3.62207335] [ 0.28532679 0.9583348 0.01352923 0.21534673] [ 0.1895458 -0.0702598 0.97935486 -0.25887019] [ 0. 0. 0. 1. ]] SLAMing on 65.04241403699999 meters Centerline goodness : 0.780498 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93942909 -0.27704725 -0.20178654 3.62158123] [ 0.28537452 0.95833037 0.01281718 0.21719588] [ 0.18982721 -0.06962557 0.97934565 -0.2580982 ] [ 0. 0. 0. 1. ]] SLAMing on 65.07241403699999 meters Centerline goodness : 0.777943 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93937829 -0.27727513 -0.20171001 3.62111185] [ 0.28553699 0.95828637 0.01248461 0.2179714 ] [ 0.18983428 -0.06932344 0.97936572 -0.25783235] [ 0. 0. 0. 1. ]] SLAMing on 65.10241403699999 meters Centerline goodness : 0.779581 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.9393207 -0.27749829 -0.2016713 3.62083914] [ 0.2856965 0.95824316 0.01214747 0.21867263] [ 0.18987925 -0.06902715 0.97937793 -0.25757401] [ 0. 0. 0. 1. ]] SLAMing on 65.13241403699999 meters Centerline goodness : 0.776808 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93929212 -0.27748682 -0.20182014 3.6212931 ] [ 0.2856792 0.95824938 0.01206345 0.219001 ] [ 0.19004657 -0.06898692 0.97934831 -0.25763874] [ 0. 0. 0. 1. ]] SLAMing on 65.16241403699999 meters Centerline goodness : 0.776469 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.9392886 -0.2773774 -0.20198689 3.62201987] [ 0.28558014 0.95827886 0.01206651 0.21933697] [ 0.19021279 -0.06901738 0.97931389 -0.25797846] [ 0. 0. 0. 1. ]] SLAMing on 65.19241403699999 meters Centerline goodness : 0.777772 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93931932 -0.27714868 -0.20215791 3.62330921] [ 0.28540971 0.95832632 0.0123269 0.21911363] [ 0.19031686 -0.06927672 0.97927536 -0.25884308] [ 0. 0. 0. 1. ]] SLAMing on 65.222414037 meters Centerline goodness : 0.774546 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93928586 -0.27739127 -0.2019806 3.62313273] [ 0.28561905 0.95826563 0.0121963 0.21874138] [ 0.19016792 -0.06914532 0.97931358 -0.25887175] [ 0. 0. 0. 1. ]] SLAMing on 65.252414037 meters Centerline goodness : 0.775472 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93924821 -0.2775557 -0.20192976 3.62307341] [ 0.28575564 0.9582267 0.01205467 0.21819479] [ 0.19014864 -0.0690249 0.97932582 -0.258619 ] [ 0. 0. 0. 1. ]] SLAMing on 65.282414037 meters Centerline goodness : 0.775039 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93913122 -0.2782312 -0.20154394 3.62128815] [ 0.28628848 0.95807575 0.01139147 0.21856643] [ 0.1899249 -0.06839779 0.97941323 -0.25751226] [ 0. 0. 0. 1. ]] SLAMing on 65.312414037 meters Centerline goodness : 0.833357 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93905691 -0.27859696 -0.20138485 3.62035332] [ 0.28655373 0.95800224 0.01089327 0.21923114] [ 0.18989231 -0.06793698 0.97945162 -0.25681463] [ 0. 0. 0. 1. ]] SLAMing on 65.342414037 meters Centerline goodness : 0.773985 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93899872 -0.27880871 -0.20136314 3.61984899] [ 0.28670063 0.95796219 0.01054475 0.21969938] [ 0.18995831 -0.06763245 0.9794599 -0.25625722] [ 0. 0. 0. 1. ]] SLAMing on 65.372414037 meters Centerline goodness : 0.774293 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93898486 -0.27896306 -0.20121391 3.61931847] [ 0.28681207 0.95793083 0.01036152 0.21986637] [ 0.18985853 -0.06743989 0.97949252 -0.25598112] [ 0. 0. 0. 1. ]] SLAMing on 65.40241403699999 meters Centerline goodness : 0.835310 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93899646 -0.27893004 -0.20120558 3.61935786] [ 0.28675135 0.95795048 0.01022502 0.21991395] [ 0.18989291 -0.06729723 0.97949567 -0.25577616] [ 0. 0. 0. 1. ]] SLAMing on 65.43241403699999 meters Centerline goodness : 0.772392 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93923559 -0.27848697 -0.20070256 3.6191995 ] [ 0.2863482 0.95806632 0.0106597 0.21954047] [ 0.18931778 -0.06748278 0.97959423 -0.25654799] [ 0. 0. 0. 1. ]] SLAMing on 65.46241403699999 meters Centerline goodness : 0.772141 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93929186 -0.27814063 -0.20091937 3.620113 ] [ 0.28604162 0.95815608 0.01082238 0.21972282] [ 0.18950197 -0.06763668 0.979548 -0.25695481] [ 0. 0. 0. 1. ]] SLAMing on 65.49241403699999 meters Centerline goodness : 0.771107 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.939326 -0.27789497 -0.20109961 3.62094808] [ 0.28581859 0.95822176 0.0108992 0.22016391] [ 0.18966919 -0.06771591 0.97951016 -0.25736883] [ 0. 0. 0. 1. ]] SLAMing on 65.52241403699999 meters Centerline goodness : 0.771907 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93938051 -0.27760833 -0.20124084 3.62172627] [ 0.28555945 0.95829764 0.01101949 0.22067866] [ 0.18978952 -0.06781772 0.97947981 -0.25787876] [ 0. 0. 0. 1. ]] SLAMing on 65.55241403699999 meters Centerline goodness : 0.770444 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93952648 -0.27698616 -0.20141664 3.62244531] [ 0.28498501 0.95846576 0.01126623 0.22152203] [ 0.18993036 -0.06798564 0.97944087 -0.25830936] [ 0. 0. 0. 1. ]] SLAMing on 65.58241403699999 meters Centerline goodness : 0.770422 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93954209 -0.27696301 -0.20137563 3.62226457] [ 0.28493122 0.9584834 0.01112563 0.22170619] [ 0.18993381 -0.06783121 0.9794509 -0.25805417] [ 0. 0. 0. 1. ]] SLAMing on 65.612414037 meters Centerline goodness : 0.831175 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.9395468 -0.2769516 -0.20136934 3.62217051] [ 0.28490395 0.95849241 0.01104732 0.22159342] [ 0.18995141 -0.06775039 0.97945308 -0.25780762] [ 0. 0. 0. 1. ]] SLAMing on 65.642414037 meters Centerline goodness : 0.772374 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93951659 -0.27714113 -0.20124951 3.62166368] [ 0.28504627 0.9584526 0.01082768 0.22127728] [ 0.18988732 -0.06753821 0.97948017 -0.25729243] [ 0. 0. 0. 1. ]] SLAMing on 65.672414037 meters Centerline goodness : 0.774383 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93947382 -0.27734683 -0.20116582 3.62074765] [ 0.28519907 0.95841009 0.01056372 0.22086811] [ 0.18986953 -0.06729664 0.97950024 -0.25626964] [ 0. 0. 0. 1. ]] SLAMing on 65.702414037 meters Centerline goodness : 0.831691 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.93946437 -0.27742261 -0.20110541 3.62048658] [ 0.28522314 0.95840568 0.01031087 0.22114205] [ 0.1898801 -0.06704661 0.97951534 -0.25591365] [ 0. 0. 0. 1. ]] SLAMing on 65.732414037 meters Centerline goodness : 0.832679 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-0.26 [[ 0.94196131 -0.27396069 -0.19404748 3.61221547] [ 0.28104894 0.95964701 0.0094393 0.21755485] [ 0.18363108 -0.0634283 0.98094672 -0.2606426 ] [ 0. 0. 0. 1. ]] SLAMing on 65.76241403699999 meters Centerline goodness : 0.774537 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-0.26 [[ 0.94198167 -0.27381976 -0.19414757 3.61247465] [ 0.28090274 0.9596903 0.0093901 0.21799028] [ 0.18375035 -0.06338188 0.98092739 -0.26065081] [ 0. 0. 0. 1. ]] SLAMing on 65.79241403699999 meters Centerline goodness : 0.831669 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-0.26 [[ 0.94202747 -0.27343434 -0.19446825 3.61335605] [ 0.28055297 0.95979147 0.0095062 0.21807483] [ 0.18404965 -0.06351375 0.98086275 -0.26063612] [ 0. 0. 0. 1. ]] SLAMing on 65.82241403699999 meters Centerline goodness : 0.772817 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-0.26 [[ 0.94200673 -0.27345164 -0.19454437 3.61359043] [ 0.28056747 0.95978766 0.00946278 0.21752911] [ 0.18413368 -0.06349683 0.98084807 -0.26042682] [ 0. 0. 0. 1. ]] SLAMing on 65.85241403699999 meters Centerline goodness : 0.831054 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-0.26 [[ 0.94202672 -0.27331344 -0.19464175 3.61413427] [ 0.28046452 0.95981608 0.00963019 0.21664695] [ 0.18418822 -0.063662 0.98082712 -0.26051006] [ 0. 0. 0. 1. ]] SLAMing on 65.88241403699999 meters Centerline goodness : 0.831054 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-0.26 [[ 0.94202672 -0.27331344 -0.19464175 3.61413427] [ 0.28046452 0.95981608 0.00963019 0.21664695] [ 0.18418822 -0.063662 0.98082712 -0.26051006] [ 0. 0. 0. 1. ]] SLAMing on 65.91241403699999 meters Centerline goodness : 0.829135 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-0.26 [[ 0.94205354 -0.27316917 -0.1947145 3.6143577 ] [ 0.28036869 0.95984157 0.009877 0.21536144] [ 0.18419698 -0.06389651 0.98081023 -0.26026451] [ 0. 0. 0. 1. ]] SLAMing on 65.94241403699999 meters Centerline goodness : 0.828450 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.26 [[ 0.94207773 -0.27299315 -0.19484425 3.61481006] [ 0.28020848 0.95988778 0.00993297 0.21496471] [ 0.18431698 -0.06395465 0.9807839 -0.2601533 ] [ 0. 0. 0. 1. ]] SLAMing on 65.972414037 meters Centerline goodness : 0.828516 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.94214355 -0.27259981 -0.19507656 3.61579775] [ 0.27988165 0.95997985 0.010244 0.21470164] [ 0.18447705 -0.06424967 0.98073452 -0.26057197] [ 0. 0. 0. 1. ]] SLAMing on 66.002414037 meters Centerline goodness : 0.769617 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.94230353 -0.27175921 -0.1954763 3.61754285] [ 0.27918451 0.96017506 0.01094831 0.21435257] [ 0.18471616 -0.06489058 0.98064731 -0.26149224] [ 0. 0. 0. 1. ]] SLAMing on 66.032414037 meters Centerline goodness : 0.769465 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.94236411 -0.27145338 -0.19560917 3.61797847] [ 0.27890443 0.96025508 0.01106821 0.2145447 ] [ 0.1848302 -0.06498655 0.98061947 -0.26159974] [ 0. 0. 0. 1. ]] SLAMing on 66.062414037 meters Centerline goodness : 0.825921 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.94238772 -0.27131944 -0.19568122 3.61790978] [ 0.27875881 0.96029821 0.01099395 0.21476316] [ 0.18492946 -0.06490843 0.98060593 -0.26125869] [ 0. 0. 0. 1. ]] SLAMing on 66.092414037 meters Centerline goodness : 0.825690 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94239115 -0.27134014 -0.19563601 3.61745704] [ 0.27873148 0.96030887 0.01075327 0.21506939] [ 0.18495321 -0.0646637 0.98061762 -0.26074086] [ 0. 0. 0. 1. ]] SLAMing on 66.122414037 meters Centerline goodness : 0.773625 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94250319 -0.27091166 -0.1956901 3.61751496] [ 0.2783066 0.96043161 0.01079636 0.2150071 ] [ 0.1850221 -0.06463745 0.98060636 -0.26035324] [ 0. 0. 0. 1. ]] SLAMing on 66.15241403699999 meters Centerline goodness : 0.772584 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94251001 -0.27080128 -0.19581 3.61780207] [ 0.27818108 0.96046922 0.01068463 0.21523888] [ 0.18517607 -0.06454101 0.98058364 -0.26022759] [ 0. 0. 0. 1. ]] SLAMing on 66.18241403699999 meters Centerline goodness : 0.772759 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94251008 -0.27068616 -0.19596876 3.61787892] [ 0.27803984 0.96051213 0.01050176 0.21540743] [ 0.18538769 -0.06438514 0.9805539 -0.25968259] [ 0. 0. 0. 1. ]] SLAMing on 66.21241403699999 meters Centerline goodness : 0.773059 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94248236 -0.27083796 -0.19589233 3.61725932] [ 0.27813276 0.96048846 0.01020191 0.21566494] [ 0.18538926 -0.06409919 0.98057234 -0.25908011] [ 0. 0. 0. 1. ]] SLAMing on 66.24241403699999 meters Centerline goodness : 0.774558 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.9424619 -0.27086113 -0.19595871 3.61698411] [ 0.2781183 0.96049501 0.00997727 0.2158393 ] [ 0.18551491 -0.0639029 0.98056139 -0.25848191] [ 0. 0. 0. 1. ]] SLAMing on 66.27241403699999 meters Centerline goodness : 0.773729 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94244948 -0.27081819 -0.19607776 3.61695237] [ 0.27805352 0.96051534 0.00982449 0.21610758] [ 0.18567505 -0.0637792 0.98053913 -0.25804752] [ 0. 0. 0. 1. ]] SLAMing on 66.30241403699999 meters Centerline goodness : 0.773648 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94250056 -0.2702622 -0.19659865 3.61825468] [ 0.27756117 0.96065557 0.010034 0.21635011] [ 0.18615177 -0.0640252 0.98043271 -0.25812826] [ 0. 0. 0. 1. ]] SLAMing on 66.33241403699999 meters Centerline goodness : 0.775459 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94252052 -0.27006428 -0.19677487 3.6191088 ] [ 0.27738689 0.96070503 0.01011678 0.2162283 ] [ 0.18631043 -0.06411805 0.9803965 -0.25841813] [ 0. 0. 0. 1. ]] SLAMing on 66.362414037 meters Centerline goodness : 0.772667 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94256987 -0.26970192 -0.19703533 3.62031036] [ 0.27709089 0.96078731 0.01041104 0.21574691] [ 0.18650116 -0.06440982 0.98034111 -0.25890916] [ 0. 0. 0. 1. ]] SLAMing on 66.392414037 meters Centerline goodness : 0.773836 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-0.26 [[ 0.94259478 -0.26949884 -0.19719398 3.62097363] [ 0.27690338 0.96084086 0.01045765 0.21530918] [ 0.18665371 -0.064461 0.98030871 -0.25888167] [ 0. 0. 0. 1. ]] SLAMing on 66.422414037 meters Centerline goodness : 0.828002 Centerline is valid? [False, False] Translation: X:3.62, Y:0.21, Z:-0.26 [[ 0.94271212 -0.26903523 -0.19726606 3.6215499 ] [ 0.27649189 0.96095609 0.01075309 0.21488286] [ 0.18667106 -0.06467953 0.98029101 -0.25912026] [ 0. 0. 0. 1. ]] SLAMing on 66.452414037 meters Centerline goodness : 0.775181 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.26 [[ 0.94201055 -0.27205338 -0.19647666 3.66775784] [ 0.28216112 0.95904448 0.02487552 0.22733352] [ 0.18166238 -0.07887107 0.98019291 -0.25949016] [ 0. 0. 0. 1. ]] SLAMing on 66.482414037 meters Centerline goodness : 0.772932 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94399681 -0.26948131 -0.19039391 3.56071847] [ 0.27755974 0.96056489 0.01660358 0.20250894] [ 0.17841135 -0.06851941 0.98156736 -0.27858685] [ 0. 0. 0. 1. ]] SLAMing on 66.51241403699999 meters Centerline goodness : 0.773874 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94401931 -0.26941419 -0.19037735 3.56056194] [ 0.27748478 0.96058707 0.01657342 0.202291 ] [ 0.17840891 -0.06847245 0.98157108 -0.27828448] [ 0. 0. 0. 1. ]] SLAMing on 66.54241403699999 meters Centerline goodness : 0.826402 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94403827 -0.26928191 -0.19047049 3.56074553] [ 0.27735705 0.96062393 0.01657487 0.20179566] [ 0.1785072 -0.06847564 0.98155299 -0.27793821] [ 0. 0. 0. 1. ]] SLAMing on 66.57241403699999 meters Centerline goodness : 0.772440 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94407841 -0.26901831 -0.19064393 3.56139471] [ 0.27712925 0.960687 0.01672937 0.20103547] [ 0.17864863 -0.06862685 0.98151669 -0.27788144] [ 0. 0. 0. 1. ]] SLAMing on 66.60241403699999 meters Centerline goodness : 0.827526 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94412033 -0.26867757 -0.19091665 3.56202509] [ 0.2768569 0.96076022 0.01703102 0.19936625] [ 0.17884927 -0.06893593 0.9814585 -0.27739364] [ 0. 0. 0. 1. ]] SLAMing on 66.63241403699999 meters Centerline goodness : 0.830883 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94405453 -0.2689505 -0.19085774 3.56156801] [ 0.27709038 0.96069678 0.0168112 0.19917766] [ 0.17883504 -0.06875553 0.98147374 -0.27686898] [ 0. 0. 0. 1. ]] SLAMing on 66.66241403699999 meters Centerline goodness : 0.774139 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94389635 -0.26964455 -0.19066069 3.56054574] [ 0.27773734 0.96051426 0.01656255 0.19790963] [ 0.17866631 -0.06858693 0.98151627 -0.27596963] [ 0. 0. 0. 1. ]] SLAMing on 66.69241403699999 meters Centerline goodness : 0.772699 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:-0.28 [[ 0.94379719 -0.27006213 -0.19056053 3.56046333] [ 0.27815773 0.96039236 0.01657675 0.19626352] [ 0.17853613 -0.06865097 0.98153548 -0.27576584] [ 0. 0. 0. 1. ]] SLAMing on 66.722414037 meters Centerline goodness : 0.771284 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.28 [[ 0.94370331 -0.27046771 -0.19045019 3.56035705] [ 0.27858361 0.96026691 0.01669247 0.19433127] [ 0.17836824 -0.06880904 0.98155493 -0.27561248] [ 0. 0. 0. 1. ]] SLAMing on 66.752414037 meters Centerline goodness : 0.771690 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.28 [[ 0.94357301 -0.2710396 -0.19028272 3.56007532] [ 0.2791324 0.96010955 0.01657581 0.19285326] [ 0.17819955 -0.06875456 0.98158939 -0.27535241] [ 0. 0. 0. 1. ]] SLAMing on 66.782414037 meters Centerline goodness : 0.825662 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.28 [[ 0.94248881 -0.27532942 -0.18949552 3.56099736] [ 0.28276308 0.95910395 0.01283146 0.19290873] [ 0.17821302 -0.06567585 0.98179774 -0.27542856] [ 0. 0. 0. 1. ]] SLAMing on 66.812414037 meters Centerline goodness : 0.771683 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.28 [[ 0.94242116 -0.27561123 -0.18942228 3.56132568] [ 0.28306138 0.95901474 0.01292242 0.19177751] [ 0.1780972 -0.06579649 0.98181068 -0.27576125] [ 0. 0. 0. 1. ]] SLAMing on 66.842414037 meters Centerline goodness : 0.773354 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.28 [[ 0.94224907 -0.27578301 -0.19002743 3.56383425] [ 0.2833554 0.95892204 0.01335043 0.19074458] [ 0.17853967 -0.06642473 0.98168801 -0.2765846 ] [ 0. 0. 0. 1. ]] SLAMing on 66.872414037 meters Centerline goodness : 0.770294 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.28 [[ 0.94190945 -0.27683023 -0.19018834 3.56434924] [ 0.28433429 0.95863959 0.01281225 0.19097693] [ 0.17877526 -0.06614505 0.98166402 -0.27628976] [ 0. 0. 0. 1. ]] SLAMing on 66.90241403699999 meters Centerline goodness : 0.771375 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94181686 -0.2768216 -0.19065887 3.56500473] [ 0.28445758 0.95859555 0.01335888 0.19060107] [ 0.17906672 -0.06681598 0.98156545 -0.27582805] [ 0. 0. 0. 1. ]] SLAMing on 66.93241403699999 meters Centerline goodness : 0.770891 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94184897 -0.27629115 -0.19126871 3.56527224] [ 0.28416449 0.95866624 0.01447719 0.19016965] [ 0.17936294 -0.06798711 0.98143094 -0.27506441] [ 0. 0. 0. 1. ]] SLAMing on 66.96241403699999 meters Centerline goodness : 0.772581 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.27 [[ 0.9417733 -0.27664451 -0.1911305 3.56466594] [ 0.28445604 0.95858454 0.01415761 0.19003419] [ 0.17929811 -0.06770148 0.98146253 -0.27455553] [ 0. 0. 0. 1. ]] SLAMing on 66.99241403699999 meters Centerline goodness : 0.774294 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.27 [[ 0.9415814 -0.27758789 -0.19070772 3.56290554] [ 0.28527876 0.95834857 0.01356638 0.18900549] [ 0.17899861 -0.06717871 0.98155312 -0.27329661] [ 0. 0. 0. 1. ]] SLAMing on 67.02241403699999 meters Centerline goodness : 0.774203 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.27 [[ 0.94146251 -0.27751715 -0.19139638 3.56392541] [ 0.28542062 0.95829307 0.01447284 0.18820876] [ 0.17939737 -0.06825411 0.98140611 -0.2727731 ] [ 0. 0. 0. 1. ]] SLAMing on 67.05241403699999 meters Centerline goodness : 0.774831 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.94116167 -0.27793616 -0.19226599 3.56614069] [ 0.28597073 0.9581239 0.01480972 0.18817591] [ 0.18009848 -0.06892079 0.98123109 -0.27293676] [ 0. 0. 0. 1. ]] SLAMing on 67.08241403699999 meters Centerline goodness : 0.773006 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.9408343 -0.2787914 -0.19262964 3.56724327] [ 0.28682911 0.95787049 0.01460114 0.18797366] [ 0.18044357 -0.06898904 0.9811629 -0.27277879] [ 0. 0. 0. 1. ]] SLAMing on 67.112414037 meters Centerline goodness : 0.774598 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.93992305 -0.28242081 -0.19178932 3.56771434] [ 0.28984667 0.95700715 0.0112354 0.18850522] [ 0.18037064 -0.06614991 0.98137181 -0.2729238 ] [ 0. 0. 0. 1. ]] SLAMing on 67.142414037 meters Centerline goodness : 0.776060 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.93964759 -0.28311647 -0.19211315 3.56830319] [ 0.29056349 0.95679062 0.0111606 0.18811663] [ 0.18065231 -0.0663081 0.98130932 -0.27236837] [ 0. 0. 0. 1. ]] SLAMing on 67.172414037 meters Centerline goodness : 0.773630 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.9395345 -0.28314378 -0.19262536 3.56932718] [ 0.29073182 0.95673267 0.01173092 0.18741176] [ 0.18096944 -0.06702393 0.98120225 -0.27208674] [ 0. 0. 0. 1. ]] SLAMing on 67.202414037 meters Centerline goodness : 0.775004 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.93940756 -0.28302761 -0.19341357 3.57047771] [ 0.29082904 0.95669208 0.01259853 0.18695088] [ 0.1814715 -0.06808544 0.98103643 -0.27166756] [ 0. 0. 0. 1. ]] SLAMing on 67.232414037 meters Centerline goodness : 0.778538 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.93937419 -0.28280071 -0.19390692 3.57092621] [ 0.29078519 0.95669424 0.0134203 0.18613326] [ 0.18171436 -0.06899195 0.98092813 -0.27100103] [ 0. 0. 0. 1. ]] SLAMing on 67.26241403699999 meters Centerline goodness : 0.777572 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.93941133 -0.28270175 -0.19387128 3.57074202] [ 0.29069729 0.95671978 0.01350363 0.18598184] [ 0.18166299 -0.06904331 0.98093403 -0.27075946] [ 0. 0. 0. 1. ]] SLAMing on 67.29241403699999 meters Centerline goodness : 0.777633 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.93927959 -0.28310255 -0.19392471 3.57063304] [ 0.2910661 0.9566109 0.01327043 0.18588467] [ 0.1817536 -0.06890955 0.98092666 -0.27018081] [ 0. 0. 0. 1. ]] SLAMing on 67.32241403699999 meters Centerline goodness : 0.779579 Centerline is valid? [False, False] Translation: X:3.57, Y:0.18, Z:-0.27 [[ 0.93912153 -0.28318637 -0.1945668 3.57303721] [ 0.29130331 0.95653063 0.01383982 0.18453699] [ 0.18218986 -0.06967523 0.98079163 -0.27084873] [ 0. 0. 0. 1. ]] SLAMing on 67.35241403699999 meters Centerline goodness : 0.780261 Centerline is valid? [False, False] Translation: X:3.57, Y:0.18, Z:-0.27 [[ 0.9389808 -0.28362195 -0.19461155 3.57442826] [ 0.29168497 0.95641933 0.01348878 0.1840958 ] [ 0.18230453 -0.06943097 0.98078764 -0.27166166] [ 0. 0. 0. 1. ]] SLAMing on 67.38241403699999 meters Centerline goodness : 0.780172 Centerline is valid? [False, False] Translation: X:3.58, Y:0.18, Z:-0.27 [[ 0.93873738 -0.28443109 -0.19460497 3.57507893] [ 0.29239487 0.95621098 0.01287667 0.18430088] [ 0.18242088 -0.0689893 0.98079718 -0.27192539] [ 0. 0. 0. 1. ]] SLAMing on 67.41241403699999 meters Centerline goodness : 0.778674 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.27 [[ 0.9385288 -0.28501282 -0.19475982 3.57581874] [ 0.29288439 0.95606921 0.01226356 0.18502538] [ 0.18270859 -0.06855182 0.9807743 -0.27209797] [ 0. 0. 0. 1. ]] SLAMing on 67.44241403699999 meters Centerline goodness : 0.781529 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.27 [[ 0.93897831 -0.28180788 -0.1972411 3.57911044] [ 0.29056563 0.95671537 0.01635 0.1852709 ] [ 0.18409603 -0.07266378 0.98021866 -0.27229817] [ 0. 0. 0. 1. ]] SLAMing on 67.472414037 meters Centerline goodness : 0.780455 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.27 [[ 0.93927117 -0.28082954 -0.19724211 3.57852661] [ 0.28962623 0.9569949 0.01665532 0.18577999] [ 0.18408239 -0.07277035 0.98021332 -0.27219908] [ 0. 0. 0. 1. ]] SLAMing on 67.502414037 meters Centerline goodness : 0.782422 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.27 [[ 0.93967085 -0.27987339 -0.19669666 3.57686833] [ 0.28860239 0.95730496 0.01660968 0.18625201] [ 0.18365008 -0.07237475 0.98032369 -0.27213646] [ 0. 0. 0. 1. ]] SLAMing on 67.532414037 meters Centerline goodness : 0.781869 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.27 [[ 0.9401946 -0.27856578 -0.19604903 3.57552357] [ 0.2872295 0.95771705 0.01665106 0.18636612] [ 0.18312108 -0.0719663 0.98045271 -0.27261628] [ 0. 0. 0. 1. ]] SLAMing on 67.562414037 meters Centerline goodness : 0.780124 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.27 [[ 0.94126873 -0.27544191 -0.19530726 3.57446802] [ 0.28407231 0.95865072 0.01707973 0.18725454] [ 0.18252697 -0.071558 0.98059337 -0.27444695] [ 0. 0. 0. 1. ]] SLAMing on 67.592414037 meters Centerline goodness : 0.780646 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94154975 -0.2745477 -0.19521174 3.57469575] [ 0.28312095 0.95893531 0.01689948 0.18852213] [ 0.18255571 -0.07118023 0.98061551 -0.27549343] [ 0. 0. 0. 1. ]] SLAMing on 67.622414037 meters Centerline goodness : 0.779053 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94176412 -0.27380321 -0.19522332 3.57446819] [ 0.28233145 0.95917108 0.01672708 0.19029465] [ 0.18267264 -0.07087065 0.98061616 -0.27598351] [ 0. 0. 0. 1. ]] SLAMing on 67.65241403699999 meters Centerline goodness : 0.778279 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94189057 -0.27360362 -0.19489282 3.5731938 ] [ 0.28193657 0.95930248 0.01582802 0.19245166] [ 0.18263056 -0.06985568 0.98069682 -0.27586821] [ 0. 0. 0. 1. ]] SLAMing on 67.68241403699999 meters Centerline goodness : 0.774972 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94285466 -0.26989854 -0.19539669 3.57342602] [ 0.27863974 0.96022346 0.01818794 0.19350612] [ 0.18271558 -0.07159387 0.98055563 -0.27706256] [ 0. 0. 0. 1. ]] SLAMing on 67.71241403699999 meters Centerline goodness : 0.777067 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94310435 -0.26951748 -0.19471652 3.5721265 ] [ 0.27805206 0.96040867 0.01738521 0.19416705] [ 0.18232181 -0.07053739 0.98070548 -0.27726351] [ 0. 0. 0. 1. ]] SLAMing on 67.74241403699999 meters Centerline goodness : 0.778376 Centerline is valid? [False, False] Translation: X:3.57, Y:0.19, Z:-0.28 [[ 0.94345007 -0.26882066 -0.19400364 3.5709713 ] [ 0.27727951 0.96063306 0.01732629 0.19459433] [ 0.18170864 -0.07013972 0.98084779 -0.27798116] [ 0. 0. 0. 1. ]] SLAMing on 67.77241403699999 meters Centerline goodness : 0.776350 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:-0.28 [[ 0.94400162 -0.27157212 -0.18737535 3.57566934] [ 0.28050388 0.9595914 0.02240341 0.19825434] [ 0.17371963 -0.07370837 0.98203287 -0.28350955] [ 0. 0. 0. 1. ]] SLAMing on 67.80241403699999 meters Centerline goodness : 0.776350 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:-0.28 [[ 0.94400162 -0.27157212 -0.18737535 3.57566934] [ 0.28050388 0.9595914 0.02240341 0.19825434] [ 0.17371963 -0.07370837 0.98203287 -0.28350955] [ 0. 0. 0. 1. ]] SLAMing on 67.83241403699999 meters Centerline goodness : 0.778958 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 0.94445384 -0.27035404 -0.18685724 3.57315829] [ 0.27914328 0.95999894 0.02193308 0.20067225] [ 0.17345306 -0.07287473 0.9821422 -0.28304132] [ 0. 0. 0. 1. ]] SLAMing on 67.862414037 meters Centerline goodness : 0.778633 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 0.94457943 -0.26978092 -0.18705068 3.57388531] [ 0.27855576 0.9601721 0.02182258 0.202499 ] [ 0.17371353 -0.07271721 0.98210784 -0.2839981 ] [ 0. 0. 0. 1. ]] SLAMing on 67.892414037 meters Centerline goodness : 0.777589 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 0.94477679 -0.2693433 -0.18668423 3.57356854] [ 0.2779602 0.96036027 0.02112516 0.20377495] [ 0.1735942 -0.07184935 0.98219281 -0.28476021] [ 0. 0. 0. 1. ]] SLAMing on 67.922414037 meters Centerline goodness : 0.779628 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.29 [[ 0.94507186 -0.26892215 -0.18579573 3.57230961] [ 0.27727361 0.96058217 0.02003095 0.20499328] [ 0.1730853 -0.07044694 0.9823842 -0.28555978] [ 0. 0. 0. 1. ]] SLAMing on 67.952414037 meters Centerline goodness : 0.776076 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.29 [[ 0.94608502 -0.26644453 -0.18420222 3.56967617] [ 0.27454835 0.96137545 0.01950494 0.2053 ] [ 0.17189051 -0.06902574 0.98269482 -0.28678185] [ 0. 0. 0. 1. ]] SLAMing on 67.982414037 meters Centerline goodness : 0.777184 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.29 [[ 0.94687247 -0.26341233 -0.18451685 3.57017663] [ 0.27184081 0.96210179 0.02151079 0.20476893] [ 0.17185779 -0.07052718 0.98259392 -0.2877518 ] [ 0. 0. 0. 1. ]] SLAMing on 68.01241403699999 meters Centerline goodness : 0.776196 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.29 [[ 0.94723019 -0.26231752 -0.1842403 3.56817064] [ 0.27074861 0.96240454 0.02174164 0.20540665] [ 0.17161048 -0.07047715 0.98264074 -0.28679803] [ 0. 0. 0. 1. ]] SLAMing on 68.04241403699999 meters Centerline goodness : 0.778235 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.29 [[ 0.94719593 -0.26243352 -0.18425126 3.56724656] [ 0.27075059 0.96241883 0.02107393 0.20758585] [ 0.17179638 -0.06984727 0.98265323 -0.2858792 ] [ 0. 0. 0. 1. ]] SLAMing on 68.07241403699999 meters Centerline goodness : 0.777566 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94708138 -0.26292428 -0.18414041 3.56554045] [ 0.27105441 0.96235612 0.02000536 0.2099188 ] [ 0.17194875 -0.06885877 0.98269634 -0.28427401] [ 0. 0. 0. 1. ]] SLAMing on 68.10241403699999 meters Centerline goodness : 0.776871 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.9470041 -0.26318479 -0.18416571 3.56560032] [ 0.27127589 0.96229902 0.01974804 0.20913397] [ 0.17202509 -0.06866119 0.9826968 -0.28379292] [ 0. 0. 0. 1. ]] SLAMing on 68.13241403699999 meters Centerline goodness : 0.775147 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94610478 -0.2667428 -0.18366825 3.56745969] [ 0.2742208 0.96153171 0.01611576 0.20957007] [ 0.17230409 -0.06561285 0.98285617 -0.28396093] [ 0. 0. 0. 1. ]] SLAMing on 68.16241403699999 meters Centerline goodness : 0.775341 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94514835 -0.27045071 -0.18316936 3.56936731] [ 0.27730623 0.96070143 0.01241008 0.21000704] [ 0.17261475 -0.06252337 0.98300304 -0.28419902] [ 0. 0. 0. 1. ]] SLAMing on 68.19241403699999 meters Centerline goodness : 0.772289 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.29 [[ 0.94425777 -0.27370643 -0.18292635 3.57225146] [ 0.28003633 0.9599453 0.00920195 0.21028975] [ 0.17308066 -0.05991504 0.98308355 -0.28502366] [ 0. 0. 0. 1. ]] SLAMing on 68.222414037 meters Centerline goodness : 0.773592 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.29 [[ 0.94424149 -0.27370216 -0.18301678 3.57242771] [ 0.2800259 0.95994898 0.00913555 0.2107494 ] [ 0.17318635 -0.0598756 0.98306734 -0.28502924] [ 0. 0. 0. 1. ]] SLAMing on 68.252414037 meters Centerline goodness : 0.826049 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.9442664 -0.2735072 -0.18317965 3.5726405 ] [ 0.27983424 0.96000506 0.00911546 0.21150289] [ 0.17336024 -0.05986736 0.98303719 -0.28493941] [ 0. 0. 0. 1. ]] SLAMing on 68.282414037 meters Centerline goodness : 0.826497 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94525293 -0.26948622 -0.18404913 3.57172939] [ 0.27645043 0.96094302 0.01279374 0.21002209] [ 0.17341299 -0.06297378 0.98283378 -0.28417388] [ 0. 0. 0. 1. ]] SLAMing on 68.312414037 meters Centerline goodness : 0.773193 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94533464 -0.26907876 -0.1842255 3.57222525] [ 0.27604924 0.96105823 0.01280251 0.20987463] [ 0.17360654 -0.06295796 0.98280062 -0.28386289] [ 0. 0. 0. 1. ]] SLAMing on 68.342414037 meters Centerline goodness : 0.826851 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94544508 -0.26848176 -0.18452952 3.5731605 ] [ 0.27549547 0.96121458 0.01299119 0.20938954] [ 0.17388457 -0.06311951 0.98274111 -0.2837297 ] [ 0. 0. 0. 1. ]] SLAMing on 68.372414037 meters Centerline goodness : 0.825390 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94577305 -0.26724822 -0.18463945 3.57395933] [ 0.27434964 0.96153437 0.01356236 0.20853289] [ 0.17391266 -0.06348268 0.98271274 -0.2834892 ] [ 0. 0. 0. 1. ]] SLAMing on 68.40241403699999 meters Centerline goodness : 0.827256 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94583082 -0.26698499 -0.18472433 3.57396828] [ 0.2740793 0.96161212 0.01351555 0.20882982] [ 0.1740247 -0.06341254 0.98269744 -0.28307363] [ 0. 0. 0. 1. ]] SLAMing on 68.43241403699999 meters Centerline goodness : 0.827774 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94612298 -0.26611761 -0.18447962 3.57229147] [ 0.27328199 0.96183085 0.01408416 0.20828294] [ 0.17369015 -0.0637403 0.98273542 -0.2821345 ] [ 0. 0. 0. 1. ]] SLAMing on 68.46241403699999 meters Centerline goodness : 0.827754 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94616453 -0.26591448 -0.18455939 3.57223118] [ 0.27307108 0.96189155 0.01402949 0.20864267] [ 0.17379547 -0.06367204 0.98272122 -0.28174727] [ 0. 0. 0. 1. ]] SLAMing on 68.49241403699999 meters Centerline goodness : 0.827206 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94640981 -0.2653088 -0.18417302 3.57157781] [ 0.27243689 0.96207079 0.01406883 0.20794064] [ 0.1734549 -0.06349041 0.98279315 -0.2818194 ] [ 0. 0. 0. 1. ]] SLAMing on 68.52241403699999 meters Centerline goodness : 0.774042 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94614591 -0.26750607 -0.18234151 3.5714155 ] [ 0.27396951 0.96167829 0.01075095 0.20682551] [ 0.17247792 -0.06012798 0.98317648 -0.28368041] [ 0. 0. 0. 1. ]] SLAMing on 68.55241403699999 meters Centerline goodness : 0.772480 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94563747 -0.27026727 -0.18090155 3.571021 ] [ 0.2761092 0.96109747 0.00744057 0.20612284] [ 0.17185308 -0.05698466 0.98347306 -0.28427156] [ 0. 0. 0. 1. ]] SLAMing on 68.58241403699999 meters Centerline goodness : 0.772527 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.28 [[ 0.94494047 -0.2734995 -0.17968175 3.57057889] [ 0.27875431 0.96035338 0.00417437 0.20588297] [ 0.17141628 -0.05403159 0.98371594 -0.28436785] [ 0. 0. 0. 1. ]] SLAMing on 68.612414037 meters Centerline goodness : 0.773143 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 9.43768234e-01 -2.77901843e-01 -1.79086814e-01 3.57064878e+00] [ 2.82759445e-01 9.59189403e-01 1.66890913e-03 2.04184043e-01] [ 1.71314382e-01 -5.22135517e-02 9.83831859e-01 -2.82982242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642414037 meters Centerline goodness : 0.773119 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 9.43359149e-01 -2.78923994e-01 -1.79652225e-01 3.57170303e+00] [ 2.83943676e-01 9.58838139e-01 2.32616597e-03 2.02846329e-01] [ 1.71608581e-01 -5.32055231e-02 9.83727435e-01 -2.82112262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672414037 meters Centerline goodness : 0.774120 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 9.42929659e-01 -2.80112688e-01 -1.80057049e-01 3.57229522e+00] [ 2.85283635e-01 9.58438590e-01 2.95234380e-03 2.00904013e-01] [ 1.71746635e-01 -5.41511819e-02 9.83651739e-01 -2.80819951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702414037 meters Centerline goodness : 0.774236 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 9.42512025e-01 -2.81656998e-01 -1.79834418e-01 3.57325425e+00] [ 2.86723872e-01 9.58010551e-01 2.28166404e-03 1.98955784e-01] [ 1.71640623e-01 -5.37133165e-02 9.83694249e-01 -2.80757276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.732414037 meters Centerline goodness : 0.774219 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 0.94062788 -0.2892838 -0.17757836 3.57363594] [ 0.29323157 0.95603229 -0.00418335 0.19670133] [ 0.17098083 -0.0481366 0.98409777 -0.28068368] [ 0. 0. 0. 1. ]] SLAMing on 68.76241403699999 meters Centerline goodness : 0.773833 Centerline is valid? [False, False] Translation: X:3.57, Y:0.20, Z:-0.28 [[ 0.93963666 -0.29285597 -0.17696988 3.57464516] [ 0.29641091 0.95503763 -0.00661082 0.19557072] [ 0.17094891 -0.04624403 0.98419407 -0.280659 ] [ 0. 0. 0. 1. ]] SLAMing on 68.79241403699999 meters Centerline goodness : 0.773076 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.28 [[ 0.93889773 -0.29484034 -0.17759568 3.57646485] [ 0.29846717 0.95439737 -0.0065581 0.19401297] [ 0.17143044 -0.0468491 0.98408169 -0.27978287] [ 0. 0. 0. 1. ]] SLAMing on 68.82241403699999 meters Centerline goodness : 0.774688 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.28 [[ 0.93842746 -0.29585276 -0.17839576 3.57814385] [ 0.29975262 0.95400216 -0.00531449 0.19193603] [ 0.17176225 -0.04848733 0.98394446 -0.27881432] [ 0. 0. 0. 1. ]] SLAMing on 68.85241403699999 meters Centerline goodness : 0.774437 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.28 [[ 0.93731563 -0.29911781 -0.17879584 3.57952793] [ 0.30308823 0.95294755 -0.00533708 0.18856527] [ 0.17197948 -0.04918839 0.98387172 -0.27700291] [ 0. 0. 0. 1. ]] SLAMing on 68.88241403699999 meters Centerline goodness : 0.774546 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.28 [[ 0.9368176 -0.30042017 -0.17922196 3.58128841] [ 0.30446773 0.95250875 -0.00514506 0.18664222] [ 0.17225617 -0.04974732 0.98379521 -0.27664628] [ 0. 0. 0. 1. ]] SLAMing on 68.91241403699999 meters Centerline goodness : 0.774762 Centerline is valid? [False, False] Translation: X:3.58, Y:0.18, Z:-0.28 [[ 0.93636295 -0.30151958 -0.17975083 3.58384521] [ 0.30569663 0.95211752 -0.00466802 0.18484332] [ 0.17255141 -0.05057826 0.9837011 -0.27710166] [ 0. 0. 0. 1. ]] SLAMing on 68.94241403699999 meters Centerline goodness : 0.773788 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 0.93594413 -0.3026151 -0.18009076 3.58621548] [ 0.30682773 0.9517536 -0.00467205 0.18328498] [ 0.17281586 -0.05088406 0.9836389 -0.27764983] [ 0. 0. 0. 1. ]] SLAMing on 68.972414037 meters Centerline goodness : 0.776375 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 0.93557824 -0.30356985 -0.18038487 3.58807248] [ 0.30779759 0.95143992 -0.0047662 0.18187644] [ 0.17307224 -0.05106287 0.98358456 -0.27784811] [ 0. 0. 0. 1. ]] SLAMing on 69.002414037 meters Centerline goodness : 0.775775 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 0.93509221 -0.30449818 -0.18133786 3.59111428] [ 0.30888549 0.95108979 -0.00423906 0.18076214] [ 0.17375938 -0.05204872 0.98341172 -0.27815617] [ 0. 0. 0. 1. ]] SLAMing on 69.032414037 meters Centerline goodness : 0.777733 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 0.93499838 -0.30440637 -0.18197471 3.59233923] [ 0.30893006 0.95107774 -0.00365447 0.18056734] [ 0.17418455 -0.05280053 0.98329642 -0.27804796] [ 0. 0. 0. 1. ]] SLAMing on 69.062414037 meters Centerline goodness : 0.830864 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 9.35181363e-01 -3.03409819e-01 -1.82697291e-01 3.59373192e+00] [ 3.08136676e-01 9.51338444e-01 -2.63686292e-03 1.80029033e-01] [ 1.74607007e-01 -5.38297909e-02 9.83165676e-01 -2.78159001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092414037 meters Centerline goodness : 0.777555 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 9.35397067e-01 -3.02575485e-01 -1.82976509e-01 3.59475004e+00] [ 3.07358154e-01 9.51591057e-01 -2.32931444e-03 1.80244611e-01] [ 1.74823603e-01 -5.40604880e-02 9.83114526e-01 -2.78893797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122414037 meters Centerline goodness : 0.777896 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.28 [[ 9.35687131e-01 -3.01599463e-01 -1.83104773e-01 3.59529025e+00] [ 3.06450788e-01 9.51884629e-01 -1.88872022e-03 1.80154541e-01] [ 1.74864256e-01 -5.43453507e-02 9.83091590e-01 -2.79540093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15241403699999 meters Centerline goodness : 0.777805 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.28 [[ 9.36008169e-01 -3.00561603e-01 -1.83170494e-01 3.59563492e+00] [ 3.05445879e-01 9.52208055e-01 -1.62330694e-03 1.80427808e-01] [ 1.74904324e-01 -5.44292439e-02 9.83079821e-01 -2.80189343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18241403699999 meters Centerline goodness : 0.777181 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.28 [[ 9.36273411e-01 -2.99899761e-01 -1.82899515e-01 3.59503625e+00] [ 3.04736792e-01 9.52435018e-01 -1.73908920e-03 1.80833474e-01] [ 1.74721455e-01 -5.41079485e-02 9.83130074e-01 -2.80476820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21241403699999 meters Centerline goodness : 0.776617 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 9.36964613e-01 -2.97747881e-01 -1.82875679e-01 3.59467612e+00] [ 3.02688318e-01 9.53089134e-01 -9.40680039e-04 1.80850500e-01] [ 1.74576908e-01 -5.44729476e-02 9.83135597e-01 -2.81110935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24241403699999 meters Centerline goodness : 0.776127 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 9.37171705e-01 -2.97044479e-01 -1.82958394e-01 3.59464002e+00] [ 3.02008150e-01 9.53305034e-01 -7.67958091e-04 1.81381741e-01] [ 1.74643276e-01 -5.45352174e-02 9.83120357e-01 -2.81294165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27241403699999 meters Centerline goodness : 0.831128 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 9.37524714e-01 -2.95960031e-01 -1.82907274e-01 3.59450939e+00] [ 3.00949915e-01 9.53639817e-01 -4.99088954e-04 1.81892366e-01] [ 1.74575370e-01 -5.45780204e-02 9.83130042e-01 -2.81841344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30241403699999 meters Centerline goodness : 0.776560 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 9.38057304e-01 -2.94417682e-01 -1.82665605e-01 3.59422348e+00] [ 2.99331041e-01 9.54149062e-01 -7.04486596e-04 1.83661054e-01] [ 1.74497629e-01 -5.40166368e-02 9.83174847e-01 -2.83120112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33241403699999 meters Centerline goodness : 0.775662 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.28 [[ 9.38332288e-01 -2.93623494e-01 -1.82531536e-01 3.59420970e+00] [ 2.98470283e-01 9.54418444e-01 -9.60789853e-04 1.84638314e-01] [ 1.74493575e-01 -5.35786991e-02 9.83199530e-01 -2.83855234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362414037 meters Centerline goodness : 0.775153 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.28 [[ 9.38596165e-01 -2.92716647e-01 -1.82631334e-01 3.59465234e+00] [ 2.97575026e-01 9.54698068e-01 -8.39065775e-04 1.85350982e-01] [ 1.74603390e-01 -5.35589799e-02 9.83181108e-01 -2.84581004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.392414037 meters Centerline goodness : 0.776437 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39168753e-01 -2.91019218e-01 -1.82400299e-01 3.59386659e+00] [ 2.95889554e-01 9.55222008e-01 -5.35845500e-04 1.86268897e-01] [ 1.74388721e-01 -5.34670937e-02 9.83224208e-01 -2.85218871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422414037 meters Centerline goodness : 0.775247 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39228741e-01 -2.91057476e-01 -1.82029989e-01 3.59341025e+00] [ 2.95819726e-01 9.55243225e-01 -1.03440748e-03 1.86989213e-01] [ 1.74183986e-01 -5.28765163e-02 9.83292435e-01 -2.85632387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.452414037 meters Centerline goodness : 0.827843 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39326965e-01 -2.90706282e-01 -1.82084351e-01 3.59401715e+00] [ 2.95479964e-01 9.55348462e-01 -9.52862661e-04 1.87368737e-01] [ 1.74231008e-01 -5.29072279e-02 9.83282452e-01 -2.86299412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.482414037 meters Centerline goodness : 0.826432 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39388288e-01 -2.90763131e-01 -1.81676764e-01 3.59343089e+00] [ 2.95429152e-01 9.55363564e-01 -1.44110933e-03 1.87441591e-01] [ 1.73986382e-01 -5.23188510e-02 9.83357248e-01 -2.86368927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51241403699999 meters Centerline goodness : 0.775588 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39537399e-01 -2.90402390e-01 -1.81482585e-01 3.59248903e+00] [ 2.95116017e-01 9.55460818e-01 -1.07762139e-03 1.86927765e-01] [ 1.73712443e-01 -5.25459522e-02 9.83393568e-01 -2.85829975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54241403699999 meters Centerline goodness : 0.775376 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39640199e-01 -2.90149522e-01 -1.81354765e-01 3.59209957e+00] [ 2.94860328e-01 9.55539809e-01 -1.03003126e-03 1.87158026e-01] [ 1.73590561e-01 -5.25064667e-02 9.83417199e-01 -2.85827332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57241403699999 meters Centerline goodness : 0.774081 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39617296e-01 -2.90262844e-01 -1.81292080e-01 3.59185716e+00] [ 2.94906335e-01 9.55525136e-01 -1.40298272e-03 1.87919327e-01] [ 1.73636373e-01 -5.21459161e-02 9.83428296e-01 -2.85821986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60241403699999 meters Centerline goodness : 0.775054 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.39857316e-01 -2.89952929e-01 -1.80542307e-01 3.59137112e+00] [ 2.94332555e-01 9.55699409e-01 -2.64335177e-03 1.88465364e-01] [ 1.73310623e-01 -5.06551050e-02 9.83563668e-01 -2.86846646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63241403699999 meters Centerline goodness : 0.774271 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.40041107e-01 -2.89585709e-01 -1.80174454e-01 3.59169593e+00] [ 2.93888897e-01 9.55835086e-01 -2.93347373e-03 1.88264493e-01] [ 1.73066557e-01 -5.01936857e-02 9.83630297e-01 -2.87930991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66241403699999 meters Centerline goodness : 0.772406 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.40261400e-01 -2.88829875e-01 -1.80238183e-01 3.59241162e+00] [ 2.93203479e-01 9.56046845e-01 -2.47992353e-03 1.87864352e-01] [ 1.73032422e-01 -5.05146859e-02 9.83619869e-01 -2.88713013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69241403699999 meters Centerline goodness : 0.772406 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.40261400e-01 -2.88829875e-01 -1.80238183e-01 3.59241162e+00] [ 2.93203479e-01 9.56046845e-01 -2.47992353e-03 1.87864352e-01] [ 1.73032422e-01 -5.05146859e-02 9.83619869e-01 -2.88713013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722414037 meters Centerline goodness : 0.774252 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.40445467e-01 -2.88285627e-01 -1.80149160e-01 3.59251817e+00] [ 2.92686223e-01 9.56205899e-01 -2.24805592e-03 1.87624199e-01] [ 1.72907772e-01 -5.06130033e-02 9.83636735e-01 -2.89101254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752414037 meters Centerline goodness : 0.774463 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.41042656e-01 -2.86515711e-01 -1.79854013e-01 3.59179552e+00] [ 2.91054865e-01 9.56705609e-01 -1.20177888e-03 1.86623631e-01] [ 1.72411672e-01 -5.12164604e-02 9.83692579e-01 -2.89470566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782414037 meters Centerline goodness : 0.775592 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.41095043e-01 -2.86429722e-01 -1.79716814e-01 3.59134427e+00] [ 2.90971768e-01 9.56730966e-01 -1.13565210e-03 1.86036582e-01] [ 1.72265926e-01 -5.12237627e-02 9.83717732e-01 -2.89144408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812414037 meters Centerline goodness : 0.774444 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.29 [[ 9.41051093e-01 -2.86219947e-01 -1.80280287e-01 3.59289409e+00] [ 2.90923076e-01 9.56746376e-01 -3.68421346e-04 1.85427385e-01] [ 1.72587961e-01 -5.21009924e-02 9.83615210e-01 -2.89479195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842414037 meters Centerline goodness : 0.772893 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.29 [[ 9.40941079e-01 -2.86640314e-01 -1.80186616e-01 3.59331778e+00] [ 2.91398105e-01 9.56601871e-01 -6.77828849e-05 1.83733914e-01] [ 1.72386283e-01 -5.24422588e-02 9.83632441e-01 -2.89451416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87241403699998 meters Centerline goodness : 0.775608 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.29 [[ 9.39848316e-01 -2.90552051e-01 -1.79623633e-01 3.59493635e+00] [ 2.94919251e-01 9.55518915e-01 -2.49754813e-03 1.82215305e-01] [ 1.72359447e-01 -5.06271510e-02 9.83732236e-01 -2.89663816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90241403699999 meters Centerline goodness : 0.774659 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.29 [[ 9.39388230e-01 -2.91723468e-01 -1.80130983e-01 3.59710638e+00] [ 2.96203927e-01 9.55122378e-01 -2.11584998e-03 1.80953139e-01] [ 1.72664376e-01 -5.13678998e-02 9.83640357e-01 -2.89834740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93241403699999 meters Centerline goodness : 0.777552 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.29 [[ 9.39012141e-01 -2.92570987e-01 -1.80716397e-01 3.59922048e+00] [ 2.97216924e-01 9.54808905e-01 -1.43364630e-03 1.79583672e-01] [ 1.72969068e-01 -5.23657604e-02 9.83534203e-01 -2.90016687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96241403699999 meters Centerline goodness : 0.776740 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.29 [[ 9.38097811e-01 -2.94663111e-01 -1.82060837e-01 3.60161202e+00] [ 2.99709455e-01 9.54030501e-01 2.15251645e-04 1.76509258e-01] [ 1.73628165e-01 -5.47672814e-02 9.83287245e-01 -2.88057087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99241403699999 meters Centerline goodness : 0.775794 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.29 [[ 9.37674318e-01 -2.95610428e-01 -1.82705633e-01 3.60328001e+00] [ 3.00827443e-01 9.53678181e-01 8.80937337e-04 1.75222393e-01] [ 1.73981962e-01 -5.57889008e-02 9.83167267e-01 -2.87606291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02241403699999 meters Centerline goodness : 0.775771 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.29 [[ 9.37205001e-01 -2.96469402e-01 -1.83719021e-01 3.60596613e+00] [ 3.01928753e-01 9.53328735e-01 1.83071226e-03 1.73768194e-01] [ 1.74601872e-01 -5.71858076e-02 9.82977095e-01 -2.87380843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05241403699999 meters Centerline goodness : 0.774226 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.29 [[ 9.36644552e-01 -2.98301091e-01 -1.83612206e-01 3.60706696e+00] [ 3.03676309e-01 9.52774487e-01 1.21501247e-03 1.72157152e-01] [ 1.74578586e-01 -5.68967117e-02 9.82998007e-01 -2.87210044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08241403699999 meters Centerline goodness : 0.826603 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.29 [[ 9.36191919e-01 -2.99145848e-01 -1.84543902e-01 3.61042737e+00] [ 3.04689553e-01 9.52450076e-01 1.76874750e-03 1.70844090e-01] [ 1.75239740e-01 -5.78844860e-02 9.82822680e-01 -2.87793291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112414037 meters Centerline goodness : 0.827612 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.29 [[ 9.35315858e-01 -3.01225418e-01 -1.85600360e-01 3.61400424e+00] [ 3.06979514e-01 9.51713135e-01 2.38480410e-03 1.68659105e-01] [ 1.75919937e-01 -5.92060534e-02 9.82622419e-01 -2.87634883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142414037 meters Centerline goodness : 0.777677 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.29 [[ 9.35065655e-01 -3.01785539e-01 -1.85950823e-01 3.61495198e+00] [ 3.07639079e-01 9.51499109e-01 2.76452353e-03 1.67663400e-01] [ 1.76097749e-01 -5.97907509e-02 9.82555163e-01 -2.87328662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172414037 meters Centerline goodness : 0.778809 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.9349024 -0.30174013 -0.18684327 3.61682403] [ 0.30783288 0.95143289 0.00379039 0.16686433] [ 0.17662512 -0.06106015 0.98238242 -0.28710244] [ 0. 0. 0. 1. ]] SLAMing on 70.202414037 meters Centerline goodness : 0.827451 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.93480884 -0.30158277 -0.18756403 3.61760029] [ 0.30789666 0.9514078 0.00477872 0.1664 ] [ 0.1770087 -0.06221753 0.98224075 -0.28635645] [ 0. 0. 0. 1. ]] SLAMing on 70.232414037 meters Centerline goodness : 0.822990 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.93492011 -0.30097093 -0.1879917 3.61871157] [ 0.30743237 0.95155402 0.00550347 0.16609303] [ 0.17722787 -0.06294004 0.9821552 -0.28674496] [ 0. 0. 0. 1. ]] SLAMing on 70.26241403699999 meters Centerline goodness : 0.823027 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.93486638 -0.30094523 -0.18829981 3.62016542] [ 0.30743078 0.95155439 0.00552811 0.16641286] [ 0.17751385 -0.0630572 0.98209603 -0.28753677] [ 0. 0. 0. 1. ]] SLAMing on 70.29241403699999 meters Centerline goodness : 0.821694 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.93482839 -0.30094781 -0.18848421 3.62138127] [ 0.30743479 0.95155343 0.00546914 0.16632553] [ 0.17770687 -0.06305931 0.98206099 -0.28821209] [ 0. 0. 0. 1. ]] SLAMing on 70.32241403699999 meters Centerline goodness : 0.822977 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.93473595 -0.30093855 -0.18895684 3.62262435] [ 0.30753232 0.95151942 0.0058883 0.16619794] [ 0.17802409 -0.06361434 0.98196774 -0.28837133] [ 0. 0. 0. 1. ]] SLAMing on 70.35241403699999 meters Centerline goodness : 0.826388 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.9347873 -0.30048284 -0.18942749 3.6235026 ] [ 0.30721217 0.95161879 0.00650866 0.16631226] [ 0.17830702 -0.06427864 0.98187314 -0.28853141] [ 0. 0. 0. 1. ]] SLAMing on 70.38241403699999 meters Centerline goodness : 0.825565 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.29 [[ 0.93476681 -0.30026735 -0.18986976 3.62433798] [ 0.30706034 0.95166634 0.00671767 0.16713886] [ 0.17867556 -0.06458092 0.9817863 -0.28867701] [ 0. 0. 0. 1. ]] SLAMing on 70.41241403699999 meters Centerline goodness : 0.825046 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.29 [[ 0.93467357 -0.30019357 -0.19044459 3.62541998] [ 0.3070149 0.95168134 0.00666904 0.16856728] [ 0.17924056 -0.0647027 0.98167529 -0.28888384] [ 0. 0. 0. 1. ]] SLAMing on 70.44241403699999 meters Centerline goodness : 0.777946 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.29 [[ 0.93461989 -0.29997791 -0.19104689 3.62708622] [ 0.30684885 0.95173439 0.00674044 0.16993189] [ 0.17980391 -0.06492227 0.98155777 -0.28963617] [ 0. 0. 0. 1. ]] SLAMing on 70.472414037 meters Centerline goodness : 0.825110 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.29 [[ 0.93440217 -0.30069291 -0.19098784 3.62757347] [ 0.30743666 0.95154965 0.00599647 0.17126519] [ 0.17993131 -0.06431978 0.98157409 -0.29022362] [ 0. 0. 0. 1. ]] SLAMing on 70.502414037 meters Centerline goodness : 0.825348 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.29 [[ 0.93428135 -0.30078586 -0.19143206 3.62870573] [ 0.30760168 0.9514949 0.00621792 0.17141046] [ 0.18027636 -0.06469411 0.98148617 -0.29038139] [ 0. 0. 0. 1. ]] SLAMing on 70.532414037 meters Centerline goodness : 0.768168 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.29 [[ 0.93413755 -0.30076222 -0.19216952 3.62975947] [ 0.30773644 0.95144727 0.00681049 0.17179077] [ 0.18079082 -0.0654995 0.98133811 -0.28998456] [ 0. 0. 0. 1. ]] SLAMing on 70.562414037 meters Centerline goodness : 0.820546 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.29 [[ 0.93377514 -0.30122343 -0.19320568 3.63041942] [ 0.30835557 0.95124366 0.00723522 0.17343015] [ 0.18160626 -0.06633212 0.9811316 -0.28872903] [ 0. 0. 0. 1. ]] SLAMing on 70.592414037 meters Centerline goodness : 0.821533 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.29 [[ 0.93368306 -0.30145419 -0.19329077 3.63043363] [ 0.30858349 0.95117028 0.0071649 0.17431931] [ 0.18169254 -0.06633609 0.98111536 -0.2888218 ] [ 0. 0. 0. 1. ]] SLAMing on 70.62241403699998 meters Centerline goodness : 0.821060 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.29 [[ 0.93353264 -0.30155906 -0.19385291 3.63154828] [ 0.3087352 0.9511208 0.0071977 0.17542305] [ 0.182207 -0.06656851 0.9810042 -0.28898506] [ 0. 0. 0. 1. ]] SLAMing on 70.65241403699999 meters Centerline goodness : 0.825831 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.29 [[ 0.93341114 -0.30170893 -0.19420446 3.63268453] [ 0.30887748 0.95107599 0.00701099 0.17649755] [ 0.18258792 -0.06652952 0.98093602 -0.2895182 ] [ 0. 0. 0. 1. ]] SLAMing on 70.68241403699999 meters Centerline goodness : 0.773779 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.29 [[ 0.93315423 -0.30214076 -0.1947669 3.6339495 ] [ 0.30929895 0.95094123 0.00670297 0.17767402] [ 0.18318664 -0.06649611 0.98082665 -0.28967479] [ 0. 0. 0. 1. ]] SLAMing on 70.71241403699999 meters Centerline goodness : 0.820856 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.29 [[ 0.93307304 -0.30204614 -0.19530189 3.63560056] [ 0.30925915 0.95095343 0.00680774 0.17846851] [ 0.18366675 -0.06675102 0.98071954 -0.29032337] [ 0. 0. 0. 1. ]] SLAMing on 70.74241403699999 meters Centerline goodness : 0.775066 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.29 [[ 0.93296832 -0.30204 -0.19581101 3.63673994] [ 0.30929846 0.95094026 0.00686206 0.17969744] [ 0.18413195 -0.06696613 0.98061764 -0.29067417] [ 0. 0. 0. 1. ]] SLAMing on 70.77241403699999 meters Centerline goodness : 0.774976 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.29 [[ 0.93295092 -0.30187427 -0.19614917 3.63738397] [ 0.30915967 0.95098513 0.0068971 0.1806296 ] [ 0.18445289 -0.06707606 0.98054981 -0.2909062 ] [ 0. 0. 0. 1. ]] SLAMing on 70.80241403699999 meters Centerline goodness : 0.824678 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.29 [[ 0.9333233 -0.30079143 -0.19604115 3.63724214] [ 0.30804236 0.95134787 0.00686502 0.18190612] [ 0.1844384 -0.06679626 0.98057164 -0.29176585] [ 0. 0. 0. 1. ]] SLAMing on 70.83241403699999 meters Centerline goodness : 0.820560 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.29 [[ 0.93360002 -0.30000152 -0.1959339 3.63779523] [ 0.30720953 0.95161791 0.00675738 0.18253472] [ 0.18442699 -0.06650146 0.98059382 -0.29293672] [ 0. 0. 0. 1. ]] SLAMing on 70.862414037 meters Centerline goodness : 0.775042 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.29 [[ 0.93387846 -0.29911252 -0.19596612 3.63889695] [ 0.30633728 0.95189784 0.00692582 0.18290175] [ 0.18446813 -0.0664996 0.98058621 -0.29433379] [ 0. 0. 0. 1. ]] SLAMing on 70.892414037 meters Centerline goodness : 0.776187 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.29 [[ 0.93443183 -0.2978006 -0.19532528 3.63707487] [ 0.30490191 0.95236063 0.00663757 0.18413445] [ 0.18404343 -0.0657574 0.98071605 -0.29470028] [ 0. 0. 0. 1. ]] SLAMing on 70.922414037 meters Centerline goodness : 0.775588 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.29 [[ 0.93473392 -0.29696173 -0.19515693 3.63522181] [ 0.30404011 0.95263593 0.00666228 0.18553669] [ 0.18393506 -0.06556299 0.9807494 -0.29393686] [ 0. 0. 0. 1. ]] SLAMing on 70.952414037 meters Centerline goodness : 0.823025 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.93556852 -0.30015227 -0.18606492 3.63770409] [ 0.30748531 0.95148699 0.01119286 0.19034582] [ 0.17367879 -0.06768392 0.9824737 -0.29834233] [ 0. 0. 0. 1. ]] SLAMing on 70.982414037 meters Centerline goodness : 0.775222 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.93644609 -0.29696949 -0.18675611 3.63755625] [ 0.30466962 0.95236527 0.01329677 0.19201133] [ 0.1739113 -0.06935062 0.98231632 -0.29895214] [ 0. 0. 0. 1. ]] SLAMing on 71.01241403699999 meters Centerline goodness : 0.775075 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.93652124 -0.29709337 -0.18618133 3.63705066] [ 0.30456736 0.95241218 0.01223783 0.19277808] [ 0.17368559 -0.06816574 0.98243918 -0.29961946] [ 0. 0. 0. 1. ]] SLAMing on 71.04241403699999 meters Centerline goodness : 0.773559 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.93666758 -0.29658375 -0.18625769 3.63824543] [ 0.30403438 0.95258391 0.0121243 0.19329236] [ 0.1738302 -0.06798518 0.98242612 -0.30087365] [ 0. 0. 0. 1. ]] SLAMing on 71.07241403699999 meters Centerline goodness : 0.776315 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.93680939 -0.29624293 -0.18608679 3.63853205] [ 0.30360486 0.95272591 0.01172335 0.19382431] [ 0.17381675 -0.0674794 0.98246337 -0.30164369] [ 0. 0. 0. 1. ]] SLAMing on 71.10241403699999 meters Centerline goodness : 0.773941 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93712745 -0.29537946 -0.1858578 3.63722022] [ 0.30269159 0.95301778 0.01161486 0.19501589] [ 0.173695 -0.0671422 0.982508 -0.30149653] [ 0. 0. 0. 1. ]] SLAMing on 71.13241403699999 meters Centerline goodness : 0.773987 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93725775 -0.29482178 -0.18608605 3.63694977] [ 0.30219139 0.95317295 0.01190348 0.1958439 ] [ 0.17386278 -0.06739023 0.98246134 -0.30117495] [ 0. 0. 0. 1. ]] SLAMing on 71.16241403699999 meters Centerline goodness : 0.822845 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93745312 -0.29447119 -0.18565655 3.63560446] [ 0.30175174 0.95331594 0.01160222 0.19648873] [ 0.17357283 -0.06689872 0.9825462 -0.30098362] [ 0. 0. 0. 1. ]] SLAMing on 71.19241403699999 meters Centerline goodness : 0.824710 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93778737 -0.29338299 -0.18569133 3.63513693] [ 0.30073565 0.95363076 0.012101 0.19667849] [ 0.17353074 -0.06719217 0.98253361 -0.30094838] [ 0. 0. 0. 1. ]] SLAMing on 71.222414037 meters Centerline goodness : 0.774165 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.30 [[ 0.93771033 -0.29380496 -0.18541301 3.63498608] [ 0.30103533 0.95354392 0.01147713 0.19707048] [ 0.17342741 -0.06657809 0.98259365 -0.30120762] [ 0. 0. 0. 1. ]] SLAMing on 71.252414037 meters Centerline goodness : 0.774698 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93760512 -0.29419824 -0.18532144 3.6351762 ] [ 0.30134443 0.95345192 0.01099821 0.19713134] [ 0.17345943 -0.06615756 0.98261641 -0.30130893] [ 0. 0. 0. 1. ]] SLAMing on 71.282414037 meters Centerline goodness : 0.774475 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.9375644 -0.29435547 -0.18527776 3.6357371 ] [ 0.30143899 0.95342604 0.0106451 0.19740124] [ 0.1735152 -0.0658304 0.98262853 -0.30180044] [ 0. 0. 0. 1. ]] SLAMing on 71.312414037 meters Centerline goodness : 0.821056 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93746659 -0.29422504 -0.18597856 3.63737978] [ 0.30146524 0.95341054 0.01127192 0.19716159] [ 0.17399744 -0.06663312 0.98248914 -0.30200333] [ 0. 0. 0. 1. ]] SLAMing on 71.342414037 meters Centerline goodness : 0.822430 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93733688 -0.2944042 -0.18634843 3.63816363] [ 0.30179417 0.95329814 0.01195519 0.19657354] [ 0.17412596 -0.06744491 0.98241098 -0.30182053] [ 0. 0. 0. 1. ]] SLAMing on 71.37241403699998 meters Centerline goodness : 0.774169 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.9371841 -0.29478347 -0.18651718 3.63871788] [ 0.30223335 0.95315602 0.01219005 0.19587671] [ 0.17418655 -0.06779604 0.98237607 -0.30154529] [ 0. 0. 0. 1. ]] SLAMing on 71.40241403699999 meters Centerline goodness : 0.820734 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:-0.30 [[ 0.93689452 -0.2956214 -0.18664579 3.63934326] [ 0.30307566 0.95288989 0.0120832 0.19530263] [ 0.17428084 -0.06788848 0.98235296 -0.3012991 ] [ 0. 0. 0. 1. ]] SLAMing on 71.43241403699999 meters Centerline goodness : 0.774506 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.9364151 -0.29723859 -0.18648317 3.64147779] [ 0.30457216 0.9524221 0.01131132 0.19404445] [ 0.17424853 -0.06738967 0.98239304 -0.30239931] [ 0. 0. 0. 1. ]] SLAMing on 71.46241403699999 meters Centerline goodness : 0.775381 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.93607739 -0.29810927 -0.1867886 3.64285367] [ 0.30546578 0.95213676 0.01123633 0.19343543] [ 0.17449864 -0.0675756 0.98233587 -0.30243406] [ 0. 0. 0. 1. ]] SLAMing on 71.49241403699999 meters Centerline goodness : 0.775482 Centerline is valid? [False, False] Translation: X:3.64, Y:0.19, Z:-0.30 [[ 0.93587397 -0.29850886 -0.18716934 3.64430175] [ 0.30594564 0.95197954 0.01149884 0.19280582] [ 0.17474888 -0.06802511 0.98226036 -0.30258613] [ 0. 0. 0. 1. ]] SLAMing on 71.52241403699999 meters Centerline goodness : 0.774344 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93556687 -0.29882059 -0.1882044 3.64570583] [ 0.30659704 0.95175117 0.01296033 0.19123025] [ 0.17525095 -0.06982817 0.98204436 -0.30138646] [ 0. 0. 0. 1. ]] SLAMing on 71.55241403699999 meters Centerline goodness : 0.774280 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93541683 -0.2989811 -0.18869459 3.64660446] [ 0.3069045 0.9516436 0.01356787 0.19063159] [ 0.17551346 -0.07060284 0.98194209 -0.30095713] [ 0. 0. 0. 1. ]] SLAMing on 71.58241403699999 meters Centerline goodness : 0.821005 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93532714 -0.29902504 -0.18906921 3.64775165] [ 0.3070453 0.95159264 0.01395133 0.19003823] [ 0.17574507 -0.07110187 0.98186465 -0.3010483 ] [ 0. 0. 0. 1. ]] SLAMing on 71.612414037 meters Centerline goodness : 0.821005 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93532714 -0.29902504 -0.18906921 3.64775165] [ 0.3070453 0.95159264 0.01395133 0.19003823] [ 0.17574507 -0.07110187 0.98186465 -0.3010483 ] [ 0. 0. 0. 1. ]] SLAMing on 71.642414037 meters Centerline goodness : 0.774375 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93517771 -0.29934843 -0.1892965 3.64908775] [ 0.30740524 0.95147526 0.01403037 0.18997586] [ 0.17591097 -0.07131163 0.98181973 -0.30165343] [ 0. 0. 0. 1. ]] SLAMing on 71.672414037 meters Centerline goodness : 0.775167 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93487764 -0.30143236 -0.18746286 3.64772565] [ 0.30879281 0.95106947 0.01067077 0.19013086] [ 0.17507369 -0.06786305 0.98221373 -0.30252437] [ 0. 0. 0. 1. ]] SLAMing on 71.702414037 meters Centerline goodness : 0.775034 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93503721 -0.30065334 -0.1879175 3.64913286] [ 0.30820074 0.95125045 0.01161434 0.189136 ] [ 0.17526472 -0.06877615 0.98211614 -0.30301295] [ 0. 0. 0. 1. ]] SLAMing on 71.732414037 meters Centerline goodness : 0.774457 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.9352109 -0.30025744 -0.18768601 3.64879933] [ 0.30780593 0.95137659 0.01175134 0.18828159] [ 0.17503165 -0.06876085 0.98215878 -0.30301763] [ 0. 0. 0. 1. ]] SLAMing on 71.76241403699999 meters Centerline goodness : 0.820523 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93525637 -0.29963886 -0.18844648 3.64908435] [ 0.30745692 0.95147298 0.01301574 0.18771039] [ 0.17540171 -0.07011222 0.98199721 -0.30191265] [ 0. 0. 0. 1. ]] SLAMing on 71.79241403699999 meters Centerline goodness : 0.820482 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93515067 -0.29986888 -0.18860507 3.64933166] [ 0.30771804 0.95138737 0.01310283 0.18797337] [ 0.17550735 -0.0702903 0.9819656 -0.3017136 ] [ 0. 0. 0. 1. ]] SLAMing on 71.82241403699999 meters Centerline goodness : 0.774612 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93497387 -0.30015884 -0.18901992 3.65076389] [ 0.30809911 0.95125968 0.01341456 0.18765352] [ 0.17578053 -0.07077913 0.98188162 -0.30198741] [ 0. 0. 0. 1. ]] SLAMing on 71.85241403699999 meters Centerline goodness : 0.776650 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.9347127 -0.30102442 -0.18893508 3.65173007] [ 0.3088848 0.95101172 0.01291872 0.18683461] [ 0.17579063 -0.07043447 0.9819046 -0.30228556] [ 0. 0. 0. 1. ]] SLAMing on 71.88241403699999 meters Centerline goodness : 0.775993 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:-0.30 [[ 0.93390221 -0.30413892 -0.18795258 3.6531987 ] [ 0.31154552 0.95017352 0.01047234 0.18536955] [ 0.17540252 -0.06833593 0.98212227 -0.30337846] [ 0. 0. 0. 1. ]] SLAMing on 71.91241403699999 meters Centerline goodness : 0.775591 Centerline is valid? [False, False] Translation: X:3.65, Y:0.18, Z:-0.30 [[ 0.93369888 -0.30436889 -0.18858943 3.6545145 ] [ 0.31197693 0.95002221 0.01132252 0.18434218] [ 0.17571793 -0.06940738 0.98199075 -0.30296068] [ 0. 0. 0. 1. ]] SLAMing on 71.94241403699999 meters Centerline goodness : 0.828983 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.30 [[ 0.93345772 -0.30482131 -0.18905201 3.65501199] [ 0.31255877 0.94982495 0.01181425 0.1837592 ] [ 0.17596508 -0.07011797 0.981896 -0.30208992] [ 0. 0. 0. 1. ]] SLAMing on 71.972414037 meters Centerline goodness : 0.773990 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.30 [[ 0.93325108 -0.30496221 -0.1898433 3.65641822] [ 0.31292924 0.94969077 0.01275662 0.18305109] [ 0.17640214 -0.07131265 0.98173153 -0.30160556] [ 0. 0. 0. 1. ]] SLAMing on 72.002414037 meters Centerline goodness : 0.823440 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.30 [[ 0.93311053 -0.30519882 -0.19015368 3.65877168] [ 0.31330483 0.94955837 0.01337838 0.18058758] [ 0.17647895 -0.07205957 0.98166318 -0.30238111] [ 0. 0. 0. 1. ]] SLAMing on 72.032414037 meters Centerline goodness : 0.825450 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.30 [[ 0.93309902 -0.30511118 -0.19035071 3.66053308] [ 0.3133069 0.9495516 0.01380373 0.17907265] [ 0.17653615 -0.07251843 0.9816191 -0.30316489] [ 0. 0. 0. 1. ]] SLAMing on 72.062414037 meters Centerline goodness : 0.776628 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.30 [[ 0.93300155 -0.3053565 -0.19043508 3.66179547] [ 0.31355793 0.94946914 0.01377613 0.17818442] [ 0.17660561 -0.07256558 0.98160313 -0.30365778] [ 0. 0. 0. 1. ]] SLAMing on 72.092414037 meters Centerline goodness : 0.829269 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.30 [[ 0.93287677 -0.30543096 -0.19092632 3.66329433] [ 0.31374739 0.94940028 0.01420138 0.17784127] [ 0.17692796 -0.07315077 0.98150164 -0.30395824] [ 0. 0. 0. 1. ]] SLAMing on 72.12241403699998 meters Centerline goodness : 0.827048 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.30 [[ 0.93277295 -0.30544826 -0.19140527 3.66381985] [ 0.31393644 0.9493263 0.01494919 0.17700783] [ 0.17713986 -0.07403329 0.98139724 -0.30311522] [ 0. 0. 0. 1. ]] SLAMing on 72.15241403699999 meters Centerline goodness : 0.828286 Centerline is valid? [False, False] Translation: X:3.67, Y:0.18, Z:-0.30 [[ 0.93275233 -0.30512057 -0.19202744 3.66524861] [ 0.31382674 0.94934677 0.01592165 0.1761521 ] [ 0.1774426 -0.0751143 0.9812604 -0.30312319] [ 0. 0. 0. 1. ]] SLAMing on 72.18241403699999 meters Centerline goodness : 0.825195 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.93275729 -0.30503068 -0.19214611 3.6662527 ] [ 0.31380549 0.94934807 0.01625886 0.17495539] [ 0.17745409 -0.07546207 0.98123164 -0.30344734] [ 0. 0. 0. 1. ]] SLAMing on 72.21241403699999 meters Centerline goodness : 0.825849 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.9326844 -0.30524039 -0.19216688 3.6673924 ] [ 0.31403129 0.94927239 0.01631813 0.1737683 ] [ 0.17743776 -0.07556608 0.98122658 -0.30388741] [ 0. 0. 0. 1. ]] SLAMing on 72.24241403699999 meters Centerline goodness : 0.827010 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.93263511 -0.30547568 -0.19203219 3.66789961] [ 0.31428553 0.94918583 0.01645833 0.17185103] [ 0.17724661 -0.07570255 0.98125061 -0.30383732] [ 0. 0. 0. 1. ]] SLAMing on 72.27241403699999 meters Centerline goodness : 0.829319 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.93276927 -0.30492304 -0.19225874 3.66858864] [ 0.31385204 0.94931838 0.01707334 0.17127887] [ 0.1773087 -0.07626629 0.98119574 -0.30405388] [ 0. 0. 0. 1. ]] SLAMing on 72.30241403699999 meters Centerline goodness : 0.827657 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.93273153 -0.30465838 -0.19286047 3.66960996] [ 0.31373582 0.94934616 0.01765541 0.17141521] [ 0.17771248 -0.076975 0.98106734 -0.30391921] [ 0. 0. 0. 1. ]] SLAMing on 72.33241403699999 meters Centerline goodness : 0.827735 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.93292712 -0.30413619 -0.1927386 3.66932402] [ 0.31321398 0.94951646 0.0177624 0.17104176] [ 0.17760629 -0.07693945 0.98108936 -0.30387827] [ 0. 0. 0. 1. ]] SLAMing on 72.362414037 meters Centerline goodness : 0.826450 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.93318891 -0.30328074 -0.19281924 3.66980149] [ 0.31240921 0.94977535 0.01809072 0.17118577] [ 0.17764839 -0.07712057 0.98106751 -0.30448756] [ 0. 0. 0. 1. ]] SLAMing on 72.392414037 meters Centerline goodness : 0.826556 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.30 [[ 0.93313664 -0.3036121 -0.19255053 3.66971724] [ 0.31260893 0.94972163 0.01744927 0.17150155] [ 0.17757159 -0.07647557 0.98113191 -0.30476869] [ 0. 0. 0. 1. ]] SLAMing on 72.422414037 meters Centerline goodness : 0.824042 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.31 [[ 0.93321167 -0.30335057 -0.1925991 3.6717956 ] [ 0.31235071 0.94980617 0.01747199 0.17088231] [ 0.17763168 -0.07646353 0.98112197 -0.30648382] [ 0. 0. 0. 1. ]] SLAMing on 72.452414037 meters Centerline goodness : 0.829056 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.31 [[ 0.93327061 -0.30312444 -0.1926695 3.67287758] [ 0.31214732 0.94987088 0.01758887 0.17033784] [ 0.17767953 -0.07655644 0.98110606 -0.307214 ] [ 0. 0. 0. 1. ]] SLAMing on 72.482414037 meters Centerline goodness : 0.822967 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.31 [[ 0.93345709 -0.30257359 -0.19263198 3.67329094] [ 0.31167507 0.95001646 0.01809361 0.1691359 ] [ 0.1775289 -0.07692819 0.98110425 -0.30751272] [ 0. 0. 0. 1. ]] SLAMing on 72.51241403699999 meters Centerline goodness : 0.821945 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.31 [[ 0.93350869 -0.30224149 -0.19290311 3.67408623] [ 0.31143564 0.9500868 0.0185182 0.16896976] [ 0.17767773 -0.0773638 0.98104305 -0.30779281] [ 0. 0. 0. 1. ]] SLAMing on 72.54241403699999 meters Centerline goodness : 0.826787 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.31 [[ 0.9335419 -0.3020812 -0.19299345 3.67443035] [ 0.31130312 0.9501277 0.01864724 0.16879215] [ 0.17773544 -0.07748745 0.98102284 -0.3078405 ] [ 0. 0. 0. 1. ]] SLAMing on 72.57241403699999 meters Centerline goodness : 0.827423 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.31 [[ 0.93345305 -0.30239031 -0.19293914 3.6744101 ] [ 0.31160419 0.95003 0.01859662 0.16875351] [ 0.17767453 -0.07747971 0.98103448 -0.30769808] [ 0. 0. 0. 1. ]] SLAMing on 72.60241403699999 meters Centerline goodness : 0.826894 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.31 [[ 0.93341843 -0.3025398 -0.19287224 3.67497932] [ 0.3117295 0.9499912 0.01847812 0.16814872] [ 0.17763656 -0.07737179 0.98104988 -0.30801858] [ 0. 0. 0. 1. ]] SLAMing on 72.63241403699999 meters Centerline goodness : 0.822188 Centerline is valid? [False, False] Translation: X:3.68, Y:0.17, Z:-0.31 [[ 0.93358395 -0.30216015 -0.19266615 3.67588421] [ 0.31135139 0.95011251 0.01861518 0.16657965] [ 0.17742975 -0.07736571 0.98108778 -0.30887865] [ 0. 0. 0. 1. ]] SLAMing on 72.66241403699999 meters Centerline goodness : 0.824736 Centerline is valid? [False, False] Translation: X:3.68, Y:0.17, Z:-0.31 [[ 0.93367752 -0.30184152 -0.19271216 3.67686659] [ 0.31110094 0.95018687 0.01900297 0.1655058 ] [ 0.17737668 -0.07769558 0.98107131 -0.30953693] [ 0. 0. 0. 1. ]] SLAMing on 72.69241403699999 meters Centerline goodness : 0.823340 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93397469 -0.30092905 -0.19269923 3.67639372] [ 0.31032638 0.95042258 0.01986111 0.16426742] [ 0.17716892 -0.07834943 0.98105685 -0.3090634 ] [ 0. 0. 0. 1. ]] SLAMing on 72.722414037 meters Centerline goodness : 0.812804 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93409437 -0.30024534 -0.19318501 3.67678423] [ 0.30979855 0.95057967 0.02057076 0.16442039] [ 0.17746147 -0.07906347 0.98094668 -0.30875715] [ 0. 0. 0. 1. ]] SLAMing on 72.752414037 meters Centerline goodness : 0.822955 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93426609 -0.29985131 -0.19296646 3.67662802] [ 0.30937499 0.95071816 0.02054488 0.16436896] [ 0.17729631 -0.07889338 0.98099024 -0.30914425] [ 0. 0. 0. 1. ]] SLAMing on 72.782414037 meters Centerline goodness : 0.819044 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93466692 -0.299015 -0.19232207 3.67613601] [ 0.30838671 0.95104923 0.02007504 0.16397456] [ 0.17690502 -0.07807304 0.9811265 -0.30999001] [ 0. 0. 0. 1. ]] SLAMing on 72.812414037 meters Centerline goodness : 0.819945 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93502106 -0.2980714 -0.19206526 3.67634743] [ 0.30744846 0.95134793 0.02031174 0.16317372] [ 0.17666654 -0.07804207 0.98117194 -0.31087306] [ 0. 0. 0. 1. ]] SLAMing on 72.842414037 meters Centerline goodness : 0.821795 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93540933 -0.29684803 -0.19206932 3.67672732] [ 0.30629106 0.95171076 0.02079484 0.16266924] [ 0.17662153 -0.0782808 0.98116102 -0.31162473] [ 0. 0. 0. 1. ]] SLAMing on 72.87241403699998 meters Centerline goodness : 0.821457 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93572829 -0.2958646 -0.1920331 3.67676191] [ 0.30535997 0.95200104 0.02119715 0.16244097] [ 0.17654422 -0.07847399 0.9811595 -0.31203832] [ 0. 0. 0. 1. ]] SLAMing on 72.90241403699999 meters Centerline goodness : 0.821577 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93593242 -0.29542532 -0.19171435 3.67579608] [ 0.30485407 0.95216724 0.02101301 0.16293678] [ 0.17633635 -0.07811166 0.98122579 -0.31196679] [ 0. 0. 0. 1. ]] SLAMing on 72.93241403699999 meters Centerline goodness : 0.822304 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93603674 -0.2951379 -0.1916477 3.67612535] [ 0.30455897 0.95226134 0.021028 0.16300195] [ 0.17629253 -0.078051 0.98123849 -0.31253958] [ 0. 0. 0. 1. ]] SLAMing on 72.96241403699999 meters Centerline goodness : 0.821389 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93612277 -0.2947762 -0.19178413 3.67701282] [ 0.30426129 0.95234916 0.02135764 0.16232552] [ 0.17634973 -0.07834586 0.98120472 -0.31298447] [ 0. 0. 0. 1. ]] SLAMing on 72.99241403699999 meters Centerline goodness : 0.822050 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93630188 -0.29446898 -0.19138133 3.6764213 ] [ 0.30394872 0.95244486 0.02153967 0.16074522] [ 0.1759374 -0.07833775 0.98127938 -0.31274272] [ 0. 0. 0. 1. ]] SLAMing on 73.02241403699999 meters Centerline goodness : 0.823529 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93625489 -0.29427537 -0.1919083 3.67760777] [ 0.30390758 0.95244357 0.02216826 0.1599292 ] [ 0.17625825 -0.07907752 0.98116246 -0.31262387] [ 0. 0. 0. 1. ]] SLAMing on 73.05241403699999 meters Centerline goodness : 0.824859 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93609411 -0.29444323 -0.1924344 3.67902249] [ 0.30421268 0.95233425 0.0226744 0.15925074] [ 0.17658555 -0.07976635 0.98104784 -0.31260407] [ 0. 0. 0. 1. ]] SLAMing on 73.08241403699999 meters Centerline goodness : 0.822703 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93543258 -0.29562352 -0.1938366 3.68217007] [ 0.3057286 0.95182194 0.02377022 0.1578348 ] [ 0.17747089 -0.08149683 0.98074581 -0.31190852] [ 0. 0. 0. 1. ]] SLAMing on 73.112414037 meters Centerline goodness : 0.824545 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.31 [[ 0.93479901 -0.29733396 -0.19427641 3.68329644] [ 0.30744319 0.95127814 0.02342178 0.15760959] [ 0.17784681 -0.08162362 0.98066717 -0.31115864] [ 0. 0. 0. 1. ]] SLAMing on 73.142414037 meters Centerline goodness : 0.826187 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.31 [[ 0.93428604 -0.29840874 -0.19509439 3.68573448] [ 0.30868052 0.95086726 0.02382847 0.15691592] [ 0.17839824 -0.08248445 0.98049497 -0.31110201] [ 0. 0. 0. 1. ]] SLAMing on 73.172414037 meters Centerline goodness : 0.822948 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.31 [[ 0.93334168 -0.30153482 -0.19480777 3.68742758] [ 0.31141179 0.95003211 0.02148705 0.15682398] [ 0.17859454 -0.08072019 0.98060606 -0.31131598] [ 0. 0. 0. 1. ]] SLAMing on 73.202414037 meters Centerline goodness : 0.824468 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.31 [[ 0.93150885 -0.30661763 -0.19564481 3.69200826] [ 0.31629869 0.94845861 0.01952976 0.15562756] [ 0.17957284 -0.08007434 0.98048034 -0.31086096] [ 0. 0. 0. 1. ]] SLAMing on 73.232414037 meters Centerline goodness : 0.825278 Centerline is valid? [False, False] Translation: X:3.70, Y:0.15, Z:-0.31 [[ 0.93087723 -0.30780442 -0.19678419 3.69526402] [ 0.31777061 0.94794719 0.02044422 0.1537699 ] [ 0.1802482 -0.08156329 0.98023365 -0.31055356] [ 0. 0. 0. 1. ]] SLAMing on 73.26241403699999 meters Centerline goodness : 0.825597 Centerline is valid? [False, False] Translation: X:3.70, Y:0.15, Z:-0.31 [[ 0.93029728 -0.30886786 -0.19785756 3.6981419 ] [ 0.31911183 0.9474766 0.0213477 0.1519442 ] [ 0.1808718 -0.0829984 0.9799983 -0.30999642] [ 0. 0. 0. 1. ]] SLAMing on 73.29241403699999 meters Centerline goodness : 0.828743 Centerline is valid? [False, False] Translation: X:3.70, Y:0.15, Z:-0.31 [[ 0.92946698 -0.3105202 -0.1991691 3.70109447] [ 0.32124764 0.94671158 0.02317632 0.14828051] [ 0.18135898 -0.08552423 0.97969104 -0.30846485] [ 0. 0. 0. 1. ]] SLAMing on 73.32241403699999 meters Centerline goodness : 0.830919 Centerline is valid? [False, False] Translation: X:3.70, Y:0.15, Z:-0.31 [[ 0.92902161 -0.3110233 -0.20045786 3.70323233] [ 0.3220771 0.94640252 0.02426122 0.14773411] [ 0.18216802 -0.08710209 0.97940188 -0.30741619] [ 0. 0. 0. 1. ]] SLAMing on 73.35241403699999 meters Centerline goodness : 0.830075 Centerline is valid? [False, False] Translation: X:3.70, Y:0.15, Z:-0.31 [[ 0.92870364 -0.31133784 -0.20144054 3.70466889] [ 0.32264628 0.94618635 0.02511493 0.14748071] [ 0.18278106 -0.08831836 0.97917871 -0.30650882] [ 0. 0. 0. 1. ]] SLAMing on 73.38241403699999 meters Centerline goodness : 0.831371 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.31 [[ 0.92808686 -0.3122683 -0.20283807 3.70680251] [ 0.32384098 0.94576129 0.02574119 0.14826549] [ 0.18379824 -0.08957734 0.9788739 -0.30546391] [ 0. 0. 0. 1. ]] SLAMing on 73.41241403699999 meters Centerline goodness : 0.833494 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.31 [[ 0.92792163 -0.31250097 -0.20323532 3.70869178] [ 0.32409577 0.94567681 0.02563802 0.14823659] [ 0.18418302 -0.08965778 0.97879421 -0.30622092] [ 0. 0. 0. 1. ]] SLAMing on 73.44241403699999 meters Centerline goodness : 0.833476 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.31 [[ 0.92789697 -0.31257656 -0.20323165 3.71045835] [ 0.32413403 0.94566921 0.02543383 0.14741656] [ 0.1842399 -0.08947427 0.97880029 -0.30751622] [ 0. 0. 0. 1. ]] SLAMing on 73.472414037 meters Centerline goodness : 0.830493 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.31 [[ 0.92771667 -0.31298068 -0.20343275 3.7124888 ] [ 0.32451356 0.94554629 0.0251627 0.14712566] [ 0.18447964 -0.08936054 0.97876553 -0.3087501 ] [ 0. 0. 0. 1. ]] SLAMing on 73.502414037 meters Centerline goodness : 0.830493 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.31 [[ 0.92771667 -0.31298068 -0.20343275 3.7124888 ] [ 0.32451356 0.94554629 0.0251627 0.14712566] [ 0.18447964 -0.08936054 0.97876553 -0.3087501 ] [ 0. 0. 0. 1. ]] SLAMing on 73.532414037 meters Centerline goodness : 0.830303 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:-0.31 [[ 0.927602 -0.31295481 -0.20399465 3.71314571] [ 0.32458282 0.94551639 0.02539169 0.14794321] [ 0.18493383 -0.08976655 0.97864265 -0.30839634] [ 0. 0. 0. 1. ]] SLAMing on 73.562414037 meters Centerline goodness : 0.831982 Centerline is valid? [False, False] Translation: X:3.72, Y:0.15, Z:-0.31 [[ 0.92778605 -0.31095989 -0.20619648 3.7150044 ] [ 0.32341554 0.94581707 0.02885238 0.14836499] [ 0.18605222 -0.09345598 0.97808515 -0.30716292] [ 0. 0. 0. 1. ]] SLAMing on 73.592414037 meters Centerline goodness : 0.831235 Centerline is valid? [False, False] Translation: X:3.72, Y:0.15, Z:-0.31 [[ 0.92724796 -0.31158684 -0.20766525 3.7157723 ] [ 0.32432331 0.94548605 0.02950476 0.15129961] [ 0.1871513 -0.09470891 0.97775488 -0.30566659] [ 0. 0. 0. 1. ]] SLAMing on 73.62241403699998 meters Centerline goodness : 0.832471 Centerline is valid? [False, False] Translation: X:3.72, Y:0.15, Z:-0.31 [[ 0.92700294 -0.31193503 -0.20823564 3.71736529] [ 0.32470016 0.94536231 0.02932436 0.15225013] [ 0.18771083 -0.09479792 0.97763899 -0.30598836] [ 0. 0. 0. 1. ]] SLAMing on 73.65241403699999 meters Centerline goodness : 0.829284 Centerline is valid? [False, False] Translation: X:3.72, Y:0.15, Z:-0.31 [[ 0.92668094 -0.31276928 -0.2084174 3.71813172] [ 0.32545728 0.94511977 0.02874343 0.15288771] [ 0.18798935 -0.09446695 0.97761751 -0.30605164] [ 0. 0. 0. 1. ]] SLAMing on 73.68241403699999 meters Centerline goodness : 0.828525 Centerline is valid? [False, False] Translation: X:3.72, Y:0.15, Z:-0.31 [[ 0.92639269 -0.31325282 -0.20897192 3.71988488] [ 0.32594783 0.9449597 0.02844589 0.15381769] [ 0.18855928 -0.09446601 0.97750784 -0.30652549] [ 0. 0. 0. 1. ]] SLAMing on 73.71241403699999 meters Centerline goodness : 0.819129 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.31 [[ 0.92583855 -0.31444378 -0.20963801 3.72016259] [ 0.32720221 0.94453019 0.02830966 0.15522452] [ 0.18910763 -0.09480419 0.97736916 -0.30532442] [ 0. 0. 0. 1. ]] SLAMing on 73.74241403699999 meters Centerline goodness : 0.829345 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.30 [[ 0.92548925 -0.31492603 -0.21045483 3.72060874] [ 0.32784609 0.94429589 0.02867444 0.15632142] [ 0.18970131 -0.09553468 0.97718296 -0.30414096] [ 0. 0. 0. 1. ]] SLAMing on 73.77241403699999 meters Centerline goodness : 0.827844 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.30 [[ 0.92505389 -0.31581533 -0.2110355 3.72033999] [ 0.3288239 0.94395391 0.02873783 0.15738725] [ 0.19013193 -0.09597756 0.97705586 -0.30265522] [ 0. 0. 0. 1. ]] SLAMing on 73.80241403699999 meters Centerline goodness : 0.827976 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.30 [[ 0.92442466 -0.31673625 -0.2124081 3.72191633] [ 0.32997122 0.94354261 0.02909203 0.15882515] [ 0.19120159 -0.09698195 0.9767479 -0.30131979] [ 0. 0. 0. 1. ]] SLAMing on 73.83241403699999 meters Centerline goodness : 0.820915 Centerline is valid? [False, False] Translation: X:3.72, Y:0.16, Z:-0.30 [[ 0.9224447 -0.3222776 -0.21268033 3.72464282] [ 0.33487208 0.94192923 0.02510003 0.16270732] [ 0.19224064 -0.0943741 0.9767994 -0.30138751] [ 0. 0. 0. 1. ]] SLAMing on 73.862414037 meters Centerline goodness : 0.819562 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.30 [[ 0.92163447 -0.32399919 -0.21357533 3.72761334] [ 0.33658287 0.94133736 0.02441215 0.16385638] [ 0.19313692 -0.09438488 0.97662154 -0.30187993] [ 0. 0. 0. 1. ]] SLAMing on 73.892414037 meters Centerline goodness : 0.820931 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.30 [[ 0.92092204 -0.3254765 -0.21440068 3.73020015] [ 0.33808299 0.94081136 0.02395555 0.164285 ] [ 0.19391363 -0.09454642 0.97645198 -0.30200081] [ 0. 0. 0. 1. ]] SLAMing on 73.922414037 meters Centerline goodness : 0.831508 Centerline is valid? [False, False] Translation: X:3.73, Y:0.17, Z:-0.30 [[ 0.92004196 -0.32706829 -0.21575247 3.73186083] [ 0.33991287 0.94014289 0.0243018 0.16509187] [ 0.19488981 -0.09569572 0.97614563 -0.30048006] [ 0. 0. 0. 1. ]] SLAMing on 73.952414037 meters Centerline goodness : 0.832632 Centerline is valid? [False, False] Translation: X:3.73, Y:0.16, Z:-0.30 [[ 0.92020407 -0.32504567 -0.21810497 3.7330352 ] [ 0.3388485 0.94042106 0.0281056 0.1649499 ] [ 0.1959749 -0.09976743 0.97552053 -0.29842268] [ 0. 0. 0. 1. ]] SLAMing on 73.982414037 meters Centerline goodness : 0.827103 Centerline is valid? [False, False] Translation: X:3.73, Y:0.17, Z:-0.30 [[ 0.91994554 -0.32514236 -0.21904941 3.73303594] [ 0.33911565 0.94031441 0.02844971 0.16676712] [ 0.19672511 -0.10045527 0.97529891 -0.29701494] [ 0. 0. 0. 1. ]] SLAMing on 74.01241403699999 meters Centerline goodness : 0.829310 Centerline is valid? [False, False] Translation: X:3.73, Y:0.17, Z:-0.30 [[ 0.92026762 -0.32270161 -0.22129431 3.73377942] [ 0.33748089 0.94080477 0.03151246 0.16897951] [ 0.19802562 -0.1036825 0.97469779 -0.29568545] [ 0. 0. 0. 1. ]] SLAMing on 74.04241403699999 meters Centerline goodness : 0.830535 Centerline is valid? [False, False] Translation: X:3.74, Y:0.17, Z:-0.30 [[ 0.91998522 -0.32302106 -0.22200134 3.73541517] [ 0.33776004 0.94072483 0.03090213 0.17135732] [ 0.19886013 -0.10341268 0.97455655 -0.29622964] [ 0. 0. 0. 1. ]] SLAMing on 74.07241403699999 meters Centerline goodness : 0.829374 Centerline is valid? [False, False] Translation: X:3.74, Y:0.17, Z:-0.30 [[ 0.91987949 -0.32310096 -0.22232295 3.73718054] [ 0.33768198 0.94078364 0.02995027 0.17360151] [ 0.19948083 -0.10262509 0.97451295 -0.29763339] [ 0. 0. 0. 1. ]] SLAMing on 74.10241403699999 meters Centerline goodness : 0.825187 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.30 [[ 0.91989604 -0.32289754 -0.22254988 3.73867367] [ 0.33739684 0.94090157 0.02945507 0.17514225] [ 0.19988656 -0.10218322 0.97447624 -0.29896017] [ 0. 0. 0. 1. ]] SLAMing on 74.13241403699999 meters Centerline goodness : 0.820994 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.30 [[ 0.92077214 -0.31971064 -0.22352577 3.73933669] [ 0.33468902 0.94179773 0.03162757 0.17656532] [ 0.20040439 -0.1039334 0.97418475 -0.29993754] [ 0. 0. 0. 1. ]] SLAMing on 74.16241403699999 meters Centerline goodness : 0.823910 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.30 [[ 0.92149702 -0.31662295 -0.22492921 3.7394601 ] [ 0.33229384 0.9425419 0.03457706 0.17728497] [ 0.20105732 -0.10660525 0.97376141 -0.29944796] [ 0. 0. 0. 1. ]] SLAMing on 74.19241403699999 meters Centerline goodness : 0.825467 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.30 [[ 0.9217382 -0.31600203 -0.22481418 3.73826834] [ 0.33155577 0.94281768 0.03414072 0.1799939 ] [ 0.20117025 -0.10600724 0.97380337 -0.29963125] [ 0. 0. 0. 1. ]] SLAMing on 74.222414037 meters Centerline goodness : 0.823652 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.30 [[ 0.9224794 -0.31246879 -0.22670467 3.73948763] [ 0.32884668 0.94363937 0.037478 0.18124491] [ 0.20221674 -0.10912376 0.97324221 -0.29943233] [ 0. 0. 0. 1. ]] SLAMing on 74.252414037 meters Centerline goodness : 0.826531 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.30 [[ 0.92341654 -0.30914246 -0.22744852 3.73763056] [ 0.32594114 0.94456642 0.03945448 0.18464273] [ 0.20264317 -0.11056775 0.9729905 -0.29916783] [ 0. 0. 0. 1. ]] SLAMing on 74.282414037 meters Centerline goodness : 0.824404 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.30 [[ 0.9236309 -0.30839898 -0.2275874 3.73785143] [ 0.32513857 0.94485459 0.03917549 0.18624399] [ 0.20295531 -0.11018113 0.9729693 -0.29982128] [ 0. 0. 0. 1. ]] SLAMing on 74.312414037 meters Centerline goodness : 0.822875 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.30 [[ 0.92370376 -0.30853662 -0.22710465 3.73701871] [ 0.32497082 0.94496181 0.03796241 0.18820237] [ 0.20289243 -0.10886841 0.97313017 -0.30042104] [ 0. 0. 0. 1. ]] SLAMing on 74.342414037 meters Centerline goodness : 0.822525 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.30 [[ 0.9246126 -0.30485802 -0.22837058 3.73744336] [ 0.32195015 0.9458764 0.04081593 0.18972869] [ 0.20356728 -0.11126287 0.97271832 -0.30078888] [ 0. 0. 0. 1. ]] SLAMing on 74.37241403699998 meters Centerline goodness : 0.821792 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.30 [[ 0.92460371 -0.3050121 -0.2282008 3.73590902] [ 0.32193414 0.94591328 0.04008094 0.19200289] [ 0.203633 -0.11052462 0.97278873 -0.30026192] [ 0. 0. 0. 1. ]] SLAMing on 74.40241403699999 meters Centerline goodness : 0.780808 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.30 [[ 0.92450508 -0.30535123 -0.22814684 3.73525798] [ 0.32207757 0.9459039 0.03913895 0.19454163] [ 0.20385386 -0.10966514 0.97283974 -0.30032096] [ 0. 0. 0. 1. ]] SLAMing on 74.43241403699999 meters Centerline goodness : 0.820074 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.30 [[ 0.92431818 -0.30596149 -0.22808653 3.73465654] [ 0.32247504 0.94581131 0.03808949 0.19670332] [ 0.20407291 -0.10875902 0.97289554 -0.30022651] [ 0. 0. 0. 1. ]] SLAMing on 74.46241403699999 meters Centerline goodness : 0.831280 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.30 [[ 0.92424012 -0.30579124 -0.22863054 3.73578978] [ 0.32226558 0.94590125 0.03762605 0.19968881] [ 0.2047562 -0.10845526 0.97278587 -0.30104581] [ 0. 0. 0. 1. ]] SLAMing on 74.49241403699999 meters Centerline goodness : 0.824072 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.30 [[ 0.92420698 -0.30608222 -0.22837498 3.73498081] [ 0.322375 0.94589378 0.03686897 0.20145675] [ 0.20473354 -0.10769694 0.97287489 -0.30115451] [ 0. 0. 0. 1. ]] SLAMing on 74.52241403699999 meters Centerline goodness : 0.780770 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.30 [[ 0.92429573 -0.30607978 -0.22801879 3.73410846] [ 0.32219633 0.94597962 0.03622271 0.20292393] [ 0.20461409 -0.10694732 0.97298271 -0.30142526] [ 0. 0. 0. 1. ]] SLAMing on 74.55241403699999 meters Centerline goodness : 0.830185 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.30 [[ 0.92437215 -0.30612791 -0.22764407 3.73312819] [ 0.3220344 0.94606523 0.03541784 0.20440083] [ 0.20452375 -0.10604849 0.97310007 -0.30154918] [ 0. 0. 0. 1. ]] SLAMing on 74.58241403699999 meters Centerline goodness : 0.830239 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.30 [[ 0.92460903 -0.30563995 -0.22733757 3.73226389] [ 0.32125376 0.94637388 0.03424186 0.20848051] [ 0.20468066 -0.10469338 0.97321381 -0.30269842] [ 0. 0. 0. 1. ]] SLAMing on 74.612414037 meters Centerline goodness : 0.781031 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.9258425 -0.31145609 -0.21403451 3.73171372] [ 0.32531858 0.94506302 0.03199548 0.21509997] [ 0.19231091 -0.09925218 0.97630196 -0.30739419] [ 0. 0. 0. 1. ]] SLAMing on 74.642414037 meters Centerline goodness : 0.831369 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.9259799 -0.31129862 -0.21366887 3.73004521] [ 0.32497931 0.94520367 0.03128068 0.21686415] [ 0.19222296 -0.09840324 0.97640521 -0.3070577 ] [ 0. 0. 0. 1. ]] SLAMing on 74.672414037 meters Centerline goodness : 0.829700 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.92702905 -0.30821974 -0.21358309 3.72846458] [ 0.32216035 0.9461108 0.0329707 0.21662736] [ 0.19191105 -0.0993728 0.97636837 -0.3070431 ] [ 0. 0. 0. 1. ]] SLAMing on 74.702414037 meters Centerline goodness : 0.829245 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.92719837 -0.30734985 -0.21410105 3.72937929] [ 0.32145882 0.94632572 0.03364312 0.21696053] [ 0.19226912 -0.10001851 0.97623198 -0.30724916] [ 0. 0. 0. 1. ]] SLAMing on 74.732414037 meters Centerline goodness : 0.829473 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.92723064 -0.30739496 -0.21389643 3.72875706] [ 0.3213877 0.94636705 0.03315651 0.21775826] [ 0.19223239 -0.09948741 0.97629348 -0.30716725] [ 0. 0. 0. 1. ]] SLAMing on 74.76241403699999 meters Centerline goodness : 0.832393 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.92727737 -0.30717984 -0.21400284 3.7287495 ] [ 0.3211816 0.94643659 0.03316867 0.21828581] [ 0.19235137 -0.09949034 0.97626975 -0.30709925] [ 0. 0. 0. 1. ]] SLAMing on 74.79241403699999 meters Centerline goodness : 0.831070 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.92737535 -0.30709217 -0.2137039 3.72818651] [ 0.32094064 0.94653957 0.03255695 0.2200009 ] [ 0.19228121 -0.09877878 0.97635582 -0.30768569] [ 0. 0. 0. 1. ]] SLAMing on 74.82241403699999 meters Centerline goodness : 0.830869 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.92736881 -0.30719661 -0.21358212 3.72783264] [ 0.32091192 0.94657054 0.03193359 0.22126934] [ 0.19236065 -0.09815527 0.97640305 -0.30774037] [ 0. 0. 0. 1. ]] SLAMing on 74.85241403699999 meters Centerline goodness : 0.831813 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.9274008 -0.30717858 -0.21346914 3.7270267 ] [ 0.32080581 0.94661946 0.03154714 0.22243818] [ 0.19238343 -0.09773899 0.97644032 -0.30741846] [ 0. 0. 0. 1. ]] SLAMing on 74.88241403699999 meters Centerline goodness : 0.832429 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.9274734 -0.30716265 -0.21317645 3.72600416] [ 0.32063831 0.94669656 0.03093063 0.22375907] [ 0.19231268 -0.09703987 0.97652399 -0.30722902] [ 0. 0. 0. 1. ]] SLAMing on 74.91241403699999 meters Centerline goodness : 0.779336 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.31 [[ 0.92784558 -0.30635772 -0.21271467 3.72581211] [ 0.3196389 0.94705599 0.03026417 0.22490186] [ 0.19218104 -0.09607236 0.97664556 -0.30839503] [ 0. 0. 0. 1. ]] SLAMing on 74.94241403699999 meters Centerline goodness : 0.777913 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.31 [[ 0.92802305 -0.30597981 -0.21248428 3.72595461] [ 0.31915712 0.94723024 0.02989321 0.22545877] [ 0.19212482 -0.09555746 0.97670713 -0.30915619] [ 0. 0. 0. 1. ]] SLAMing on 74.972414037 meters Centerline goodness : 0.778379 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92808389 -0.3061269 -0.21200616 3.7249869 ] [ 0.31908407 0.94728263 0.02899959 0.22679214] [ 0.19195219 -0.09456184 0.97683797 -0.30942345] [ 0. 0. 0. 1. ]] SLAMing on 75.002414037 meters Centerline goodness : 0.776282 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92821 -0.30577608 -0.21196036 3.72487289] [ 0.31872223 0.94740431 0.02900347 0.22706547] [ 0.19194359 -0.0944778 0.97684779 -0.30956712] [ 0. 0. 0. 1. ]] SLAMing on 75.032414037 meters Centerline goodness : 0.778912 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92823685 -0.30581644 -0.21178444 3.72408497] [ 0.3186567 0.94744018 0.02854842 0.2279491 ] [ 0.19192252 -0.09398623 0.97689935 -0.30920946] [ 0. 0. 0. 1. ]] SLAMing on 75.062414037 meters Centerline goodness : 0.779040 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92835472 -0.30558353 -0.21160391 3.72307636] [ 0.31838129 0.94753583 0.0284467 0.22806891] [ 0.19180944 -0.09377935 0.97694144 -0.30867635] [ 0. 0. 0. 1. ]] SLAMing on 75.092414037 meters Centerline goodness : 0.778830 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92857756 -0.30482712 -0.21171711 3.72307865] [ 0.31764876 0.94777729 0.02859139 0.22890723] [ 0.19194524 -0.09380101 0.97691269 -0.30888985] [ 0. 0. 0. 1. ]] SLAMing on 75.12241403699998 meters Centerline goodness : 0.778666 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.9285318 -0.30509322 -0.21153444 3.72263361] [ 0.31779101 0.94774656 0.02802386 0.22953314] [ 0.19193115 -0.09324479 0.9769687 -0.3087242 ] [ 0. 0. 0. 1. ]] SLAMing on 75.15241403699999 meters Centerline goodness : 0.779644 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92861746 -0.30492415 -0.21140216 3.72262 ] [ 0.31760803 0.94780752 0.0280364 0.22961227] [ 0.19181958 -0.09317811 0.97699697 -0.30904528] [ 0. 0. 0. 1. ]] SLAMing on 75.18241403699999 meters Centerline goodness : 0.777128 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92851229 -0.30533818 -0.21126649 3.72251729] [ 0.3179165 0.94771917 0.02752227 0.22990245] [ 0.1918177 -0.09271987 0.97704094 -0.30896 ] [ 0. 0. 0. 1. ]] SLAMing on 75.21241403699999 meters Centerline goodness : 0.776750 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.9281779 -0.30724639 -0.20996534 3.72248891] [ 0.31921176 0.94735814 0.02482758 0.22994051] [ 0.19128419 -0.09006782 0.97739355 -0.31002895] [ 0. 0. 0. 1. ]] SLAMing on 75.24241403699999 meters Centerline goodness : 0.777118 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92777657 -0.3082547 -0.21026096 3.72299105] [ 0.32022796 0.94702057 0.0246192 0.22990085] [ 0.19153247 -0.09017255 0.97733527 -0.30936942] [ 0. 0. 0. 1. ]] SLAMing on 75.27241403699999 meters Centerline goodness : 0.829397 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92728674 -0.30933562 -0.2108335 3.72376785] [ 0.32140672 0.94661833 0.02472765 0.22955923] [ 0.19192971 -0.09069293 0.97720918 -0.30836555] [ 0. 0. 0. 1. ]] SLAMing on 75.30241403699999 meters Centerline goodness : 0.777525 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92608552 -0.31312528 -0.21051883 3.723645 ] [ 0.32481649 0.94550841 0.02254079 0.2295861 ] [ 0.19198923 -0.08925469 0.9773299 -0.30673835] [ 0. 0. 0. 1. ]] SLAMing on 75.33241403699999 meters Centerline goodness : 0.775779 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92570484 -0.31398386 -0.21091393 3.72409884] [ 0.32577319 0.94517395 0.02276025 0.22872615] [ 0.192204 -0.08977937 0.97723963 -0.30569086] [ 0. 0. 0. 1. ]] SLAMing on 75.362414037 meters Centerline goodness : 0.833390 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92503058 -0.31668956 -0.20982411 3.72326809] [ 0.32788782 0.94450547 0.01997499 0.22913873] [ 0.19185415 -0.08727625 0.97753509 -0.3054562 ] [ 0. 0. 0. 1. ]] SLAMing on 75.392414037 meters Centerline goodness : 0.834087 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92420179 -0.31994523 -0.20853322 3.72316941] [ 0.33046818 0.94366813 0.0167703 0.22888295] [ 0.19142058 -0.08441274 0.97787149 -0.30563324] [ 0. 0. 0. 1. ]] SLAMing on 75.422414037 meters Centerline goodness : 0.834087 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92420179 -0.31994523 -0.20853322 3.72316941] [ 0.33046818 0.94366813 0.0167703 0.22888295] [ 0.19142058 -0.08441274 0.97787149 -0.30563324] [ 0. 0. 0. 1. ]] SLAMing on 75.452414037 meters Centerline goodness : 0.832581 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.31 [[ 0.92409183 -0.31997604 -0.20897277 3.72434506] [ 0.33065677 0.94359114 0.01737387 0.22843815] [ 0.19162563 -0.08515331 0.97776711 -0.30573952] [ 0. 0. 0. 1. ]] SLAMing on 75.482414037 meters Centerline goodness : 0.833080 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.31 [[ 0.9240651 -0.31966249 -0.20957001 3.72522852] [ 0.33054339 0.94361615 0.01815585 0.22795112] [ 0.1919499 -0.08604917 0.97762507 -0.30532557] [ 0. 0. 0. 1. ]] SLAMing on 75.51241403699999 meters Centerline goodness : 0.831988 Centerline is valid? [False, False] Translation: X:3.72, Y:0.23, Z:-0.30 [[ 0.9243175 -0.31885462 -0.20968763 3.72496881] [ 0.32989984 0.9438242 0.01902586 0.22678863] [ 0.19184177 -0.08676185 0.9775833 -0.30481014] [ 0. 0. 0. 1. ]] SLAMing on 75.54241403699999 meters Centerline goodness : 0.829684 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.30 [[ 0.92434961 -0.31872703 -0.20974 3.72530927] [ 0.32978052 0.94386526 0.0190575 0.22652931] [ 0.19189216 -0.08678395 0.97757145 -0.30490633] [ 0. 0. 0. 1. ]] SLAMing on 75.57241403699999 meters Centerline goodness : 0.829867 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.30 [[ 0.9242202 -0.31916497 -0.20964432 3.72545976] [ 0.33013085 0.94375174 0.01860823 0.2266587 ] [ 0.1919131 -0.08640816 0.97760063 -0.30488512] [ 0. 0. 0. 1. ]] SLAMing on 75.60241403699999 meters Centerline goodness : 0.829616 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.31 [[ 0.92401792 -0.31948212 -0.21005253 3.72732767] [ 0.33045605 0.94364147 0.01842747 0.22696046] [ 0.19232703 -0.08644044 0.97751643 -0.30560962] [ 0. 0. 0. 1. ]] SLAMing on 75.63241403699999 meters Centerline goodness : 0.829996 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.31 [[ 0.92399024 -0.31946814 -0.2101955 3.72798446] [ 0.33045824 0.94364035 0.01844549 0.22689648] [ 0.19245621 -0.08650429 0.97748535 -0.30581732] [ 0. 0. 0. 1. ]] SLAMing on 75.66241403699999 meters Centerline goodness : 0.830313 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.31 [[ 0.9239451 -0.31957126 -0.21023716 3.72792532] [ 0.33057223 0.94359994 0.01847045 0.2267113 ] [ 0.19247715 -0.08656424 0.97747592 -0.30548663] [ 0. 0. 0. 1. ]] SLAMing on 75.69241403699999 meters Centerline goodness : 0.828300 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.30 [[ 0.92395706 -0.31924699 -0.2106768 3.72777667] [ 0.33042668 0.94363616 0.01920979 0.22601621] [ 0.19266958 -0.08736226 0.97736701 -0.30437731] [ 0. 0. 0. 1. ]] SLAMing on 75.722414037 meters Centerline goodness : 0.828769 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.30 [[ 0.92397643 -0.31874006 -0.21135831 3.72903196] [ 0.33011911 0.94372827 0.01995792 0.22576785] [ 0.19310342 -0.08821407 0.97720486 -0.30425135] [ 0. 0. 0. 1. ]] SLAMing on 75.752414037 meters Centerline goodness : 0.831209 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.30 [[ 0.92395697 -0.31887112 -0.21124566 3.72867066] [ 0.33020453 0.94370244 0.01976528 0.22594509] [ 0.19305047 -0.08801654 0.97723314 -0.30402806] [ 0. 0. 0. 1. ]] SLAMing on 75.782414037 meters Centerline goodness : 0.825020 Centerline is valid? [False, False] Translation: X:3.75, Y:0.24, Z:-0.29 [[ 9.24621967e-01 -3.24914234e-01 -1.98758546e-01 3.74624953e+00] [ 3.31337447e-01 9.43511790e-01 -9.98840792e-04 2.38045808e-01] [ 1.87855569e-01 -6.49325992e-02 9.80047980e-01 -2.86574144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.812414037 meters Centerline goodness : 0.835252 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-0.31 [[ 0.92607 -0.30136573 -0.22709702 3.74900939] [ 0.32467799 0.94303827 0.07254668 0.21464579] [ 0.1922981 -0.14091671 0.97116627 -0.31091888] [ 0. 0. 0. 1. ]] SLAMing on 75.842414037 meters Centerline goodness : 0.838577 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92605989 -0.3016609 -0.22674608 3.74864913] [ 0.32479836 0.94304654 0.07189745 0.2151099 ] [ 0.19214346 -0.1402281 0.97129654 -0.31119785] [ 0. 0. 0. 1. ]] SLAMing on 75.87241403699998 meters Centerline goodness : 0.835125 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.32 [[ 0.92725606 -0.3081265 -0.2127305 3.74733679] [ 0.32889833 0.94180706 0.0694647 0.2201051 ] [ 0.17894717 -0.13437827 0.9746386 -0.31611211] [ 0. 0. 0. 1. ]] SLAMing on 75.90241403699999 meters Centerline goodness : 0.835466 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.32 [[ 0.92764365 -0.30738388 -0.21211415 3.74508249] [ 0.3279742 0.94216286 0.06900773 0.22121654] [ 0.17863421 -0.13358255 0.97480538 -0.3157029 ] [ 0. 0. 0. 1. ]] SLAMing on 75.93241403699999 meters Centerline goodness : 0.835795 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.32 [[ 0.92790514 -0.30680555 -0.21180748 3.74374239] [ 0.32732776 0.94239421 0.06891797 0.22176221] [ 0.17846173 -0.1332798 0.97487841 -0.31541243] [ 0. 0. 0. 1. ]] SLAMing on 75.96241403699999 meters Centerline goodness : 0.836212 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.32 [[ 0.92854615 -0.30536483 -0.21107907 3.74120677] [ 0.32576496 0.94293508 0.06892483 0.22217746] [ 0.17798664 -0.13276205 0.97503589 -0.31507156] [ 0. 0. 0. 1. ]] SLAMing on 75.99241403699999 meters Centerline goodness : 0.837045 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.32 [[ 0.92881416 -0.30495224 -0.21049556 3.7402466 ] [ 0.32515276 0.94319136 0.06830628 0.22260461] [ 0.17770744 -0.13188705 0.97520555 -0.31552857] [ 0. 0. 0. 1. ]] SLAMing on 76.02241403699999 meters Centerline goodness : 0.834532 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.32 [[ 0.92912526 -0.30444382 -0.20985761 3.73983221] [ 0.324397 0.94351172 0.06747021 0.22288681] [ 0.17746223 -0.13076546 0.97540123 -0.31648346] [ 0. 0. 0. 1. ]] SLAMing on 76.05241403699999 meters Centerline goodness : 0.777755 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.32 [[ 0.93003959 -0.30268935 -0.2083399 3.7385988 ] [ 0.32225883 0.9443034 0.06663577 0.22221953] [ 0.17656614 -0.12911327 0.97578387 -0.31870305] [ 0. 0. 0. 1. ]] SLAMing on 76.08241403699999 meters Centerline goodness : 0.779776 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.32 [[ 0.93059637 -0.30147453 -0.20761382 3.73674802] [ 0.32093901 0.94474852 0.06669622 0.22220418] [ 0.17603564 -0.12869863 0.97593448 -0.3188072 ] [ 0. 0. 0. 1. ]] SLAMing on 76.112414037 meters Centerline goodness : 0.780636 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93110579 -0.30015997 -0.20723419 3.7348484 ] [ 0.31960899 0.9451776 0.06700297 0.22259109] [ 0.1757615 -0.12862076 0.97599416 -0.31838583] [ 0. 0. 0. 1. ]] SLAMing on 76.142414037 meters Centerline goodness : 0.837091 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93156211 -0.29911104 -0.20669935 3.7328726 ] [ 0.31844921 0.94557828 0.06687162 0.22342567] [ 0.17544838 -0.12811831 0.97611657 -0.31817405] [ 0. 0. 0. 1. ]] SLAMing on 76.172414037 meters Centerline goodness : 0.780837 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93246716 -0.29707746 -0.20554801 3.7307666 ] [ 0.316195 0.94634918 0.06666298 0.2232093 ] [ 0.17471612 -0.12715429 0.97637394 -0.31907795] [ 0. 0. 0. 1. ]] SLAMing on 76.202414037 meters Centerline goodness : 0.779963 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.9327357 -0.29668768 -0.20489151 3.73013472] [ 0.31559918 0.94659266 0.06602641 0.22297241] [ 0.17435958 -0.12624878 0.97655516 -0.31972862] [ 0. 0. 0. 1. ]] SLAMing on 76.232414037 meters Centerline goodness : 0.780670 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93284167 -0.2967263 -0.20435243 3.72983914] [ 0.31544586 0.94669123 0.0653423 0.22229341] [ 0.17406988 -0.12541615 0.97671412 -0.3200751 ] [ 0. 0. 0. 1. ]] SLAMing on 76.26241403699999 meters Centerline goodness : 0.778642 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93331763 -0.2961491 -0.2030121 3.72981764] [ 0.31448482 0.94708857 0.064207 0.21988931] [ 0.1732556 -0.12376975 0.97706886 -0.32170016] [ 0. 0. 0. 1. ]] SLAMing on 76.29241403699999 meters Centerline goodness : 0.779786 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93336842 -0.29611649 -0.20282606 3.72944296] [ 0.31440345 0.9471249 0.06406948 0.21929411] [ 0.17312958 -0.12356964 0.97711652 -0.3213863 ] [ 0. 0. 0. 1. ]] SLAMing on 76.32241403699999 meters Centerline goodness : 0.837492 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93363004 -0.29541156 -0.20264984 3.72758305] [ 0.31382056 0.94725854 0.06494542 0.21792388] [ 0.17277616 -0.12423068 0.97709525 -0.31970649] [ 0. 0. 0. 1. ]] SLAMing on 76.35241403699999 meters Centerline goodness : 0.777222 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.9336946 -0.29523666 -0.20260729 3.72713009] [ 0.31369817 0.94727553 0.06528803 0.21738268] [ 0.17264951 -0.12451662 0.97708125 -0.31921554] [ 0. 0. 0. 1. ]] SLAMing on 76.38241403699999 meters Centerline goodness : 0.780034 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.93354299 -0.29574398 -0.20256599 3.72718999] [ 0.31419444 0.94711615 0.0652139 0.21659008] [ 0.1725669 -0.12452508 0.97709476 -0.31873809] [ 0. 0. 0. 1. ]] SLAMing on 76.41241403699999 meters Centerline goodness : 0.779805 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.32 [[ 0.9330566 -0.29805732 -0.20141303 3.72671813] [ 0.31590679 0.94673273 0.06245028 0.21612996] [ 0.17207055 -0.12189739 0.97751356 -0.31880036] [ 0. 0. 0. 1. ]] SLAMing on 76.44241403699999 meters Centerline goodness : 0.831663 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.32 [[ 0.93199209 -0.30211617 -0.20029122 3.72809997] [ 0.3193561 0.94576877 0.05944006 0.21329767] [ 0.17147138 -0.11936189 0.97793165 -0.31907414] [ 0. 0. 0. 1. ]] SLAMing on 76.472414037 meters Centerline goodness : 0.830587 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.32 [[ 0.93118568 -0.30553975 -0.19884337 3.72761823] [ 0.3221382 0.94500542 0.05649552 0.21202068] [ 0.17064644 -0.11666286 0.97840154 -0.31902565] [ 0. 0. 0. 1. ]] SLAMing on 76.502414037 meters Centerline goodness : 0.782492 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.32 [[ 0.92961444 -0.30992138 -0.19941347 3.73034852] [ 0.3264423 0.94359915 0.05528173 0.20913492] [ 0.17103339 -0.11648769 0.97835484 -0.3170676 ] [ 0. 0. 0. 1. ]] SLAMing on 76.532414037 meters Centerline goodness : 0.830574 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.32 [[ 0.92852174 -0.31373597 -0.19853744 3.73014959] [ 0.32974002 0.94260576 0.05259184 0.20844247] [ 0.17064258 -0.11429841 0.97868125 -0.31608014] [ 0. 0. 0. 1. ]] SLAMing on 76.562414037 meters Centerline goodness : 0.830739 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-0.32 [[ 0.92747305 -0.3172163 -0.19790798 3.73083772] [ 0.3327836 0.9416658 0.05020556 0.20740922] [ 0.17043716 -0.11242484 0.97893403 -0.31542893] [ 0. 0. 0. 1. ]] SLAMing on 76.592414037 meters Centerline goodness : 0.827066 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.31 [[ 0.9257863 -0.32214081 -0.19785102 3.73401799] [ 0.33742818 0.94011645 0.04820043 0.20398905] [ 0.17047567 -0.11138381 0.97904632 -0.31460663] [ 0. 0. 0. 1. ]] SLAMing on 76.62241403699998 meters Centerline goodness : 0.831155 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.31 [[ 0.92474809 -0.32567947 -0.19691077 3.73417408] [ 0.34043165 0.93917137 0.04542505 0.20320863] [ 0.17013895 -0.10904138 0.97936853 -0.31401397] [ 0. 0. 0. 1. ]] SLAMing on 76.65241403699999 meters Centerline goodness : 0.829003 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.31 [[ 0.92337841 -0.32958693 -0.19683692 3.73653122] [ 0.34406992 0.93793253 0.04357122 0.20123308] [ 0.17025925 -0.10795839 0.9794676 -0.31338908] [ 0. 0. 0. 1. ]] SLAMing on 76.68241403699999 meters Centerline goodness : 0.828394 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.31 [[ 0.92239944 -0.33276891 -0.19607172 3.7370778 ] [ 0.34676622 0.93705621 0.04097378 0.20075117] [ 0.17009542 -0.10578524 0.97973314 -0.31312838] [ 0. 0. 0. 1. ]] SLAMing on 76.71241403699999 meters Centerline goodness : 0.833461 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.31 [[ 0.92179215 -0.33423253 -0.19643788 3.73884898] [ 0.34828782 0.93649312 0.04094176 0.19904252] [ 0.17027865 -0.10615672 0.97966113 -0.31268457] [ 0. 0. 0. 1. ]] SLAMing on 76.74241403699999 meters Centerline goodness : 0.826087 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.31 [[ 0.9208443 -0.33720416 -0.19580382 3.74023075] [ 0.35080842 0.93565672 0.03847009 0.19868855] [ 0.17023289 -0.10411459 0.97988822 -0.313102 ] [ 0. 0. 0. 1. ]] SLAMing on 76.77241403699999 meters Centerline goodness : 0.828791 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.31 [[ 0.91951946 -0.33992864 -0.19731315 3.74318393] [ 0.35389211 0.93445872 0.03933544 0.1963266 ] [ 0.17100975 -0.10599727 0.97955104 -0.31086245] [ 0. 0. 0. 1. ]] SLAMing on 76.80241403699999 meters Centerline goodness : 0.822853 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.31 [[ 0.91905092 -0.34075054 -0.19807694 3.74377036] [ 0.35491832 0.93404357 0.03994483 0.19541647] [ 0.17140127 -0.10701247 0.97937222 -0.30915372] [ 0. 0. 0. 1. ]] SLAMing on 76.83241403699999 meters Centerline goodness : 0.831346 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.31 [[ 0.91835465 -0.34224742 -0.19872451 3.74407994] [ 0.35659284 0.93338568 0.04040695 0.19375012] [ 0.17165743 -0.10797165 0.97922206 -0.3068112 ] [ 0. 0. 0. 1. ]] SLAMing on 76.862414037 meters Centerline goodness : 0.828943 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.31 [[ 0.918001 -0.34271637 -0.19954862 3.7459198 ] [ 0.35725262 0.93311091 0.04092179 0.19325599] [ 0.17217643 -0.10885551 0.97903307 -0.30651852] [ 0. 0. 0. 1. ]] SLAMing on 76.892414037 meters Centerline goodness : 0.828390 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.31 [[ 0.91755015 -0.34379235 -0.19977123 3.74716855] [ 0.35828757 0.93273481 0.04044488 0.19324477] [ 0.17242894 -0.10868575 0.97900749 -0.30660734] [ 0. 0. 0. 1. ]] SLAMing on 76.922414037 meters Centerline goodness : 0.829065 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.91596977 -0.34083359 -0.21173532 3.7484755 ] [ 0.35610578 0.93369124 0.03754114 0.18934562] [ 0.18490013 -0.10978672 0.97660576 -0.30283952] [ 0. 0. 0. 1. ]] SLAMing on 76.952414037 meters Centerline goodness : 0.828797 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.9156485 -0.34146365 -0.21210942 3.74985503] [ 0.35672061 0.93347136 0.03717018 0.18964419] [ 0.1853058 -0.10969862 0.97653877 -0.3030396 ] [ 0. 0. 0. 1. ]] SLAMing on 76.982414037 meters Centerline goodness : 0.827987 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.91535271 -0.34188813 -0.2127015 3.75100801] [ 0.35722347 0.93327859 0.03718165 0.19023458] [ 0.18579779 -0.11001629 0.97640954 -0.30286246] [ 0. 0. 0. 1. ]] SLAMing on 77.01241403699999 meters Centerline goodness : 0.828741 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.91521184 -0.34188177 -0.21331699 3.75198983] [ 0.35730189 0.93324561 0.03725564 0.19138025] [ 0.18634012 -0.11031537 0.97627244 -0.30283776] [ 0. 0. 0. 1. ]] SLAMing on 77.04241403699999 meters Centerline goodness : 0.826721 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.91528342 -0.34142358 -0.21374331 3.75201783] [ 0.35692248 0.93338269 0.03745787 0.19272117] [ 0.18671531 -0.11057436 0.97617145 -0.30265117] [ 0. 0. 0. 1. ]] SLAMing on 77.07241403699999 meters Centerline goodness : 0.828569 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.91531298 -0.3412477 -0.21389756 3.75227495] [ 0.35677321 0.93343719 0.03752196 0.19283665] [ 0.18685566 -0.11065725 0.9761352 -0.30265102] [ 0. 0. 0. 1. ]] SLAMing on 77.10241403699999 meters Centerline goodness : 0.825659 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.91540211 -0.34087559 -0.21410935 3.75330808] [ 0.3564203 0.93357156 0.03753286 0.19295036] [ 0.18709237 -0.11067058 0.97608835 -0.30332464] [ 0. 0. 0. 1. ]] SLAMing on 77.13241403699999 meters Centerline goodness : 0.828092 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.30 [[ 0.91527404 -0.34088807 -0.21463632 3.75438306] [ 0.35651626 0.93353026 0.03764857 0.19366628] [ 0.18753555 -0.1109801 0.97596815 -0.30346751] [ 0. 0. 0. 1. ]] SLAMing on 77.16241403699999 meters Centerline goodness : 0.827894 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.30 [[ 0.9152079 -0.34067941 -0.21524879 3.75489161] [ 0.35633182 0.93360958 0.03742712 0.19604924] [ 0.18820769 -0.11095359 0.97584177 -0.30347726] [ 0. 0. 0. 1. ]] SLAMing on 77.19241403699999 meters Centerline goodness : 0.818188 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.30 [[ 0.91563805 -0.33818104 -0.21734889 3.7566623 ] [ 0.35461887 0.93413475 0.04046889 0.19666642] [ 0.18934734 -0.11413088 0.9752547 -0.30283612] [ 0. 0. 0. 1. ]] SLAMing on 77.222414037 meters Centerline goodness : 0.828255 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.30 [[ 0.91572407 -0.33766216 -0.21779276 3.75692573] [ 0.3541294 0.93432333 0.04040163 0.19853215] [ 0.18984676 -0.11412357 0.97515846 -0.30297491] [ 0. 0. 0. 1. ]] SLAMing on 77.252414037 meters Centerline goodness : 0.829614 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.30 [[ 0.91671822 -0.33441374 -0.21862106 3.75604262] [ 0.35126343 0.93532557 0.04219112 0.20106983] [ 0.19037257 -0.11547095 0.9748973 -0.30329306] [ 0. 0. 0. 1. ]] SLAMing on 77.282414037 meters Centerline goodness : 0.826841 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.30 [[ 0.91707316 -0.3332444 -0.21891779 3.75700684] [ 0.35007139 0.93578036 0.04201353 0.20285076] [ 0.19085819 -0.11516633 0.97483838 -0.30454982] [ 0. 0. 0. 1. ]] SLAMing on 77.312414037 meters Centerline goodness : 0.826841 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.30 [[ 0.91707316 -0.3332444 -0.21891779 3.75700684] [ 0.35007139 0.93578036 0.04201353 0.20285076] [ 0.19085819 -0.11516633 0.97483838 -0.30454982] [ 0. 0. 0. 1. ]] SLAMing on 77.342414037 meters Centerline goodness : 0.828283 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.31 [[ 0.91793408 -0.33146123 -0.21801484 3.7561948 ] [ 0.34787857 0.93665761 0.04065736 0.20569831] [ 0.19072892 -0.11316347 0.9750982 -0.30696441] [ 0. 0. 0. 1. ]] SLAMing on 77.37241403699998 meters Centerline goodness : 0.827300 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.31 [[ 0.91855236 -0.32972076 -0.21804998 3.75615488] [ 0.34616109 0.93728162 0.04093501 0.20719987] [ 0.19087711 -0.11308137 0.97507873 -0.3080162 ] [ 0. 0. 0. 1. ]] SLAMing on 77.40241403699999 meters Centerline goodness : 0.829852 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.31 [[ 0.91941218 -0.32704476 -0.21845587 3.75517667] [ 0.34375533 0.93810396 0.04234652 0.20770155] [ 0.19108511 -0.11402927 0.97492759 -0.30778133] [ 0. 0. 0. 1. ]] SLAMing on 77.43241403699999 meters Centerline goodness : 0.832790 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-0.31 [[ 0.92026171 -0.3237443 -0.21979083 3.75459256] [ 0.34114929 0.93891198 0.0454033 0.20829678] [ 0.19166519 -0.1167644 0.97448988 -0.30682435] [ 0. 0. 0. 1. ]] SLAMing on 77.46241403699999 meters Centerline goodness : 0.781804 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-0.31 [[ 0.92126401 -0.32017175 -0.22082271 3.75302361] [ 0.33813344 0.93987583 0.04795012 0.21031401] [ 0.19219365 -0.11884226 0.97413455 -0.30608311] [ 0. 0. 0. 1. ]] SLAMing on 77.49241403699999 meters Centerline goodness : 0.828025 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-0.31 [[ 0.92127067 -0.32036635 -0.22051248 3.75222361] [ 0.33811276 0.93992956 0.04703391 0.21187021] [ 0.19219811 -0.11788904 0.97424948 -0.30626951] [ 0. 0. 0. 1. ]] SLAMing on 77.52241403699999 meters Centerline goodness : 0.781572 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-0.31 [[ 0.92119971 -0.32091524 -0.22001023 3.75231495] [ 0.33825181 0.93996892 0.04521209 0.21428612] [ 0.19229352 -0.11606823 0.97444926 -0.30759834] [ 0. 0. 0. 1. ]] SLAMing on 77.55241403699999 meters Centerline goodness : 0.780821 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92109279 -0.32130502 -0.21988896 3.75286429] [ 0.33846921 0.93993066 0.0443729 0.21525356] [ 0.19242314 -0.1152972 0.97451521 -0.30836359] [ 0. 0. 0. 1. ]] SLAMing on 77.58241403699999 meters Centerline goodness : 0.782048 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92103835 -0.32117523 -0.22030623 3.75391415] [ 0.33838379 0.93996221 0.04435586 0.21604053] [ 0.19283353 -0.11540151 0.97442174 -0.30867443] [ 0. 0. 0. 1. ]] SLAMing on 77.612414037 meters Centerline goodness : 0.835605 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92092857 -0.3214428 -0.22037491 3.75144328] [ 0.33861423 0.93989133 0.04409858 0.21813258] [ 0.19295329 -0.11523372 0.97441789 -0.30686837] [ 0. 0. 0. 1. ]] SLAMing on 77.642414037 meters Centerline goodness : 0.781433 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92090221 -0.32145008 -0.2204744 3.75058348] [ 0.33862793 0.93988776 0.04406959 0.21896028] [ 0.19305502 -0.11524257 0.97439669 -0.30602204] [ 0. 0. 0. 1. ]] SLAMing on 77.672414037 meters Centerline goodness : 0.832695 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92068625 -0.32226212 -0.22019073 3.74968657] [ 0.33921228 0.93972621 0.0430078 0.22049481] [ 0.19305922 -0.1142881 0.97450827 -0.30570606] [ 0. 0. 0. 1. ]] SLAMing on 77.702414037 meters Centerline goodness : 0.781802 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92054754 -0.32280858 -0.21997009 3.75002552] [ 0.33960954 0.93961348 0.04233049 0.22085864] [ 0.19302222 -0.11367117 0.97458775 -0.30623085] [ 0. 0. 0. 1. ]] SLAMing on 77.732414037 meters Centerline goodness : 0.779529 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92039918 -0.32310055 -0.22016219 3.75091136] [ 0.33987083 0.9395325 0.04202976 0.22149248] [ 0.19326969 -0.11351086 0.97455739 -0.30663983] [ 0. 0. 0. 1. ]] SLAMing on 77.76241403699999 meters Centerline goodness : 0.780254 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.92003747 -0.32425869 -0.21997127 3.75073648] [ 0.34078232 0.93925743 0.04077861 0.22313474] [ 0.19338683 -0.11248017 0.97465365 -0.30670607] [ 0. 0. 0. 1. ]] SLAMing on 77.79241403699999 meters Centerline goodness : 0.779616 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.31 [[ 0.91972503 -0.32507252 -0.22007662 3.75085891] [ 0.3415152 0.93901518 0.04022258 0.22405243] [ 0.19358003 -0.11215323 0.97465298 -0.30647885] [ 0. 0. 0. 1. ]] SLAMing on 77.82241403699999 meters Centerline goodness : 0.779383 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91952408 -0.3253192 -0.2205513 3.75171005] [ 0.34178953 0.93892253 0.04005495 0.2254931 ] [ 0.19404994 -0.11221362 0.97455258 -0.30660691] [ 0. 0. 0. 1. ]] SLAMing on 77.85241403699999 meters Centerline goodness : 0.780084 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91930648 -0.32587838 -0.22063289 3.75133308] [ 0.34227745 0.9387645 0.03958984 0.22626883] [ 0.19422085 -0.11191286 0.97455311 -0.30601322] [ 0. 0. 0. 1. ]] SLAMing on 77.88241403699999 meters Centerline goodness : 0.830318 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91912331 -0.32651305 -0.22045764 3.75103964] [ 0.34278131 0.93860663 0.03896882 0.22694727] [ 0.19419918 -0.11138591 0.9746178 -0.30595816] [ 0. 0. 0. 1. ]] SLAMing on 77.91241403699999 meters Centerline goodness : 0.778293 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91867956 -0.32756518 -0.22074629 3.75320805] [ 0.34376255 0.93827391 0.0383325 0.2269213 ] [ 0.19456409 -0.11109959 0.9745777 -0.30668303] [ 0. 0. 0. 1. ]] SLAMing on 77.94241403699999 meters Centerline goodness : 0.777746 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91799413 -0.33060632 -0.21905761 3.75260915] [ 0.34594854 0.93761212 0.03468605 0.22731721] [ 0.19392365 -0.10762425 0.9750952 -0.3074484 ] [ 0. 0. 0. 1. ]] SLAMing on 77.972414037 meters Centerline goodness : 0.779903 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91705876 -0.33388268 -0.21800366 3.75296504] [ 0.34856691 0.93675066 0.03161196 0.22771929] [ 0.19366039 -0.10497889 0.97543584 -0.3077941 ] [ 0. 0. 0. 1. ]] SLAMing on 78.002414037 meters Centerline goodness : 0.778628 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91659335 -0.33486951 -0.2184469 3.75318411] [ 0.34957196 0.93638482 0.03135138 0.22835687] [ 0.19405174 -0.10509938 0.97534509 -0.30678282] [ 0. 0. 0. 1. ]] SLAMing on 78.032414037 meters Centerline goodness : 0.777221 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.31 [[ 0.91579315 -0.33628787 -0.21962097 3.75466124] [ 0.35122426 0.93575394 0.03171864 0.22856295] [ 0.19484459 -0.10618393 0.97506952 -0.30527597] [ 0. 0. 0. 1. ]] SLAMing on 78.062414037 meters Centerline goodness : 0.833010 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.30 [[ 0.91543014 -0.33701671 -0.22001682 3.75577863] [ 0.3520175 0.93545509 0.03174046 0.22801287] [ 0.19511879 -0.10650594 0.97497956 -0.30490977] [ 0. 0. 0. 1. ]] SLAMing on 78.092414037 meters Centerline goodness : 0.777886 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.30 [[ 0.91513829 -0.33740888 -0.22062899 3.75762644] [ 0.35254025 0.93524912 0.03200724 0.22718106] [ 0.19554354 -0.10707165 0.97483249 -0.30478566] [ 0. 0. 0. 1. ]] SLAMing on 78.12241403699998 meters Centerline goodness : 0.827626 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.30 [[ 0.91403885 -0.34139709 -0.21904566 3.75710767] [ 0.35577909 0.93412926 0.02870132 0.22586997] [ 0.19481842 -0.10416599 0.97529238 -0.30445435] [ 0. 0. 0. 1. ]] SLAMing on 78.15241403699999 meters Centerline goodness : 0.828222 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.30 [[ 0.91368437 -0.34180734 -0.21988319 3.75888364] [ 0.35639552 0.93387792 0.02922773 0.22512315] [ 0.1953538 -0.10507031 0.97508826 -0.30395805] [ 0. 0. 0. 1. ]] SLAMing on 78.18241403699999 meters Centerline goodness : 0.831641 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.30 [[ 0.91296266 -0.342809 -0.2213169 3.76045443] [ 0.35775018 0.93333266 0.03008228 0.22507284] [ 0.19624981 -0.10664016 0.97473786 -0.30224354] [ 0. 0. 0. 1. ]] SLAMing on 78.21241403699999 meters Centerline goodness : 0.831758 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.30 [[ 0.91249114 -0.34365117 -0.22195447 3.7606443 ] [ 0.35870927 0.93296022 0.03021412 0.2257411 ] [ 0.19669157 -0.10718725 0.9745888 -0.30104082] [ 0. 0. 0. 1. ]] SLAMing on 78.24241403699999 meters Centerline goodness : 0.831940 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.30 [[ 0.91207621 -0.34434056 -0.22259059 3.76129929] [ 0.35949123 0.93265833 0.03024073 0.22606137] [ 0.19718786 -0.10760121 0.97444288 -0.30008656] [ 0. 0. 0. 1. ]] SLAMing on 78.27241403699999 meters Centerline goodness : 0.830957 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.30 [[ 0.91142913 -0.3454725 -0.22348532 3.76441585] [ 0.36081552 0.9321363 0.03056269 0.22462186] [ 0.19776021 -0.1084927 0.97422802 -0.30021573] [ 0. 0. 0. 1. ]] SLAMing on 78.30241403699999 meters Centerline goodness : 0.830255 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.30 [[ 0.91091653 -0.34649382 -0.22399353 3.76678877] [ 0.361902 0.9317176 0.03048357 0.22371153] [ 0.19813634 -0.1088317 0.97411378 -0.3005194 ] [ 0. 0. 0. 1. ]] SLAMing on 78.33241403699999 meters Centerline goodness : 0.827322 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.30 [[ 0.90926186 -0.35113075 -0.22349512 3.76870505] [ 0.36586626 0.93027768 0.02693184 0.22471268] [ 0.19845593 -0.10625742 0.9743329 -0.30060914] [ 0. 0. 0. 1. ]] SLAMing on 78.362414037 meters Centerline goodness : 0.832704 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90872583 -0.35214344 -0.22408115 3.76900775] [ 0.36695123 0.92985261 0.02684994 0.22539887] [ 0.19890741 -0.10662609 0.97420055 -0.29947193] [ 0. 0. 0. 1. ]] SLAMing on 78.392414037 meters Centerline goodness : 0.833940 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.9083124 -0.3525438 -0.22512541 3.7696755 ] [ 0.36759246 0.92958304 0.02740719 0.22623122] [ 0.19961053 -0.10764869 0.97394425 -0.29825667] [ 0. 0. 0. 1. ]] SLAMing on 78.422414037 meters Centerline goodness : 0.831800 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90784189 -0.3531737 -0.22603417 3.77007934] [ 0.36839308 0.92925843 0.02766407 0.22714689] [ 0.20027393 -0.10838402 0.97372648 -0.29693637] [ 0. 0. 0. 1. ]] SLAMing on 78.452414037 meters Centerline goodness : 0.830118 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90766411 -0.35337743 -0.22642936 3.77110256] [ 0.36866221 0.92914945 0.02773937 0.22681917] [ 0.20058425 -0.10865397 0.97363251 -0.29681378] [ 0. 0. 0. 1. ]] SLAMing on 78.482414037 meters Centerline goodness : 0.825325 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90747903 -0.35358841 -0.22684144 3.7721736 ] [ 0.36896152 0.92902538 0.02791483 0.22572284] [ 0.2008711 -0.10902789 0.97353157 -0.29638972] [ 0. 0. 0. 1. ]] SLAMing on 78.51241403699999 meters Centerline goodness : 0.831943 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90729644 -0.35407354 -0.22681513 3.7716073 ] [ 0.36934851 0.92888698 0.02739803 0.22656515] [ 0.20098471 -0.10863197 0.97355238 -0.29587963] [ 0. 0. 0. 1. ]] SLAMing on 78.54241403699999 meters Centerline goodness : 0.831846 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.29 [[ 0.90768272 -0.35150191 -0.22925637 3.77361401] [ 0.36771452 0.92942684 0.0308511 0.22665989] [ 0.20223281 -0.11230391 0.97287703 -0.29492947] [ 0. 0. 0. 1. ]] SLAMing on 78.57241403699999 meters Centerline goodness : 0.830184 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90762205 -0.35179559 -0.22904601 3.77232004] [ 0.36776393 0.92944281 0.02976157 0.23003484] [ 0.20241518 -0.11124711 0.97296052 -0.2950361 ] [ 0. 0. 0. 1. ]] SLAMing on 78.60241403699999 meters Centerline goodness : 0.829127 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90783666 -0.3511878 -0.22912819 3.77339138] [ 0.36708065 0.92972365 0.02942312 0.23156436] [ 0.20269286 -0.11081991 0.97295146 -0.29646499] [ 0. 0. 0. 1. ]] SLAMing on 78.63241403699999 meters Centerline goodness : 0.828748 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.30 [[ 0.90782839 -0.35110266 -0.22929136 3.77430613] [ 0.36698529 0.92976542 0.02929264 0.23180882] [ 0.20290245 -0.11073925 0.97291696 -0.29698108] [ 0. 0. 0. 1. ]] SLAMing on 78.66241403699999 meters Centerline goodness : 0.830116 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-0.30 [[ 0.9078968 -0.35078294 -0.22950976 3.77537238] [ 0.36669869 0.92987617 0.02936639 0.23165862] [ 0.20311442 -0.11082258 0.97286324 -0.29749285] [ 0. 0. 0. 1. ]] SLAMing on 78.69241403699999 meters Centerline goodness : 0.828051 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-0.30 [[ 0.9077323 -0.35121537 -0.2294991 3.7752102 ] [ 0.36705316 0.9297494 0.02894885 0.23242658] [ 0.20320937 -0.11051617 0.97287827 -0.29736286] [ 0. 0. 0. 1. ]] SLAMing on 78.722414037 meters Centerline goodness : 0.829642 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-0.30 [[ 0.90816857 -0.34872533 -0.23156097 3.775357 ] [ 0.36541565 0.93028925 0.03214524 0.23330435] [ 0.20420882 -0.1138093 0.97228915 -0.29565556] [ 0. 0. 0. 1. ]] SLAMing on 78.752414037 meters Centerline goodness : 0.831364 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-0.29 [[ 0.90809056 -0.34850935 -0.23219123 3.7753975 ] [ 0.36533059 0.93031268 0.03243269 0.2344864 ] [ 0.20470735 -0.11427838 0.97212929 -0.29495437] [ 0. 0. 0. 1. ]] SLAMing on 78.782414037 meters Centerline goodness : 0.831989 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90816057 -0.34825851 -0.23229376 3.77540371] [ 0.36505004 0.93042872 0.03226229 0.23544179] [ 0.20489717 -0.11409818 0.97211046 -0.29509203] [ 0. 0. 0. 1. ]] SLAMing on 78.812414037 meters Centerline goodness : 0.829719 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90818893 -0.34850457 -0.23181337 3.77544059] [ 0.36505316 0.93045857 0.03135358 0.23598071] [ 0.20476587 -0.11309918 0.97225486 -0.29594701] [ 0. 0. 0. 1. ]] SLAMing on 78.842414037 meters Centerline goodness : 0.830788 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90812489 -0.34865246 -0.23184187 3.7761727 ] [ 0.36514859 0.93043059 0.03107122 0.23608048] [ 0.20487971 -0.11287328 0.97225713 -0.29644042] [ 0. 0. 0. 1. ]] SLAMing on 78.87241403699998 meters Centerline goodness : 0.780199 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90802245 -0.34859534 -0.2323285 3.77700747] [ 0.3651163 0.93044826 0.03092119 0.23747939] [ 0.20539066 -0.11290405 0.97214575 -0.29664073] [ 0. 0. 0. 1. ]] SLAMing on 78.90241403699999 meters Centerline goodness : 0.781361 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90803548 -0.34820551 -0.23286152 3.77727632] [ 0.36483239 0.93055141 0.03116715 0.23840563] [ 0.20583704 -0.1132563 0.97201035 -0.29624709] [ 0. 0. 0. 1. ]] SLAMing on 78.93241403699999 meters Centerline goodness : 0.836264 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90797922 -0.34798781 -0.23340568 3.77781646] [ 0.36471609 0.93059039 0.03136392 0.23974793] [ 0.20629083 -0.11360459 0.9718735 -0.2961735 ] [ 0. 0. 0. 1. ]] SLAMing on 78.96241403699999 meters Centerline goodness : 0.782341 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.908077 -0.34810682 -0.23284719 3.77703254] [ 0.36454054 0.93069522 0.03027534 0.24164543] [ 0.20617071 -0.11237458 0.97204197 -0.29692373] [ 0. 0. 0. 1. ]] SLAMing on 78.99241403699999 meters Centerline goodness : 0.781897 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90814926 -0.34793093 -0.23282824 3.77753866] [ 0.36428768 0.93080495 0.02994375 0.24255807] [ 0.20629933 -0.11200986 0.97205678 -0.29765189] [ 0. 0. 0. 1. ]] SLAMing on 79.02241403699999 meters Centerline goodness : 0.779284 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-0.30 [[ 0.90864073 -0.34677116 -0.23264091 3.77679665] [ 0.36304221 0.93129667 0.02978027 0.24425859] [ 0.20633076 -0.11151803 0.97210665 -0.29830275] [ 0. 0. 0. 1. ]] SLAMing on 79.05241403699999 meters Centerline goodness : 0.780755 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.30 [[ 0.90885557 -0.34610542 -0.23279302 3.77685163] [ 0.36238581 0.93155107 0.0298183 0.2451659 ] [ 0.20653831 -0.11146142 0.97206907 -0.29854732] [ 0. 0. 0. 1. ]] SLAMing on 79.08241403699999 meters Centerline goodness : 0.837461 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.30 [[ 0.90917141 -0.34519292 -0.23291457 3.77701554] [ 0.3614734 0.9319042 0.02985878 0.24626302] [ 0.20674702 -0.11133917 0.97203871 -0.29914563] [ 0. 0. 0. 1. ]] SLAMing on 79.112414037 meters Centerline goodness : 0.780068 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.30 [[ 0.9102534 -0.34129565 -0.23442704 3.77709454] [ 0.35824763 0.93305642 0.03262434 0.24862618] [ 0.20759911 -0.11367935 0.97158613 -0.29933492] [ 0. 0. 0. 1. ]] SLAMing on 79.142414037 meters Centerline goodness : 0.782304 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.30 [[ 0.91047437 -0.34116449 -0.23375887 3.7750613 ] [ 0.35782472 0.93325236 0.03164657 0.25062123] [ 0.20735933 -0.1124581 0.97177944 -0.2993811 ] [ 0. 0. 0. 1. ]] SLAMing on 79.172414037 meters Centerline goodness : 0.780344 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.30 [[ 0.91126309 -0.33758722 -0.23586957 3.77713328] [ 0.35521837 0.93411229 0.03541374 0.25015321] [ 0.20837344 -0.11605644 0.97113923 -0.29931051] [ 0. 0. 0. 1. ]] SLAMing on 79.202414037 meters Centerline goodness : 0.780937 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.30 [[ 0.91149329 -0.33742143 -0.23521642 3.77601441] [ 0.35477891 0.93431244 0.03452802 0.25123829] [ 0.20811513 -0.11492189 0.97132953 -0.29979941] [ 0. 0. 0. 1. ]] SLAMing on 79.232414037 meters Centerline goodness : 0.780937 Centerline is valid? [False, False] Translation: X:3.78, Y:0.25, Z:-0.30 [[ 0.91149329 -0.33742143 -0.23521642 3.77601441] [ 0.35477891 0.93431244 0.03452802 0.25123829] [ 0.20811513 -0.11492189 0.97132953 -0.29979941] [ 0. 0. 0. 1. ]] SLAMing on 79.26241403699999 meters Centerline goodness : 0.782528 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.30 [[ 0.91175458 -0.33721683 -0.23449605 3.77366342] [ 0.35429044 0.93453046 0.03363186 0.25299698] [ 0.20780248 -0.11374371 0.97153512 -0.29960705] [ 0. 0. 0. 1. ]] SLAMing on 79.29241403699999 meters Centerline goodness : 0.783185 Centerline is valid? [False, False] Translation: X:3.77, Y:0.25, Z:-0.30 [[ 0.91172341 -0.33709603 -0.23479072 3.77368199] [ 0.35418184 0.93457501 0.03353775 0.25407533] [ 0.20812409 -0.11373576 0.97146721 -0.29936094] [ 0. 0. 0. 1. ]] SLAMing on 79.32241403699999 meters Centerline goodness : 0.782930 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.30 [[ 0.91151295 -0.33738126 -0.23519784 3.77406713] [ 0.3543365 0.93454717 0.03266869 0.25717848] [ 0.20878167 -0.11311711 0.97139834 -0.29952268] [ 0. 0. 0. 1. ]] SLAMing on 79.35241403699999 meters Centerline goodness : 0.784158 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.30 [[ 0.91147204 -0.33726686 -0.23552023 3.77490307] [ 0.35422026 0.93459729 0.03249472 0.25837199] [ 0.20915718 -0.11304406 0.97132606 -0.29998084] [ 0. 0. 0. 1. ]] SLAMing on 79.38241403699999 meters Centerline goodness : 0.781939 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.30 [[ 0.91130053 -0.33785895 -0.23533523 3.77518584] [ 0.35457441 0.93449967 0.03142229 0.26015972] [ 0.20930439 -0.112079 0.97140618 -0.30071962] [ 0. 0. 0. 1. ]] SLAMing on 79.41241403699999 meters Centerline goodness : 0.779502 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.30 [[ 0.91143294 -0.33796772 -0.23466535 3.77569601] [ 0.35431561 0.93464236 0.03006824 0.26179104] [ 0.20916608 -0.11055078 0.97161107 -0.30259919] [ 0. 0. 0. 1. ]] SLAMing on 79.44241403699999 meters Centerline goodness : 0.778012 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.30 [[ 0.91163996 -0.33735232 -0.23474666 3.77625687] [ 0.35366738 0.93489181 0.02994462 0.2627953 ] [ 0.20936084 -0.11032094 0.97159525 -0.30336169] [ 0. 0. 0. 1. ]] SLAMing on 79.472414037 meters Centerline goodness : 0.780671 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.30 [[ 0.91196541 -0.336538 -0.23465138 3.77591105] [ 0.3528228 0.93521065 0.02995194 0.26348932] [ 0.20936851 -0.11010549 0.97161804 -0.30368934] [ 0. 0. 0. 1. ]] SLAMing on 79.502414037 meters Centerline goodness : 0.779348 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:-0.30 [[ 0.9133231 -0.33224621 -0.23548541 3.7751276 ] [ 0.34921099 0.9364573 0.03315734 0.2636611 ] [ 0.20950563 -0.11251746 0.97131211 -0.30396266] [ 0. 0. 0. 1. ]] SLAMing on 79.532414037 meters Centerline goodness : 0.779961 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.30 [[ 0.91365171 -0.33148344 -0.23528554 3.77389778] [ 0.34838804 0.93676659 0.03307772 0.26431121] [ 0.20944291 -0.11219218 0.97136326 -0.30364787] [ 0. 0. 0. 1. ]] SLAMing on 79.562414037 meters Centerline goodness : 0.779574 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.30 [[ 0.91428454 -0.32983741 -0.23514051 3.77247255] [ 0.34663042 0.93742699 0.03283289 0.26642037] [ 0.20959754 -0.11152546 0.97140668 -0.30373791] [ 0. 0. 0. 1. ]] SLAMing on 79.592414037 meters Centerline goodness : 0.780386 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:-0.31 [[ 0.916412 -0.32754418 -0.23000838 3.76697337] [ 0.34371506 0.93849461 0.0329821 0.26451041] [ 0.20505853 -0.10928254 0.97262959 -0.30767414] [ 0. 0. 0. 1. ]] SLAMing on 79.62241403699998 meters Centerline goodness : 0.780201 Centerline is valid? [False, False] Translation: X:3.77, Y:0.27, Z:-0.31 [[ 0.91665964 -0.32716145 -0.22956588 3.76609904] [ 0.34309734 0.93874944 0.03215138 0.26653498] [ 0.20498615 -0.10823531 0.97276194 -0.30836709] [ 0. 0. 0. 1. ]] SLAMing on 79.65241403699999 meters Centerline goodness : 0.778627 Centerline is valid? [False, False] Translation: X:3.76, Y:0.26, Z:-0.31 [[ 0.91941715 -0.32431785 -0.22246356 3.7578384 ] [ 0.33912513 0.9402354 0.03084703 0.26374338] [ 0.19916387 -0.10380427 0.97445288 -0.31284118] [ 0. 0. 0. 1. ]] SLAMing on 79.68241403699999 meters Centerline goodness : 0.779678 Centerline is valid? [False, False] Translation: X:3.76, Y:0.26, Z:-0.31 [[ 0.91953107 -0.32432851 -0.22197666 3.75660765] [ 0.33905568 0.94026484 0.03071287 0.26461026] [ 0.19875579 -0.10350389 0.97456815 -0.31279876] [ 0. 0. 0. 1. ]] SLAMing on 79.71241403699999 meters Centerline goodness : 0.837488 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.31 [[ 0.91965238 -0.32394856 -0.2220289 3.75655281] [ 0.33861808 0.94043124 0.03044458 0.26599242] [ 0.19894044 -0.10318143 0.97456467 -0.31251456] [ 0. 0. 0. 1. ]] SLAMing on 79.74241403699999 meters Centerline goodness : 0.778894 Centerline is valid? [False, False] Translation: X:3.75, Y:0.26, Z:-0.31 [[ 0.92073456 -0.32114382 -0.22161797 3.74853956] [ 0.33378121 0.94241469 0.02108691 0.26451712] [ 0.20208409 -0.09338736 0.97490554 -0.31231769] [ 0. 0. 0. 1. ]] SLAMing on 79.77241403699999 meters Centerline goodness : 0.777361 Centerline is valid? [False, False] Translation: X:3.75, Y:0.27, Z:-0.31 [[ 0.92087569 -0.32079053 -0.22154323 3.74867391] [ 0.33344695 0.94252925 0.02125422 0.26502767] [ 0.20199282 -0.09344541 0.9749189 -0.31275008] [ 0. 0. 0. 1. ]] SLAMing on 79.80241403699999 meters Centerline goodness : 0.836680 Centerline is valid? [False, False] Translation: X:3.75, Y:0.26, Z:-0.31 [[ 0.92211693 -0.31651702 -0.22252493 3.74807897] [ 0.32991723 0.94368262 0.02485407 0.26465582] [ 0.20212617 -0.09633317 0.97461014 -0.31263167] [ 0. 0. 0. 1. ]] SLAMing on 79.83241403699999 meters Centerline goodness : 0.778551 Centerline is valid? [False, False] Translation: X:3.75, Y:0.26, Z:-0.31 [[ 0.9234694 -0.31249804 -0.22259659 3.74689696] [ 0.32634301 0.94485373 0.0274166 0.2630143 ] [ 0.20175359 -0.09796123 0.97452506 -0.31266114] [ 0. 0. 0. 1. ]] SLAMing on 79.862414037 meters Centerline goodness : 0.778551 Centerline is valid? [False, False] Translation: X:3.75, Y:0.26, Z:-0.31 [[ 0.9234694 -0.31249804 -0.22259659 3.74689696] [ 0.32634301 0.94485373 0.0274166 0.2630143 ] [ 0.20175359 -0.09796123 0.97452506 -0.31266114] [ 0. 0. 0. 1. ]] SLAMing on 79.892414037 meters Centerline goodness : 0.840800 Centerline is valid? [False, False] Translation: X:3.75, Y:0.26, Z:-0.31 [[ 0.92393757 -0.31159427 -0.22191978 3.74566107] [ 0.3253933 0.94517495 0.02763159 0.26189675] [ 0.20114317 -0.09774108 0.97467333 -0.31278031] [ 0. 0. 0. 1. ]] SLAMing on 79.922414037 meters Centerline goodness : 0.779503 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.31 [[ 0.9246418 -0.31020973 -0.22092409 3.744091 ] [ 0.32395526 0.94565735 0.02802078 0.25944642] [ 0.20022617 -0.09747871 0.97488839 -0.31291707] [ 0. 0. 0. 1. ]] SLAMing on 79.952414037 meters Centerline goodness : 0.779503 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.31 [[ 0.9246418 -0.31020973 -0.22092409 3.744091 ] [ 0.32395526 0.94565735 0.02802078 0.25944642] [ 0.20022617 -0.09747871 0.97488839 -0.31291707] [ 0. 0. 0. 1. ]] SLAMing on 79.982414037 meters Centerline goodness : 0.781158 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.31 [[ 0.92467731 -0.31017383 -0.22082589 3.74361393] [ 0.3239794 0.94563878 0.0283662 0.2581578 ] [ 0.20002307 -0.09777262 0.97490065 -0.3123011 ] [ 0. 0. 0. 1. ]] SLAMing on 80.01241403699999 meters Centerline goodness : 0.838725 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.31 [[ 0.92399018 -0.31281666 -0.21997246 3.74280593] [ 0.32614297 0.94495846 0.02615848 0.25747043] [ 0.19968203 -0.09591265 0.9751553 -0.31137059] [ 0. 0. 0. 1. ]] SLAMing on 80.04241403699999 meters Centerline goodness : 0.779308 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.31 [[ 0.92388149 -0.31317672 -0.21991666 3.74321971] [ 0.32646845 0.94485107 0.02597712 0.25657989] [ 0.19965306 -0.09579563 0.97517273 -0.31129909] [ 0. 0. 0. 1. ]] SLAMing on 80.07241403699999 meters Centerline goodness : 0.779241 Centerline is valid? [False, False] Translation: X:3.74, Y:0.26, Z:-0.31 [[ 0.92340722 -0.31567582 -0.21832977 3.74230916] [ 0.32820791 0.94433152 0.02274966 0.25669281] [ 0.19899416 -0.09266476 0.97560984 -0.31181586] [ 0. 0. 0. 1. ]] SLAMing on 80.10241403699999 meters Centerline goodness : 0.779447 Centerline is valid? [False, False] Translation: X:3.74, Y:0.25, Z:-0.31 [[ 0.92302842 -0.31819141 -0.21627012 3.74186479] [ 0.32990246 0.9438157 0.01939841 0.25483952] [ 0.19794672 -0.08925333 0.97614084 -0.31300941] [ 0. 0. 0. 1. ]] SLAMing on 80.13241403699999 meters Centerline goodness : 0.779273 Centerline is valid? [False, False] Translation: X:3.74, Y:0.25, Z:-0.31 [[ 0.92295872 -0.31844369 -0.21619625 3.74283997] [ 0.33012499 0.94374077 0.0192577 0.25370086] [ 0.19790072 -0.08914585 0.97615999 -0.31338737] [ 0. 0. 0. 1. ]] SLAMing on 80.16241403699999 meters Centerline goodness : 0.778991 Centerline is valid? [False, False] Translation: X:3.74, Y:0.25, Z:-0.31 [[ 0.92287105 -0.32021428 -0.21394356 3.74156673] [ 0.33117526 0.94342466 0.01651841 0.25129837] [ 0.1965502 -0.08609717 0.97670635 -0.31432348] [ 0. 0. 0. 1. ]] SLAMing on 80.19241403699999 meters Centerline goodness : 0.780049 Centerline is valid? [False, False] Translation: X:3.74, Y:0.25, Z:-0.31 [[ 0.92290656 -0.32007527 -0.21399836 3.74228063] [ 0.33108478 0.94345233 0.01675039 0.24993789] [ 0.19653587 -0.08631065 0.97669039 -0.31436015] [ 0. 0. 0. 1. ]] SLAMing on 80.222414037 meters Centerline goodness : 0.780794 Centerline is valid? [False, False] Translation: X:3.74, Y:0.25, Z:-0.32 [[ 0.92423259 -0.32536066 -0.19983635 3.74126784] [ 0.3353141 0.94194958 0.01718844 0.25146517] [ 0.18264333 -0.08289406 0.97967851 -0.31983136] [ 0. 0. 0. 1. ]] SLAMing on 80.252414037 meters Centerline goodness : 0.781828 Centerline is valid? [False, False] Translation: X:3.74, Y:0.25, Z:-0.32 [[ 0.92468216 -0.32424418 -0.19957109 3.740283 ] [ 0.33441844 0.94224087 0.01861311 0.24774307] [ 0.18200884 -0.08395146 0.97970655 -0.31876572] [ 0. 0. 0. 1. ]] SLAMing on 80.282414037 meters Centerline goodness : 0.781706 Centerline is valid? [False, False] Translation: X:3.74, Y:0.25, Z:-0.32 [[ 0.92491318 -0.32375031 -0.19930212 3.74005793] [ 0.33399562 0.9423796 0.01917321 0.24558681] [ 0.18161092 -0.08429959 0.9797505 -0.31855594] [ 0. 0. 0. 1. ]] SLAMing on 80.312414037 meters Centerline goodness : 0.836357 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.32 [[ 0.92480952 -0.32481286 -0.19805039 3.74001124] [ 0.3347684 0.94212684 0.01808676 0.24134847] [ 0.18071378 -0.08302781 0.98002496 -0.31854517] [ 0. 0. 0. 1. ]] SLAMing on 80.342414037 meters Centerline goodness : 0.835304 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.32 [[ 0.92451093 -0.32552548 -0.1982743 3.7408743 ] [ 0.33556359 0.94183868 0.01835701 0.23992089] [ 0.18076673 -0.08350489 0.97997465 -0.31807976] [ 0. 0. 0. 1. ]] SLAMing on 80.37241403699998 meters Centerline goodness : 0.837327 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.32 [[ 0.92425099 -0.32579506 -0.1990419 3.74240152] [ 0.33607703 0.94163701 0.0192866 0.23838842] [ 0.18114174 -0.08471907 0.97980118 -0.3174306 ] [ 0. 0. 0. 1. ]] SLAMing on 80.40241403699999 meters Centerline goodness : 0.829891 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.32 [[ 0.92337174 -0.32893759 -0.19795124 3.74252979] [ 0.33876242 0.94071827 0.01700444 0.23599974] [ 0.18062295 -0.08275986 0.98006436 -0.31677348] [ 0. 0. 0. 1. ]] SLAMing on 80.43241403699999 meters Centerline goodness : 0.831509 Centerline is valid? [False, False] Translation: X:3.74, Y:0.23, Z:-0.32 [[ 0.92283963 -0.3306496 -0.19758 3.74495128] [ 0.34018328 0.94023268 0.01542189 0.23470255] [ 0.18067193 -0.08144534 0.98016545 -0.31793031] [ 0. 0. 0. 1. ]] SLAMing on 80.46241403699999 meters Centerline goodness : 0.775737 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.32 [[ 0.92203489 -0.3335345 -0.19648513 3.74672242] [ 0.3424728 0.93944606 0.01238869 0.23412862] [ 0.18045513 -0.07871361 0.98042854 -0.31946771] [ 0. 0. 0. 1. ]] SLAMing on 80.49241403699999 meters Centerline goodness : 0.831867 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.32 [[ 0.92100437 -0.33703752 -0.19533729 3.74914667] [ 0.34542714 0.93839701 0.00954712 0.2318942 ] [ 0.18008619 -0.07626774 0.98068965 -0.32088362] [ 0. 0. 0. 1. ]] SLAMing on 80.52241403699999 meters Centerline goodness : 0.831318 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.32 [[ 0.92091944 -0.33700309 -0.19579659 3.75103298] [ 0.34555197 0.93834398 0.01021828 0.23054912] [ 0.18028095 -0.07706811 0.98059129 -0.32125032] [ 0. 0. 0. 1. ]] SLAMing on 80.55241403699999 meters Centerline goodness : 0.774272 Centerline is valid? [False, False] Translation: X:3.75, Y:0.23, Z:-0.32 [[ 0.9211493 -0.33649446 -0.19558996 3.75175302] [ 0.34524881 0.93844097 0.01148069 0.22573424] [ 0.17968645 -0.07810263 0.98061856 -0.32100154] [ 0. 0. 0. 1. ]] SLAMing on 80.58241403699999 meters Centerline goodness : 0.829153 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.32 [[ 0.9212776 -0.3361378 -0.19559896 3.75215267] [ 0.34498122 0.93853288 0.01199951 0.22379326] [ 0.17954257 -0.07853285 0.98061055 -0.32079632] [ 0. 0. 0. 1. ]] SLAMing on 80.612414037 meters Centerline goodness : 0.830316 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.32 [[ 0.92144487 -0.3353883 -0.19609701 3.75331401] [ 0.34448363 0.93869913 0.013228 0.22202895] [ 0.17963957 -0.07974109 0.98049527 -0.32067499] [ 0. 0. 0. 1. ]] SLAMing on 80.642414037 meters Centerline goodness : 0.831877 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.32 [[ 0.9214759 -0.33537306 -0.19597723 3.75396287] [ 0.34452628 0.93867816 0.0136 0.21982429] [ 0.17939847 -0.08005138 0.98051413 -0.32067342] [ 0. 0. 0. 1. ]] SLAMing on 80.672414037 meters Centerline goodness : 0.831697 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-0.32 [[ 0.92162285 -0.33518981 -0.19559939 3.75422585] [ 0.34430931 0.93875768 0.01360597 0.21821577] [ 0.17905984 -0.07988626 0.98058949 -0.32112013] [ 0. 0. 0. 1. ]] SLAMing on 80.702414037 meters Centerline goodness : 0.828479 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.32 [[ 0.92226365 -0.33328266 -0.19583777 3.75567803] [ 0.34270801 0.93931629 0.01536633 0.21492929] [ 0.17883228 -0.08128698 0.98051591 -0.32188614] [ 0. 0. 0. 1. ]] SLAMing on 80.732414037 meters Centerline goodness : 0.829455 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.32 [[ 0.92269048 -0.33211284 -0.19581457 3.75578951] [ 0.34166127 0.93968403 0.01617076 0.21301173] [ 0.17863331 -0.08182286 0.9805076 -0.32190083] [ 0. 0. 0. 1. ]] SLAMing on 80.76241403699999 meters Centerline goodness : 0.835735 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.32 [[ 0.92292331 -0.33172005 -0.19538264 3.75516344] [ 0.34126418 0.93982455 0.01638843 0.21166282] [ 0.17818903 -0.08180236 0.98059015 -0.32184798] [ 0. 0. 0. 1. ]] SLAMing on 80.79241403699999 meters Centerline goodness : 0.833428 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.32 [[ 0.92340705 -0.330224 -0.19563111 3.75646458] [ 0.3400258 0.94024687 0.01784042 0.20880989] [ 0.1780502 -0.0829936 0.98051527 -0.32238067] [ 0. 0. 0. 1. ]] SLAMing on 80.82241403699999 meters Centerline goodness : 0.839560 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.32 [[ 0.92355896 -0.32982456 -0.19558784 3.7567751 ] [ 0.33965854 0.94037506 0.01807829 0.20780229] [ 0.17796326 -0.08312945 0.98051954 -0.32248968] [ 0. 0. 0. 1. ]] SLAMing on 80.85241403699999 meters Centerline goodness : 0.837450 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.32 [[ 0.92376615 -0.32916058 -0.19572792 3.75762059] [ 0.33910813 0.94056145 0.01870384 0.20634813] [ 0.17793757 -0.08365091 0.98047986 -0.32281705] [ 0. 0. 0. 1. ]] SLAMing on 80.88241403699999 meters Centerline goodness : 0.834932 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.32 [[ 0.92388484 -0.3286116 -0.1960898 3.75917129] [ 0.33874049 0.94067601 0.01958365 0.20492694] [ 0.17802156 -0.08451659 0.98039037 -0.32334679] [ 0. 0. 0. 1. ]] SLAMing on 80.91241403699999 meters Centerline goodness : 0.829146 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.32 [[ 0.92383972 -0.32863574 -0.19626188 3.76026088] [ 0.33886926 0.9406193 0.020074 0.20322966] [ 0.17801068 -0.08505227 0.98034601 -0.32345582] [ 0. 0. 0. 1. ]] SLAMing on 80.94241403699999 meters Centerline goodness : 0.839998 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.32 [[ 0.92390848 -0.32888004 -0.19552759 3.7608019 ] [ 0.33903004 0.94056408 0.01994589 0.19916699] [ 0.17734642 -0.0847179 0.98049535 -0.32363873] [ 0. 0. 0. 1. ]] SLAMing on 80.972414037 meters Centerline goodness : 0.839485 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.32 [[ 0.92407661 -0.32856221 -0.19526721 3.7608819 ] [ 0.33891796 0.94057603 0.02124483 0.19468007] [ 0.17668341 -0.08581141 0.98051995 -0.32292693] [ 0. 0. 0. 1. ]] SLAMing on 81.002414037 meters Centerline goodness : 0.839549 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.32 [[ 0.92397135 -0.32842896 -0.19598815 3.76237748] [ 0.33905669 0.94049906 0.02240716 0.19300481] [ 0.17696751 -0.08715467 0.98035022 -0.32242593] [ 0. 0. 0. 1. ]] SLAMing on 81.032414037 meters Centerline goodness : 0.829989 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.32 [[ 0.92381429 -0.32854006 -0.19654155 3.76346686] [ 0.3393605 0.94037064 0.02318418 0.19162067] [ 0.17720497 -0.08811631 0.98022136 -0.32180289] [ 0. 0. 0. 1. ]] SLAMing on 81.062414037 meters Centerline goodness : 0.834294 Centerline is valid? [False, False] Translation: X:3.77, Y:0.19, Z:-0.32 [[ 0.92342981 -0.32902631 -0.19753247 3.76571696] [ 0.34007656 0.94009398 0.02390074 0.19078578] [ 0.17783511 -0.08924682 0.98000494 -0.32138894] [ 0. 0. 0. 1. ]] SLAMing on 81.092414037 meters Centerline goodness : 0.831022 Centerline is valid? [False, False] Translation: X:3.77, Y:0.19, Z:-0.32 [[ 0.92227174 -0.33234908 -0.19738017 3.76923405] [ 0.34302466 0.9390784 0.02158328 0.1894507 ] [ 0.17818227 -0.08761192 0.9800894 -0.32233406] [ 0. 0. 0. 1. ]] SLAMing on 81.12241403699998 meters Centerline goodness : 0.831022 Centerline is valid? [False, False] Translation: X:3.77, Y:0.19, Z:-0.32 [[ 0.92227174 -0.33234908 -0.19738017 3.76923405] [ 0.34302466 0.9390784 0.02158328 0.1894507 ] [ 0.17818227 -0.08761192 0.9800894 -0.32233406] [ 0. 0. 0. 1. ]] SLAMing on 81.15241403699999 meters Centerline goodness : 0.838180 Centerline is valid? [False, False] Translation: X:3.77, Y:0.19, Z:-0.32 [[ 0.92199278 -0.33274189 -0.19802058 3.77214797] [ 0.34358389 0.93886106 0.02213642 0.18748665] [ 0.1785481 -0.0884463 0.97994787 -0.32291901] [ 0. 0. 0. 1. ]] SLAMing on 81.18241403699999 meters Centerline goodness : 0.838479 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.32 [[ 0.92094639 -0.33601303 -0.19736511 3.77487238] [ 0.34646213 0.93785121 0.01997729 0.1847599 ] [ 0.17838648 -0.08677755 0.98012648 -0.32380399] [ 0. 0. 0. 1. ]] SLAMing on 81.21241403699999 meters Centerline goodness : 0.837657 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.32 [[ 0.92083194 -0.33601693 -0.19789176 3.77678948] [ 0.34667823 0.93775169 0.0208798 0.18295322] [ 0.17855737 -0.08783155 0.98000147 -0.32399363] [ 0. 0. 0. 1. ]] SLAMing on 81.24241403699999 meters Centerline goodness : 0.840965 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.32 [[ 0.92075694 -0.33555663 -0.19901861 3.77842819] [ 0.34666678 0.93771082 0.02281577 0.18057898] [ 0.17896592 -0.09000092 0.97973008 -0.32281831] [ 0. 0. 0. 1. ]] SLAMing on 81.27241403699999 meters Centerline goodness : 0.840650 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.32 [[ 0.92085646 -0.33493256 -0.1996085 3.7790304 ] [ 0.34629012 0.93782226 0.02392826 0.17970859] [ 0.17918294 -0.09115695 0.97958353 -0.32221646] [ 0. 0. 0. 1. ]] SLAMing on 81.30241403699999 meters Centerline goodness : 0.837797 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.32 [[ 0.92131368 -0.33362408 -0.19968995 3.77876814] [ 0.34520027 0.93819031 0.02521334 0.17721281] [ 0.1789354 -0.09216242 0.97953469 -0.3216045 ] [ 0. 0. 0. 1. ]] SLAMing on 81.33241403699999 meters Centerline goodness : 0.837964 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.32 [[ 0.92146256 -0.33304969 -0.19996162 3.77998694] [ 0.34476187 0.93833356 0.02587223 0.17611512] [ 0.17901396 -0.09277943 0.97946209 -0.32210781] [ 0. 0. 0. 1. ]] SLAMing on 81.362414037 meters Centerline goodness : 0.837159 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.32 [[ 0.92162135 -0.33268444 -0.19983782 3.78043502] [ 0.34443409 0.93844541 0.02617936 0.17473675] [ 0.17882742 -0.09295841 0.97947919 -0.32244839] [ 0. 0. 0. 1. ]] SLAMing on 81.392414037 meters Centerline goodness : 0.838207 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.32 [[ 0.92176578 -0.33211588 -0.20011718 3.7815693 ] [ 0.34396176 0.93860639 0.0266149 0.17435218] [ 0.17899203 -0.09336536 0.97941042 -0.32302377] [ 0. 0. 0. 1. ]] SLAMing on 81.422414037 meters Centerline goodness : 0.836513 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.32 [[ 0.92196166 -0.33127115 -0.20061434 3.78170002] [ 0.34334109 0.93880342 0.02765918 0.17361893] [ 0.17917474 -0.09437985 0.97927976 -0.32228143] [ 0. 0. 0. 1. ]] SLAMing on 81.452414037 meters Centerline goodness : 0.827240 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.32 [[ 0.92192114 -0.33098568 -0.20127068 3.78327999] [ 0.34331114 0.93878224 0.02872907 0.17210298] [ 0.17944043 -0.0955844 0.97911427 -0.3220835 ] [ 0. 0. 0. 1. ]] SLAMing on 81.482414037 meters Centerline goodness : 0.836893 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.32 [[ 0.92177192 -0.33092546 -0.20205164 3.78578765] [ 0.34344572 0.93871314 0.02937139 0.17098517] [ 0.17994879 -0.09646749 0.97893435 -0.32247981] [ 0. 0. 0. 1. ]] SLAMing on 81.51241403699999 meters Centerline goodness : 0.825154 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.32 [[ 0.92159888 -0.3309583 -0.20278587 3.78817375] [ 0.34367214 0.93860982 0.03001761 0.16958982] [ 0.18040224 -0.09735605 0.97876291 -0.32276084] [ 0. 0. 0. 1. ]] SLAMing on 81.54241403699999 meters Centerline goodness : 0.826482 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.32 [[ 0.92138493 -0.33116784 -0.203415 3.79039402] [ 0.34402562 0.93846704 0.03043002 0.16854132] [ 0.18082083 -0.09801774 0.97861961 -0.32305073] [ 0. 0. 0. 1. ]] SLAMing on 81.57241403699999 meters Centerline goodness : 0.839880 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.32 [[ 0.92117523 -0.33158977 -0.20367726 3.79141926] [ 0.34456594 0.93825399 0.03088313 0.16684527] [ 0.18086048 -0.09862902 0.97855087 -0.32266846] [ 0. 0. 0. 1. ]] SLAMing on 81.60241403699999 meters Centerline goodness : 0.836932 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.32 [[ 0.92110808 -0.33128398 -0.20447697 3.79294866] [ 0.34450505 0.93824603 0.03179091 0.16615711] [ 0.18131789 -0.09972621 0.978355 -0.32236922] [ 0. 0. 0. 1. ]] SLAMing on 81.63241403699999 meters Centerline goodness : 0.838180 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.32 [[ 0.9210829 -0.3309234 -0.20517307 3.79378642] [ 0.34449427 0.93819691 0.03332054 0.16358801] [ 0.1814662 -0.10137192 0.97815835 -0.32108462] [ 0. 0. 0. 1. ]] SLAMing on 81.66241403699999 meters Centerline goodness : 0.836878 Centerline is valid? [False, False] Translation: X:3.80, Y:0.16, Z:-0.32 [[ 0.92094473 -0.33084364 -0.20592059 3.79539667] [ 0.34462482 0.93812335 0.03403384 0.16314301] [ 0.18191904 -0.10230864 0.97797669 -0.32095205] [ 0. 0. 0. 1. ]] SLAMing on 81.69241403699999 meters Centerline goodness : 0.841494 Centerline is valid? [False, False] Translation: X:3.80, Y:0.16, Z:-0.32 [[ 0.92079685 -0.3307595 -0.20671555 3.79726033] [ 0.34475817 0.938048 0.03475279 0.16242781] [ 0.18241429 -0.10326714 0.97778368 -0.32081191] [ 0. 0. 0. 1. ]] SLAMing on 81.722414037 meters Centerline goodness : 0.839027 Centerline is valid? [False, False] Translation: X:3.80, Y:0.16, Z:-0.32 [[ 0.9203808 -0.33131588 -0.20767517 3.80055901] [ 0.34562768 0.93768795 0.03581633 0.15958855] [ 0.18286798 -0.10474295 0.97754193 -0.32079785] [ 0. 0. 0. 1. ]] SLAMing on 81.752414037 meters Centerline goodness : 0.836789 Centerline is valid? [False, False] Translation: X:3.80, Y:0.16, Z:-0.32 [[ 0.92023794 -0.33129706 -0.2083372 3.80208231] [ 0.3458807 0.93755334 0.03688193 0.15746494] [ 0.18310836 -0.10599997 0.97736141 -0.32018641] [ 0. 0. 0. 1. ]] SLAMing on 81.782414037 meters Centerline goodness : 0.846677 Centerline is valid? [False, False] Translation: X:3.80, Y:0.15, Z:-0.32 [[ 0.9197624 -0.33177887 -0.2096662 3.80375528] [ 0.34690126 0.93709407 0.03891291 0.15441334] [ 0.18356647 -0.1085241 0.9769984 -0.31789502] [ 0. 0. 0. 1. ]] SLAMing on 81.812414037 meters Centerline goodness : 0.833224 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.32 [[ 0.91931658 -0.33225493 -0.21086413 3.80564187] [ 0.34768788 0.93676567 0.03978971 0.15393909] [ 0.18430995 -0.10989425 0.97670522 -0.3168392 ] [ 0. 0. 0. 1. ]] SLAMing on 81.842414037 meters Centerline goodness : 0.840854 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.32 [[ 0.91813258 -0.33445795 -0.21253342 3.81003555] [ 0.35024706 0.93578439 0.04042991 0.15263427] [ 0.18536335 -0.11155922 0.97631704 -0.31617703] [ 0. 0. 0. 1. ]] SLAMing on 81.87241403699998 meters Centerline goodness : 0.841211 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.32 [[ 0.91756626 -0.33530362 -0.21364372 3.81400829] [ 0.35132911 0.93535809 0.04090356 0.15125858] [ 0.18611827 -0.11259098 0.97605495 -0.3166388 ] [ 0. 0. 0. 1. ]] SLAMing on 81.90241403699999 meters Centerline goodness : 0.842340 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.32 [[ 0.91710596 -0.33622149 -0.21417696 3.81674288] [ 0.35234398 0.93497252 0.04098908 0.14984959] [ 0.18646816 -0.11305529 0.97593449 -0.31708123] [ 0. 0. 0. 1. ]] SLAMing on 81.93241403699999 meters Centerline goodness : 0.835004 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.32 [[ 0.91647602 -0.33723572 -0.21527606 3.81942839] [ 0.35364664 0.93444867 0.04171016 0.14886123] [ 0.18709827 -0.11435801 0.97566207 -0.3166375 ] [ 0. 0. 0. 1. ]] SLAMing on 81.96241403699999 meters Centerline goodness : 0.846798 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.32 [[ 0.91628982 -0.33718847 -0.21614092 3.82040218] [ 0.35385258 0.93433545 0.04249256 0.14874217] [ 0.18762012 -0.11541752 0.97543707 -0.31569229] [ 0. 0. 0. 1. ]] SLAMing on 81.99241403699999 meters Centerline goodness : 0.834729 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.31 [[ 0.91607663 -0.33721512 -0.21700131 3.82106722] [ 0.35417766 0.93416603 0.04349729 0.14812611] [ 0.1880473 -0.11670387 0.97520173 -0.31430635] [ 0. 0. 0. 1. ]] SLAMing on 82.02241403699999 meters Centerline goodness : 0.835803 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.31 [[ 0.91594598 -0.33717522 -0.21761395 3.82241413] [ 0.35430307 0.93409638 0.04396927 0.14784456] [ 0.18844705 -0.11737476 0.97504404 -0.31422295] [ 0. 0. 0. 1. ]] SLAMing on 82.05241403699999 meters Centerline goodness : 0.842141 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.31 [[ 0.91591945 -0.33694791 -0.21807721 3.82381469] [ 0.35420801 0.93411293 0.04438153 0.14732952] [ 0.18875448 -0.1178946 0.97492185 -0.31443045] [ 0. 0. 0. 1. ]] SLAMing on 82.08241403699999 meters Centerline goodness : 0.843408 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.31 [[ 0.91590181 -0.33665532 -0.21860255 3.82472974] [ 0.35407772 0.93413688 0.04491379 0.14695498] [ 0.18908424 -0.11853892 0.97477981 -0.31420876] [ 0. 0. 0. 1. ]] SLAMing on 82.112414037 meters Centerline goodness : 0.840279 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.31 [[ 0.91597575 -0.33623772 -0.21893518 3.82490745] [ 0.35374424 0.93425052 0.04517721 0.14761041] [ 0.18935002 -0.11882828 0.97469298 -0.314059 ] [ 0. 0. 0. 1. ]] SLAMing on 82.142414037 meters Centerline goodness : 0.837860 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.31 [[ 0.91607335 -0.33569598 -0.21935777 3.82505146] [ 0.35333658 0.93438171 0.04565167 0.14812052] [ 0.1896388 -0.1193274 0.97457585 -0.31373826] [ 0. 0. 0. 1. ]] SLAMing on 82.172414037 meters Centerline goodness : 0.836599 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.31 [[ 0.91600639 -0.33577267 -0.21951993 3.82545685] [ 0.35329564 0.93443188 0.04493614 0.15043191] [ 0.19003809 -0.11871723 0.9745726 -0.31439939] [ 0. 0. 0. 1. ]] SLAMing on 82.202414037 meters Centerline goodness : 0.837020 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.32 [[ 0.9158434 -0.33587851 -0.22003749 3.82692471] [ 0.35340944 0.9344032 0.04463669 0.15197544] [ 0.19061123 -0.11864354 0.97446963 -0.31507682] [ 0. 0. 0. 1. ]] SLAMing on 82.232414037 meters Centerline goodness : 0.834001 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.32 [[ 0.91550358 -0.33663818 -0.22029056 3.82818682] [ 0.35401796 0.93422056 0.04362603 0.15412812] [ 0.19111378 -0.1179266 0.97445823 -0.31596405] [ 0. 0. 0. 1. ]] SLAMing on 82.26241403699999 meters Centerline goodness : 0.835020 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:-0.32 [[ 0.91527013 -0.33691422 -0.22083793 3.82966494] [ 0.35435149 0.93409786 0.04354545 0.15495524] [ 0.19161316 -0.11811009 0.97433793 -0.31635182] [ 0. 0. 0. 1. ]] SLAMing on 82.29241403699999 meters Centerline goodness : 0.832506 Centerline is valid? [False, False] Translation: X:3.83, Y:0.16, Z:-0.32 [[ 0.9148988 -0.33757455 -0.22136758 3.8309457 ] [ 0.35503073 0.93385413 0.04323942 0.15623393] [ 0.1921285 -0.11815198 0.97423136 -0.31650451] [ 0. 0. 0. 1. ]] SLAMing on 82.32241403699999 meters Centerline goodness : 0.838121 Centerline is valid? [False, False] Translation: X:3.83, Y:0.16, Z:-0.32 [[ 0.91466091 -0.33783541 -0.22195194 3.83167776] [ 0.3553924 0.93371117 0.0433555 0.15705427] [ 0.19259198 -0.11853561 0.97409324 -0.31605647] [ 0. 0. 0. 1. ]] SLAMing on 82.35241403699999 meters Centerline goodness : 0.836604 Centerline is valid? [False, False] Translation: X:3.83, Y:0.16, Z:-0.32 [[ 0.91434709 -0.3382587 -0.22259931 3.83270452] [ 0.35590156 0.93351803 0.04333781 0.15843662] [ 0.19314108 -0.11884924 0.97394629 -0.31593983] [ 0. 0. 0. 1. ]] SLAMing on 82.38241403699999 meters Centerline goodness : 0.846772 Centerline is valid? [False, False] Translation: X:3.83, Y:0.16, Z:-0.32 [[ 0.91359386 -0.33954966 -0.22372367 3.83375382] [ 0.35727844 0.93301091 0.04292731 0.16147129] [ 0.19416067 -0.11914977 0.97370682 -0.31502057] [ 0. 0. 0. 1. ]] SLAMing on 82.41241403699999 meters Centerline goodness : 0.846400 Centerline is valid? [False, False] Translation: X:3.83, Y:0.16, Z:-0.31 [[ 0.91332754 -0.33990483 -0.22427107 3.83460402] [ 0.35767341 0.9328679 0.04274591 0.16284835] [ 0.19468574 -0.11925681 0.97358886 -0.31493672] [ 0. 0. 0. 1. ]] SLAMing on 82.44241403699999 meters Centerline goodness : 0.834497 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:-0.32 [[ 0.91314788 -0.34004375 -0.22479146 3.83573669] [ 0.3578591 0.93280157 0.04263923 0.16394607] [ 0.19518663 -0.11937959 0.97347352 -0.31515138] [ 0. 0. 0. 1. ]] SLAMing on 82.472414037 meters Centerline goodness : 0.845005 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.32 [[ 0.91280933 -0.34060424 -0.2253173 3.83649298] [ 0.35839707 0.93261774 0.04213894 0.16592951] [ 0.19578221 -0.11921788 0.97337373 -0.31518571] [ 0. 0. 0. 1. ]] SLAMing on 82.502414037 meters Centerline goodness : 0.831523 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.32 [[ 0.9125431 -0.34098965 -0.22581222 3.83691818] [ 0.35876322 0.93249693 0.04169438 0.16832001] [ 0.19635185 -0.11906104 0.97327818 -0.31513491] [ 0. 0. 0. 1. ]] SLAMing on 82.532414037 meters Centerline goodness : 0.846865 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.31 [[ 0.91257867 -0.33924501 -0.22828269 3.83778217] [ 0.3577882 0.93275903 0.04413841 0.17213054] [ 0.197959 -0.12195663 0.97259386 -0.31369806] [ 0. 0. 0. 1. ]] SLAMing on 82.562414037 meters Centerline goodness : 0.844366 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:-0.31 [[ 0.91230414 -0.33967058 -0.22874671 3.83810768] [ 0.35813389 0.93266059 0.04340901 0.17500941] [ 0.19859828 -0.12152417 0.97251766 -0.31376264] [ 0. 0. 0. 1. ]] SLAMing on 82.592414037 meters Centerline goodness : 0.841801 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:-0.31 [[ 0.91191285 -0.34039224 -0.22923366 3.83886234] [ 0.35876749 0.93245455 0.0425958 0.17787828] [ 0.19925069 -0.12108524 0.97243896 -0.31400502] [ 0. 0. 0. 1. ]] SLAMing on 82.62241403699998 meters Centerline goodness : 0.830108 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:-0.31 [[ 0.91127112 -0.34176759 -0.22973867 3.83977406] [ 0.35993388 0.93207147 0.04111426 0.18222144] [ 0.20008133 -0.12015697 0.97238355 -0.31458408] [ 0. 0. 0. 1. ]] SLAMing on 82.65241403699999 meters Centerline goodness : 0.829931 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:-0.31 [[ 0.91080331 -0.34263618 -0.23029932 3.84115732] [ 0.36076159 0.93177937 0.0404757 0.18428839] [ 0.20071971 -0.11994854 0.97227771 -0.31489834] [ 0. 0. 0. 1. ]] SLAMing on 82.68241403699999 meters Centerline goodness : 0.842687 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:-0.31 [[ 0.90989793 -0.34446628 -0.23114656 3.84219445] [ 0.36250798 0.93114958 0.03935005 0.18804394] [ 0.20167726 -0.11959701 0.97212285 -0.3144776 ] [ 0. 0. 0. 1. ]] SLAMing on 82.71241403699999 meters Centerline goodness : 0.844439 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:-0.31 [[ 0.90942003 -0.34525141 -0.23185485 3.84297088] [ 0.36332717 0.93084514 0.03899598 0.19035652] [ 0.20235755 -0.1197029 0.97196844 -0.31412463] [ 0. 0. 0. 1. ]] SLAMing on 82.74241403699999 meters Centerline goodness : 0.843539 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:-0.31 [[ 0.90860669 -0.3466596 -0.23293991 3.8432111 ] [ 0.36478907 0.93029646 0.03843734 0.19362894] [ 0.2033785 -0.11989835 0.97173122 -0.31254655] [ 0. 0. 0. 1. ]] SLAMing on 82.77241403699999 meters Centerline goodness : 0.842509 Centerline is valid? [False, False] Translation: X:3.84, Y:0.20, Z:-0.31 [[ 0.90838528 -0.34690333 -0.23344005 3.84349385] [ 0.36507971 0.9301868 0.03833163 0.19527314] [ 0.20384549 -0.12004412 0.97161537 -0.31222509] [ 0. 0. 0. 1. ]] SLAMing on 82.80241403699999 meters Centerline goodness : 0.837340 Centerline is valid? [False, False] Translation: X:3.84, Y:0.20, Z:-0.31 [[ 0.90817733 -0.34720005 -0.23380773 3.84349826] [ 0.36534818 0.93009738 0.03794175 0.19716409] [ 0.20429058 -0.11987907 0.97154226 -0.31193227] [ 0. 0. 0. 1. ]] SLAMing on 82.83241403699999 meters Centerline goodness : 0.831288 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:-0.31 [[ 0.90827926 -0.34553906 -0.23586341 3.84525332] [ 0.36431539 0.93042194 0.03986627 0.2001928 ] [ 0.20567713 -0.12213838 0.97096814 -0.3118606 ] [ 0. 0. 0. 1. ]] SLAMing on 82.862414037 meters Centerline goodness : 0.840613 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:-0.31 [[ 0.90801717 -0.34599219 -0.23620801 3.84573048] [ 0.36466379 0.93031749 0.03911128 0.20266505] [ 0.20621624 -0.12165022 0.97091508 -0.31211194] [ 0. 0. 0. 1. ]] SLAMing on 82.892414037 meters Centerline goodness : 0.826449 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.31 [[ 0.90848197 -0.34363239 -0.23785982 3.84588752] [ 0.36280438 0.93097476 0.04073052 0.20720503] [ 0.20744517 -0.12329953 0.97044512 -0.31216367] [ 0. 0. 0. 1. ]] SLAMing on 82.922414037 meters Centerline goodness : 0.828474 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.31 [[ 0.90848375 -0.34345178 -0.23811374 3.84607818] [ 0.36249751 0.93112564 0.0400075 0.21020722] [ 0.20797316 -0.1226618 0.97041293 -0.31275385] [ 0. 0. 0. 1. ]] SLAMing on 82.952414037 meters Centerline goodness : 0.830596 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:-0.31 [[ 0.90906932 -0.34073789 -0.23977208 3.84766846] [ 0.36047488 0.93179884 0.0425299 0.21134461] [ 0.2089278 -0.12509444 0.96989719 -0.31309249] [ 0. 0. 0. 1. ]] SLAMing on 82.982414037 meters Centerline goodness : 0.829991 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:-0.32 [[ 0.90919027 -0.34021067 -0.24006196 3.84895172] [ 0.3596748 0.93216987 0.04115059 0.21672114] [ 0.20977866 -0.12375795 0.96988498 -0.31550158] [ 0. 0. 0. 1. ]] SLAMing on 83.01241403699999 meters Centerline goodness : 0.833991 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:-0.32 [[ 0.90934717 -0.34011225 -0.2396067 3.84736715] [ 0.35916087 0.93243875 0.03951508 0.22177072] [ 0.20997901 -0.12199028 0.97006556 -0.31652737] [ 0. 0. 0. 1. ]] SLAMing on 83.04241403699999 meters Centerline goodness : 0.833991 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:-0.32 [[ 0.90934717 -0.34011225 -0.2396067 3.84736715] [ 0.35916087 0.93243875 0.03951508 0.22177072] [ 0.20997901 -0.12199028 0.97006556 -0.31652737] [ 0. 0. 0. 1. ]] SLAMing on 83.07241403699999 meters Centerline goodness : 0.834708 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:-0.32 [[ 0.90931784 -0.34006071 -0.23979113 3.84747043] [ 0.35900674 0.93252238 0.0389381 0.2242018 ] [ 0.21036928 -0.12149374 0.97004332 -0.31698364] [ 0. 0. 0. 1. ]] SLAMing on 83.10241403699999 meters Centerline goodness : 0.836166 Centerline is valid? [False, False] Translation: X:3.85, Y:0.23, Z:-0.32 [[ 0.90967458 -0.33794165 -0.24142824 3.8475805 ] [ 0.35750706 0.93300739 0.04105993 0.2272523 ] [ 0.21137847 -0.12366348 0.96954963 -0.31652024] [ 0. 0. 0. 1. ]] SLAMing on 83.13241403699999 meters Centerline goodness : 0.826555 Centerline is valid? [False, False] Translation: X:3.85, Y:0.23, Z:-0.32 [[ 0.90946719 -0.33832122 -0.24167785 3.84722667] [ 0.35781591 0.93291165 0.04054166 0.22916556] [ 0.21174798 -0.12334749 0.96950925 -0.31610265] [ 0. 0. 0. 1. ]] SLAMing on 83.16241403699999 meters Centerline goodness : 0.833444 Centerline is valid? [False, False] Translation: X:3.85, Y:0.23, Z:-0.32 [[ 0.90911387 -0.33899482 -0.24206299 3.84646646] [ 0.35840476 0.93271561 0.03984492 0.23246231] [ 0.21226871 -0.1229801 0.96944205 -0.31541236] [ 0. 0. 0. 1. ]] SLAMing on 83.19241403699999 meters Centerline goodness : 0.831568 Centerline is valid? [False, False] Translation: X:3.84, Y:0.24, Z:-0.31 [[ 0.90888453 -0.33961146 -0.24205986 3.84384733] [ 0.35884056 0.93258592 0.03894809 0.2358852 ] [ 0.2125144 -0.12226021 0.96947928 -0.31386397] [ 0. 0. 0. 1. ]] SLAMing on 83.222414037 meters Centerline goodness : 0.833825 Centerline is valid? [False, False] Translation: X:3.84, Y:0.24, Z:-0.31 [[ 0.90877339 -0.33964256 -0.24243319 3.84377103] [ 0.35885724 0.93259155 0.03865862 0.23778655] [ 0.21296104 -0.12213083 0.96939757 -0.31359067] [ 0. 0. 0. 1. ]] SLAMing on 83.252414037 meters Centerline goodness : 0.832242 Centerline is valid? [False, False] Translation: X:3.84, Y:0.24, Z:-0.31 [[ 0.90854735 -0.3398808 -0.24294598 3.84417593] [ 0.35908086 0.93252181 0.03826246 0.23979271] [ 0.21354775 -0.1220005 0.96928491 -0.31345995] [ 0. 0. 0. 1. ]] SLAMing on 83.282414037 meters Centerline goodness : 0.832747 Centerline is valid? [False, False] Translation: X:3.84, Y:0.24, Z:-0.31 [[ 0.90832028 -0.34012802 -0.24344856 3.84484479] [ 0.35930322 0.93245396 0.03782596 0.24191816] [ 0.21413891 -0.12182994 0.96917594 -0.31360472] [ 0. 0. 0. 1. ]] SLAMing on 83.312414037 meters Centerline goodness : 0.832999 Centerline is valid? [False, False] Translation: X:3.85, Y:0.24, Z:-0.31 [[ 0.90818697 -0.34024783 -0.24377825 3.84541528] [ 0.35932252 0.93247309 0.0371653 0.24415906] [ 0.21467125 -0.12134805 0.96911862 -0.31403551] [ 0. 0. 0. 1. ]] SLAMing on 83.342414037 meters Centerline goodness : 0.834510 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.31 [[ 0.90781485 -0.34121509 -0.24381234 3.84569233] [ 0.35990817 0.93231939 0.03530803 0.24826234] [ 0.21526334 -0.11980321 0.96917949 -0.31487502] [ 0. 0. 0. 1. ]] SLAMing on 83.37241403699998 meters Centerline goodness : 0.830866 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.32 [[ 0.90773292 -0.34107346 -0.24431503 3.8473895 ] [ 0.35974158 0.93239806 0.03492643 0.2497362 ] [ 0.21588638 -0.11959415 0.96906672 -0.31569612] [ 0. 0. 0. 1. ]] SLAMing on 83.40241403699999 meters Centerline goodness : 0.829254 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.32 [[ 0.90757693 -0.34162405 -0.24412521 3.84713631] [ 0.36005882 0.93231278 0.03391953 0.25156176] [ 0.21601333 -0.11868402 0.96915032 -0.31598351] [ 0. 0. 0. 1. ]] SLAMing on 83.43241403699999 meters Centerline goodness : 0.833916 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.32 [[ 0.90761568 -0.34147805 -0.24418541 3.84584513] [ 0.35972137 0.93247442 0.03304542 0.25497177] [ 0.21641237 -0.11783125 0.96916535 -0.31569976] [ 0. 0. 0. 1. ]] SLAMing on 83.46241403699999 meters Centerline goodness : 0.823840 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:-0.31 [[ 0.90835331 -0.3379809 -0.24629894 3.84719654] [ 0.35727062 0.93326976 0.03694939 0.25468077] [ 0.21737516 -0.12155847 0.96848933 -0.31499833] [ 0. 0. 0. 1. ]] SLAMing on 83.49241403699999 meters Centerline goodness : 0.835219 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.31 [[ 0.9083499 -0.33822011 -0.24598296 3.84578843] [ 0.35731262 0.93328218 0.03622233 0.25619318] [ 0.21732039 -0.12079537 0.96859709 -0.31464473] [ 0. 0. 0. 1. ]] SLAMing on 83.52241403699999 meters Centerline goodness : 0.834946 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.32 [[ 0.90843227 -0.33787872 -0.2461479 3.84644094] [ 0.35691321 0.933447 0.03591172 0.25789472] [ 0.21763221 -0.1204768 0.96856676 -0.31545584] [ 0. 0. 0. 1. ]] SLAMing on 83.55241403699999 meters Centerline goodness : 0.830404 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.32 [[ 0.90843619 -0.33765895 -0.24643484 3.84699605] [ 0.35674996 0.93350497 0.03602684 0.25830294] [ 0.21788336 -0.12064371 0.96848951 -0.31557166] [ 0. 0. 0. 1. ]] SLAMing on 83.58241403699999 meters Centerline goodness : 0.835117 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.32 [[ 0.90872757 -0.33683482 -0.24648836 3.84616899] [ 0.35600824 0.93377113 0.03646367 0.25875002] [ 0.21788148 -0.12088743 0.96845954 -0.3152734 ] [ 0. 0. 0. 1. ]] SLAMing on 83.612414037 meters Centerline goodness : 0.834402 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.31 [[ 0.90870283 -0.33701437 -0.24633408 3.84492642] [ 0.35605551 0.93377336 0.03594149 0.25997366] [ 0.2179074 -0.12036874 0.96851832 -0.31466667] [ 0. 0. 0. 1. ]] SLAMing on 83.642414037 meters Centerline goodness : 0.836604 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.91185639 -0.33342887 -0.23946424 3.83546315] [ 0.35103483 0.93575332 0.0337678 0.25842888] [ 0.2128203 -0.11485167 0.97031779 -0.31897957] [ 0. 0. 0. 1. ]] SLAMing on 83.672414037 meters Centerline goodness : 0.777992 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.9117289 -0.33341757 -0.23996488 3.83671299] [ 0.35101017 0.93577464 0.03343162 0.26003781] [ 0.21340636 -0.11471068 0.97020574 -0.31943455] [ 0. 0. 0. 1. ]] SLAMing on 83.702414037 meters Centerline goodness : 0.834331 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.91148456 -0.3337185 -0.24047423 3.83838515] [ 0.35128273 0.93568817 0.03298621 0.26135632] [ 0.21400079 -0.11454086 0.97009487 -0.32004642] [ 0. 0. 0. 1. ]] SLAMing on 83.732414037 meters Centerline goodness : 0.831585 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.9112803 -0.3346551 -0.23994619 3.83923716] [ 0.35182965 0.93553742 0.0313948 0.26282277] [ 0.21397221 -0.11302964 0.97027841 -0.32160661] [ 0. 0. 0. 1. ]] SLAMing on 83.76241403699999 meters Centerline goodness : 0.831563 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.9113239 -0.33465651 -0.23977859 3.83940358] [ 0.35172755 0.93558845 0.03101592 0.26304404] [ 0.2139544 -0.11260229 0.97033203 -0.32196469] [ 0. 0. 0. 1. ]] SLAMing on 83.79241403699999 meters Centerline goodness : 0.832001 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.91157908 -0.33411063 -0.23956973 3.83795381] [ 0.35116653 0.93579551 0.03112594 0.26329242] [ 0.21378877 -0.11250263 0.97038009 -0.32124365] [ 0. 0. 0. 1. ]] SLAMing on 83.82241403699999 meters Centerline goodness : 0.834419 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.911646 -0.33353853 -0.24011168 3.83825904] [ 0.35072934 0.93594648 0.03151363 0.26389085] [ 0.21422067 -0.11294348 0.97023362 -0.32087175] [ 0. 0. 0. 1. ]] SLAMing on 83.85241403699999 meters Centerline goodness : 0.832171 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.32 [[ 0.91175917 -0.33339352 -0.23988324 3.83757407] [ 0.35049872 0.93604115 0.03126674 0.26458274] [ 0.21411645 -0.11258651 0.97029811 -0.32089579] [ 0. 0. 0. 1. ]] SLAMing on 83.88241403699999 meters Centerline goodness : 0.832212 Centerline is valid? [False, False] Translation: X:3.84, Y:0.27, Z:-0.32 [[ 0.91175124 -0.33359707 -0.23963027 3.83718539] [ 0.35051847 0.93605758 0.03054533 0.26578678] [ 0.2141179 -0.11184458 0.97038359 -0.3211695 ] [ 0. 0. 0. 1. ]] SLAMing on 83.91241403699999 meters Centerline goodness : 0.765929 Centerline is valid? [False, False] Translation: X:3.84, Y:0.27, Z:-0.32 [[ 0.91215795 -0.33275855 -0.23924805 3.83745841] [ 0.34948905 0.9364605 0.02998551 0.26709634] [ 0.21406841 -0.11096609 0.97049536 -0.3226514 ] [ 0. 0. 0. 1. ]] SLAMing on 83.94241403699999 meters Centerline goodness : 0.828535 Centerline is valid? [False, False] Translation: X:3.84, Y:0.27, Z:-0.32 [[ 0.91243917 -0.33230463 -0.23880618 3.83712542] [ 0.34886378 0.93670911 0.02949756 0.26747029] [ 0.21388975 -0.11022556 0.97061913 -0.32328469] [ 0. 0. 0. 1. ]] SLAMing on 83.972414037 meters Centerline goodness : 0.832074 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:-0.32 [[ 0.91314903 -0.33106439 -0.23781341 3.83498228] [ 0.34738705 0.93727034 0.02909553 0.26844451] [ 0.21326296 -0.10918185 0.97087498 -0.32395848] [ 0. 0. 0. 1. ]] SLAMing on 84.002414037 meters Centerline goodness : 0.832085 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:-0.32 [[ 0.91346423 -0.33001627 -0.23805958 3.83479235] [ 0.34641084 0.93762147 0.02941939 0.269657 ] [ 0.2135009 -0.10933998 0.97080489 -0.32408745] [ 0. 0. 0. 1. ]] SLAMing on 84.032414037 meters Centerline goodness : 0.829970 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:-0.32 [[ 0.91379573 -0.32956114 -0.23741697 3.83283601] [ 0.34576153 0.93787642 0.02892712 0.270729 ] [ 0.21313452 -0.10852313 0.97097704 -0.32401332] [ 0. 0. 0. 1. ]] SLAMing on 84.062414037 meters Centerline goodness : 0.824412 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:-0.30 [[ 0.91683502 -0.34632109 -0.19868378 3.82868828] [ 0.35082038 0.936349 -0.01325221 0.28935127] [ 0.19062688 -0.05755222 0.97997405 -0.29729556] [ 0. 0. 0. 1. ]] SLAMing on 84.092414037 meters Centerline goodness : 0.832628 Centerline is valid? [False, False] Translation: X:3.92, Y:0.27, Z:-0.30 [[ 0.91557565 -0.35018333 -0.19771915 3.92429233] [ 0.38603681 0.90309652 0.18812828 0.26740839] [ 0.11268009 -0.24857254 0.96203684 -0.30425898] [ 0. 0. 0. 1. ]] SLAMing on 84.12241403699998 meters Centerline goodness : 0.832034 Centerline is valid? [False, False] Translation: X:3.92, Y:0.27, Z:-0.31 [[ 0.91648156 -0.34864154 -0.19624125 3.92239772] [ 0.38405889 0.90408452 0.18742986 0.26762427] [ 0.11207284 -0.24714421 0.96247567 -0.30601592] [ 0. 0. 0. 1. ]] SLAMing on 84.15241403699999 meters Centerline goodness : 0.832086 Centerline is valid? [False, False] Translation: X:3.92, Y:0.27, Z:-0.31 [[ 0.91696139 -0.34791149 -0.19529314 3.92094454] [ 0.38303975 0.90462231 0.18691983 0.26773251] [ 0.11163498 -0.24620331 0.96276766 -0.30674587] [ 0. 0. 0. 1. ]] SLAMing on 84.18241403699999 meters Centerline goodness : 0.831348 Centerline is valid? [False, False] Translation: X:3.92, Y:0.27, Z:-0.31 [[ 0.91739471 -0.34703958 -0.19480883 3.91961222] [ 0.38205905 0.90503412 0.18693345 0.26762548] [ 0.11143534 -0.24592023 0.96286313 -0.30663041] [ 0. 0. 0. 1. ]] SLAMing on 84.21241403699999 meters Centerline goodness : 0.832362 Centerline is valid? [False, False] Translation: X:3.92, Y:0.27, Z:-0.31 [[ 0.91831488 -0.34484379 -0.1943722 3.91720378] [ 0.37986976 0.90580004 0.18768392 0.26762972] [ 0.11134071 -0.24618906 0.96280538 -0.30606815] [ 0. 0. 0. 1. ]] SLAMing on 84.24241403699999 meters Centerline goodness : 0.833751 Centerline is valid? [False, False] Translation: X:3.92, Y:0.27, Z:-0.31 [[ 0.91875018 -0.34393635 -0.19392239 3.91580111] [ 0.37885135 0.90624433 0.18759762 0.26794957] [ 0.11121943 -0.2458231 0.96291289 -0.30608687] [ 0. 0. 0. 1. ]] SLAMing on 84.27241403699999 meters Centerline goodness : 0.833777 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.31 [[ 0.91968672 -0.34184796 -0.19317429 3.91428813] [ 0.3766114 0.90716281 0.18766857 0.26747634] [ 0.11108642 -0.24534793 0.96304943 -0.3065658 ] [ 0. 0. 0. 1. ]] SLAMing on 84.30241403699999 meters Centerline goodness : 0.832122 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.31 [[ 0.91992795 -0.34145208 -0.1927253 3.91382965] [ 0.37605681 0.90748498 0.18722259 0.26738381] [ 0.11096777 -0.24470695 0.96322617 -0.30701784] [ 0. 0. 0. 1. ]] SLAMing on 84.33241403699999 meters Centerline goodness : 0.772667 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.31 [[ 0.9201026 -0.34133238 -0.19210261 3.91333602] [ 0.37570303 0.90777451 0.18652794 0.26734172] [ 0.11071783 -0.24379838 0.9634853 -0.30766149] [ 0. 0. 0. 1. ]] SLAMing on 84.362414037 meters Centerline goodness : 0.772452 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.31 [[ 0.92036815 -0.34106101 -0.1913109 3.9128722 ] [ 0.37518533 0.90808281 0.18606875 0.26625702] [ 0.11026534 -0.24302879 0.96373158 -0.30826488] [ 0. 0. 0. 1. ]] SLAMing on 84.392414037 meters Centerline goodness : 0.830446 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.31 [[ 0.92046895 -0.34095209 -0.19101984 3.91208239] [ 0.3750215 0.90812168 0.18620924 0.26551198] [ 0.10998083 -0.24303637 0.96376218 -0.30768653] [ 0. 0. 0. 1. ]] SLAMing on 84.422414037 meters Centerline goodness : 0.832140 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.31 [[ 0.9201877 -0.34154705 -0.19131181 3.91195386] [ 0.37574096 0.90771657 0.18673337 0.26485085] [ 0.10987867 -0.24371344 0.96360284 -0.30633051] [ 0. 0. 0. 1. ]] SLAMing on 84.452414037 meters Centerline goodness : 0.833560 Centerline is valid? [False, False] Translation: X:3.91, Y:0.27, Z:-0.31 [[ 0.91972407 -0.34265829 -0.191554 3.91257973] [ 0.3768362 0.90737305 0.18619513 0.26520652] [ 0.11000963 -0.24343263 0.96365888 -0.30590501] [ 0. 0. 0. 1. ]] SLAMing on 84.48241403699998 meters Centerline goodness : 0.775200 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.31 [[ 0.91874722 -0.34608142 -0.19008209 3.91235606] [ 0.3795067 0.90687466 0.18317482 0.26462508] [ 0.10898723 -0.24042878 0.96452879 -0.30594313] [ 0. 0. 0. 1. ]] SLAMing on 84.51241403699999 meters Centerline goodness : 0.833266 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.31 [[ 0.91800166 -0.34880181 -0.18870679 3.91102165] [ 0.38156492 0.90653004 0.18058655 0.26439134] [ 0.10807946 -0.23778265 0.96528661 -0.3052024 ] [ 0. 0. 0. 1. ]] SLAMing on 84.54241403699999 meters Centerline goodness : 0.775053 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.30 [[ 0.91724266 -0.35150401 -0.18737885 3.90963515] [ 0.38370695 0.90599077 0.17874479 0.26199541] [ 0.106934 -0.23585092 0.96588792 -0.30335221] [ 0. 0. 0. 1. ]] SLAMing on 84.57241403699999 meters Centerline goodness : 0.776027 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.30 [[ 0.91700895 -0.35202045 -0.18755317 3.91011818] [ 0.38429251 0.90568293 0.17904664 0.2607463 ] [ 0.10683563 -0.23626265 0.96579817 -0.30248023] [ 0. 0. 0. 1. ]] SLAMing on 84.60241403699999 meters Centerline goodness : 0.775475 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.30 [[ 0.91655544 -0.35301672 -0.18789712 3.91032987] [ 0.3854175 0.90510107 0.17957004 0.25940111] [ 0.10667466 -0.23700473 0.96563413 -0.30076791] [ 0. 0. 0. 1. ]] SLAMing on 84.63241403699999 meters Centerline goodness : 0.833378 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.30 [[ 0.91626248 -0.35370053 -0.1880399 3.91076397] [ 0.38609432 0.9048719 0.17927079 0.25961374] [ 0.10674385 -0.23686023 0.96566194 -0.30058056] [ 0. 0. 0. 1. ]] SLAMing on 84.66241403699999 meters Centerline goodness : 0.835155 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.30 [[ 0.91568568 -0.35611675 -0.18628098 3.91023364] [ 0.38768969 0.90484738 0.17592023 0.25981797] [ 0.10590772 -0.23330685 0.96661858 -0.30158969] [ 0. 0. 0. 1. ]] SLAMing on 84.69241403699999 meters Centerline goodness : 0.774263 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.30 [[ 0.91520693 -0.35872222 -0.18361547 3.91083031] [ 0.38919281 0.90498481 0.17184719 0.25821276] [ 0.10452381 -0.22873756 0.96786048 -0.30443515] [ 0. 0. 0. 1. ]] SLAMing on 84.722414037 meters Centerline goodness : 0.829275 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.31 [[ 0.91548439 -0.35831197 -0.1830324 3.91096394] [ 0.38864954 0.9052208 0.17183377 0.25658369] [ 0.10411464 -0.22844659 0.96797329 -0.30503842] [ 0. 0. 0. 1. ]] SLAMing on 84.752414037 meters Centerline goodness : 0.774931 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.30 [[ 0.91598173 -0.35727017 -0.18258009 3.9099338 ] [ 0.38756249 0.90560081 0.17228607 0.25522812] [ 0.10379201 -0.22857209 0.96797832 -0.30472799] [ 0. 0. 0. 1. ]] SLAMing on 84.782414037 meters Centerline goodness : 0.831923 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-0.30 [[ 0.91710548 -0.35468597 -0.18197638 3.9072871 ] [ 0.38500608 0.90644236 0.17358733 0.25408206] [ 0.10338211 -0.22925991 0.96785951 -0.30393636] [ 0. 0. 0. 1. ]] SLAMing on 84.812414037 meters Centerline goodness : 0.833456 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-0.30 [[ 0.91744824 -0.35392736 -0.18172551 3.90600367] [ 0.38420224 0.90677499 0.17363106 0.25429146] [ 0.10333136 -0.22911686 0.9678988 -0.30357104] [ 0. 0. 0. 1. ]] SLAMing on 84.842414037 meters Centerline goodness : 0.832854 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91824552 -0.35236581 -0.18073046 3.90405944] [ 0.38245556 0.90746049 0.1739057 0.25303574] [ 0.10272733 -0.22880951 0.9680358 -0.30361428] [ 0. 0. 0. 1. ]] SLAMing on 84.87241403699998 meters Centerline goodness : 0.830326 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91837089 -0.3522066 -0.1804035 3.90434749] [ 0.38219432 0.90762038 0.17364547 0.25200864] [ 0.10257881 -0.22842014 0.96814349 -0.30397972] [ 0. 0. 0. 1. ]] SLAMing on 84.90241403699999 meters Centerline goodness : 0.831059 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.31 [[ 0.91795838 -0.35452575 -0.17794356 3.90310746] [ 0.38351716 0.90778478 0.1698275 0.25157946] [ 0.10132624 -0.22413899 0.96927535 -0.30540334] [ 0. 0. 0. 1. ]] SLAMing on 84.93241403699999 meters Centerline goodness : 0.831059 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.31 [[ 0.91795838 -0.35452575 -0.17794356 3.90310746] [ 0.38351716 0.90778478 0.1698275 0.25157946] [ 0.10132624 -0.22413899 0.96927535 -0.30540334] [ 0. 0. 0. 1. ]] SLAMing on 84.96241403699999 meters Centerline goodness : 0.828279 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.31 [[ 0.91699897 -0.35801379 -0.17589489 3.90378098] [ 0.38610984 0.90738642 0.16603939 0.25032682] [ 0.10016025 -0.2201727 0.97030506 -0.30690545] [ 0. 0. 0. 1. ]] SLAMing on 84.99241403699999 meters Centerline goodness : 0.779193 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.31 [[ 0.91650536 -0.35900794 -0.1764404 3.90429853] [ 0.38722461 0.90689631 0.16612098 0.25041508] [ 0.1003744 -0.22057284 0.97019204 -0.30575033] [ 0. 0. 0. 1. ]] SLAMing on 85.02241403699999 meters Centerline goodness : 0.834167 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91583857 -0.36027405 -0.17731983 3.90350117] [ 0.38878964 0.90602421 0.16722064 0.24987381] [ 0.1004108 -0.22208722 0.96984274 -0.30228231] [ 0. 0. 0. 1. ]] SLAMing on 85.05241403699999 meters Centerline goodness : 0.835957 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91545617 -0.36113128 -0.17755055 3.90382102] [ 0.38969165 0.90563362 0.16723686 0.24948364] [ 0.10040129 -0.22228798 0.96979773 -0.30140679] [ 0. 0. 0. 1. ]] SLAMing on 85.08241403699999 meters Centerline goodness : 0.756039 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91447145 -0.36421962 -0.17631229 3.90307728] [ 0.39214881 0.90514031 0.16413509 0.24988063] [ 0.09980614 -0.21923751 0.97055327 -0.30095115] [ 0. 0. 0. 1. ]] SLAMing on 85.112414037 meters Centerline goodness : 0.831293 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91296273 -0.36870072 -0.17481085 3.90380163] [ 0.39588473 0.90415817 0.16054062 0.24900078] [ 0.09886522 -0.21577254 0.97142569 -0.30098235] [ 0. 0. 0. 1. ]] SLAMing on 85.142414037 meters Centerline goodness : 0.832185 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91189962 -0.3720233 -0.17331401 3.90332725] [ 0.39851453 0.90358348 0.15723567 0.24926108] [ 0.09810835 -0.2124513 0.97223413 -0.30105514] [ 0. 0. 0. 1. ]] SLAMing on 85.172414037 meters Centerline goodness : 0.830808 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.91078823 -0.37532017 -0.17204526 3.90261362] [ 0.40117687 0.90297472 0.15392782 0.25014857] [ 0.0975803 -0.20921623 0.97298852 -0.30072448] [ 0. 0. 0. 1. ]] SLAMing on 85.202414037 meters Centerline goodness : 0.831229 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.90985978 -0.37725666 -0.17272111 3.90291484] [ 0.40324423 0.90204792 0.15395989 0.2502675 ] [ 0.09772032 -0.2097307 0.9728637 -0.29865692] [ 0. 0. 0. 1. ]] SLAMing on 85.23241403699998 meters Centerline goodness : 0.836823 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.90919252 -0.37856015 -0.17338157 3.90295628] [ 0.40465603 0.90145242 0.15374341 0.25151937] [ 0.0980941 -0.20994226 0.97278044 -0.29724342] [ 0. 0. 0. 1. ]] SLAMing on 85.26241403699999 meters Centerline goodness : 0.831999 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.90818917 -0.38068523 -0.17398618 3.90328843] [ 0.40684182 0.90055363 0.15324128 0.2527799 ] [ 0.0983472 -0.20995693 0.97275173 -0.29571591] [ 0. 0. 0. 1. ]] SLAMing on 85.29241403699999 meters Centerline goodness : 0.834535 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.90730247 -0.38369117 -0.17199798 3.90202215] [ 0.40902773 0.90018862 0.1495218 0.25341148] [ 0.09746043 -0.20601344 0.97368369 -0.29619462] [ 0. 0. 0. 1. ]] SLAMing on 85.32241403699999 meters Centerline goodness : 0.831411 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.90635627 -0.38677629 -0.17006593 3.90095386] [ 0.41130645 0.89977814 0.14569247 0.25419685] [ 0.09667121 -0.2019985 0.97460314 -0.29666853] [ 0. 0. 0. 1. ]] SLAMing on 85.35241403699999 meters Centerline goodness : 0.833319 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.9052918 -0.39006541 -0.16821336 3.8996599 ] [ 0.41385581 0.8991586 0.14225744 0.25457793] [ 0.09576078 -0.19840057 0.97543174 -0.29639083] [ 0. 0. 0. 1. ]] SLAMing on 85.38241403699999 meters Centerline goodness : 0.834710 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.30 [[ 0.90501723 -0.39075547 -0.16808917 3.89926235] [ 0.41447616 0.8989372 0.14184998 0.25490917] [ 0.09567295 -0.19804564 0.97551249 -0.29592882] [ 0. 0. 0. 1. ]] SLAMing on 85.41241403699999 meters Centerline goodness : 0.833108 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-0.30 [[ 0.90477624 -0.39137959 -0.16793441 3.89892766] [ 0.41503562 0.89872617 0.14155105 0.2551748 ] [ 0.09552686 -0.19777078 0.97558256 -0.29564798] [ 0. 0. 0. 1. ]] SLAMing on 85.44241403699999 meters Centerline goodness : 0.832102 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-0.30 [[ 0.90468775 -0.39163335 -0.16781953 3.89817833] [ 0.41522996 0.89869202 0.1411975 0.2558615 ] [ 0.09552042 -0.19742335 0.97565356 -0.29517083] [ 0. 0. 0. 1. ]] SLAMing on 85.472414037 meters Centerline goodness : 0.834218 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-0.29 [[ 0.90457773 -0.3918497 -0.16790753 3.89726239] [ 0.41544729 0.89861607 0.1410415 0.25678311] [ 0.09561734 -0.19733973 0.97566098 -0.29433054] [ 0. 0. 0. 1. ]] SLAMing on 85.502414037 meters Centerline goodness : 0.828859 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-0.29 [[ 0.9046162 -0.3918813 -0.16762629 3.89513361] [ 0.41540717 0.89865872 0.14088785 0.25766981] [ 0.09542752 -0.1970826 0.97573154 -0.29309632] [ 0. 0. 0. 1. ]] SLAMing on 85.532414037 meters Centerline goodness : 0.830185 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-0.29 [[ 0.90436162 -0.39260343 -0.1673099 3.89488978] [ 0.4159838 0.89851582 0.14009571 0.25827154] [ 0.09532854 -0.19629539 0.97589989 -0.29328538] [ 0. 0. 0. 1. ]] SLAMing on 85.562414037 meters Centerline goodness : 0.830394 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-0.29 [[ 0.90408231 -0.3932798 -0.16723089 3.89532227] [ 0.41659274 0.89830905 0.13961136 0.25835564] [ 0.0953187 -0.19588734 0.97598284 -0.29346352] [ 0. 0. 0. 1. ]] SLAMing on 85.592414037 meters Centerline goodness : 0.829379 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-0.29 [[ 0.90327686 -0.39589704 -0.16539782 3.89410886] [ 0.41848206 0.89798267 0.13601434 0.2596249 ] [ 0.0946767 -0.19207463 0.97680277 -0.2940238 ] [ 0. 0. 0. 1. ]] SLAMing on 85.62241403699998 meters Centerline goodness : 0.828571 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-0.29 [[ 0.90228146 -0.39888598 -0.16364026 3.89257635] [ 0.42076549 0.89745501 0.13240431 0.26096477] [ 0.09404555 -0.18832013 0.97759448 -0.29401024] [ 0. 0. 0. 1. ]] SLAMing on 85.65241403699999 meters Centerline goodness : 0.828544 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-0.29 [[ 0.90163507 -0.40024025 -0.16389613 3.89278062] [ 0.4221305 0.89686137 0.13208148 0.26135155] [ 0.09412778 -0.18827485 0.97759529 -0.29314192] [ 0. 0. 0. 1. ]] SLAMing on 85.68241403699999 meters Centerline goodness : 0.834177 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-0.29 [[ 0.90113951 -0.40126554 -0.16411445 3.89285646] [ 0.42314881 0.89644761 0.13163119 0.26212083] [ 0.09430095 -0.1880629 0.97761939 -0.29246057] [ 0. 0. 0. 1. ]] SLAMing on 85.71241403699999 meters Centerline goodness : 0.831729 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-0.29 [[ 0.90035187 -0.40285054 -0.16455381 3.89293598] [ 0.42477268 0.89573556 0.1312478 0.26324816] [ 0.09452345 -0.18806716 0.97759709 -0.29133868] [ 0. 0. 0. 1. ]] SLAMing on 85.74241403699999 meters Centerline goodness : 0.835757 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-0.29 [[ 0.89986394 -0.40381803 -0.16485111 3.89334031] [ 0.42574542 0.8953442 0.13076542 0.26399225] [ 0.09479305 -0.18785569 0.97761164 -0.29085987] [ 0. 0. 0. 1. ]] SLAMing on 85.77241403699999 meters Centerline goodness : 0.828133 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89889335 -0.40661905 -0.16325344 3.89223773] [ 0.42790719 0.89479564 0.12742135 0.26523306] [ 0.09426652 -0.18439552 0.97832107 -0.29093635] [ 0. 0. 0. 1. ]] SLAMing on 85.80241403699999 meters Centerline goodness : 0.833433 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89845088 -0.40753524 -0.16340457 3.89201802] [ 0.42882008 0.89439909 0.12713618 0.26553112] [ 0.09433642 -0.18429677 0.97833294 -0.28994644] [ 0. 0. 0. 1. ]] SLAMing on 85.83241403699999 meters Centerline goodness : 0.830468 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89806369 -0.40826956 -0.16369964 3.89138988] [ 0.42958031 0.89407267 0.12686539 0.26655474] [ 0.0945641 -0.18425534 0.97831876 -0.28879801] [ 0. 0. 0. 1. ]] SLAMing on 85.862414037 meters Centerline goodness : 0.820584 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89748488 -0.40948704 -0.16383304 3.89072219] [ 0.43074258 0.89362279 0.12609178 0.26856699] [ 0.09477199 -0.18373533 0.97839644 -0.28807 ] [ 0. 0. 0. 1. ]] SLAMing on 85.892414037 meters Centerline goodness : 0.829780 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89713393 -0.41026577 -0.16380694 3.89058753] [ 0.43144182 0.89338895 0.12535605 0.26974329] [ 0.09491402 -0.18313433 0.97849535 -0.28795945] [ 0. 0. 0. 1. ]] SLAMing on 85.922414037 meters Centerline goodness : 0.828988 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89671985 -0.41111682 -0.16394043 3.89075363] [ 0.43225945 0.89307264 0.12479194 0.27053269] [ 0.09510664 -0.18276821 0.9785451 -0.28761563] [ 0. 0. 0. 1. ]] SLAMing on 85.952414037 meters Centerline goodness : 0.828737 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89607014 -0.41251057 -0.16399189 3.89090116] [ 0.43355444 0.89259173 0.12373583 0.27215547] [ 0.09533547 -0.18197539 0.97867058 -0.28746195] [ 0. 0. 0. 1. ]] SLAMing on 85.98241403699998 meters Centerline goodness : 0.830658 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.29 [[ 0.89545743 -0.41382367 -0.16403038 3.8899481 ] [ 0.43477367 0.8921345 0.12275129 0.27446881] [ 0.09553977 -0.18123465 0.97878811 -0.28676063] [ 0. 0. 0. 1. ]] SLAMing on 86.01241403699999 meters Centerline goodness : 0.833018 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.29 [[ 0.89509586 -0.41459979 -0.16404394 3.88920953] [ 0.43548992 0.89186878 0.12214173 0.27574136] [ 0.09566574 -0.18076804 0.97886209 -0.28602501] [ 0. 0. 0. 1. ]] SLAMing on 86.04241403699999 meters Centerline goodness : 0.831924 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.29 [[ 0.89481892 -0.4151689 -0.16411544 3.88846559] [ 0.4360427 0.89163706 0.12186105 0.27655227] [ 0.09573849 -0.18060491 0.97888508 -0.28515814] [ 0. 0. 0. 1. ]] SLAMing on 86.07241403699999 meters Centerline goodness : 0.827509 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.28 [[ 0.89418107 -0.41652409 -0.16415816 3.88735472] [ 0.4373175 0.89112878 0.12100783 0.27867349] [ 0.09588338 -0.17999214 0.97898376 -0.2842073 ] [ 0. 0. 0. 1. ]] SLAMing on 86.10241403699999 meters Centerline goodness : 0.828751 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.28 [[ 0.89372025 -0.4174555 -0.16430162 3.88765899] [ 0.4382018 0.89079129 0.12029158 0.27975963] [ 0.09614207 -0.17950429 0.97904796 -0.2841271 ] [ 0. 0. 0. 1. ]] SLAMing on 86.13241403699999 meters Centerline goodness : 0.828087 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.28 [[ 0.89312746 -0.4187543 -0.1642199 3.88747352] [ 0.43938025 0.89034933 0.1192605 0.2815499 ] [ 0.09627223 -0.17866981 0.9791878 -0.28412011] [ 0. 0. 0. 1. ]] SLAMing on 86.16241403699999 meters Centerline goodness : 0.831746 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.28 [[ 0.8928277 -0.41934471 -0.16434326 3.88660857] [ 0.43995143 0.89012137 0.11885576 0.28306733] [ 0.09644391 -0.17842077 0.97921632 -0.28343809] [ 0. 0. 0. 1. ]] SLAMing on 86.19241403699999 meters Centerline goodness : 0.830967 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.28 [[ 0.89266513 -0.41979015 -0.164089 3.88520591] [ 0.44028053 0.8900518 0.11815599 0.28468765] [ 0.09644699 -0.17771892 0.97934364 -0.28291555] [ 0. 0. 0. 1. ]] SLAMing on 86.222414037 meters Centerline goodness : 0.829591 Centerline is valid? [False, False] Translation: X:3.88, Y:0.28, Z:-0.28 [[ 0.89339392 -0.41609797 -0.16943962 3.87911665] [ 0.43678816 0.8927218 0.11074246 0.28446826] [ 0.10518272 -0.17294586 0.97929889 -0.2777883 ] [ 0. 0. 0. 1. ]] SLAMing on 86.252414037 meters Centerline goodness : 0.835030 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:-0.28 [[ 0.8930921 -0.41691115 -0.16903135 3.87821542] [ 0.43740107 0.89256866 0.10955131 0.28663078] [ 0.10519893 -0.1717739 0.9795034 -0.27810099] [ 0. 0. 0. 1. ]] SLAMing on 86.282414037 meters Centerline goodness : 0.837270 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:-0.28 [[ 0.89280178 -0.41760516 -0.16885173 3.87759542] [ 0.43795103 0.8924266 0.10850648 0.28877708] [ 0.1053749 -0.17082357 0.97965067 -0.27826387] [ 0. 0. 0. 1. ]] SLAMing on 86.312414037 meters Centerline goodness : 0.835231 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.27 [[ 0.89376023 -0.41336069 -0.17414243 3.87211574] [ 0.43384499 0.89523787 0.10162523 0.28865354] [ 0.11389102 -0.1663794 0.97946247 -0.27363299] [ 0. 0. 0. 1. ]] SLAMing on 86.342414037 meters Centerline goodness : 0.836303 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.27 [[ 0.89353703 -0.41392022 -0.1739587 3.87165147] [ 0.43426478 0.8951407 0.1006838 0.29047303] [ 0.11404245 -0.16550884 0.97959233 -0.27387205] [ 0. 0. 0. 1. ]] SLAMing on 86.37241403699998 meters Centerline goodness : 0.833533 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.27 [[ 0.89314947 -0.41494343 -0.17351076 3.86970624] [ 0.43502445 0.89495384 0.0990523 0.29426534] [ 0.11418302 -0.16394993 0.97983808 -0.27383776] [ 0. 0. 0. 1. ]] SLAMing on 86.40241403699999 meters Centerline goodness : 0.833808 Centerline is valid? [False, False] Translation: X:3.87, Y:0.30, Z:-0.27 [[ 0.89308139 -0.41521531 -0.17321049 3.86836576] [ 0.43516907 0.89495698 0.09838638 0.29586402] [ 0.1141644 -0.16324289 0.97995829 -0.27355085] [ 0. 0. 0. 1. ]] SLAMing on 86.43241403699999 meters Centerline goodness : 0.777740 Centerline is valid? [False, False] Translation: X:3.87, Y:0.30, Z:-0.27 [[ 0.89311185 -0.41538634 -0.17264245 3.86664024] [ 0.43514928 0.89505749 0.0975561 0.2975325 ] [ 0.11400144 -0.16225375 0.98014152 -0.27351504] [ 0. 0. 0. 1. ]] SLAMing on 86.46241403699999 meters Centerline goodness : 0.832394 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.27 [[ 0.89464652 -0.40934884 -0.17900039 3.86017877] [ 0.42963852 0.89816058 0.09337196 0.29671028] [ 0.12254939 -0.16044037 0.97940826 -0.26778937] [ 0. 0. 0. 1. ]] SLAMing on 86.49241403699999 meters Centerline goodness : 0.837078 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.27 [[ 0.89463448 -0.40953664 -0.17863058 3.85834993] [ 0.42966196 0.89823578 0.09253699 0.29878037] [ 0.12255509 -0.15953755 0.97955501 -0.26738984] [ 0. 0. 0. 1. ]] SLAMing on 86.52241403699999 meters Centerline goodness : 0.834901 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.27 [[ 0.89456626 -0.40981354 -0.17833694 3.85518474] [ 0.42975624 0.89830184 0.09145147 0.30307638] [ 0.12272235 -0.15845081 0.97971045 -0.26664459] [ 0. 0. 0. 1. ]] SLAMing on 86.55241403699999 meters Centerline goodness : 0.835220 Centerline is valid? [False, False] Translation: X:3.85, Y:0.31, Z:-0.27 [[ 0.89436517 -0.41031331 -0.17819633 3.8542103 ] [ 0.43012549 0.89821391 0.09057499 0.30500789] [ 0.1228943 -0.1576539 0.97981745 -0.26633354] [ 0. 0. 0. 1. ]] SLAMing on 86.58241403699999 meters Centerline goodness : 0.833996 Centerline is valid? [False, False] Translation: X:3.85, Y:0.31, Z:-0.27 [[ 0.89408707 -0.41109096 -0.17779913 3.85353577] [ 0.43072903 0.8980155 0.08966978 0.30619272] [ 0.12280394 -0.15675584 0.97997286 -0.2664695 ] [ 0. 0. 0. 1. ]] SLAMing on 86.612414037 meters Centerline goodness : 0.832962 Centerline is valid? [False, False] Translation: X:3.84, Y:0.31, Z:-0.27 [[ 0.89352847 -0.41371803 -0.17448288 3.8386117 ] [ 0.43116713 0.89904142 0.07628522 0.30567633] [ 0.12530677 -0.1433943 0.98170071 -0.26510073] [ 0. 0. 0. 1. ]] SLAMing on 86.642414037 meters Centerline goodness : 0.831725 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:-0.27 [[ 0.89374198 -0.41489185 -0.17055798 3.80125693] [ 0.4304478 0.90021642 0.06576543 0.29544647] [ 0.12625356 -0.13219363 0.98315049 -0.26808053] [ 0. 0. 0. 1. ]] SLAMing on 86.672414037 meters Centerline goodness : 0.774179 Centerline is valid? [False, False] Translation: X:3.79, Y:0.29, Z:-0.27 [[ 0.89343564 -0.4160543 -0.16932684 3.78501156] [ 0.43010909 0.90107644 0.05538437 0.29398669] [ 0.12953352 -0.12231139 0.98400254 -0.26647939] [ 0. 0. 0. 1. ]] SLAMing on 86.702414037 meters Centerline goodness : 0.774606 Centerline is valid? [False, False] Translation: X:3.74, Y:0.28, Z:-0.27 [[ 0.89353799 -0.41703839 -0.16633954 3.74311015] [ 0.42974525 0.90168195 0.04784019 0.28183054] [ 0.13003416 -0.11423065 0.98490734 -0.27107721] [ 0. 0. 0. 1. ]] SLAMing on 86.73241403699998 meters Centerline goodness : 0.773715 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.28 [[ 0.89390189 -0.41737359 -0.16351971 3.70196904] [ 0.42890131 0.90240627 0.04131093 0.26885371] [ 0.13031912 -0.10706173 0.98567475 -0.27605295] [ 0. 0. 0. 1. ]] SLAMing on 86.76241403699999 meters Centerline goodness : 0.773020 Centerline is valid? [False, False] Translation: X:3.68, Y:0.26, Z:-0.28 [[ 0.89546943 -0.41721144 -0.15514221 3.67602821] [ 0.42743777 0.9032404 0.03812777 0.25973308] [ 0.12422337 -0.1004559 0.9871561 -0.27942058] [ 0. 0. 0. 1. ]] SLAMing on 86.79241403699999 meters Centerline goodness : 0.771629 Centerline is valid? [False, False] Translation: X:3.63, Y:0.25, Z:-0.28 [[ 0.89567659 -0.41827623 -0.15102465 3.63437211] [ 0.42702938 0.90375518 0.02953764 0.24702743] [ 0.12413442 -0.09094814 0.9880886 -0.28224239] [ 0. 0. 0. 1. ]] SLAMing on 86.82241403699999 meters Centerline goodness : 0.773754 Centerline is valid? [False, False] Translation: X:3.60, Y:0.23, Z:-0.29 [[ 0.896241 -0.41838338 -0.14733435 3.59516497] [ 0.4258537 0.90452662 0.02191373 0.23423115] [ 0.1240995 -0.08238286 0.98884396 -0.28635849] [ 0. 0. 0. 1. ]] SLAMing on 86.85241403699999 meters Centerline goodness : 0.773754 Centerline is valid? [False, False] Translation: X:3.56, Y:0.22, Z:-0.29 [[ 0.89690854 -0.4180592 -0.14415816 3.55703858] [ 0.42433307 0.90539112 0.01443461 0.22186143] [ 0.124485 -0.0741176 0.98944938 -0.29098343] [ 0. 0. 0. 1. ]] SLAMing on 86.88241403699999 meters Centerline goodness : 0.775149 Centerline is valid? [False, False] Translation: X:3.56, Y:0.22, Z:-0.29 [[ 0.89687216 -0.41811413 -0.14422514 3.55686395] [ 0.42435805 0.90538387 0.01415238 0.22256357] [ 0.12466181 -0.07389598 0.98944369 -0.29061473] [ 0. 0. 0. 1. ]] SLAMing on 86.91241403699999 meters Centerline goodness : 0.776734 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:-0.30 [[ 0.89749039 -0.41755743 -0.14197461 3.51152905] [ 0.42311379 0.90602098 0.01003538 0.20841356] [ 0.12444163 -0.06907807 0.98981943 -0.29517004] [ 0. 0. 0. 1. ]] SLAMing on 86.94241403699999 meters Centerline goodness : 0.776158 Centerline is valid? [False, False] Translation: X:3.50, Y:0.20, Z:-0.30 [[ 0.90016989 -0.41284908 -0.13874366 3.4959086 ] [ 0.41774189 0.90854001 0.00683828 0.20341378] [ 0.12323099 -0.06411466 0.99030472 -0.29531835] [ 0. 0. 0. 1. ]] SLAMing on 86.972414037 meters Centerline goodness : 0.831532 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.30 [[ 9.01328407e-01 -4.11239074e-01 -1.35976201e-01 3.45808645e+00] [ 4.15113006e-01 9.09769845e-01 1.48814740e-04 1.91537272e-01] [ 1.23645848e-01 -5.65796203e-02 9.90712093e-01 -3.00095321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002414037 meters Centerline goodness : 0.829140 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:-0.31 [[ 0.90276822 -0.40858748 -0.13440915 3.42043434] [ 0.41170071 0.91130517 -0.00504107 0.17984071] [ 0.12454747 -0.05078542 0.9909131 -0.30710939] [ 0. 0. 0. 1. ]] SLAMing on 87.032414037 meters Centerline goodness : 0.772994 Centerline is valid? [False, False] Translation: X:3.38, Y:0.17, Z:-0.31 [[ 0.90421985 -0.40606103 -0.13229099 3.38288994] [ 0.4084342 0.91273394 -0.00991279 0.16729432] [ 0.12477167 -0.04506883 0.99116135 -0.31311606] [ 0. 0. 0. 1. ]] SLAMing on 87.062414037 meters Centerline goodness : 0.773268 Centerline is valid? [False, False] Translation: X:3.35, Y:0.15, Z:-0.32 [[ 0.90683949 -0.40266724 -0.12450392 3.34556079] [ 0.40477443 0.91437214 -0.00901392 0.15303544] [ 0.11747252 -0.04222182 0.99217817 -0.32375574] [ 0. 0. 0. 1. ]] SLAMing on 87.092414037 meters Centerline goodness : 0.830158 Centerline is valid? [False, False] Translation: X:3.32, Y:0.14, Z:-0.33 [[ 0.90833757 -0.40000352 -0.12214766 3.31685856] [ 0.40249666 0.91540979 -0.0046198 0.14329722] [ 0.1136631 -0.04496769 0.99250119 -0.32927991] [ 0. 0. 0. 1. ]] SLAMing on 87.12241403699998 meters Centerline goodness : 0.772658 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:-0.33 [[ 9.10181944e-01 -3.96693849e-01 -1.19175583e-01 3.29312760e+00] [ 3.99233845e-01 9.16844921e-01 -2.77996252e-03 1.33961923e-01] [ 1.10368322e-01 -4.50486546e-02 9.92869303e-01 -3.32043277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15241403699999 meters Centerline goodness : 0.826812 Centerline is valid? [False, False] Translation: X:3.25, Y:0.12, Z:-0.34 [[ 9.12900278e-01 -3.93068265e-01 -1.10047356e-01 3.25359321e+00] [ 3.95298185e-01 9.18551306e-01 -1.68604672e-03 1.19128177e-01] [ 1.01746874e-01 -4.19623275e-02 9.93924915e-01 -3.40534968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18241403699999 meters Centerline goodness : 0.827525 Centerline is valid? [False, False] Translation: X:3.21, Y:0.11, Z:-0.35 [[ 0.91390205 -0.39129063 -0.10804943 3.21347706] [ 0.39299871 0.91952011 -0.00589797 0.10521159] [ 0.10166144 -0.03707312 0.99412803 -0.34567391] [ 0. 0. 0. 1. ]] SLAMing on 87.21241403699999 meters Centerline goodness : 0.828131 Centerline is valid? [False, False] Translation: X:3.19, Y:0.10, Z:-0.35 [[ 0.91474307 -0.38977561 -0.10639592 3.18952923] [ 0.39146231 0.92017824 -0.00540995 0.09622098] [ 0.10001188 -0.03670128 0.99430913 -0.34881113] [ 0. 0. 0. 1. ]] SLAMing on 87.24241403699999 meters Centerline goodness : 0.829298 Centerline is valid? [False, False] Translation: X:3.16, Y:0.09, Z:-0.35 [[ 0.91581624 -0.38774496 -0.10456793 3.1643143 ] [ 0.3895313 0.92100619 -0.00359973 0.08708187] [ 0.09770349 -0.0374358 0.99451123 -0.35293474] [ 0. 0. 0. 1. ]] SLAMing on 87.27241403699999 meters Centerline goodness : 0.825623 Centerline is valid? [False, False] Translation: X:3.13, Y:0.07, Z:-0.36 [[ 9.18075361e-01 -3.84741770e-01 -9.54536603e-02 3.12757655e+00] [ 3.86312627e-01 9.22365323e-01 -2.18286921e-03 7.28206465e-02] [ 8.88829872e-02 -3.48709158e-02 9.95431481e-01 -3.62946539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30241403699999 meters Centerline goodness : 0.830155 Centerline is valid? [False, False] Translation: X:3.09, Y:0.06, Z:-0.37 [[ 9.20979753e-01 -3.79886800e-01 -8.65003638e-02 3.09491319e+00] [ 3.81122121e-01 9.24521583e-01 -2.40217260e-03 6.00675817e-02] [ 8.08840069e-02 -3.07548498e-02 9.96248923e-01 -3.71494140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33241403699999 meters Centerline goodness : 0.829100 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:-0.37 [[ 0.92282305 -0.37542403 -0.08633895 3.07913286] [ 0.37635678 0.92645647 -0.00582955 0.05449709] [ 0.08217784 -0.02711461 0.99624876 -0.37049258] [ 0. 0. 0. 1. ]] SLAMing on 87.362414037 meters Centerline goodness : 0.829809 Centerline is valid? [False, False] Translation: X:3.06, Y:0.05, Z:-0.37 [[ 0.92481721 -0.37059203 -0.08587596 3.06148314] [ 0.3714001 0.92844682 -0.00696098 0.04774652] [ 0.08231094 -0.02545671 0.99628152 -0.37067404] [ 0. 0. 0. 1. ]] SLAMing on 87.392414037 meters Centerline goodness : 0.828580 Centerline is valid? [False, False] Translation: X:3.05, Y:0.04, Z:-0.37 [[ 0.9268235 -0.36563092 -0.08551155 3.04694089] [ 0.36608261 0.93051848 -0.01090332 0.04289765] [ 0.08355667 -0.02119884 0.99627752 -0.36956395] [ 0. 0. 0. 1. ]] SLAMing on 87.422414037 meters Centerline goodness : 0.828559 Centerline is valid? [False, False] Translation: X:3.01, Y:0.03, Z:-0.38 [[ 0.93002466 -0.35931644 -0.07710918 3.01081397] [ 0.35986339 0.93297751 -0.007163 0.0293277 ] [ 0.07451492 -0.021087 0.99699692 -0.37913965] [ 0. 0. 0. 1. ]] SLAMing on 87.452414037 meters Centerline goodness : 0.831179 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.38 [[ 0.93147428 -0.35592197 -0.07533398 2.98661247] [ 0.35661269 0.93424132 -0.00453261 0.01967274] [ 0.07199337 -0.02264305 0.99714806 -0.38161256] [ 0. 0. 0. 1. ]] SLAMing on 87.48241403699998 meters Centerline goodness : 0.830174 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:-0.38 [[ 0.93365851 -0.35086142 -0.07195868 2.96508452] [ 0.35155436 0.93616195 -0.00321559 0.01022134] [ 0.06849321 -0.02229513 0.99740243 -0.38127521] [ 0. 0. 0. 1. ]] SLAMing on 87.51241403699999 meters Centerline goodness : 0.830745 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:-0.38 [[ 0.93374502 -0.35060419 -0.07208976 2.96514743] [ 0.35129774 0.93625819 -0.0032393 0.01025605] [ 0.06863034 -0.02230029 0.99739289 -0.38082122] [ 0. 0. 0. 1. ]] SLAMing on 87.54241403699999 meters Centerline goodness : 0.829983 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-0.38 [[ 0.93386631 -0.35032223 -0.07188917 2.96459186] [ 0.3510112 0.93636569 -0.00322978 0.01032886] [ 0.06844601 -0.02221772 0.9974074 -0.38032343] [ 0. 0. 0. 1. ]] SLAMing on 87.57241403699999 meters Centerline goodness : 0.829829 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-0.38 [[ 0.93606799 -0.34415087 -0.07305407 2.95409977] [ 0.34442784 0.938768 -0.0091706 0.00684997] [ 0.0717369 -0.01657755 0.99728582 -0.37793957] [ 0. 0. 0. 1. ]] SLAMing on 87.60241403699999 meters Centerline goodness : 0.830716 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-0.37 [[ 9.37757405e-01 -3.36225418e-01 -8.69684809e-02 2.95478134e+00] [ 3.36911877e-01 9.41509388e-01 -7.10349415e-03 1.54078810e-03] [ 8.42700165e-02 -2.26393599e-02 9.96185738e-01 -3.73576127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63241403699999 meters Centerline goodness : 0.829139 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:-0.37 [[ 0.93911632 -0.32872069 -0.10001619 2.95474474] [ 0.32966103 0.94406995 -0.00745147 -0.00303027] [ 0.09687173 -0.02597364 0.99495791 -0.36847872] [ 0. 0. 0. 1. ]] SLAMing on 87.66241403699999 meters Centerline goodness : 0.830008 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:-0.36 [[ 0.94124047 -0.31842811 -0.11256071 2.95437723] [ 0.31979517 0.94746653 -0.00618175 -0.0083358 ] [ 0.10861595 -0.03017786 0.99362562 -0.36454057] [ 0. 0. 0. 1. ]] SLAMing on 87.69241403699999 meters Centerline goodness : 0.829174 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:-0.36 [[ 0.94234097 -0.30995348 -0.12618373 2.9544565 ] [ 0.31192092 0.95009806 -0.00436135 -0.01362736] [ 0.12123874 -0.03524946 0.9919973 -0.35862184] [ 0. 0. 0. 1. ]] SLAMing on 87.722414037 meters Centerline goodness : 0.831100 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-0.36 [[ 0.94248962 -0.30936974 -0.12650563 2.95502002] [ 0.31135001 0.95028553 -0.0043115 -0.0132847 ] [ 0.12155032 -0.03532399 0.99195652 -0.35828805] [ 0. 0. 0. 1. ]] SLAMing on 87.752414037 meters Centerline goodness : 0.831504 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.02, Z:-0.35 [[ 0.94382818 -0.30026079 -0.13795587 2.95394262] [ 0.30266413 0.95309004 -0.00371591 -0.01967758] [ 0.13260011 -0.03824711 0.99043141 -0.35345887] [ 0. 0. 0. 1. ]] SLAMing on 87.782414037 meters Centerline goodness : 0.826490 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-0.35 [[ 0.94420456 -0.29314732 -0.15014126 2.95501301] [ 0.29601612 0.95517696 -0.00338215 -0.02469928] [ 0.14440294 -0.04125079 0.98865877 -0.34786927] [ 0. 0. 0. 1. ]] SLAMing on 87.812414037 meters Centerline goodness : 0.833634 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-0.35 [[ 9.44573695e-01 -2.92218678e-01 -1.49628803e-01 2.95433673e+00] [ 2.95167128e-01 9.55442066e-01 -2.61255007e-03 -2.78189338e-02] [ 1.43725088e-01 -4.16977578e-02 9.88738791e-01 -3.47593749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842414037 meters Centerline goodness : 0.835263 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-0.35 [[ 9.44498575e-01 -2.92275929e-01 -1.49990745e-01 2.95581926e+00] [ 2.95261608e-01 9.55413258e-01 -2.46767984e-03 -2.92290936e-02] [ 1.44024390e-01 -4.19557886e-02 9.88684321e-01 -3.47800448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87241403699998 meters Centerline goodness : 0.835206 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-0.35 [[ 0.94400119 -0.29441972 -0.1489254 2.95579897] [ 0.29704718 0.95485077 -0.00479442 -0.03166649] [ 0.14361311 -0.03971193 0.98883681 -0.34747849] [ 0. 0. 0. 1. ]] SLAMing on 87.90241403699999 meters Centerline goodness : 0.836102 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-0.35 [[ 0.94400367 -0.29402488 -0.14968778 2.95799136] [ 0.29683695 0.95492097 -0.00371009 -0.03331898] [ 0.14403086 -0.04093052 0.98872635 -0.3478845 ] [ 0. 0. 0. 1. ]] SLAMing on 87.93241403699999 meters Centerline goodness : 0.835780 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-0.35 [[ 0.94386114 -0.29443044 -0.14978941 2.95854864] [ 0.2972918 0.9547805 -0.00343328 -0.03484867] [ 0.14402687 -0.04129063 0.98871196 -0.34761876] [ 0. 0. 0. 1. ]] SLAMing on 87.96241403699999 meters Centerline goodness : 0.838596 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-0.34 [[ 0.94366298 -0.29064158 -0.15820133 2.95912962] [ 0.29317962 0.95602736 -0.0075761 -0.04082771] [ 0.15344673 -0.03923212 0.98737781 -0.34271837] [ 0. 0. 0. 1. ]] SLAMing on 87.99241403699999 meters Centerline goodness : 0.773440 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-0.34 [[ 0.94355711 -0.29079524 -0.15855001 2.96053605] [ 0.29341549 0.95595827 -0.00715136 -0.04290362] [ 0.15364678 -0.03977331 0.98732505 -0.34275215] [ 0. 0. 0. 1. ]] SLAMing on 88.02241403699999 meters Centerline goodness : 0.775028 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-0.34 [[ 0.94293061 -0.29308671 -0.15805708 2.96196149] [ 0.29552511 0.95529816 -0.00838638 -0.04617137] [ 0.15344958 -0.03880206 0.98739436 -0.34289059] [ 0. 0. 0. 1. ]] SLAMing on 88.05241403699999 meters Centerline goodness : 0.836562 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-0.34 [[ 0.94260225 -0.29368092 -0.1589104 2.96447654] [ 0.29626701 0.95507404 -0.00770921 -0.04789196] [ 0.15403525 -0.03981319 0.98726291 -0.34294917] [ 0. 0. 0. 1. ]] SLAMing on 88.08241403699999 meters Centerline goodness : 0.836097 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.05, Z:-0.34 [[ 0.94228024 -0.29422973 -0.15980244 2.96700529] [ 0.29703381 0.95484416 -0.0065985 -0.05041352] [ 0.1545279 -0.04124909 0.98712696 -0.34284621] [ 0. 0. 0. 1. ]] SLAMing on 88.112414037 meters Centerline goodness : 0.778306 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.05, Z:-0.34 [[ 0.9410739 -0.29833024 -0.15930784 2.96931164] [ 0.30082043 0.95364 -0.0088219 -0.05392285] [ 0.15455417 -0.03962099 0.98718954 -0.34289447] [ 0. 0. 0. 1. ]] SLAMing on 88.142414037 meters Centerline goodness : 0.777900 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-0.34 [[ 0.94005031 -0.30168776 -0.15902804 2.97093984] [ 0.30388339 0.95264668 -0.01091739 -0.05663861] [ 0.15479118 -0.03806308 0.9872137 -0.34225294] [ 0. 0. 0. 1. ]] SLAMing on 88.172414037 meters Centerline goodness : 0.837564 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-0.34 [[ 0.93990401 -0.30166291 -0.15993733 2.97307937] [ 0.30404477 0.95260568 -0.00995953 -0.05796304] [ 0.15536163 -0.03926711 0.98707693 -0.34219148] [ 0. 0. 0. 1. ]] SLAMing on 88.202414037 meters Centerline goodness : 0.834457 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-0.34 [[ 0.93983451 -0.30151897 -0.16061568 2.97548553] [ 0.30414242 0.95258784 -0.00859049 -0.06088499] [ 0.15559074 -0.0407764 0.98697964 -0.34251203] [ 0. 0. 0. 1. ]] SLAMing on 88.23241403699998 meters Centerline goodness : 0.834457 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-0.34 [[ 0.93983451 -0.30151897 -0.16061568 2.97548553] [ 0.30414242 0.95258784 -0.00859049 -0.06088499] [ 0.15559074 -0.0407764 0.98697964 -0.34251203] [ 0. 0. 0. 1. ]] SLAMing on 88.26241403699999 meters Centerline goodness : 0.834803 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-0.34 [[ 0.94003829 -0.30093139 -0.16052512 2.97749022] [ 0.30367897 0.95274308 -0.00772738 -0.06487635] [ 0.1552646 -0.04148407 0.98700151 -0.34370377] [ 0. 0. 0. 1. ]] SLAMing on 88.29241403699999 meters Centerline goodness : 0.832619 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:-0.34 [[ 0.94020449 -0.30057394 -0.16022119 2.97789578] [ 0.30337174 0.95284436 -0.00729435 -0.06806334] [ 0.15485835 -0.0417484 0.98705418 -0.34391431] [ 0. 0. 0. 1. ]] SLAMing on 88.32241403699999 meters Centerline goodness : 0.832619 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:-0.34 [[ 0.94020449 -0.30057394 -0.16022119 2.97789578] [ 0.30337174 0.95284436 -0.00729435 -0.06806334] [ 0.15485835 -0.0417484 0.98705418 -0.34391431] [ 0. 0. 0. 1. ]] SLAMing on 88.35241403699999 meters Centerline goodness : 0.829578 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:-0.34 [[ 0.94043785 -0.29968033 -0.16052521 2.97946669] [ 0.30265462 0.95308028 -0.00617693 -0.07036677] [ 0.15484452 -0.04277468 0.98701241 -0.34456123] [ 0. 0. 0. 1. ]] SLAMing on 88.38241403699999 meters Centerline goodness : 0.831186 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:-0.34 [[ 0.94056789 -0.29927436 -0.16052071 2.979885 ] [ 0.30230511 0.95319369 -0.0057809 -0.07168182] [ 0.1547374 -0.0430889 0.98701554 -0.34472885] [ 0. 0. 0. 1. ]] SLAMing on 88.41241403699999 meters Centerline goodness : 0.832063 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:-0.35 [[ 0.94100399 -0.29788596 -0.16054733 2.98138576] [ 0.30108435 0.95358642 -0.00459949 -0.07424892] [ 0.15446588 -0.04401015 0.98701743 -0.34608035] [ 0. 0. 0. 1. ]] SLAMing on 88.44241403699999 meters Centerline goodness : 0.831388 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.08, Z:-0.35 [[ 0.94106355 -0.29751693 -0.16088218 2.98276625] [ 0.30079688 0.95367922 -0.00414425 -0.07531191] [ 0.15466298 -0.04449286 0.98696492 -0.34657161] [ 0. 0. 0. 1. ]] SLAMing on 88.472414037 meters Centerline goodness : 0.832647 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.08, Z:-0.35 [[ 0.94096269 -0.29788437 -0.16079217 2.98325532] [ 0.30113338 0.95357212 -0.00434697 -0.07629869] [ 0.15462183 -0.04432955 0.98697871 -0.34666518] [ 0. 0. 0. 1. ]] SLAMing on 88.502414037 meters Centerline goodness : 0.830206 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.08, Z:-0.35 [[ 0.94074159 -0.29827251 -0.16136533 2.9857092 ] [ 0.30164448 0.95341305 -0.00376412 -0.07784409] [ 0.15497055 -0.0451339 0.98688756 -0.34732875] [ 0. 0. 0. 1. ]] SLAMing on 88.532414037 meters Centerline goodness : 0.828996 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.08, Z:-0.35 [[ 0.94070405 -0.29811943 -0.1618663 2.98729276] [ 0.30162942 0.95342045 -0.00302192 -0.07920078] [ 0.15522754 -0.04598091 0.98680807 -0.34756205] [ 0. 0. 0. 1. ]] SLAMing on 88.562414037 meters Centerline goodness : 0.828186 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.08, Z:-0.35 [[ 9.40646963e-01 -2.97860775e-01 -1.62672216e-01 2.98895123e+00] [ 3.01663808e-01 9.53413357e-01 -1.38497589e-03 -8.23810947e-02] [ 1.55506393e-01 -4.77695467e-02 9.86679194e-01 -3.46760327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592414037 meters Centerline goodness : 0.832151 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.08, Z:-0.35 [[ 9.40573951e-01 -2.97713253e-01 -1.63362978e-01 2.99043445e+00] [ 3.01708952e-01 9.53400006e-01 -3.68725100e-04 -8.33730167e-02] [ 1.55860038e-01 -4.89412595e-02 9.86565964e-01 -3.46612530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62241403699998 meters Centerline goodness : 0.817965 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.08, Z:-0.35 [[ 9.40454313e-01 -2.97771020e-01 -1.63945431e-01 2.99199660e+00] [ 3.01900838e-01 9.53339290e-01 2.87491142e-04 -8.43589685e-02] [ 1.56210015e-01 -4.97656354e-02 9.86469367e-01 -3.46648833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65241403699999 meters Centerline goodness : 0.829757 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.09, Z:-0.35 [[ 9.39597128e-01 -3.00878553e-01 -1.63184969e-01 2.99374018e+00] [ 3.04545135e-01 9.52494170e-01 -2.66773104e-03 -8.51824991e-02] [ 1.56235395e-01 -4.71905961e-02 9.86591886e-01 -3.47673877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68241403699999 meters Centerline goodness : 0.830588 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.35 [[ 9.39329072e-01 -3.01317249e-01 -1.63917082e-01 2.99624046e+00] [ 3.05092873e-01 9.52319958e-01 -2.24396576e-03 -8.63723199e-02] [ 1.56777654e-01 -4.79021111e-02 9.86471568e-01 -3.48047900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71241403699999 meters Centerline goodness : 0.831690 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.35 [[ 9.38946197e-01 -3.02106425e-01 -1.64656450e-01 2.99890977e+00] [ 3.06094886e-01 9.52000243e-01 -1.20712183e-03 -8.90998077e-02] [ 1.57117660e-01 -4.92670749e-02 9.86350240e-01 -3.48151051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74241403699999 meters Centerline goodness : 0.831690 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.35 [[ 9.38946197e-01 -3.02106425e-01 -1.64656450e-01 2.99890977e+00] [ 3.06094886e-01 9.52000243e-01 -1.20712183e-03 -8.90998077e-02] [ 1.57117660e-01 -4.92670749e-02 9.86350240e-01 -3.48151051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77241403699999 meters Centerline goodness : 0.829482 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.35 [[ 9.38755971e-01 -3.02255837e-01 -1.65464910e-01 3.00139688e+00] [ 3.06407483e-01 9.51900334e-01 -4.56762014e-04 -9.04430461e-02] [ 1.57644162e-01 -5.02708987e-02 9.86215572e-01 -3.48465038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80241403699999 meters Centerline goodness : 0.831149 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.35 [[ 9.38451042e-01 -3.02615425e-01 -1.66533919e-01 3.00431216e+00] [ 3.07062863e-01 9.51688701e-01 1.00750089e-03 -9.32902390e-02] [ 1.58183564e-01 -5.20818722e-02 9.86035212e-01 -3.48220016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83241403699999 meters Centerline goodness : 0.826880 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.35 [[ 9.38277919e-01 -3.02738894e-01 -1.67283318e-01 3.00612697e+00] [ 3.07350870e-01 9.51594617e-01 1.76845468e-03 -9.39161356e-02] [ 1.58650525e-01 -5.30739754e-02 9.85907280e-01 -3.48272901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862414037 meters Centerline goodness : 0.810904 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.35 [[ 9.38087165e-01 -3.02941207e-01 -1.67985406e-01 3.00788288e+00] [ 3.07678848e-01 9.51487509e-01 2.29070044e-03 -9.46937314e-02] [ 1.59142068e-01 -5.38344329e-02 9.85786821e-01 -3.48167424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.892414037 meters Centerline goodness : 0.825459 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.35 [[ 0.93784734 -0.30319594 -0.16886265 3.01083157] [ 0.3081416 0.95133495 0.00325048 -0.09634709] [ 0.15965941 -0.05508206 0.98563423 -0.34872356] [ 0. 0. 0. 1. ]] SLAMing on 88.922414037 meters Centerline goodness : 0.819463 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.35 [[ 0.93774841 -0.30334504 -0.16914405 3.01185696] [ 0.30832526 0.95127509 0.00335178 -0.09687838] [ 0.15988578 -0.05529451 0.98558564 -0.34889408] [ 0. 0. 0. 1. ]] SLAMing on 88.952414037 meters Centerline goodness : 0.827320 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.35 [[ 0.93781541 -0.3028615 -0.16963835 3.01320315] [ 0.30803601 0.95136445 0.00441677 -0.09864452] [ 0.16005022 -0.05639684 0.98549649 -0.34898305] [ 0. 0. 0. 1. ]] SLAMing on 88.98241403699998 meters Centerline goodness : 0.828183 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.35 [[ 0.93785863 -0.30247718 -0.17008452 3.01410403] [ 0.30778589 0.95144189 0.00511626 -0.099402 ] [ 0.16027798 -0.05714794 0.9854162 -0.34886927] [ 0. 0. 0. 1. ]] SLAMing on 89.01241403699999 meters Centerline goodness : 0.827077 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.35 [[ 0.93788129 -0.30210558 -0.17061917 3.01520673] [ 0.30755262 0.95151337 0.00580446 -0.10025674] [ 0.16059286 -0.05791826 0.98531995 -0.34873307] [ 0. 0. 0. 1. ]] SLAMing on 89.04241403699999 meters Centerline goodness : 0.825289 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.35 [[ 0.93750835 -0.30276047 -0.17150566 3.01741832] [ 0.30832755 0.95126034 0.00615504 -0.10010853] [ 0.16128303 -0.05865032 0.98516391 -0.34885821] [ 0. 0. 0. 1. ]] SLAMing on 89.07241403699999 meters Centerline goodness : 0.828010 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.35 [[ 0.93735288 -0.30298968 -0.17195009 3.01925855] [ 0.30860138 0.95117097 0.00624251 -0.10005819] [ 0.16166252 -0.05891547 0.98508588 -0.34964277] [ 0. 0. 0. 1. ]] SLAMing on 89.10241403699999 meters Centerline goodness : 0.819265 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.35 [[ 0.93717019 -0.30322383 -0.17253215 3.02091968] [ 0.30891459 0.95106766 0.00648671 -0.10001005] [ 0.16212283 -0.05937685 0.98498253 -0.34992674] [ 0. 0. 0. 1. ]] SLAMing on 89.13241403699999 meters Centerline goodness : 0.818135 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.35 [[ 0.93687918 -0.30375022 -0.17318545 3.02321881] [ 0.30956379 0.95085335 0.00694029 -0.10096485] [ 0.16256585 -0.06011416 0.98486478 -0.35033175] [ 0. 0. 0. 1. ]] SLAMing on 89.16241403699999 meters Centerline goodness : 0.823058 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.10, Z:-0.35 [[ 0.93692219 -0.3033431 -0.17366569 3.02419937] [ 0.3094004 0.95089588 0.00827106 -0.10315887] [ 0.16262902 -0.06148157 0.98476993 -0.34993202] [ 0. 0. 0. 1. ]] SLAMing on 89.19241403699999 meters Centerline goodness : 0.824858 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.10, Z:-0.35 [[ 0.93688756 -0.3031209 -0.17423957 3.02524327] [ 0.30935133 0.95090412 0.00911676 -0.1041154 ] [ 0.16292164 -0.06244262 0.98466109 -0.34957162] [ 0. 0. 0. 1. ]] SLAMing on 89.222414037 meters Centerline goodness : 0.826660 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.11, Z:-0.35 [[ 0.93683382 -0.30285143 -0.17499547 3.02650261] [ 0.30929304 0.95091294 0.01011934 -0.105099 ] [ 0.1633408 -0.06360502 0.98451723 -0.34909962] [ 0. 0. 0. 1. ]] SLAMing on 89.252414037 meters Centerline goodness : 0.831746 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.11, Z:-0.35 [[ 0.93675048 -0.30271113 -0.17568296 3.02776678] [ 0.30932828 0.95089267 0.01091522 -0.10573233] [ 0.16375148 -0.06456854 0.98438628 -0.34877194] [ 0. 0. 0. 1. ]] SLAMing on 89.282414037 meters Centerline goodness : 0.828350 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.11, Z:-0.35 [[ 0.93629919 -0.30362614 -0.17650775 3.03078731] [ 0.31031053 0.9505727 0.01090476 -0.10583781] [ 0.16447247 -0.06498233 0.98423884 -0.34954554] [ 0. 0. 0. 1. ]] SLAMing on 89.312414037 meters Centerline goodness : 0.820350 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.11, Z:-0.35 [[ 0.93597841 -0.30424665 -0.17713947 3.0333786 ] [ 0.31098611 0.95035168 0.01092348 -0.10592013] [ 0.16502136 -0.06531205 0.98412514 -0.3504257 ] [ 0. 0. 0. 1. ]] SLAMing on 89.342414037 meters Centerline goodness : 0.817894 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93572797 -0.30467617 -0.17772337 3.0354413 ] [ 0.31148742 0.95018572 0.01107644 -0.10637687] [ 0.16549548 -0.06572313 0.98401815 -0.35088316] [ 0. 0. 0. 1. ]] SLAMing on 89.37241403699998 meters Centerline goodness : 0.828182 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.9356884 -0.30438497 -0.17842929 3.03732117] [ 0.31136295 0.95021772 0.01180696 -0.10695823] [ 0.16595281 -0.06660391 0.9838819 -0.35125649] [ 0. 0. 0. 1. ]] SLAMing on 89.40241403699999 meters Centerline goodness : 0.827481 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93586589 -0.30370096 -0.17866381 3.03790466] [ 0.31075836 0.95041007 0.01224476 -0.10720134] [ 0.16608514 -0.06698072 0.98383398 -0.3514991 ] [ 0. 0. 0. 1. ]] SLAMing on 89.43241403699999 meters Centerline goodness : 0.821741 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93679475 -0.30016518 -0.1797678 3.03886726] [ 0.3078555 0.95130103 0.01585363 -0.10879294] [ 0.16625458 -0.07019411 0.98358131 -0.35181038] [ 0. 0. 0. 1. ]] SLAMing on 89.46241403699999 meters Centerline goodness : 0.825821 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.9369253 -0.29969306 -0.17987511 3.03915521] [ 0.30741711 0.95143949 0.01605033 -0.10860305] [ 0.16633011 -0.07033465 0.9835585 -0.35211919] [ 0. 0. 0. 1. ]] SLAMing on 89.49241403699999 meters Centerline goodness : 0.829212 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93712184 -0.29898793 -0.18002465 3.03967308] [ 0.3067784 0.95163892 0.01644328 -0.10872027] [ 0.16640212 -0.07063703 0.98352465 -0.35254789] [ 0. 0. 0. 1. ]] SLAMing on 89.52241403699999 meters Centerline goodness : 0.827691 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93727062 -0.29831085 -0.18037303 3.03977749] [ 0.30623685 0.95180077 0.01715503 -0.10910237] [ 0.16656166 -0.07131577 0.98344866 -0.35211017] [ 0. 0. 0. 1. ]] SLAMing on 89.55241403699999 meters Centerline goodness : 0.828771 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93726856 -0.29804769 -0.1808182 3.04046112] [ 0.30606696 0.95184848 0.01753528 -0.10897152] [ 0.16688518 -0.07177774 0.98336021 -0.35195883] [ 0. 0. 0. 1. ]] SLAMing on 89.58241403699999 meters Centerline goodness : 0.826478 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93713483 -0.2981412 -0.18135636 3.04129045] [ 0.30622891 0.95179345 0.01769411 -0.10819787] [ 0.16733846 -0.07211833 0.98325825 -0.35179338] [ 0. 0. 0. 1. ]] SLAMing on 89.612414037 meters Centerline goodness : 0.826009 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.11, Z:-0.35 [[ 0.93692009 -0.29855259 -0.18178861 3.04331011] [ 0.30663679 0.95166669 0.01744675 -0.10744704] [ 0.16779339 -0.07208928 0.98318285 -0.35283378] [ 0. 0. 0. 1. ]] SLAMing on 89.642414037 meters Centerline goodness : 0.826995 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.93669632 -0.29903768 -0.18214408 3.0450229 ] [ 0.3071209 0.95151432 0.01724119 -0.10707735] [ 0.16815694 -0.07209002 0.98312068 -0.35361928] [ 0. 0. 0. 1. ]] SLAMing on 89.672414037 meters Centerline goodness : 0.826206 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.93647913 -0.29940666 -0.18265402 3.04704449] [ 0.30758304 0.95135978 0.01752847 -0.10756505] [ 0.16852155 -0.07259633 0.98302099 -0.35418759] [ 0. 0. 0. 1. ]] SLAMing on 89.702414037 meters Centerline goodness : 0.826917 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.93636711 -0.29942586 -0.18319604 3.04771923] [ 0.30772612 0.9513045 0.01801048 -0.10732723] [ 0.16888242 -0.07323863 0.98291141 -0.35379957] [ 0. 0. 0. 1. ]] SLAMing on 89.73241403699998 meters Centerline goodness : 0.828341 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.9362449 -0.29934938 -0.18394409 3.04860473] [ 0.3078104 0.95126549 0.01862079 -0.10693476] [ 0.16940554 -0.07405352 0.98276032 -0.35319752] [ 0. 0. 0. 1. ]] SLAMing on 89.76241403699999 meters Centerline goodness : 0.824461 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.93612557 -0.29932531 -0.18458948 3.0492377 ] [ 0.30791163 0.951224 0.01906141 -0.10617758] [ 0.16988038 -0.07468112 0.98263085 -0.35270058] [ 0. 0. 0. 1. ]] SLAMing on 89.79241403699999 meters Centerline goodness : 0.825495 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.93607903 -0.29927165 -0.18491223 3.05036452] [ 0.30790844 0.95122196 0.0192138 -0.10633492] [ 0.17014242 -0.07492167 0.9825672 -0.35303859] [ 0. 0. 0. 1. ]] SLAMing on 89.82241403699999 meters Centerline goodness : 0.824202 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.93598524 -0.29929188 -0.18535371 3.05181527] [ 0.30801765 0.95118022 0.01952731 -0.10674767] [ 0.17046042 -0.07536949 0.98247783 -0.35335909] [ 0. 0. 0. 1. ]] SLAMing on 89.85241403699999 meters Centerline goodness : 0.821554 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.11, Z:-0.35 [[ 0.93571669 -0.29964027 -0.18614505 3.05352458] [ 0.3085451 0.95099589 0.02016777 -0.1071754 ] [ 0.1709801 -0.07630546 0.98231527 -0.35309286] [ 0. 0. 0. 1. ]] SLAMing on 89.88241403699999 meters Centerline goodness : 0.823980 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93554018 -0.29975644 -0.1868439 3.05504678] [ 0.30878397 0.95091032 0.02054293 -0.10702554] [ 0.17151392 -0.07691314 0.9821748 -0.35307285] [ 0. 0. 0. 1. ]] SLAMing on 89.91241403699999 meters Centerline goodness : 0.828060 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93528802 -0.30014253 -0.18748541 3.05630281] [ 0.30929471 0.95073597 0.02092612 -0.10706131] [ 0.1719683 -0.07756019 0.98204446 -0.35270795] [ 0. 0. 0. 1. ]] SLAMing on 89.94241403699999 meters Centerline goodness : 0.825757 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93468563 -0.30139368 -0.18847978 3.05935421] [ 0.31073892 0.95025324 0.02144995 -0.10770397] [ 0.17263864 -0.07861697 0.98184279 -0.35284862] [ 0. 0. 0. 1. ]] SLAMing on 89.972414037 meters Centerline goodness : 0.823814 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93444525 -0.30177848 -0.18905509 3.0610689 ] [ 0.31125108 0.95007604 0.02186979 -0.10853304] [ 0.17301688 -0.07927973 0.98172292 -0.35287174] [ 0. 0. 0. 1. ]] SLAMing on 90.002414037 meters Centerline goodness : 0.825646 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93426495 -0.30180419 -0.1899032 3.06280561] [ 0.31148919 0.94997916 0.02267335 -0.10922554] [ 0.17356118 -0.08033571 0.98154098 -0.35256638] [ 0. 0. 0. 1. ]] SLAMing on 90.032414037 meters Centerline goodness : 0.824988 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93400398 -0.30208174 -0.19074376 3.06444643] [ 0.31193424 0.94982051 0.02319546 -0.10908713] [ 0.17416541 -0.08116416 0.98136578 -0.35232161] [ 0. 0. 0. 1. ]] SLAMing on 90.062414037 meters Centerline goodness : 0.825568 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.11, Z:-0.35 [[ 0.93393912 -0.3020386 -0.1911293 3.06546394] [ 0.31192632 0.94982263 0.02321517 -0.1083822 ] [ 0.17452706 -0.08129982 0.9812903 -0.35263447] [ 0. 0. 0. 1. ]] SLAMing on 90.092414037 meters Centerline goodness : 0.815611 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.11, Z:-0.35 [[ 0.93420153 -0.30114391 -0.19125856 3.06640694] [ 0.31103012 0.95011609 0.02323106 -0.10769069] [ 0.17472194 -0.08118966 0.98126474 -0.35386177] [ 0. 0. 0. 1. ]] SLAMing on 90.12241403699998 meters Centerline goodness : 0.815898 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.11, Z:-0.35 [[ 0.93449251 -0.30023695 -0.19126298 3.06650923] [ 0.31011886 0.95041243 0.0232916 -0.10729031] [ 0.17478572 -0.08108008 0.98126244 -0.354399 ] [ 0. 0. 0. 1. ]] SLAMing on 90.15241403699999 meters Centerline goodness : 0.826278 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.11, Z:-0.35 [[ 0.93485912 -0.29912392 -0.19121533 3.06600892] [ 0.30903771 0.95075694 0.02359944 -0.10696524] [ 0.17474015 -0.0811549 0.98126437 -0.35453574] [ 0. 0. 0. 1. ]] SLAMing on 90.18241403699999 meters Centerline goodness : 0.822885 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93623423 -0.29462541 -0.19147151 3.06339785] [ 0.30500961 0.95197917 0.02654801 -0.1067492 ] [ 0.17445517 -0.0832558 0.98113906 -0.35399942] [ 0. 0. 0. 1. ]] SLAMing on 90.21241403699999 meters Centerline goodness : 0.826399 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.35 [[ 0.93677682 -0.29315619 -0.19107235 3.06230916] [ 0.30346836 0.95247365 0.02647469 -0.10590931] [ 0.17423016 -0.08278529 0.98121886 -0.35456667] [ 0. 0. 0. 1. ]] SLAMing on 90.24241403699999 meters Centerline goodness : 0.820966 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:-0.36 [[ 0.93722651 -0.29190966 -0.19077529 3.06193347] [ 0.30211554 0.95291295 0.02613654 -0.10470022] [ 0.17416274 -0.08213204 0.98128572 -0.35565141] [ 0. 0. 0. 1. ]] SLAMing on 90.27241403699999 meters Centerline goodness : 0.822740 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:-0.36 [[ 0.93777576 -0.29026837 -0.19058043 3.06230181] [ 0.30038234 0.95346808 0.0258665 -0.10365989] [ 0.17420413 -0.08150397 0.98133074 -0.35728678] [ 0. 0. 0. 1. ]] SLAMing on 90.30241403699999 meters Centerline goodness : 0.818332 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:-0.36 [[ 0.93948516 -0.28504377 -0.19004653 3.0603691 ] [ 0.29540848 0.95495984 0.02802752 -0.10416546] [ 0.17349773 -0.08247279 0.98137494 -0.35887412] [ 0. 0. 0. 1. ]] SLAMing on 90.33241403699999 meters Centerline goodness : 0.823783 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:-0.36 [[ 0.94007214 -0.28371603 -0.18912849 3.05815751] [ 0.29391377 0.95543203 0.02764667 -0.10376054] [ 0.17285561 -0.08157733 0.98156308 -0.3592365 ] [ 0. 0. 0. 1. ]] SLAMing on 90.362414037 meters Centerline goodness : 0.820685 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:-0.36 [[ 0.94152176 -0.27874158 -0.18931431 3.05661524] [ 0.28940184 0.95671706 0.03064376 -0.10385855] [ 0.17257854 -0.08363967 0.98143826 -0.35988671] [ 0. 0. 0. 1. ]] SLAMing on 90.392414037 meters Centerline goodness : 0.816170 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:-0.36 [[ 0.9420659 -0.27734897 -0.1886515 3.05544457] [ 0.2879144 0.95716852 0.03055705 -0.10363888] [ 0.17209631 -0.08310224 0.98156858 -0.36072977] [ 0. 0. 0. 1. ]] SLAMing on 90.422414037 meters Centerline goodness : 0.821610 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:-0.36 [[ 0.94248476 -0.27614349 -0.1883275 3.0550003 ] [ 0.28668105 0.95753513 0.03066692 -0.10354641] [ 0.17186173 -0.08289303 0.98162737 -0.36143039] [ 0. 0. 0. 1. ]] SLAMing on 90.452414037 meters Centerline goodness : 0.812358 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.10, Z:-0.36 [[ 0.94270329 -0.27582254 -0.18770304 3.05402734] [ 0.28620296 0.95769604 0.0301024 -0.10326684] [ 0.17145954 -0.0820988 0.98176444 -0.36195774] [ 0. 0. 0. 1. ]] SLAMing on 90.48241403699998 meters Centerline goodness : 0.820854 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.10, Z:-0.36 [[ 0.94285191 -0.27549003 -0.18744473 3.05392472] [ 0.28582482 0.95781228 0.02999676 -0.10362277] [ 0.17127305 -0.08185885 0.98181702 -0.36239396] [ 0. 0. 0. 1. ]] SLAMing on 90.51241403699999 meters Centerline goodness : 0.823857 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.10, Z:-0.36 [[ 0.94292275 -0.27542669 -0.18718125 3.0541484 ] [ 0.28571241 0.95785044 0.0298489 -0.10421121] [ 0.17107046 -0.08162521 0.9818718 -0.3629519 ] [ 0. 0. 0. 1. ]] SLAMing on 90.54241403699999 meters Centerline goodness : 0.824907 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.36 [[ 0.94285881 -0.27540437 -0.18753587 3.05611549] [ 0.28588971 0.95776667 0.03082342 -0.10660865] [ 0.1711267 -0.08267671 0.98177401 -0.36343702] [ 0. 0. 0. 1. ]] SLAMing on 90.57241403699999 meters Centerline goodness : 0.821248 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.36 [[ 0.94257404 -0.27609056 -0.18795794 3.05754372] [ 0.28667381 0.95752284 0.03111477 -0.10799219] [ 0.17138352 -0.0832106 0.98168411 -0.36320575] [ 0. 0. 0. 1. ]] SLAMing on 90.60241403699999 meters Centerline goodness : 0.827265 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.36 [[ 0.9422522 -0.27697625 -0.18826829 3.0585622 ] [ 0.28767386 0.9572091 0.03153549 -0.10961277] [ 0.17147754 -0.08387424 0.98161121 -0.36271347] [ 0. 0. 0. 1. ]] SLAMing on 90.63241403699999 meters Centerline goodness : 0.824491 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.36 [[ 0.94186464 -0.27760375 -0.18928063 3.06085727] [ 0.28859105 0.95689638 0.03262712 -0.11142678] [ 0.17206454 -0.08535503 0.98138082 -0.36203955] [ 0. 0. 0. 1. ]] SLAMing on 90.66241403699999 meters Centerline goodness : 0.824491 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.11, Z:-0.36 [[ 0.94186464 -0.27760375 -0.18928063 3.06085727] [ 0.28859105 0.95689638 0.03262712 -0.11142678] [ 0.17206454 -0.08535503 0.98138082 -0.36203955] [ 0. 0. 0. 1. ]] SLAMing on 90.69241403699999 meters Centerline goodness : 0.824768 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.12, Z:-0.36 [[ 0.940942 -0.27981579 -0.19060764 3.06377636] [ 0.29129981 0.95600676 0.03457595 -0.11568248] [ 0.1725473 -0.08805793 0.9810572 -0.36004018] [ 0. 0. 0. 1. ]] SLAMing on 90.722414037 meters Centerline goodness : 0.826237 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.12, Z:-0.36 [[ 0.94042199 -0.28076669 -0.19177214 3.06636456] [ 0.29261256 0.95555568 0.03593369 -0.11772355] [ 0.17315998 -0.08990777 0.98078143 -0.35912473] [ 0. 0. 0. 1. ]] SLAMing on 90.752414037 meters Centerline goodness : 0.824263 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.12, Z:-0.36 [[ 0.93991129 -0.28182119 -0.19272673 3.06856874] [ 0.29396484 0.95509927 0.03701438 -0.11972561] [ 0.17364173 -0.09144512 0.9805541 -0.35823529] [ 0. 0. 0. 1. ]] SLAMing on 90.782414037 meters Centerline goodness : 0.823684 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.12, Z:-0.36 [[ 0.93941519 -0.2831767 -0.19315813 3.06959775] [ 0.29546691 0.95461725 0.03748604 -0.12149445] [ 0.17377691 -0.09228679 0.98045129 -0.35718802] [ 0. 0. 0. 1. ]] SLAMing on 90.812414037 meters Centerline goodness : 0.825517 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.12, Z:-0.36 [[ 0.93891336 -0.2839779 -0.19441775 3.07269328] [ 0.29658328 0.95423052 0.03850279 -0.12309728] [ 0.17458541 -0.09381184 0.98016288 -0.35666071] [ 0. 0. 0. 1. ]] SLAMing on 90.842414037 meters Centerline goodness : 0.819656 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.13, Z:-0.36 [[ 0.93760686 -0.28827317 -0.19440151 3.07504706] [ 0.30056649 0.95306734 0.03636527 -0.12517197] [ 0.1747946 -0.0925269 0.98024773 -0.35595698] [ 0. 0. 0. 1. ]] SLAMing on 90.87241403699998 meters Centerline goodness : 0.825320 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.13, Z:-0.36 [[ 0.93708882 -0.28915259 -0.19558967 3.07781831] [ 0.30178349 0.95263754 0.03752918 -0.12708686] [ 0.1754744 -0.09419391 0.97996747 -0.35519896] [ 0. 0. 0. 1. ]] SLAMing on 90.90241403699999 meters Centerline goodness : 0.828083 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.13, Z:-0.35 [[ 0.93656179 -0.29002052 -0.19682507 3.08095899] [ 0.30296447 0.95222326 0.03851473 -0.12875006] [ 0.17625135 -0.09570243 0.97968184 -0.35474002] [ 0. 0. 0. 1. ]] SLAMing on 90.93241403699999 meters Centerline goodness : 0.828799 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.13, Z:-0.35 [[ 0.93598726 -0.29100697 -0.19809792 3.08443637] [ 0.30427009 0.95176708 0.03948589 -0.13030344] [ 0.17705241 -0.09723357 0.97938658 -0.35452149] [ 0. 0. 0. 1. ]] SLAMing on 90.96241403699999 meters Centerline goodness : 0.821450 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.35 [[ 0.93535735 -0.29259961 -0.19872617 3.08654069] [ 0.30597165 0.95121722 0.03958736 -0.13124833] [ 0.17744851 -0.0978329 0.9792552 -0.35419356] [ 0. 0. 0. 1. ]] SLAMing on 90.99241403699999 meters Centerline goodness : 0.823952 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.35 [[ 0.93405087 -0.29679858 -0.19864434 3.0885514 ] [ 0.30981288 0.950067 0.03726487 -0.13200187] [ 0.17766527 -0.09634986 0.97936293 -0.35363174] [ 0. 0. 0. 1. ]] SLAMing on 91.02241403699999 meters Centerline goodness : 0.822720 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.35 [[ 0.9337762 -0.2969947 -0.19964004 3.09049672] [ 0.31030345 0.94986514 0.03831424 -0.13321577] [ 0.17825199 -0.09772592 0.97911995 -0.35293433] [ 0. 0. 0. 1. ]] SLAMing on 91.05241403699999 meters Centerline goodness : 0.835122 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.13, Z:-0.35 [[ 0.9334862 -0.29731789 -0.20051332 3.09232461] [ 0.31091435 0.94962209 0.03937204 -0.13472186] [ 0.17870587 -0.09909572 0.97889951 -0.35218512] [ 0. 0. 0. 1. ]] SLAMing on 91.08241403699999 meters Centerline goodness : 0.837490 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.14, Z:-0.35 [[ 0.93327165 -0.29794627 -0.20057927 3.09210202] [ 0.31179954 0.94927651 0.04068354 -0.13856401] [ 0.17828368 -0.10050932 0.97883237 -0.35039893] [ 0. 0. 0. 1. ]] SLAMing on 91.112414037 meters Centerline goodness : 0.825506 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.14, Z:-0.35 [[ 0.93294936 -0.29834226 -0.20148796 3.09389422] [ 0.31242212 0.94904233 0.04136518 -0.13899138] [ 0.17887962 -0.10154091 0.97861715 -0.34986463] [ 0. 0. 0. 1. ]] SLAMing on 91.142414037 meters Centerline goodness : 0.834998 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.14, Z:-0.35 [[ 0.93278643 -0.29832599 -0.2022649 3.09563397] [ 0.31262438 0.94894295 0.04211031 -0.13954462] [ 0.17937525 -0.10251286 0.97842508 -0.34972175] [ 0. 0. 0. 1. ]] SLAMing on 91.172414037 meters Centerline goodness : 0.834458 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.14, Z:-0.35 [[ 0.93227157 -0.29956417 -0.20280789 3.09788318] [ 0.31382814 0.94857284 0.04149058 -0.13869574] [ 0.17994896 -0.10232731 0.97833915 -0.35031896] [ 0. 0. 0. 1. ]] SLAMing on 91.202414037 meters Centerline goodness : 0.826912 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.14, Z:-0.35 [[ 0.93208906 -0.29972056 -0.20341476 3.09968138] [ 0.31409335 0.94847521 0.04171501 -0.13859698] [ 0.18043101 -0.10277333 0.9782036 -0.35068542] [ 0. 0. 0. 1. ]] SLAMing on 91.23241403699998 meters Centerline goodness : 0.839381 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.14, Z:-0.35 [[ 0.93197685 -0.29988489 -0.20368652 3.10107822] [ 0.3142847 0.948413 0.04168829 -0.13866733] [ 0.18067726 -0.10286808 0.97814819 -0.35129022] [ 0. 0. 0. 1. ]] SLAMing on 91.26241403699999 meters Centerline goodness : 0.829208 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.14, Z:-0.35 [[ 0.93173769 -0.30025482 -0.20423497 3.10273166] [ 0.31473208 0.94826175 0.04175378 -0.13823644] [ 0.18113143 -0.10318286 0.97803103 -0.35165105] [ 0. 0. 0. 1. ]] SLAMing on 91.29241403699999 meters Centerline goodness : 0.836736 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.14, Z:-0.35 [[ 0.93156739 -0.30039677 -0.20480229 3.10409833] [ 0.3149675 0.94817646 0.04191509 -0.13790878] [ 0.18159755 -0.1035528 0.97790549 -0.35175287] [ 0. 0. 0. 1. ]] SLAMing on 91.32241403699999 meters Centerline goodness : 0.831520 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.14, Z:-0.35 [[ 0.93113192 -0.30123103 -0.20555586 3.10505278] [ 0.31583808 0.94790101 0.04159319 -0.1354688 ] [ 0.18231745 -0.10365111 0.97776111 -0.35144154] [ 0. 0. 0. 1. ]] SLAMing on 91.35241403699999 meters Centerline goodness : 0.828551 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.13, Z:-0.35 [[ 0.93089723 -0.30157122 -0.20611927 3.10579103] [ 0.31623248 0.94777251 0.04152464 -0.13400485] [ 0.18283154 -0.10383678 0.97764541 -0.35130472] [ 0. 0. 0. 1. ]] SLAMing on 91.38241403699999 meters Centerline goodness : 0.841726 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.13, Z:-0.35 [[ 0.93078969 -0.30169974 -0.20641661 3.10613984] [ 0.31636835 0.9477335 0.04137968 -0.13292 ] [ 0.18314369 -0.10381947 0.97758882 -0.35125108] [ 0. 0. 0. 1. ]] SLAMing on 91.41241403699999 meters Centerline goodness : 0.839072 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.13, Z:-0.35 [[ 0.9304944 -0.30235553 -0.20678807 3.10683306] [ 0.31691943 0.94758548 0.04054414 -0.13032565] [ 0.18369063 -0.10326125 0.97754533 -0.3516161 ] [ 0. 0. 0. 1. ]] SLAMing on 91.44241403699999 meters Centerline goodness : 0.840464 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.13, Z:-0.35 [[ 0.9303054 -0.3026093 -0.20726668 3.10753016] [ 0.31720638 0.94749469 0.04042185 -0.12909201] [ 0.18415204 -0.10335098 0.97744903 -0.35152644] [ 0. 0. 0. 1. ]] SLAMing on 91.472414037 meters Centerline goodness : 0.839575 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.13, Z:-0.35 [[ 0.93007105 -0.30306305 -0.20765506 3.10800924] [ 0.31766637 0.94735049 0.04018857 -0.12764276] [ 0.18454245 -0.10334325 0.97737621 -0.35140785] [ 0. 0. 0. 1. ]] SLAMing on 91.502414037 meters Centerline goodness : 0.836994 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.12, Z:-0.35 [[ 0.92992851 -0.30212492 -0.2096509 3.10925593] [ 0.31733011 0.94737089 0.04230825 -0.12497197] [ 0.18583479 -0.1058722 0.97686054 -0.35028668] [ 0. 0. 0. 1. ]] SLAMing on 91.532414037 meters Centerline goodness : 0.837223 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.12, Z:-0.35 [[ 0.92975087 -0.30255919 -0.20981244 3.10916803] [ 0.31766803 0.94728611 0.04166585 -0.12295098] [ 0.18614602 -0.10538957 0.97685347 -0.35025012] [ 0. 0. 0. 1. ]] SLAMing on 91.562414037 meters Centerline goodness : 0.840629 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.12, Z:-0.35 [[ 0.92969111 -0.30251482 -0.21014094 3.10982769] [ 0.3175995 0.94732274 0.04135446 -0.12121307] [ 0.18656095 -0.10518753 0.97679609 -0.35070245] [ 0. 0. 0. 1. ]] SLAMing on 91.592414037 meters Centerline goodness : 0.841812 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.12, Z:-0.35 [[ 0.92972061 -0.30241504 -0.21015408 3.10961547] [ 0.31743626 0.94739178 0.04102474 -0.11979648] [ 0.18669175 -0.10485207 0.97680716 -0.35097676] [ 0. 0. 0. 1. ]] SLAMing on 91.62241403699998 meters Centerline goodness : 0.840820 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.12, Z:-0.35 [[ 0.93050281 -0.2993622 -0.21106112 3.10841886] [ 0.31488741 0.94813454 0.04343756 -0.11785176] [ 0.18711077 -0.10687926 0.97650724 -0.35037486] [ 0. 0. 0. 1. ]] SLAMing on 91.65241403699999 meters Centerline goodness : 0.839397 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.12, Z:-0.35 [[ 0.93069685 -0.29857387 -0.21132209 3.10769991] [ 0.31411572 0.94838988 0.04345063 -0.11556999] [ 0.18744251 -0.10681896 0.97645021 -0.35024207] [ 0. 0. 0. 1. ]] SLAMing on 91.68241403699999 meters Centerline goodness : 0.838023 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.11, Z:-0.35 [[ 0.93089821 -0.29808906 -0.21111948 3.10625327] [ 0.31351748 0.9486072 0.04302512 -0.11349168] [ 0.18744414 -0.10624165 0.97651288 -0.35010996] [ 0. 0. 0. 1. ]] SLAMing on 91.71241403699999 meters Centerline goodness : 0.837311 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.11, Z:-0.35 [[ 0.93112805 -0.29732861 -0.21117823 3.10605141] [ 0.31267253 0.94890402 0.04262682 -0.1114695 ] [ 0.1877137 -0.10572066 0.97651764 -0.35068286] [ 0. 0. 0. 1. ]] SLAMing on 91.74241403699999 meters Centerline goodness : 0.833408 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.35 [[ 0.93130445 -0.29705256 -0.21078853 3.10450427] [ 0.31210472 0.94914704 0.04135879 -0.10787864] [ 0.18778357 -0.10430572 0.97665636 -0.35120386] [ 0. 0. 0. 1. ]] SLAMing on 91.77241403699999 meters Centerline goodness : 0.833355 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.11, Z:-0.35 [[ 0.93135365 -0.29698168 -0.21067098 3.10458903] [ 0.31195812 0.94920913 0.04103845 -0.10706001] [ 0.18778315 -0.10394184 0.97669524 -0.35178618] [ 0. 0. 0. 1. ]] SLAMing on 91.80241403699999 meters Centerline goodness : 0.833287 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.11, Z:-0.35 [[ 0.93131655 -0.29707085 -0.21070927 3.10544037] [ 0.31195426 0.94923249 0.04052435 -0.10594954] [ 0.18797348 -0.10347265 0.97670844 -0.3527851 ] [ 0. 0. 0. 1. ]] SLAMing on 91.83241403699999 meters Centerline goodness : 0.830549 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.10, Z:-0.35 [[ 0.93108487 -0.29775015 -0.21077431 3.10609796] [ 0.31248267 0.94909616 0.03963652 -0.10394269] [ 0.18824331 -0.10276829 0.97673084 -0.35353675] [ 0. 0. 0. 1. ]] SLAMing on 91.862414037 meters Centerline goodness : 0.834382 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.10, Z:-0.35 [[ 0.93096745 -0.29783299 -0.21117556 3.10640831] [ 0.31260012 0.94905966 0.03958441 -0.1026923 ] [ 0.18862866 -0.1028653 0.97664628 -0.35334492] [ 0. 0. 0. 1. ]] SLAMing on 91.892414037 meters Centerline goodness : 0.833405 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.10, Z:-0.35 [[ 0.93088279 -0.29782109 -0.2115652 3.10636136] [ 0.3126752 0.94902512 0.03981878 -0.10183323] [ 0.18892182 -0.10321781 0.97655242 -0.35274366] [ 0. 0. 0. 1. ]] SLAMing on 91.922414037 meters Centerline goodness : 0.836492 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.10, Z:-0.35 [[ 0.93088098 -0.2979546 -0.2113851 3.10408174] [ 0.31269032 0.94904204 0.03929334 -0.09948689] [ 0.18890571 -0.10267549 0.9766127 -0.35158736] [ 0. 0. 0. 1. ]] SLAMing on 91.952414037 meters Centerline goodness : 0.833373 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.10, Z:-0.35 [[ 0.93092398 -0.29780702 -0.2114037 3.10339274] [ 0.31248702 0.94912069 0.03900998 -0.09804995] [ 0.18903018 -0.10237624 0.97662004 -0.35142112] [ 0. 0. 0. 1. ]] SLAMing on 91.98241403699998 meters Centerline goodness : 0.832856 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.10, Z:-0.35 [[ 0.93085611 -0.29804723 -0.21136402 3.10297477] [ 0.31261584 0.94910184 0.03843224 -0.0965051 ] [ 0.18915136 -0.10185063 0.97665153 -0.35137994] [ 0. 0. 0. 1. ]] SLAMing on 92.01241403699999 meters Centerline goodness : 0.832566 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.10, Z:-0.35 [[ 0.93075685 -0.2982249 -0.21155045 3.10383842] [ 0.31271785 0.94908876 0.03792184 -0.0951759 ] [ 0.18947092 -0.10145161 0.97663112 -0.35205525] [ 0. 0. 0. 1. ]] SLAMing on 92.04241403699999 meters Centerline goodness : 0.831664 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.09, Z:-0.35 [[ 0.93056854 -0.29893814 -0.21137213 3.10395854] [ 0.31321837 0.94896593 0.03684994 -0.09351171] [ 0.1895691 -0.10049703 0.97671076 -0.35263201] [ 0. 0. 0. 1. ]] SLAMing on 92.07241403699999 meters Centerline goodness : 0.833960 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.09, Z:-0.35 [[ 0.93041006 -0.29939071 -0.21142922 3.10367587] [ 0.3135319 0.94889285 0.03605713 -0.09103614] [ 0.18982851 -0.09983772 0.97672799 -0.35276042] [ 0. 0. 0. 1. ]] SLAMing on 92.10241403699999 meters Centerline goodness : 0.836148 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.09, Z:-0.35 [[ 0.93032093 -0.29940819 -0.21179636 3.10375846] [ 0.31358601 0.94887536 0.03604681 -0.08975517] [ 0.19017564 -0.09995148 0.97664883 -0.35242775] [ 0. 0. 0. 1. ]] SLAMing on 92.13241403699999 meters Centerline goodness : 0.836857 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.09, Z:-0.35 [[ 0.9300965 -0.29972356 -0.21233534 3.1039005 ] [ 0.31390252 0.94878261 0.03573188 -0.087317 ] [ 0.19075039 -0.0998867 0.97654336 -0.35203816] [ 0. 0. 0. 1. ]] SLAMing on 92.16241403699999 meters Centerline goodness : 0.835883 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.09, Z:-0.35 [[ 0.92987195 -0.30037828 -0.21239359 3.1040046 ] [ 0.31442628 0.9486378 0.03496333 -0.08567851] [ 0.19098236 -0.09929354 0.97655851 -0.35215621] [ 0. 0. 0. 1. ]] SLAMing on 92.19241403699999 meters Centerline goodness : 0.836052 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.08, Z:-0.35 [[ 0.92961355 -0.3011012 -0.2125011 3.10397671] [ 0.31504631 0.94845607 0.03430599 -0.08457469] [ 0.19121838 -0.098839 0.97655844 -0.35186451] [ 0. 0. 0. 1. ]] SLAMing on 92.222414037 meters Centerline goodness : 0.836206 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.08, Z:-0.35 [[ 0.92939467 -0.30154797 -0.21282474 3.10473755] [ 0.31550161 0.94831097 0.03413262 -0.08362959] [ 0.19153142 -0.09886923 0.97649403 -0.35197977] [ 0. 0. 0. 1. ]] SLAMing on 92.252414037 meters Centerline goodness : 0.830615 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92885078 -0.30257235 -0.21374331 3.10603174] [ 0.31663876 0.9479325 0.03411568 -0.08247395] [ 0.19229177 -0.0993678 0.97629397 -0.35124131] [ 0. 0. 0. 1. ]] SLAMing on 92.282414037 meters Centerline goodness : 0.835535 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92859135 -0.30297745 -0.21429597 3.10670476] [ 0.31715716 0.94775049 0.0343561 -0.08194111] [ 0.19268999 -0.09986828 0.97616438 -0.35070203] [ 0. 0. 0. 1. ]] SLAMing on 92.312414037 meters Centerline goodness : 0.833402 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92836853 -0.3032599 -0.21486114 3.10726501] [ 0.31756663 0.94760194 0.03466977 -0.08166526] [ 0.19308888 -0.10041905 0.97602905 -0.35006103] [ 0. 0. 0. 1. ]] SLAMing on 92.342414037 meters Centerline goodness : 0.830219 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92806702 -0.30394191 -0.2151997 3.10750096] [ 0.31824375 0.9473848 0.03439401 -0.08099487] [ 0.19342315 -0.10040591 0.97596421 -0.34944754] [ 0. 0. 0. 1. ]] SLAMing on 92.37241403699998 meters Centerline goodness : 0.831825 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92753932 -0.30486555 -0.21616618 3.10916938] [ 0.31923456 0.94706119 0.0341232 -0.07909317] [ 0.19431961 -0.10065833 0.97576011 -0.34919152] [ 0. 0. 0. 1. ]] SLAMing on 92.40241403699999 meters Centerline goodness : 0.831461 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92724815 -0.30554958 -0.21644933 3.11009714] [ 0.31985506 0.94687113 0.03358262 -0.07808846] [ 0.19468847 -0.10037184 0.97571609 -0.34934402] [ 0. 0. 0. 1. ]] SLAMing on 92.43241403699999 meters Centerline goodness : 0.832849 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92700632 -0.30607192 -0.216747 3.11088091] [ 0.32036246 0.94670972 0.03329576 -0.07713161] [ 0.1950056 -0.10030299 0.97565984 -0.34952778] [ 0. 0. 0. 1. ]] SLAMing on 92.46241403699999 meters Centerline goodness : 0.832544 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.08, Z:-0.35 [[ 0.92682912 -0.30634531 -0.21711826 3.1114705 ] [ 0.32065426 0.94661556 0.03316379 -0.0763889 ] [ 0.19536795 -0.10035706 0.97558179 -0.34936777] [ 0. 0. 0. 1. ]] SLAMing on 92.49241403699999 meters Centerline goodness : 0.833136 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.07, Z:-0.35 [[ 0.92654454 -0.30669852 -0.21783306 3.1117711 ] [ 0.32103436 0.94649642 0.03288568 -0.07336787] [ 0.19609222 -0.10040194 0.97543185 -0.3489704 ] [ 0. 0. 0. 1. ]] SLAMing on 92.52241403699999 meters Centerline goodness : 0.830913 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.07, Z:-0.35 [[ 0.92635836 -0.30697762 -0.21823135 3.1124731 ] [ 0.32128404 0.94642496 0.03250161 -0.07167116] [ 0.19656233 -0.10022239 0.97535569 -0.34914609] [ 0. 0. 0. 1. ]] SLAMing on 92.55241403699999 meters Centerline goodness : 0.830913 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.07, Z:-0.35 [[ 0.92635836 -0.30697762 -0.21823135 3.1124731 ] [ 0.32128404 0.94642496 0.03250161 -0.07167116] [ 0.19656233 -0.10022239 0.97535569 -0.34914609] [ 0. 0. 0. 1. ]] SLAMing on 92.58241403699999 meters Centerline goodness : 0.832701 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.07, Z:-0.35 [[ 0.92620401 -0.3071392 -0.21865873 3.1133741 ] [ 0.32145886 0.94637157 0.03232742 -0.07047932] [ 0.19700339 -0.10023158 0.97526576 -0.3493427 ] [ 0. 0. 0. 1. ]] SLAMing on 92.612414037 meters Centerline goodness : 0.833918 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.07, Z:-0.35 [[ 0.92603973 -0.30749092 -0.21886013 3.11402443] [ 0.32175671 0.94628422 0.03191854 -0.06964529] [ 0.19728923 -0.09997755 0.97523405 -0.34952064] [ 0. 0. 0. 1. ]] SLAMing on 92.642414037 meters Centerline goodness : 0.832751 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.07, Z:-0.35 [[ 0.92602528 -0.3076208 -0.21873871 3.11444336] [ 0.32177631 0.94629417 0.03142205 -0.06906912] [ 0.19732509 -0.09948254 0.97527741 -0.35019857] [ 0. 0. 0. 1. ]] SLAMing on 92.672414037 meters Centerline goodness : 0.834358 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.07, Z:-0.35 [[ 0.92594464 -0.30749018 -0.21926313 3.11511479] [ 0.32172771 0.94630574 0.03157087 -0.06818635] [ 0.19778223 -0.0997759 0.97515484 -0.35003202] [ 0. 0. 0. 1. ]] SLAMing on 92.702414037 meters Centerline goodness : 0.834455 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.07, Z:-0.35 [[ 0.92596561 -0.30722868 -0.21954096 3.11505073] [ 0.32147359 0.94639471 0.03149247 -0.06693403] [ 0.19809702 -0.09973757 0.97509486 -0.34983708] [ 0. 0. 0. 1. ]] SLAMing on 92.73241403699998 meters Centerline goodness : 0.830355 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.35 [[ 0.92605283 -0.30675655 -0.21983308 3.11473923] [ 0.32100931 0.9465543 0.03143226 -0.06499302] [ 0.19844189 -0.0996764 0.97503099 -0.34967155] [ 0. 0. 0. 1. ]] SLAMing on 92.76241403699999 meters Centerline goodness : 0.834895 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.35 [[ 0.9270068 -0.30329581 -0.22061288 3.11331151] [ 0.31797074 0.94750932 0.03347688 -0.06195615] [ 0.19887936 -0.10118174 0.97478677 -0.3496153 ] [ 0. 0. 0. 1. ]] SLAMing on 92.79241403699999 meters Centerline goodness : 0.832393 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.35 [[ 0.92791741 -0.29982141 -0.22153195 3.11354043] [ 0.31504564 0.94839125 0.03605952 -0.06114013] [ 0.19928755 -0.10325293 0.97448618 -0.35016519] [ 0. 0. 0. 1. ]] SLAMing on 92.82241403699999 meters Centerline goodness : 0.833120 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.35 [[ 0.92849152 -0.29845915 -0.22096522 3.1122164 ] [ 0.31351088 0.94891475 0.03566126 -0.05929966] [ 0.19903373 -0.10238618 0.97462949 -0.35118575] [ 0. 0. 0. 1. ]] SLAMing on 92.85241403699999 meters Centerline goodness : 0.829682 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.35 [[ 0.92892351 -0.29749101 -0.22045454 3.11098699] [ 0.31228082 0.94935408 0.03474953 -0.05676056] [ 0.19895174 -0.10112338 0.97477806 -0.35211085] [ 0. 0. 0. 1. ]] SLAMing on 92.88241403699999 meters Centerline goodness : 0.834312 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:-0.35 [[ 0.93027143 -0.29332748 -0.22034987 3.10911264] [ 0.30833342 0.9505851 0.03631061 -0.05407841] [ 0.1988104 -0.10171996 0.97474482 -0.35347466] [ 0. 0. 0. 1. ]] SLAMing on 92.91241403699999 meters Centerline goodness : 0.832467 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:-0.35 [[ 0.9307679 -0.29233168 -0.21957526 3.10749807] [ 0.30709862 0.95100984 0.03564713 -0.05286996] [ 0.19839744 -0.10061047 0.97494409 -0.35426289] [ 0. 0. 0. 1. ]] SLAMing on 92.94241403699999 meters Centerline goodness : 0.781257 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:-0.35 [[ 0.93121503 -0.29156045 -0.21870315 3.1056954 ] [ 0.3060787 0.95136425 0.03495556 -0.05208042] [ 0.1978747 -0.09949151 0.97516514 -0.3548208 ] [ 0. 0. 0. 1. ]] SLAMing on 92.972414037 meters Centerline goodness : 0.784044 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.93347827 -0.2941119 -0.20522308 3.10484182] [ 0.30728909 0.95097753 0.03485902 -0.04647892] [ 0.18491009 -0.09560295 0.97809424 -0.3608571 ] [ 0. 0. 0. 1. ]] SLAMing on 93.002414037 meters Centerline goodness : 0.781872 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.93396897 -0.29299683 -0.20458451 3.10294061] [ 0.30602773 0.95139618 0.03453017 -0.04536584] [ 0.18452369 -0.09485864 0.97823967 -0.36108283] [ 0. 0. 0. 1. ]] SLAMing on 93.032414037 meters Centerline goodness : 0.783995 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:-0.36 [[ 0.93433094 -0.29214007 -0.20415648 3.10095864] [ 0.30505901 0.95171756 0.03424452 -0.04394935] [ 0.18429511 -0.09427549 0.97833913 -0.36080385] [ 0. 0. 0. 1. ]] SLAMing on 93.062414037 meters Centerline goodness : 0.782410 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:-0.36 [[ 0.93473054 -0.29120081 -0.20366862 3.09906447] [ 0.30400549 0.95206395 0.03398373 -0.04277832] [ 0.18400946 -0.09368201 0.9784499 -0.36068825] [ 0. 0. 0. 1. ]] SLAMing on 93.092414037 meters Centerline goodness : 0.781620 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:-0.36 [[ 0.93538558 -0.28985992 -0.20257108 3.09639603] [ 0.30240472 0.95259786 0.03329731 -0.0412468 ] [ 0.18331722 -0.09240428 0.97870131 -0.36127633] [ 0. 0. 0. 1. ]] SLAMing on 93.12241403699998 meters Centerline goodness : 0.784211 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:-0.37 [[ 0.93665871 -0.29527517 -0.18836942 3.09514039] [ 0.30634123 0.95138576 0.03194039 -0.03701906] [ 0.16978078 -0.08762256 0.98157872 -0.36628949] [ 0. 0. 0. 1. ]] SLAMing on 93.15241403699999 meters Centerline goodness : 0.783410 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93693492 -0.29461718 -0.1880257 3.0940688 ] [ 0.30565984 0.95160138 0.03204488 -0.03742996] [ 0.16948454 -0.08749588 0.98164121 -0.3660168 ] [ 0. 0. 0. 1. ]] SLAMing on 93.18241403699999 meters Centerline goodness : 0.781671 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93690162 -0.29493636 -0.18769097 3.09366509] [ 0.30585012 0.95156029 0.03144392 -0.03709902] [ 0.16932532 -0.08686517 0.9817247 -0.36615363] [ 0. 0. 0. 1. ]] SLAMing on 93.21241403699999 meters Centerline goodness : 0.783274 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93682865 -0.29493355 -0.18805925 3.09474813] [ 0.30589896 0.95154103 0.03155138 -0.03685673] [ 0.16964053 -0.08708537 0.98165077 -0.36640309] [ 0. 0. 0. 1. ]] SLAMing on 93.24241403699999 meters Centerline goodness : 0.781954 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93670847 -0.29546523 -0.18782319 3.09420731] [ 0.30632235 0.95142297 0.03099904 -0.03621754] [ 0.16954016 -0.0865715 0.98171356 -0.36632285] [ 0. 0. 0. 1. ]] SLAMing on 93.27241403699999 meters Centerline goodness : 0.781198 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93665314 -0.2954513 -0.18812075 3.09463405] [ 0.30636014 0.95140604 0.0311451 -0.03593562] [ 0.16977735 -0.08680486 0.98165196 -0.36613248] [ 0. 0. 0. 1. ]] SLAMing on 93.30241403699999 meters Centerline goodness : 0.831964 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93677005 -0.29534953 -0.18769798 3.09383777] [ 0.30617466 0.95147409 0.0308891 -0.0362002 ] [ 0.16946669 -0.08640435 0.98174097 -0.36616314] [ 0. 0. 0. 1. ]] SLAMing on 93.33241403699999 meters Centerline goodness : 0.832879 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93680256 -0.29552014 -0.18726666 3.09352108] [ 0.30619302 0.95148987 0.03021353 -0.03599674] [ 0.16925362 -0.08564385 0.98184436 -0.36661261] [ 0. 0. 0. 1. ]] SLAMing on 93.362414037 meters Centerline goodness : 0.832474 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93712621 -0.2950065 -0.18645544 3.09254081] [ 0.30550912 0.95172628 0.02968627 -0.03654058] [ 0.1686969 -0.08478362 0.98201481 -0.36719447] [ 0. 0. 0. 1. ]] SLAMing on 93.392414037 meters Centerline goodness : 0.833817 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93735457 -0.29438198 -0.18629453 3.09226149] [ 0.3048767 0.95192616 0.02977898 -0.03662046] [ 0.16857224 -0.08471033 0.98204255 -0.36739262] [ 0. 0. 0. 1. ]] SLAMing on 93.422414037 meters Centerline goodness : 0.832032 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93752168 -0.29388827 -0.18623313 3.09226134] [ 0.30436184 0.95209238 0.02973179 -0.03667965] [ 0.16857332 -0.08455645 0.98205562 -0.36767198] [ 0. 0. 0. 1. ]] SLAMing on 93.452414037 meters Centerline goodness : 0.834199 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93758399 -0.29401473 -0.18571913 3.09138051] [ 0.30432299 0.95212684 0.02901717 -0.03643464] [ 0.1682967 -0.08372464 0.98217433 -0.3677292 ] [ 0. 0. 0. 1. ]] SLAMing on 93.48241403699998 meters Centerline goodness : 0.830292 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93805475 -0.29255113 -0.18565324 3.091312 ] [ 0.3029696 0.95253337 0.02982631 -0.03741658] [ 0.16811519 -0.084226 0.98216255 -0.36808491] [ 0. 0. 0. 1. ]] SLAMing on 93.51241403699999 meters Centerline goodness : 0.781261 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93804877 -0.29268399 -0.18547395 3.09088664] [ 0.30305052 0.95251463 0.02960189 -0.03751003] [ 0.16800265 -0.083976 0.98220321 -0.36781527] [ 0. 0. 0. 1. ]] SLAMing on 93.54241403699999 meters Centerline goodness : 0.832604 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.9381145 -0.29251867 -0.18540229 3.09073446] [ 0.30287999 0.95256821 0.02962278 -0.03770782] [ 0.16794311 -0.0839442 0.98221611 -0.36772519] [ 0. 0. 0. 1. ]] SLAMing on 93.57241403699999 meters Centerline goodness : 0.782626 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.9380054 -0.29282134 -0.1854765 3.09097997] [ 0.30324459 0.95244292 0.02992001 -0.03880728] [ 0.16789456 -0.08430987 0.98219309 -0.36737758] [ 0. 0. 0. 1. ]] SLAMing on 93.60241403699999 meters Centerline goodness : 0.829831 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93777247 -0.29350139 -0.18557943 3.09155594] [ 0.30391835 0.95223286 0.02976948 -0.03947498] [ 0.16797744 -0.084318 0.98217822 -0.36713505] [ 0. 0. 0. 1. ]] SLAMing on 93.63241403699999 meters Centerline goodness : 0.782637 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93756774 -0.29393775 -0.18592292 3.09309475] [ 0.30442953 0.95206258 0.02999185 -0.04078244] [ 0.16819452 -0.08471982 0.98210649 -0.36720252] [ 0. 0. 0. 1. ]] SLAMing on 93.66241403699999 meters Centerline goodness : 0.782960 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.04, Z:-0.37 [[ 0.93672502 -0.29697729 -0.18533947 3.09454556] [ 0.30712279 0.95125822 0.02798926 -0.04296354] [ 0.16799352 -0.08314021 0.98227587 -0.36729069] [ 0. 0. 0. 1. ]] SLAMing on 93.69241403699999 meters Centerline goodness : 0.825498 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:-0.37 [[ 0.93634644 -0.29793267 -0.1857188 3.09548072] [ 0.30816116 0.95091622 0.02819641 -0.0442323 ] [ 0.16820239 -0.08363293 0.98219829 -0.36649132] [ 0. 0. 0. 1. ]] SLAMing on 93.722414037 meters Centerline goodness : 0.783240 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:-0.37 [[ 0.93599041 -0.29889452 -0.18596781 3.09598498] [ 0.30915963 0.95059206 0.02819674 -0.04487976] [ 0.16835168 -0.08388562 0.98215117 -0.36576305] [ 0. 0. 0. 1. ]] SLAMing on 93.752414037 meters Centerline goodness : 0.823850 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93573833 -0.29910531 -0.18689512 3.09770579] [ 0.30957334 0.95043666 0.02888781 -0.04525326] [ 0.16899148 -0.08488918 0.98195504 -0.36527192] [ 0. 0. 0. 1. ]] SLAMing on 93.782414037 meters Centerline goodness : 0.825261 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.93560336 -0.29909752 -0.18758206 3.09891721] [ 0.30973851 0.95036279 0.02954033 -0.04539489] [ 0.16943557 -0.08573942 0.98180463 -0.36495409] [ 0. 0. 0. 1. ]] SLAMing on 93.812414037 meters Centerline goodness : 0.825618 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.9355855 -0.29919221 -0.18752014 3.09904628] [ 0.30982093 0.95033741 0.02949238 -0.04606758] [ 0.16938351 -0.08569031 0.9818179 -0.36481828] [ 0. 0. 0. 1. ]] SLAMing on 93.842414037 meters Centerline goodness : 0.824851 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93574439 -0.29889882 -0.18719491 3.0992479 ] [ 0.30949614 0.95044287 0.02950414 -0.04741012] [ 0.16909931 -0.08554443 0.98187961 -0.36532073] [ 0. 0. 0. 1. ]] SLAMing on 93.87241403699998 meters Centerline goodness : 0.825336 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.9360267 -0.29817959 -0.18693033 3.09955518] [ 0.30888675 0.95061462 0.03034485 -0.05042225] [ 0.16865049 -0.08614389 0.9819044 -0.36558496] [ 0. 0. 0. 1. ]] SLAMing on 93.90241403699999 meters Centerline goodness : 0.825534 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93602682 -0.29793512 -0.18731914 3.10042481] [ 0.30876584 0.95063655 0.03088361 -0.05089071] [ 0.16887111 -0.08674564 0.9818135 -0.36551749] [ 0. 0. 0. 1. ]] SLAMing on 93.93241403699999 meters Centerline goodness : 0.828760 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93583065 -0.29839702 -0.18756391 3.10060333] [ 0.30922833 0.9504916 0.03071749 -0.05039437] [ 0.16911192 -0.08674644 0.98177198 -0.36507033] [ 0. 0. 0. 1. ]] SLAMing on 93.96241403699999 meters Centerline goodness : 0.827849 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.9356877 -0.29877834 -0.18767003 3.10069701] [ 0.30960847 0.95037097 0.03062064 -0.04975013] [ 0.16920737 -0.08675559 0.98175472 -0.36491415] [ 0. 0. 0. 1. ]] SLAMing on 93.99241403699999 meters Centerline goodness : 0.829172 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.93552378 -0.2988755 -0.18833135 3.10158711] [ 0.3098266 0.95028864 0.03096754 -0.04920803] [ 0.1697137 -0.08732093 0.98161719 -0.3645117 ] [ 0. 0. 0. 1. ]] SLAMing on 94.02241403699999 meters Centerline goodness : 0.828491 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.93534535 -0.29958903 -0.18808375 3.10156531] [ 0.31041886 0.95011591 0.03032978 -0.04897832] [ 0.1696149 -0.08675356 0.98168458 -0.36467613] [ 0. 0. 0. 1. ]] SLAMing on 94.05241403699999 meters Centerline goodness : 0.825778 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93534121 -0.29971672 -0.18790078 3.10279243] [ 0.31047929 0.95010588 0.03002363 -0.04975102] [ 0.16952705 -0.08642164 0.98172903 -0.3658528 ] [ 0. 0. 0. 1. ]] SLAMing on 94.08241403699999 meters Centerline goodness : 0.825620 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93527049 -0.29995315 -0.18787554 3.10439417] [ 0.31067933 0.9500474 0.02980433 -0.05080285] [ 0.16955076 -0.08624415 0.98174054 -0.36686821] [ 0. 0. 0. 1. ]] SLAMing on 94.112414037 meters Centerline goodness : 0.823822 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.9351797 -0.30026444 -0.18783025 3.10402132] [ 0.31100472 0.94993852 0.02988094 -0.05145559] [ 0.169455 -0.08636014 0.98174688 -0.36618776] [ 0. 0. 0. 1. ]] SLAMing on 94.142414037 meters Centerline goodness : 0.827908 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93519838 -0.30008806 -0.18801899 3.1030556 ] [ 0.31091693 0.9499536 0.03031221 -0.05102304] [ 0.16951299 -0.08680622 0.98169752 -0.36514817] [ 0. 0. 0. 1. ]] SLAMing on 94.172414037 meters Centerline goodness : 0.824724 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.93518529 -0.29993174 -0.18833329 3.10269516] [ 0.3108354 0.94997119 0.03059567 -0.05062341] [ 0.16973458 -0.08715327 0.98162848 -0.36425802] [ 0. 0. 0. 1. ]] SLAMing on 94.202414037 meters Centerline goodness : 0.822249 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.36 [[ 0.93517853 -0.29997784 -0.18829345 3.10300885] [ 0.31077897 0.95000803 0.03001944 -0.04961615] [ 0.16987512 -0.08659118 0.98165392 -0.36478859] [ 0. 0. 0. 1. ]] SLAMing on 94.23241403699998 meters Centerline goodness : 0.767982 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93529745 -0.29954005 -0.18839967 3.10383619] [ 0.31035777 0.95014316 0.03010036 -0.04986249] [ 0.16999039 -0.08662409 0.98163106 -0.36544897] [ 0. 0. 0. 1. ]] SLAMing on 94.26241403699999 meters Centerline goodness : 0.821185 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.9355072 -0.29922237 -0.18786235 3.10332366] [ 0.30989909 0.95030884 0.02959169 -0.05017128] [ 0.16967275 -0.08590161 0.98174949 -0.36589819] [ 0. 0. 0. 1. ]] SLAMing on 94.29241403699999 meters Centerline goodness : 0.820143 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93584618 -0.29854679 -0.18724782 3.10274442] [ 0.30912573 0.95056656 0.02940241 -0.0509496 ] [ 0.16921352 -0.08539926 0.98187257 -0.36657674] [ 0. 0. 0. 1. ]] SLAMing on 94.32241403699999 meters Centerline goodness : 0.824471 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93643544 -0.29725302 -0.18635801 3.10131138] [ 0.30766625 0.95105195 0.02901144 -0.05114247] [ 0.16861241 -0.08450341 0.98205348 -0.36727524] [ 0. 0. 0. 1. ]] SLAMing on 94.35241403699999 meters Centerline goodness : 0.822474 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93686056 -0.29572516 -0.18665186 3.10131834] [ 0.30627592 0.95147621 0.02980081 -0.05093608] [ 0.16878195 -0.08508618 0.98197403 -0.36737917] [ 0. 0. 0. 1. ]] SLAMing on 94.38241403699999 meters Centerline goodness : 0.826478 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93724069 -0.29473055 -0.18631636 3.09952233] [ 0.30528943 0.95178345 0.03011015 -0.05089156] [ 0.16845845 -0.08510087 0.98202831 -0.36670659] [ 0. 0. 0. 1. ]] SLAMing on 94.41241403699999 meters Centerline goodness : 0.773424 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93808238 -0.29285067 -0.18504038 3.09664289] [ 0.30327715 0.95242501 0.03015905 -0.05190266] [ 0.16740498 -0.08441019 0.98226803 -0.3667979 ] [ 0. 0. 0. 1. ]] SLAMing on 94.44241403699999 meters Centerline goodness : 0.785131 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93837448 -0.292409 -0.18425609 3.09615631] [ 0.30265894 0.95264039 0.02956105 -0.05270278] [ 0.16688588 -0.08350609 0.98243363 -0.36768945] [ 0. 0. 0. 1. ]] SLAMing on 94.472414037 meters Centerline goodness : 0.785131 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93837448 -0.292409 -0.18425609 3.09615631] [ 0.30265894 0.95264039 0.02956105 -0.05270278] [ 0.16688588 -0.08350609 0.98243363 -0.36768945] [ 0. 0. 0. 1. ]] SLAMing on 94.502414037 meters Centerline goodness : 0.822363 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:-0.37 [[ 0.93872185 -0.29174759 -0.18353373 3.09578068] [ 0.30184817 0.95291163 0.02910526 -0.05367969] [ 0.16640003 -0.08272106 0.98258244 -0.36861241] [ 0. 0. 0. 1. ]] SLAMing on 94.532414037 meters Centerline goodness : 0.825670 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.37 [[ 0.93930271 -0.29021517 -0.18299062 3.09428957] [ 0.30030595 0.95338794 0.02945807 -0.05416816] [ 0.16591187 -0.08262322 0.98267322 -0.36860721] [ 0. 0. 0. 1. ]] SLAMing on 94.562414037 meters Centerline goodness : 0.826180 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.37 [[ 0.93949069 -0.28970985 -0.18282626 3.09336841] [ 0.29979256 0.95354702 0.02953813 -0.05379756] [ 0.16577595 -0.08256075 0.98270141 -0.36826768] [ 0. 0. 0. 1. ]] SLAMing on 94.592414037 meters Centerline goodness : 0.824433 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.37 [[ 0.93971061 -0.28892783 -0.18293352 3.09384066] [ 0.29906851 0.95376318 0.02989678 -0.05418422] [ 0.16583724 -0.08280398 0.9826706 -0.36863652] [ 0. 0. 0. 1. ]] SLAMing on 94.62241403699998 meters Centerline goodness : 0.826641 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.06, Z:-0.37 [[ 0.93967583 -0.29056862 -0.18049714 3.09270535] [ 0.29985904 0.95363188 0.02589952 -0.05516041] [ 0.16460224 -0.07846085 0.98323446 -0.3707225 ] [ 0. 0. 0. 1. ]] SLAMing on 94.65241403699999 meters Centerline goodness : 0.825658 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.06, Z:-0.37 [[ 0.93994202 -0.2897779 -0.18038228 3.09383861] [ 0.29914481 0.95384017 0.02648249 -0.05716742] [ 0.16438183 -0.07885242 0.98324001 -0.37173243] [ 0. 0. 0. 1. ]] SLAMing on 94.68241403699999 meters Centerline goodness : 0.829860 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.06, Z:-0.37 [[ 0.94043384 -0.28896766 -0.17911416 3.09268852] [ 0.29823415 0.95412289 0.02656869 -0.06119315] [ 0.16321943 -0.07840406 0.98346948 -0.3721151 ] [ 0. 0. 0. 1. ]] SLAMing on 94.71241403699999 meters Centerline goodness : 0.829098 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.06, Z:-0.37 [[ 0.94049289 -0.28881085 -0.179057 3.09316479] [ 0.29814338 0.95413891 0.02700848 -0.06310623] [ 0.16304491 -0.07878595 0.98346791 -0.37213104] [ 0. 0. 0. 1. ]] SLAMing on 94.74241403699999 meters Centerline goodness : 0.831291 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.37 [[ 0.94050101 -0.28852392 -0.17947644 3.09463949] [ 0.29807153 0.95412915 0.02812342 -0.06549432] [ 0.16312943 -0.07994692 0.9833602 -0.37211341] [ 0. 0. 0. 1. ]] SLAMing on 94.77241403699999 meters Centerline goodness : 0.830400 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.37 [[ 0.94012107 -0.29049393 -0.17828531 3.09438665] [ 0.29956766 0.95372957 0.02567354 -0.06670796] [ 0.16257796 -0.07754475 0.98364385 -0.37249185] [ 0. 0. 0. 1. ]] SLAMing on 94.80241403699999 meters Centerline goodness : 0.826451 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.07, Z:-0.37 [[ 0.93952155 -0.29289867 -0.17750949 3.09598966] [ 0.30171855 0.95308737 0.0242976 -0.07065694] [ 0.16206532 -0.07638603 0.98381909 -0.37287608] [ 0. 0. 0. 1. ]] SLAMing on 94.83241403699999 meters Centerline goodness : 0.829015 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.07, Z:-0.37 [[ 0.93938345 -0.29289551 -0.17824407 3.09851672] [ 0.30197412 0.95297468 0.0255127 -0.07322646] [ 0.16238953 -0.07779131 0.98365551 -0.37316121] [ 0. 0. 0. 1. ]] SLAMing on 94.862414037 meters Centerline goodness : 0.823906 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.07, Z:-0.37 [[ 0.93884006 -0.29510331 -0.17746375 3.09937729] [ 0.30383112 0.95243438 0.023567 -0.07498223] [ 0.16206787 -0.07604465 0.98384512 -0.37360304] [ 0. 0. 0. 1. ]] SLAMing on 94.892414037 meters Centerline goodness : 0.829742 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.08, Z:-0.37 [[ 0.93869638 -0.2951488 -0.17814685 3.10185823] [ 0.30412708 0.9523098 0.02475426 -0.07777739] [ 0.16234481 -0.07741601 0.9836925 -0.37380745] [ 0. 0. 0. 1. ]] SLAMing on 94.922414037 meters Centerline goodness : 0.829775 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.08, Z:-0.37 [[ 0.93798082 -0.29778656 -0.17752507 3.10387273] [ 0.30655227 0.9515629 0.02353189 -0.08198354] [ 0.16191879 -0.07649317 0.98383489 -0.37421291] [ 0. 0. 0. 1. ]] SLAMing on 94.952414037 meters Centerline goodness : 0.830574 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.08, Z:-0.37 [[ 0.93776632 -0.2983457 -0.17771938 3.10482445] [ 0.30724064 0.95132475 0.02417452 -0.084542 ] [ 0.16185648 -0.07727267 0.98378423 -0.37364807] [ 0. 0. 0. 1. ]] SLAMing on 94.98241403699998 meters Centerline goodness : 0.833383 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.09, Z:-0.37 [[ 0.93751071 -0.29866713 -0.1785262 3.10716082] [ 0.30781068 0.95111221 0.02526159 -0.08673052] [ 0.16225364 -0.07863529 0.98361082 -0.37351792] [ 0. 0. 0. 1. ]] SLAMing on 95.01241403699999 meters Centerline goodness : 0.828144 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.09, Z:-0.37 [[ 0.93710319 -0.29923153 -0.17971676 3.11034754] [ 0.30884639 0.95071513 0.02747097 -0.09136062] [ 0.16263926 -0.08124801 0.98333475 -0.37274213] [ 0. 0. 0. 1. ]] SLAMing on 95.04241403699999 meters Centerline goodness : 0.833305 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.09, Z:-0.37 [[ 0.93691196 -0.29928057 -0.1806298 3.11300913] [ 0.30918878 0.95056537 0.02877106 -0.09393801] [ 0.16308981 -0.08280466 0.98313026 -0.37270148] [ 0. 0. 0. 1. ]] SLAMing on 95.07241403699999 meters Centerline goodness : 0.830878 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.10, Z:-0.37 [[ 0.93675839 -0.2992985 -0.18139494 3.11517995] [ 0.30945862 0.95044305 0.02988938 -0.09628039] [ 0.16345971 -0.08413336 0.982956 -0.37254353] [ 0. 0. 0. 1. ]] SLAMing on 95.10241403699999 meters Centerline goodness : 0.836734 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.10, Z:-0.37 [[ 0.9365805 -0.29937001 -0.18219375 3.11735375] [ 0.30980818 0.95028924 0.03113279 -0.09840036] [ 0.16381654 -0.08560347 0.98276965 -0.3723953 ] [ 0. 0. 0. 1. ]] SLAMing on 95.13241403699999 meters Centerline goodness : 0.835192 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.10, Z:-0.37 [[ 0.93576798 -0.30218678 -0.18171799 3.11891063] [ 0.31236514 0.9495016 0.02957581 -0.10167227] [ 0.1636041 -0.08443846 0.98290582 -0.3720596 ] [ 0. 0. 0. 1. ]] SLAMing on 95.16241403699999 meters Centerline goodness : 0.835414 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.10, Z:-0.37 [[ 0.93555289 -0.30236008 -0.1825354 3.1211741 ] [ 0.31277724 0.94933468 0.03056248 -0.10356485] [ 0.16404631 -0.08568573 0.98272415 -0.37187215] [ 0. 0. 0. 1. ]] SLAMing on 95.19241403699999 meters Centerline goodness : 0.831516 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.10, Z:-0.37 [[ 0.9353432 -0.30261172 -0.18319182 3.12313894] [ 0.3132045 0.94917169 0.0312417 -0.10497776] [ 0.16442639 -0.08659821 0.98258064 -0.37186165] [ 0. 0. 0. 1. ]] SLAMing on 95.222414037 meters Centerline goodness : 0.834219 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.37 [[ 0.935046 -0.30307343 -0.18394424 3.12561994] [ 0.31392934 0.9488945 0.03236668 -0.10812733] [ 0.1647342 -0.08800983 0.98240364 -0.37155272] [ 0. 0. 0. 1. ]] SLAMing on 95.252414037 meters Centerline goodness : 0.835630 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.37 [[ 0.9349497 -0.30304072 -0.18448683 3.12738052] [ 0.31402752 0.94884525 0.03285435 -0.10904952] [ 0.16509325 -0.0886511 0.9822857 -0.37191796] [ 0. 0. 0. 1. ]] SLAMing on 95.282414037 meters Centerline goodness : 0.831708 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.37 [[ 0.93497752 -0.3027783 -0.18477648 3.1286699 ] [ 0.31387314 0.94887862 0.03336181 -0.11029382] [ 0.16522922 -0.08918892 0.98221415 -0.37227074] [ 0. 0. 0. 1. ]] SLAMing on 95.312414037 meters Centerline goodness : 0.834862 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.37 [[ 0.93508758 -0.30236647 -0.18489387 3.1297478 ] [ 0.31352921 0.94897904 0.03373732 -0.11141497] [ 0.16525938 -0.08951698 0.98217923 -0.37286566] [ 0. 0. 0. 1. ]] SLAMing on 95.342414037 meters Centerline goodness : 0.835741 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.37 [[ 0.93524621 -0.3017424 -0.18511094 3.13068243] [ 0.3129825 0.94914537 0.03413247 -0.11210371] [ 0.16539797 -0.08985875 0.98212469 -0.37336153] [ 0. 0. 0. 1. ]] SLAMing on 95.37241403699998 meters Centerline goodness : 0.840730 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.11, Z:-0.37 [[ 0.93587884 -0.29985685 -0.18497747 3.13058893] [ 0.31128565 0.94965331 0.0354941 -0.1144696 ] [ 0.16502131 -0.09079901 0.98210158 -0.37365566] [ 0. 0. 0. 1. ]] SLAMing on 95.40241403699999 meters Centerline goodness : 0.837502 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.12, Z:-0.37 [[ 0.93604667 -0.29907099 -0.18540005 3.13120868] [ 0.31067492 0.94982024 0.03636754 -0.11520027] [ 0.16522024 -0.09164086 0.98198993 -0.37349221] [ 0. 0. 0. 1. ]] SLAMing on 95.43241403699999 meters Centerline goodness : 0.838627 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.12, Z:-0.37 [[ 0.93619882 -0.29846453 -0.18560901 3.1316673 ] [ 0.31018608 0.94995551 0.03700156 -0.11604166] [ 0.16527665 -0.09221415 0.98192677 -0.37350397] [ 0. 0. 0. 1. ]] SLAMing on 95.46241403699999 meters Centerline goodness : 0.836941 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.12, Z:-0.37 [[ 0.93648101 -0.29742764 -0.18584974 3.13183317] [ 0.30936175 0.95017615 0.03821769 -0.11791239] [ 0.16522299 -0.09328494 0.98183465 -0.37307751] [ 0. 0. 0. 1. ]] SLAMing on 95.49241403699999 meters Centerline goodness : 0.835319 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.12, Z:-0.37 [[ 0.93647808 -0.29704081 -0.18648207 3.13256252] [ 0.30916002 0.95021058 0.03898636 -0.11821318] [ 0.1656167 -0.09416268 0.98168452 -0.3725122 ] [ 0. 0. 0. 1. ]] SLAMing on 95.52241403699999 meters Centerline goodness : 0.838272 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.12, Z:-0.37 [[ 0.93642538 -0.29680223 -0.18712548 3.13341697] [ 0.30909509 0.95020371 0.03966275 -0.11846788] [ 0.16603533 -0.09498077 0.98153498 -0.37201212] [ 0. 0. 0. 1. ]] SLAMing on 95.55241403699999 meters Centerline goodness : 0.837223 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.12, Z:-0.37 [[ 0.93635362 -0.29658 -0.18783558 3.13462437] [ 0.30906066 0.95018482 0.04037708 -0.11885812] [ 0.16650348 -0.09585982 0.98137021 -0.37172819] [ 0. 0. 0. 1. ]] SLAMing on 95.58241403699999 meters Centerline goodness : 0.834383 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.12, Z:-0.37 [[ 0.93594403 -0.29726218 -0.18879609 3.13676741] [ 0.3099088 0.94989342 0.04073128 -0.11935787] [ 0.1672283 -0.09663176 0.98117124 -0.37132956] [ 0. 0. 0. 1. ]] SLAMing on 95.612414037 meters Centerline goodness : 0.831770 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.12, Z:-0.37 [[ 0.93582067 -0.29718936 -0.18952087 3.13778495] [ 0.31004788 0.94981246 0.04155242 -0.12021622] [ 0.16766035 -0.09764615 0.98099706 -0.3705534 ] [ 0. 0. 0. 1. ]] SLAMing on 95.642414037 meters Centerline goodness : 0.838252 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.12, Z:-0.37 [[ 0.93562767 -0.29722161 -0.19042107 3.1387702 ] [ 0.31033774 0.94967498 0.04251971 -0.12070657] [ 0.16820035 -0.09887746 0.98078127 -0.36948041] [ 0. 0. 0. 1. ]] SLAMing on 95.672414037 meters Centerline goodness : 0.841421 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.12, Z:-0.37 [[ 0.9354477 -0.29716106 -0.19139723 3.1397321 ] [ 0.31058146 0.94954124 0.04371028 -0.12178299] [ 0.16875057 -0.10033312 0.98053889 -0.36808332] [ 0. 0. 0. 1. ]] SLAMing on 95.702414037 meters Centerline goodness : 0.838348 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.12, Z:-0.37 [[ 0.93496987 -0.29790865 -0.19256628 3.14150466] [ 0.31167033 0.94912821 0.04491368 -0.12351821] [ 0.16938992 -0.10201013 0.98025557 -0.36649416] [ 0. 0. 0. 1. ]] SLAMing on 95.73241403699998 meters Centerline goodness : 0.840236 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.12, Z:-0.37 [[ 0.93460154 -0.29837218 -0.19363369 3.14401075] [ 0.31236033 0.94887217 0.04552607 -0.12419699] [ 0.17014991 -0.10303222 0.98001703 -0.36623907] [ 0. 0. 0. 1. ]] SLAMing on 95.76241403699999 meters Centerline goodness : 0.840147 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.12, Z:-0.37 [[ 0.93415066 -0.29906659 -0.194735 3.14655683] [ 0.31325743 0.9485559 0.04595096 -0.12430725] [ 0.17097464 -0.1039273 0.97977895 -0.36602506] [ 0. 0. 0. 1. ]] SLAMing on 95.79241403699999 meters Centerline goodness : 0.842704 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.13, Z:-0.37 [[ 0.93335928 -0.30058 -0.1961941 3.15046683] [ 0.3150537 0.9479326 0.04652902 -0.12531756] [ 0.17199309 -0.10523997 0.97946053 -0.36578903] [ 0. 0. 0. 1. ]] SLAMing on 95.82241403699999 meters Centerline goodness : 0.842816 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.13, Z:-0.37 [[ 0.93280343 -0.30155658 -0.19733572 3.15350197] [ 0.31620026 0.94754249 0.04669717 -0.12534037] [ 0.17290214 -0.10595689 0.97922316 -0.36577909] [ 0. 0. 0. 1. ]] SLAMing on 95.85241403699999 meters Centerline goodness : 0.842839 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.37 [[ 0.93242656 -0.30213527 -0.19822964 3.15609994] [ 0.31697228 0.94726057 0.04718033 -0.12586371] [ 0.17352028 -0.10682549 0.97901942 -0.36596854] [ 0. 0. 0. 1. ]] SLAMing on 95.88241403699999 meters Centerline goodness : 0.842307 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.37 [[ 0.93206604 -0.30291954 -0.19872758 3.15760917] [ 0.31783622 0.94696771 0.04724722 -0.12632318] [ 0.17387649 -0.10720035 0.97891524 -0.36574094] [ 0. 0. 0. 1. ]] SLAMing on 95.91241403699999 meters Centerline goodness : 0.840617 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.37 [[ 0.93155976 -0.30385437 -0.19967206 3.16074169] [ 0.31894043 0.94658262 0.04752197 -0.12687049] [ 0.17456634 -0.10795305 0.97870973 -0.3661319 ] [ 0. 0. 0. 1. ]] SLAMing on 95.94241403699999 meters Centerline goodness : 0.839261 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.37 [[ 0.93135946 -0.30410883 -0.20021832 3.16256246] [ 0.31930329 0.94644819 0.04776231 -0.12713347] [ 0.17497133 -0.10841425 0.97858642 -0.36649696] [ 0. 0. 0. 1. ]] SLAMing on 95.972414037 meters Centerline goodness : 0.842836 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.37 [[ 0.93124918 -0.30404532 -0.20082683 3.16397791] [ 0.31941328 0.94638106 0.04835325 -0.12757902] [ 0.17535713 -0.10917568 0.9784327 -0.36644569] [ 0. 0. 0. 1. ]] SLAMing on 96.002414037 meters Centerline goodness : 0.844781 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.36 [[ 0.93126029 -0.30377653 -0.20118174 3.16307348] [ 0.31935877 0.94634815 0.04934733 -0.12829875] [ 0.17539741 -0.11020437 0.97831015 -0.36476773] [ 0. 0. 0. 1. ]] SLAMing on 96.032414037 meters Centerline goodness : 0.841266 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.36 [[ 0.93113731 -0.30374783 -0.20179338 3.16325022] [ 0.31950469 0.94626826 0.04993132 -0.1277281 ] [ 0.17578414 -0.11096685 0.97815454 -0.36386584] [ 0. 0. 0. 1. ]] SLAMing on 96.062414037 meters Centerline goodness : 0.843290 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.13, Z:-0.36 [[ 0.93055239 -0.30479734 -0.20290595 3.16461732] [ 0.32078106 0.94581254 0.05038015 -0.12703538] [ 0.17655526 -0.11196976 0.97790133 -0.36261329] [ 0. 0. 0. 1. ]] SLAMing on 96.092414037 meters Centerline goodness : 0.845996 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.13, Z:-0.36 [[ 0.93010389 -0.30555441 -0.20382165 3.16640645] [ 0.32168849 0.94549513 0.05055162 -0.12667966] [ 0.1772661 -0.11258534 0.97770204 -0.36212953] [ 0. 0. 0. 1. ]] SLAMing on 96.12241403699998 meters Centerline goodness : 0.842880 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.13, Z:-0.36 [[ 0.92972486 -0.3062561 -0.20449668 3.16781481] [ 0.32250255 0.94521143 0.05067012 -0.12657064] [ 0.17777457 -0.11305997 0.97755493 -0.36174131] [ 0. 0. 0. 1. ]] SLAMing on 96.15241403699999 meters Centerline goodness : 0.846702 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.13, Z:-0.36 [[ 0.92920557 -0.30712996 -0.20554365 3.16985261] [ 0.32356871 0.94483102 0.05096696 -0.12634912] [ 0.17855053 -0.11386628 0.9773199 -0.36109879] [ 0. 0. 0. 1. ]] SLAMing on 96.18241403699999 meters Centerline goodness : 0.847396 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.13, Z:-0.36 [[ 0.92815493 -0.30941197 -0.20686388 3.1723929 ] [ 0.32600862 0.944003 0.05076131 -0.12581267] [ 0.17957396 -0.11455377 0.97705201 -0.35985922] [ 0. 0. 0. 1. ]] SLAMing on 96.21241403699999 meters Centerline goodness : 0.842020 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.13, Z:-0.36 [[ 0.92762359 -0.31054617 -0.2075465 3.17371134] [ 0.32721975 0.94359089 0.0506307 -0.12541121] [ 0.18011582 -0.11487954 0.97691401 -0.35923454] [ 0. 0. 0. 1. ]] SLAMing on 96.24241403699999 meters Centerline goodness : 0.842177 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.12, Z:-0.36 [[ 0.92671379 -0.31238756 -0.20884341 3.17528014] [ 0.3292081 0.94291077 0.05041137 -0.1232475 ] [ 0.18117282 -0.11546985 0.97664893 -0.35797102] [ 0. 0. 0. 1. ]] SLAMing on 96.27241403699999 meters Centerline goodness : 0.845137 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.12, Z:-0.36 [[ 0.92613526 -0.31356152 -0.20964887 3.17633124] [ 0.33040617 0.94251837 0.04990873 -0.12126566] [ 0.18194846 -0.11549151 0.97650216 -0.35735319] [ 0. 0. 0. 1. ]] SLAMing on 96.30241403699999 meters Centerline goodness : 0.849586 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.12, Z:-0.36 [[ 0.92586352 -0.31404135 -0.21013036 3.17711674] [ 0.33089876 0.94236075 0.04962083 -0.11960147] [ 0.18243561 -0.115474 0.97641334 -0.3573925 ] [ 0. 0. 0. 1. ]] SLAMing on 96.33241403699999 meters Centerline goodness : 0.843017 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.12, Z:-0.36 [[ 0.92552094 -0.31463458 -0.2107512 3.17799581] [ 0.33151064 0.94216437 0.04926446 -0.11786902] [ 0.18306197 -0.11546156 0.97629757 -0.35716052] [ 0. 0. 0. 1. ]] SLAMing on 96.362414037 meters Centerline goodness : 0.843017 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.12, Z:-0.36 [[ 0.92552094 -0.31463458 -0.2107512 3.17799581] [ 0.33151064 0.94216437 0.04926446 -0.11786902] [ 0.18306197 -0.11546156 0.97629757 -0.35716052] [ 0. 0. 0. 1. ]] SLAMing on 96.392414037 meters Centerline goodness : 0.842795 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.11, Z:-0.36 [[ 0.92490971 -0.31613942 -0.21118213 3.17853525] [ 0.33278631 0.94179888 0.04762493 -0.11348536] [ 0.18383498 -0.11432729 0.9762858 -0.35745288] [ 0. 0. 0. 1. ]] SLAMing on 96.422414037 meters Centerline goodness : 0.840260 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.11, Z:-0.36 [[ 0.92448039 -0.31698147 -0.21179887 3.17945423] [ 0.33356726 0.94156245 0.04682998 -0.11043405] [ 0.18457763 -0.11394256 0.97619065 -0.35768045] [ 0. 0. 0. 1. ]] SLAMing on 96.452414037 meters Centerline goodness : 0.841475 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.11, Z:-0.36 [[ 0.92402566 -0.31682753 -0.21400211 3.18120963] [ 0.33388565 0.94139366 0.04794101 -0.10547387] [ 0.18627119 -0.11575096 0.97565607 -0.35705501] [ 0. 0. 0. 1. ]] SLAMing on 96.48241403699998 meters Centerline goodness : 0.843360 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.10, Z:-0.36 [[ 0.92369364 -0.31749365 -0.21444778 3.18138643] [ 0.33448295 0.94121735 0.04723406 -0.10266413] [ 0.18684545 -0.11535893 0.97559269 -0.35685362] [ 0. 0. 0. 1. ]] SLAMing on 96.51241403699999 meters Centerline goodness : 0.843803 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.10, Z:-0.36 [[ 0.92370112 -0.3162423 -0.21625691 3.18213051] [ 0.33386098 0.94132244 0.04948646 -0.10078186] [ 0.18791777 -0.11791045 0.97508155 -0.35560051] [ 0. 0. 0. 1. ]] SLAMing on 96.54241403699999 meters Centerline goodness : 0.841096 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.10, Z:-0.36 [[ 0.92346012 -0.31657458 -0.21679931 3.18199846] [ 0.33418917 0.94122693 0.04908621 -0.09811965] [ 0.1885179 -0.11778113 0.97498134 -0.3550461 ] [ 0. 0. 0. 1. ]] SLAMing on 96.57241403699999 meters Centerline goodness : 0.844539 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.10, Z:-0.35 [[ 0.9232879 -0.31685744 -0.21711936 3.18185449] [ 0.33436813 0.94120311 0.04831828 -0.09523564] [ 0.18904341 -0.11720948 0.97494847 -0.35498162] [ 0. 0. 0. 1. ]] SLAMing on 96.60241403699999 meters Centerline goodness : 0.845480 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.09, Z:-0.36 [[ 0.92343994 -0.31494557 -0.21924409 3.18347962] [ 0.33303986 0.94157781 0.05015664 -0.09075417] [ 0.19063876 -0.11933366 0.97437998 -0.35513174] [ 0. 0. 0. 1. ]] SLAMing on 96.63241403699999 meters Centerline goodness : 0.845164 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.09, Z:-0.36 [[ 0.92314374 -0.3154183 -0.21981111 3.18487805] [ 0.33336996 0.94152076 0.0490217 -0.0869601 ] [ 0.19149438 -0.1185325 0.97430999 -0.35614704] [ 0. 0. 0. 1. ]] SLAMing on 96.66241403699999 meters Centerline goodness : 0.842165 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.08, Z:-0.36 [[ 0.9228768 -0.31578418 -0.22040593 3.18661861] [ 0.3335907 0.94150161 0.04787444 -0.08291445] [ 0.19239454 -0.11770757 0.97423266 -0.35753347] [ 0. 0. 0. 1. ]] SLAMing on 96.69241403699999 meters Centerline goodness : 0.836426 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.08, Z:-0.36 [[ 0.92285031 -0.31595715 -0.2202689 3.18615394] [ 0.33330833 0.94171261 0.04563905 -0.07625107] [ 0.19301001 -0.11553546 0.97437092 -0.35924868] [ 0. 0. 0. 1. ]] SLAMing on 96.722414037 meters Centerline goodness : 0.835734 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.36 [[ 0.92322692 -0.3139779 -0.22151735 3.18679977] [ 0.33175123 0.94218521 0.04720325 -0.07375631] [ 0.19388959 -0.11706797 0.9740133 -0.35938404] [ 0. 0. 0. 1. ]] SLAMing on 96.752414037 meters Centerline goodness : 0.841151 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.36 [[ 0.92396962 -0.31066125 -0.22309129 3.18704765] [ 0.32914567 0.94294762 0.05012887 -0.07220067] [ 0.1947903 -0.11974708 0.97350777 -0.35892754] [ 0. 0. 0. 1. ]] SLAMing on 96.782414037 meters Centerline goodness : 0.840265 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.36 [[ 0.92461028 -0.30783853 -0.22434633 3.1859746 ] [ 0.32689388 0.94360322 0.05247249 -0.06959021] [ 0.19554086 -0.12185405 0.97309576 -0.35803297] [ 0. 0. 0. 1. ]] SLAMing on 96.812414037 meters Centerline goodness : 0.843566 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.07, Z:-0.36 [[ 0.92528978 -0.30511753 -0.22526009 3.18396047] [ 0.32463499 0.94427011 0.05446182 -0.06642235] [ 0.19608911 -0.12352027 0.97277531 -0.35710418] [ 0. 0. 0. 1. ]] SLAMing on 96.842414037 meters Centerline goodness : 0.835163 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.06, Z:-0.36 [[ 0.92606741 -0.30184057 -0.22647609 3.18307675] [ 0.32195482 0.94503992 0.05696177 -0.06365675] [ 0.19683557 -0.12566551 0.9723497 -0.35664324] [ 0. 0. 0. 1. ]] SLAMing on 96.87241403699998 meters Centerline goodness : 0.836272 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.06, Z:-0.36 [[ 0.92668556 -0.29916905 -0.22749011 3.18177692] [ 0.31948686 0.94583996 0.05757529 -0.05621833] [ 0.1979445 -0.12603429 0.97207681 -0.35735913] [ 0. 0. 0. 1. ]] SLAMing on 96.90241403699999 meters Centerline goodness : 0.833795 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.05, Z:-0.36 [[ 0.92642857 -0.30007942 -0.22733772 3.18157867] [ 0.32001648 0.94577247 0.0557125 -0.0523551 ] [ 0.19829159 -0.12436547 0.972221 -0.35816491] [ 0. 0. 0. 1. ]] SLAMing on 96.93241403699999 meters Centerline goodness : 0.834918 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.05, Z:-0.36 [[ 0.92615977 -0.30110524 -0.22707645 3.18141436] [ 0.32068759 0.94564248 0.05403486 -0.04917855] [ 0.19846296 -0.12286551 0.97237674 -0.35905951] [ 0. 0. 0. 1. ]] SLAMing on 96.96241403699999 meters Centerline goodness : 0.834293 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:-0.36 [[ 0.9253412 -0.30317155 -0.22766351 3.1819506 ] [ 0.32242429 0.9451746 0.05184155 -0.0426077 ] [ 0.19946489 -0.12137537 0.97235887 -0.35963289] [ 0. 0. 0. 1. ]] SLAMing on 96.99241403699999 meters Centerline goodness : 0.830302 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:-0.36 [[ 0.92476235 -0.30474295 -0.22791738 3.18150043] [ 0.32375404 0.94480097 0.05034328 -0.03872398] [ 0.1999948 -0.12034474 0.97237813 -0.359191 ] [ 0. 0. 0. 1. ]] SLAMing on 97.02241403699999 meters Centerline goodness : 0.830833 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:-0.36 [[ 0.92419813 -0.306235 -0.22820593 3.18059298] [ 0.32501899 0.94444207 0.04890638 -0.03506077] [ 0.20055044 -0.11937044 0.97238378 -0.35824206] [ 0. 0. 0. 1. ]] SLAMing on 97.05241403699999 meters Centerline goodness : 0.831074 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.03, Z:-0.36 [[ 0.92377107 -0.3070002 -0.22890587 3.18037339] [ 0.32580117 0.94419442 0.04848201 -0.03252406] [ 0.20124765 -0.11936407 0.9722405 -0.3571184 ] [ 0. 0. 0. 1. ]] SLAMing on 97.08241403699999 meters Centerline goodness : 0.827436 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.03, Z:-0.36 [[ 0.92287032 -0.30901509 -0.22982614 3.17977697] [ 0.32769468 0.94360764 0.04712559 -0.02763183] [ 0.20230318 -0.11880361 0.97209008 -0.35549635] [ 0. 0. 0. 1. ]] SLAMing on 97.112414037 meters Centerline goodness : 0.836083 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.03, Z:-0.36 [[ 0.92241854 -0.31014699 -0.23011491 3.17984487] [ 0.32865417 0.9433293 0.04600292 -0.02506968] [ 0.20280647 -0.11806217 0.97207554 -0.35517708] [ 0. 0. 0. 1. ]] SLAMing on 97.142414037 meters Centerline goodness : 0.828388 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.02, Z:-0.36 [[ 0.92204499 -0.31104146 -0.23040454 3.18039185] [ 0.32940949 0.94311097 0.04506752 -0.02286133] [ 0.20327918 -0.11745172 0.97205075 -0.3552634 ] [ 0. 0. 0. 1. ]] SLAMing on 97.172414037 meters Centerline goodness : 0.837728 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.02, Z:-0.36 [[ 0.92151192 -0.31231482 -0.23081427 3.18043118] [ 0.33046606 0.94280786 0.04365218 -0.01896557] [ 0.20398029 -0.11650229 0.97201814 -0.35511747] [ 0. 0. 0. 1. ]] SLAMing on 97.202414037 meters Centerline goodness : 0.825920 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.02, Z:-0.35 [[ 0.9211858 -0.31332361 -0.23074886 3.17954635] [ 0.33120836 0.94260857 0.04230974 -0.01590247] [ 0.20424922 -0.11540108 0.97209302 -0.35482232] [ 0. 0. 0. 1. ]] SLAMing on 97.23241403699998 meters Centerline goodness : 0.835425 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.36 [[ 0.92099936 -0.31340058 -0.23138766 3.18064617] [ 0.33126767 0.94260829 0.04184894 -0.01277263] [ 0.20499245 -0.1151941 0.97196112 -0.35539958] [ 0. 0. 0. 1. ]] SLAMing on 97.26241403699999 meters Centerline goodness : 0.775002 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.36 [[ 0.92088717 -0.31405267 -0.23094965 3.17892708] [ 0.33136259 0.94268109 0.03938539 -0.00613124] [ 0.20534278 -0.11279757 0.97216822 -0.35611846] [ 0. 0. 0. 1. ]] SLAMing on 97.29241403699999 meters Centerline goodness : 0.833820 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.36 [[ 0.92172264 -0.3102243 -0.2327837 3.17953053] [ 0.32843421 0.94354668 0.04301906 -0.00557943] [ 0.20629673 -0.11610577 0.97157661 -0.35546418] [ 0. 0. 0. 1. ]] SLAMing on 97.32241403699999 meters Centerline goodness : 0.775498 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.00, Z:-0.36 [[ 0.92328283 -0.30874088 -0.2285342 3.17312269] [ 0.3263164 0.94429962 0.04261257 -0.0044236 ] [ 0.20264852 -0.11391791 0.97260284 -0.35732475] [ 0. 0. 0. 1. ]] SLAMing on 97.35241403699999 meters Centerline goodness : 0.774684 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.00, Z:-0.36 [[ 0.92549672 -0.30638013 -0.22268147 3.16519312] [ 0.32301014 0.94547977 0.04162276 -0.00392372] [ 0.19778844 -0.1104501 0.97400232 -0.36049949] [ 0. 0. 0. 1. ]] SLAMing on 97.38241403699999 meters Centerline goodness : 0.835620 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.00, Z:-0.36 [[ 9.28358226e-01 -3.02460608e-01 -2.16029130e-01 3.15615417e+00] [ 3.17940931e-01 9.47264045e-01 4.00548732e-02 -4.07257139e-04] [ 1.92521607e-01 -1.05869774e-01 9.75564976e-01 -3.64068822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41241403699999 meters Centerline goodness : 0.837379 Centerline is valid? [False, False] Translation: X:3.15, Y:0.00, Z:-0.37 [[ 9.29061401e-01 -3.01160880e-01 -2.14818613e-01 3.15471141e+00] [ 3.16598979e-01 9.47687862e-01 4.06546717e-02 1.75133783e-03] [ 1.91337396e-01 -1.05782040e-01 9.75807441e-01 -3.65540644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44241403699999 meters Centerline goodness : 0.776300 Centerline is valid? [False, False] Translation: X:3.15, Y:0.00, Z:-0.37 [[ 0.92938626 -0.30048571 -0.21435838 3.15433024] [ 0.31585682 0.94793606 0.04064106 0.00446582] [ 0.19098598 -0.1054778 0.97590921 -0.36661878] [ 0. 0. 0. 1. ]] SLAMing on 97.472414037 meters Centerline goodness : 0.772016 Centerline is valid? [False, False] Translation: X:3.15, Y:0.01, Z:-0.37 [[ 0.92933478 -0.2996929 -0.21568737 3.14679428] [ 0.31273704 0.94941812 0.02829807 0.00751899] [ 0.19629676 -0.09375181 0.97605234 -0.36562575] [ 0. 0. 0. 1. ]] SLAMing on 97.502414037 meters Centerline goodness : 0.834403 Centerline is valid? [False, False] Translation: X:3.14, Y:0.01, Z:-0.37 [[ 0.93130391 -0.2975667 -0.21006449 3.14102345] [ 0.30992138 0.95035611 0.02778508 0.00702544] [ 0.19136816 -0.09097984 0.97729264 -0.37021789] [ 0. 0. 0. 1. ]] SLAMing on 97.532414037 meters Centerline goodness : 0.831637 Centerline is valid? [False, False] Translation: X:3.14, Y:0.01, Z:-0.37 [[ 0.93211366 -0.29692972 -0.20735686 3.13607613] [ 0.30895807 0.95067841 0.02748577 0.01016694] [ 0.18896835 -0.08968444 0.97787917 -0.37084736] [ 0. 0. 0. 1. ]] SLAMing on 97.562414037 meters Centerline goodness : 0.832107 Centerline is valid? [False, False] Translation: X:3.13, Y:0.01, Z:-0.37 [[ 0.93198873 -0.29764587 -0.20689112 3.13374569] [ 0.30939279 0.95057391 0.02617898 0.01338764] [ 0.18887324 -0.08840914 0.97801366 -0.36971144] [ 0. 0. 0. 1. ]] SLAMing on 97.592414037 meters Centerline goodness : 0.831115 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.37 [[ 0.93188683 -0.29830698 -0.2063974 3.13132217] [ 0.30979299 0.95047548 0.02499323 0.01652789] [ 0.18872002 -0.08723134 0.97814899 -0.36866342] [ 0. 0. 0. 1. ]] SLAMing on 97.62241403699998 meters Centerline goodness : 0.773860 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.37 [[ 0.93236284 -0.29794533 -0.20476356 3.12767575] [ 0.30929296 0.950636 0.02508112 0.01766572] [ 0.18718281 -0.08671663 0.97849007 -0.36849126] [ 0. 0. 0. 1. ]] SLAMing on 97.65241403699999 meters Centerline goodness : 0.829415 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.37 [[ 0.93246106 -0.29774506 -0.20460754 3.12761366] [ 0.3089775 0.95075185 0.024573 0.02090033] [ 0.18721451 -0.08613249 0.9785356 -0.3691406 ] [ 0. 0. 0. 1. ]] SLAMing on 97.68241403699999 meters Centerline goodness : 0.831678 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.37 [[ 0.9324733 -0.29766507 -0.20466814 3.12810993] [ 0.30885431 0.9507982 0.02432708 0.02242789] [ 0.18735677 -0.08589699 0.97852907 -0.36965525] [ 0. 0. 0. 1. ]] SLAMing on 97.71241403699999 meters Centerline goodness : 0.830183 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.37 [[ 0.93244224 -0.29769838 -0.2047612 3.12872077] [ 0.30882709 0.95081625 0.02396436 0.02416903] [ 0.18755612 -0.08558118 0.97851855 -0.37022341] [ 0. 0. 0. 1. ]] SLAMing on 97.74241403699999 meters Centerline goodness : 0.829894 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:-0.37 [[ 0.93243304 -0.29792374 -0.2044751 3.1283798 ] [ 0.30896308 0.950781 0.02360754 0.02563825] [ 0.18737779 -0.0851877 0.97858705 -0.37071597] [ 0. 0. 0. 1. ]] SLAMing on 97.77241403699999 meters Centerline goodness : 0.832442 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:-0.37 [[ 0.93233359 -0.29852395 -0.20405276 3.12715074] [ 0.30936368 0.95067288 0.02269768 0.02810475] [ 0.18721162 -0.08428832 0.97869673 -0.37062895] [ 0. 0. 0. 1. ]] SLAMing on 97.80241403699999 meters Centerline goodness : 0.833031 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:-0.37 [[ 0.93488462 -0.29598532 -0.19591694 3.11645425] [ 0.3056291 0.95193509 0.0202593 0.02524203] [ 0.18050375 -0.07881803 0.9804112 -0.37455068] [ 0. 0. 0. 1. ]] SLAMing on 97.83241403699999 meters Centerline goodness : 0.833176 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93481604 -0.29655891 -0.19537598 3.11459417] [ 0.30605115 0.95181291 0.01961818 0.0260864 ] [ 0.18014344 -0.07813443 0.98053218 -0.37375764] [ 0. 0. 0. 1. ]] SLAMing on 97.862414037 meters Centerline goodness : 0.779136 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93499448 -0.29659698 -0.19446223 3.1125014 ] [ 0.30599163 0.95183478 0.01948535 0.02680519] [ 0.17931662 -0.07772251 0.98071645 -0.37362334] [ 0. 0. 0. 1. ]] SLAMing on 97.892414037 meters Centerline goodness : 0.834043 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93496645 -0.29667204 -0.19448246 3.11248175] [ 0.30603684 0.9518239 0.01930582 0.02743227] [ 0.17938556 -0.07756909 0.98071599 -0.3735773 ] [ 0. 0. 0. 1. ]] SLAMing on 97.922414037 meters Centerline goodness : 0.779492 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93488382 -0.29707446 -0.1942653 3.11151291] [ 0.3063445 0.9517342 0.01884324 0.02827014] [ 0.17929108 -0.07712835 0.98076803 -0.37310396] [ 0. 0. 0. 1. ]] SLAMing on 97.952414037 meters Centerline goodness : 0.833537 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93475744 -0.2978595 -0.19367044 3.10888841] [ 0.30693199 0.95156229 0.01794331 0.02982672] [ 0.1789449 -0.07621629 0.98090254 -0.37180163] [ 0. 0. 0. 1. ]] SLAMing on 97.98241403699998 meters Centerline goodness : 0.834433 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93470662 -0.29811352 -0.19352483 3.10820982] [ 0.30711397 0.95151024 0.01758632 0.03046527] [ 0.17889814 -0.07587223 0.98093775 -0.37144792] [ 0. 0. 0. 1. ]] SLAMing on 98.01241403699999 meters Centerline goodness : 0.837030 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93470256 -0.29805136 -0.19364016 3.10860654] [ 0.3070532 0.95153051 0.01755034 0.03052613] [ 0.17902362 -0.07586218 0.98091563 -0.37148533] [ 0. 0. 0. 1. ]] SLAMing on 98.04241403699999 meters Centerline goodness : 0.837916 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93468209 -0.29813052 -0.19361712 3.10886049] [ 0.30712207 0.95150929 0.01749604 0.03010429] [ 0.17901239 -0.07581733 0.98092115 -0.37154692] [ 0. 0. 0. 1. ]] SLAMing on 98.07241403699999 meters Centerline goodness : 0.837949 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.37 [[ 0.93466804 -0.29824487 -0.1935088 3.10878265] [ 0.30722902 0.95147485 0.01749095 0.02956496] [ 0.17890217 -0.07579975 0.98094261 -0.37152515] [ 0. 0. 0. 1. ]] SLAMing on 98.10241403699999 meters Centerline goodness : 0.781591 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93682024 -0.2958494 -0.18665737 3.10177061] [ 0.30411965 0.9524879 0.01667477 0.02665264] [ 0.17285566 -0.07238743 0.98228355 -0.37662854] [ 0. 0. 0. 1. ]] SLAMing on 98.13241403699999 meters Centerline goodness : 0.783341 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93680152 -0.29590746 -0.18665929 3.10170937] [ 0.30414098 0.95248483 0.01645972 0.0275146 ] [ 0.17291959 -0.07219023 0.98228681 -0.37665201] [ 0. 0. 0. 1. ]] SLAMing on 98.16241403699999 meters Centerline goodness : 0.782641 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93678562 -0.29588202 -0.18677935 3.10170699] [ 0.30403055 0.9525291 0.01592905 0.02957066] [ 0.17319965 -0.07170874 0.98227274 -0.37643167] [ 0. 0. 0. 1. ]] SLAMing on 98.19241403699999 meters Centerline goodness : 0.782791 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93676254 -0.29587971 -0.18689874 3.10176766] [ 0.30399162 0.9525458 0.01567152 0.03036711] [ 0.17339273 -0.07149615 0.98225417 -0.3761859 ] [ 0. 0. 0. 1. ]] SLAMing on 98.222414037 meters Centerline goodness : 0.780859 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93678623 -0.29573866 -0.18700321 3.10206075] [ 0.30384059 0.95259541 0.01558473 0.0306864 ] [ 0.17352939 -0.07141872 0.98223567 -0.3761024 ] [ 0. 0. 0. 1. ]] SLAMing on 98.252414037 meters Centerline goodness : 0.783193 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93886763 -0.29276188 -0.18115753 3.09712101] [ 0.30034784 0.95370647 0.01533454 0.02779554] [ 0.16828174 -0.06880738 0.98333453 -0.38088717] [ 0. 0. 0. 1. ]] SLAMing on 98.282414037 meters Centerline goodness : 0.783193 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93886763 -0.29276188 -0.18115753 3.09712101] [ 0.30034784 0.95370647 0.01533454 0.02779554] [ 0.16828174 -0.06880738 0.98333453 -0.38088717] [ 0. 0. 0. 1. ]] SLAMing on 98.312414037 meters Centerline goodness : 0.837169 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93890873 -0.2925384 -0.1813055 3.09783665] [ 0.30013735 0.95377217 0.01536961 0.02801932] [ 0.16842794 -0.06884722 0.98330671 -0.38120165] [ 0. 0. 0. 1. ]] SLAMing on 98.342414037 meters Centerline goodness : 0.783821 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93892171 -0.29236533 -0.18151734 3.09846333] [ 0.29996749 0.95382646 0.01531643 0.02853783] [ 0.16865805 -0.06883023 0.98326846 -0.38133581] [ 0. 0. 0. 1. ]] SLAMing on 98.37241403699998 meters Centerline goodness : 0.836008 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93888025 -0.29250447 -0.18150759 3.098251 ] [ 0.30006977 0.95379785 0.01509278 0.0296046 ] [ 0.16870685 -0.06863526 0.98327372 -0.38134217] [ 0. 0. 0. 1. ]] SLAMing on 98.40241403699999 meters Centerline goodness : 0.836008 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93888025 -0.29250447 -0.18150759 3.098251 ] [ 0.30006977 0.95379785 0.01509278 0.0296046 ] [ 0.16870685 -0.06863526 0.98327372 -0.38134217] [ 0. 0. 0. 1. ]] SLAMing on 98.43241403699999 meters Centerline goodness : 0.784170 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93879444 -0.29290841 -0.18129991 3.09755015] [ 0.30043399 0.95368607 0.01490953 0.0289292 ] [ 0.16853607 -0.06846564 0.98331483 -0.38087105] [ 0. 0. 0. 1. ]] SLAMing on 98.46241403699999 meters Centerline goodness : 0.837893 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93874637 -0.29321978 -0.18104536 3.09692486] [ 0.30071594 0.95359869 0.01481397 0.02814676] [ 0.16830087 -0.06834978 0.98336317 -0.38055306] [ 0. 0. 0. 1. ]] SLAMing on 98.49241403699999 meters Centerline goodness : 0.837033 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.38 [[ 0.93868195 -0.29361059 -0.18074575 3.09598564] [ 0.30105754 0.953494 0.01461361 0.02744768] [ 0.16804928 -0.0681324 0.98342128 -0.38001244] [ 0. 0. 0. 1. ]] SLAMing on 98.52241403699999 meters Centerline goodness : 0.784679 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93866613 -0.29487642 -0.17875622 3.09105352] [ 0.30208248 0.9531805 0.0138968 0.02612781] [ 0.16628911 -0.06704358 0.98379525 -0.37842631] [ 0. 0. 0. 1. ]] SLAMing on 98.55241403699999 meters Centerline goodness : 0.838046 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93860127 -0.29518417 -0.17858882 3.09021104] [ 0.3023144 0.95311283 0.01348831 0.02667498] [ 0.16623376 -0.06665012 0.98383134 -0.37781818] [ 0. 0. 0. 1. ]] SLAMing on 98.58241403699999 meters Centerline goodness : 0.784520 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93855647 -0.29526074 -0.17869764 3.09017265] [ 0.30234677 0.95310693 0.01317569 0.02760098] [ 0.1664277 -0.06639478 0.98381581 -0.37756888] [ 0. 0. 0. 1. ]] SLAMing on 98.612414037 meters Centerline goodness : 0.833705 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93862181 -0.29477752 -0.17915164 3.09172798] [ 0.30190867 0.95324404 0.01330237 0.02810505] [ 0.16685399 -0.06657332 0.98373154 -0.37804792] [ 0. 0. 0. 1. ]] SLAMing on 98.642414037 meters Centerline goodness : 0.783264 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93870217 -0.29431021 -0.17949859 3.09315291] [ 0.30149358 0.95337245 0.01351228 0.02837171] [ 0.16715221 -0.06680168 0.98366543 -0.37868912] [ 0. 0. 0. 1. ]] SLAMing on 98.672414037 meters Centerline goodness : 0.781973 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93880345 -0.29389249 -0.17965323 3.09413717] [ 0.30111645 0.95348858 0.01372657 0.02871232] [ 0.16726316 -0.0669831 0.98363423 -0.37937792] [ 0. 0. 0. 1. ]] SLAMing on 98.702414037 meters Centerline goodness : 0.833366 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93877054 -0.2939883 -0.17966845 3.09405877] [ 0.30117756 0.9534724 0.01350763 0.0293217 ] [ 0.16733783 -0.06679267 0.98363448 -0.37927996] [ 0. 0. 0. 1. ]] SLAMing on 98.73241403699998 meters Centerline goodness : 0.783480 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.9387226 -0.29417253 -0.1796174 3.0936893 ] [ 0.30131448 0.95343299 0.01323326 0.02997272] [ 0.16736029 -0.06654369 0.98364753 -0.37903378] [ 0. 0. 0. 1. ]] SLAMing on 98.76241403699999 meters Centerline goodness : 0.834941 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93866358 -0.29452087 -0.1793548 3.09271447] [ 0.30159646 0.95334817 0.01291675 0.03030235] [ 0.16718332 -0.06621725 0.98369966 -0.37854374] [ 0. 0. 0. 1. ]] SLAMing on 98.79241403699999 meters Centerline goodness : 0.835609 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.9386381 -0.29527661 -0.17824211 3.08919128] [ 0.30221389 0.95315847 0.01247778 0.03053679] [ 0.16620858 -0.06557936 0.98390754 -0.37739993] [ 0. 0. 0. 1. ]] SLAMing on 98.82241403699999 meters Centerline goodness : 0.834852 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93860367 -0.29542173 -0.17818294 3.08906827] [ 0.30232909 0.9531241 0.01231109 0.03061062] [ 0.16619349 -0.06542512 0.98392036 -0.37727836] [ 0. 0. 0. 1. ]] SLAMing on 98.85241403699999 meters Centerline goodness : 0.833518 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93861601 -0.29531881 -0.17828847 3.08961124] [ 0.30223575 0.9531534 0.01233498 0.03059333] [ 0.16629351 -0.06546296 0.98390095 -0.377466 ] [ 0. 0. 0. 1. ]] SLAMing on 98.88241403699999 meters Centerline goodness : 0.783021 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93860769 -0.29556117 -0.17793031 3.08903787] [ 0.30240775 0.95310262 0.01203905 0.03127567] [ 0.16602757 -0.06510745 0.98396944 -0.37760438] [ 0. 0. 0. 1. ]] SLAMing on 98.91241403699999 meters Centerline goodness : 0.783770 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93856344 -0.29579311 -0.17777823 3.0886299 ] [ 0.30257435 0.95305408 0.01169096 0.03253938] [ 0.16597416 -0.06476384 0.98400113 -0.37767089] [ 0. 0. 0. 1. ]] SLAMing on 98.94241403699999 meters Centerline goodness : 0.784611 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.38 [[ 0.93851281 -0.29596789 -0.17775463 3.08853223] [ 0.30270384 0.9530163 0.01141579 0.03397666] [ 0.16602435 -0.06452088 0.98400862 -0.37793288] [ 0. 0. 0. 1. ]] SLAMing on 98.972414037 meters Centerline goodness : 0.784496 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:-0.38 [[ 0.93850714 -0.29595631 -0.17780387 3.08893497] [ 0.30267534 0.95302676 0.01129715 0.03503268] [ 0.16610838 -0.0644193 0.9840011 -0.37839883] [ 0. 0. 0. 1. ]] SLAMing on 99.002414037 meters Centerline goodness : 0.833130 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-0.38 [[ 0.94038318 -0.29426786 -0.17054589 3.081228 ] [ 0.30028281 0.95379758 0.01002037 0.03209098] [ 0.15971759 -0.06063498 0.98529878 -0.38362419] [ 0. 0. 0. 1. ]] SLAMing on 99.032414037 meters Centerline goodness : 0.784500 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-0.38 [[ 0.9402443 -0.29500836 -0.17003153 3.07948269] [ 0.30090391 0.95360799 0.00941509 0.03204877] [ 0.1593659 -0.06001564 0.98539364 -0.38270508] [ 0. 0. 0. 1. ]] SLAMing on 99.062414037 meters Centerline goodness : 0.785939 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-0.38 [[ 0.94006365 -0.29589238 -0.16949345 3.07738492] [ 0.30165063 0.95337891 0.00869203 0.03237902] [ 0.15901958 -0.05929887 0.98549298 -0.38159591] [ 0. 0. 0. 1. ]] SLAMing on 99.092414037 meters Centerline goodness : 0.788541 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.38 [[ 0.93985545 -0.29687384 -0.16893095 3.07496165] [ 0.30248877 0.95311997 0.00792831 0.03268029] [ 0.15865775 -0.05855118 0.985596 -0.38019361] [ 0. 0. 0. 1. ]] SLAMing on 99.12241403699998 meters Centerline goodness : 0.788485 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.38 [[ 0.93951658 -0.29835044 -0.16821297 3.07241064] [ 0.30382369 0.95270118 0.00718483 0.03259615] [ 0.15811309 -0.05785735 0.98572449 -0.37934336] [ 0. 0. 0. 1. ]] SLAMing on 99.15241403699999 meters Centerline goodness : 0.788264 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.38 [[ 0.93943317 -0.2986759 -0.16810124 3.07240932] [ 0.30415436 0.95259532 0.00723037 0.03193316] [ 0.15797292 -0.05792117 0.98574322 -0.37958141] [ 0. 0. 0. 1. ]] SLAMing on 99.18241403699999 meters Centerline goodness : 0.787021 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.38 [[ 0.93936626 -0.29898095 -0.1679328 3.07257325] [ 0.30448499 0.95248818 0.00742623 0.03104933] [ 0.1577337 -0.05810897 0.98577047 -0.38019631] [ 0. 0. 0. 1. ]] SLAMing on 99.21241403699999 meters Centerline goodness : 0.786065 Centerline is valid? [False, False] Translation: X:3.06, Y:0.03, Z:-0.38 [[ 9.39925786e-01 -2.99664713e-01 -1.63525462e-01 3.05560498e+00] [ 3.03821416e-01 9.52728903e-01 4.30212209e-04 2.64243443e-02] [ 1.55666515e-01 -5.00869051e-02 9.86539020e-01 -3.81491383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24241403699999 meters Centerline goodness : 0.786665 Centerline is valid? [False, False] Translation: X:3.05, Y:0.03, Z:-0.38 [[ 9.39804515e-01 -3.00295524e-01 -1.63064625e-01 3.05423361e+00] [ 3.04372748e-01 9.52553006e-01 2.13368577e-05 2.66436314e-02] [ 1.55321291e-01 -4.96524805e-02 9.86615390e-01 -3.81073910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27241403699999 meters Centerline goodness : 0.786971 Centerline is valid? [False, False] Translation: X:3.05, Y:0.03, Z:-0.38 [[ 9.39709794e-01 -3.00671765e-01 -1.62917134e-01 3.05346234e+00] [ 3.04683205e-01 9.52453673e-01 -3.81391710e-04 2.74078929e-02] [ 1.55285696e-01 -4.92797170e-02 9.86639682e-01 -3.80639210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30241403699999 meters Centerline goodness : 0.786742 Centerline is valid? [False, False] Translation: X:3.05, Y:0.03, Z:-0.38 [[ 9.39650453e-01 -3.00866995e-01 -1.62898981e-01 3.05317224e+00] [ 3.04838473e-01 9.52403847e-01 -6.46258776e-04 2.81177853e-02] [ 1.55340054e-01 -4.90506191e-02 9.86642541e-01 -3.80405062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33241403699999 meters Centerline goodness : 0.788377 Centerline is valid? [False, False] Translation: X:3.05, Y:0.03, Z:-0.38 [[ 9.39611936e-01 -3.00938496e-01 -1.62989053e-01 3.05339196e+00] [ 3.04891295e-01 9.52386822e-01 -7.99793121e-04 2.85661582e-02] [ 1.55469315e-01 -4.89424483e-02 9.86627553e-01 -3.80431110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362414037 meters Centerline goodness : 0.786470 Centerline is valid? [False, False] Translation: X:3.05, Y:0.03, Z:-0.38 [[ 9.39623408e-01 -3.00875582e-01 -1.63039062e-01 3.05388153e+00] [ 3.04838921e-01 9.52403633e-01 -7.43451540e-04 2.83363143e-02] [ 1.55502682e-01 -4.90020874e-02 9.86619335e-01 -3.80710207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.392414037 meters Centerline goodness : 0.785023 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.93900612 -0.30124668 -0.16588531 3.04425748] [ 0.30345335 0.95276438 -0.0124939 0.02786772] [ 0.16181337 -0.0386066 0.9860659 -0.37886359] [ 0. 0. 0. 1. ]] SLAMing on 99.422414037 meters Centerline goodness : 0.787268 Centerline is valid? [False, False] Translation: X:3.05, Y:0.03, Z:-0.38 [[ 0.93904032 -0.30102172 -0.16609997 3.04507493] [ 0.30325388 0.9528295 -0.01237058 0.0278946 ] [ 0.16198877 -0.03875398 0.98603132 -0.37918047] [ 0. 0. 0. 1. ]] SLAMing on 99.452414037 meters Centerline goodness : 0.785450 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.93900792 -0.30114235 -0.1660645 3.0447277 ] [ 0.3033384 0.95279969 -0.01259257 0.02845532] [ 0.16201836 -0.03854922 0.98603449 -0.37887548] [ 0. 0. 0. 1. ]] SLAMing on 99.48241403699998 meters Centerline goodness : 0.788883 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.93970157 -0.29889736 -0.16619662 3.0401883 ] [ 0.3014747 0.95342068 -0.01010053 0.02854837] [ 0.16147432 -0.04061259 0.9860409 -0.37674464] [ 0. 0. 0. 1. ]] SLAMing on 99.51241403699999 meters Centerline goodness : 0.790441 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.93964432 -0.29908927 -0.16617508 3.03956721] [ 0.30159635 0.95337743 -0.01054103 0.02929268] [ 0.16158028 -0.04021298 0.98603992 -0.37597818] [ 0. 0. 0. 1. ]] SLAMing on 99.54241403699999 meters Centerline goodness : 0.788208 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.93967771 -0.29887214 -0.16637683 3.04014198] [ 0.3013803 0.95344548 -0.01056603 0.02912411] [ 0.16178913 -0.04021403 0.98600563 -0.37580816] [ 0. 0. 0. 1. ]] SLAMing on 99.57241403699999 meters Centerline goodness : 0.789164 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.93974218 -0.29862986 -0.16644772 3.04086914] [ 0.30117865 0.95351194 -0.01031469 0.02828279] [ 0.16179016 -0.04043735 0.98599633 -0.37615471] [ 0. 0. 0. 1. ]] SLAMing on 99.60241403699999 meters Centerline goodness : 0.790333 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:-0.38 [[ 0.94217269 -0.29476815 -0.15944391 3.03318751] [ 0.29684337 0.95486057 -0.01119368 0.02367333] [ 0.15554625 -0.03678349 0.98714353 -0.38070632] [ 0. 0. 0. 1. ]] SLAMing on 99.63241403699999 meters Centerline goodness : 0.788005 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:-0.38 [[ 0.9421665 -0.29475532 -0.1595042 3.03291543] [ 0.29676951 0.95487875 -0.01159406 0.0248449 ] [ 0.15572458 -0.03641245 0.98712916 -0.38011592] [ 0. 0. 0. 1. ]] SLAMing on 99.66241403699999 meters Centerline goodness : 0.791406 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:-0.38 [[ 0.94313802 -0.29123083 -0.16023506 3.03138358] [ 0.29378537 0.95583755 -0.00804575 0.02374473] [ 0.15550186 -0.03948647 0.98704609 -0.37952187] [ 0. 0. 0. 1. ]] SLAMing on 99.69241403699999 meters Centerline goodness : 0.788951 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:-0.38 [[ 0.94320612 -0.29081721 -0.16058505 3.03183297] [ 0.29334065 0.95597198 -0.00829717 0.02512508] [ 0.15592776 -0.03928018 0.98698713 -0.37899361] [ 0. 0. 0. 1. ]] SLAMing on 99.722414037 meters Centerline goodness : 0.790038 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:-0.38 [[ 0.9432779 -0.29041585 -0.16088951 3.03221848] [ 0.29290556 0.95610312 -0.00855342 0.02627693] [ 0.15631101 -0.03905718 0.98693536 -0.3784402 ] [ 0. 0. 0. 1. ]] SLAMing on 99.752414037 meters Centerline goodness : 0.792450 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:-0.38 [[ 0.94335167 -0.2899824 -0.16123843 3.03287157] [ 0.29245668 0.95623918 -0.00870161 0.02698876] [ 0.15670582 -0.03894657 0.98687712 -0.37805577] [ 0. 0. 0. 1. ]] SLAMing on 99.782414037 meters Centerline goodness : 0.788455 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:-0.38 [[ 0.94352793 -0.28911108 -0.16177091 3.03482285] [ 0.2916578 0.95648667 -0.00830565 0.02671387] [ 0.15713297 -0.03934513 0.98679339 -0.37859978] [ 0. 0. 0. 1. ]] SLAMing on 99.812414037 meters Centerline goodness : 0.789394 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.94363524 -0.28855307 -0.16214086 3.03662052] [ 0.2911822 0.95663553 -0.00783472 0.02620787] [ 0.15737044 -0.03981941 0.98673652 -0.37955815] [ 0. 0. 0. 1. ]] SLAMing on 99.842414037 meters Centerline goodness : 0.789470 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.94369646 -0.28818048 -0.16244691 3.03811638] [ 0.29086868 0.9567335 -0.0075112 0.0263596 ] [ 0.15758298 -0.04016243 0.9866887 -0.38052531] [ 0. 0. 0. 1. ]] SLAMing on 99.87241403699998 meters Centerline goodness : 0.835503 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:-0.38 [[ 0.94372936 -0.28795932 -0.16264786 3.03921568] [ 0.29068001 0.95679216 -0.00734073 0.02687666] [ 0.15773404 -0.04035082 0.98665687 -0.38136775] [ 0. 0. 0. 1. ]] SLAMing on 99.90241403699999 meters Centerline goodness : 0.786174 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:-0.39 [[ 0.94536605 -0.28592176 -0.15662625 3.03242611] [ 0.28845417 0.95746949 -0.00680969 0.02454202] [ 0.1519119 -0.03874185 0.98763447 -0.38632329] [ 0. 0. 0. 1. ]] SLAMing on 99.93241403699999 meters Centerline goodness : 0.789292 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:-0.39 [[ 0.94527813 -0.2864284 -0.15623069 3.03112531] [ 0.28889169 0.95733471 -0.00719994 0.02436245] [ 0.15162733 -0.0383278 0.98769435 -0.38563194] [ 0. 0. 0. 1. ]] SLAMing on 99.96241403699999 meters Centerline goodness : 0.835660 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:-0.38 [[ 0.94516366 -0.28702123 -0.15583477 3.02971344] [ 0.28940916 0.957175 -0.00763964 0.02402726] [ 0.15135389 -0.0378793 0.98775359 -0.38477832] [ 0. 0. 0. 1. ]] SLAMing on 99.99241403699999 meters Centerline goodness : 0.787558 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:-0.38 [[ 0.94501612 -0.28778209 -0.15532548 3.02786715] [ 0.29006801 0.95697055 -0.00824099 0.02442272] [ 0.15101352 -0.03726709 0.98782897 -0.38389769] [ 0. 0. 0. 1. ]] SLAMing on 100.02241403699999 meters Centerline goodness : 0.790472 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:-0.38 [[ 0.94490322 -0.28832082 -0.15501295 3.02646369] [ 0.29051795 0.95682918 -0.00878909 0.02521565] [ 0.15085499 -0.03672921 0.98787334 -0.38307271] [ 0. 0. 0. 1. ]] SLAMing on 100.05241403699999 meters Centerline goodness : 0.791414 Centerline is valid? [False, False] Translation: X:3.02, Y:0.03, Z:-0.38 [[ 0.94476489 -0.28892967 -0.15472216 3.02496664] [ 0.29100381 0.95667399 -0.00957406 0.0263926 ] [ 0.1507849 -0.0359795 0.98791163 -0.38199725] [ 0. 0. 0. 1. ]] SLAMing on 100.08241403699999 meters Centerline goodness : 0.793514 Centerline is valid? [False, False] Translation: X:3.00, Y:0.02, Z:-0.38 [[ 0.94609232 -0.28714609 -0.14985474 3.00435262] [ 0.28854749 0.95738026 -0.01278195 0.02201298] [ 0.14713826 -0.0311473 0.9886254 -0.38358048] [ 0. 0. 0. 1. ]] SLAMing on 100.112414037 meters Centerline goodness : 0.791876 Centerline is valid? [False, False] Translation: X:3.00, Y:0.02, Z:-0.38 [[ 0.94600959 -0.28749067 -0.14971627 3.0040145 ] [ 0.28886294 0.95728252 -0.01297577 0.02172015] [ 0.14705118 -0.03097228 0.98864385 -0.38341576] [ 0. 0. 0. 1. ]] SLAMing on 100.142414037 meters Centerline goodness : 0.790335 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.39 [[ 0.94765829 -0.28489516 -0.14414751 2.99042832] [ 0.28533524 0.95825769 -0.0180556 0.01704061] [ 0.14327441 -0.02401983 0.98939147 -0.3859015 ] [ 0. 0. 0. 1. ]] SLAMing on 100.172414037 meters Centerline goodness : 0.790335 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.39 [[ 0.94765829 -0.28489516 -0.14414751 2.99042832] [ 0.28533524 0.95825769 -0.0180556 0.01704061] [ 0.14327441 -0.02401983 0.98939147 -0.3859015 ] [ 0. 0. 0. 1. ]] SLAMing on 100.202414037 meters Centerline goodness : 0.792457 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.39 [[ 0.9476159 -0.28508676 -0.14404734 2.99000981] [ 0.28549294 0.95820632 -0.01828763 0.01716605] [ 0.14324063 -0.02379485 0.9894018 -0.38553602] [ 0. 0. 0. 1. ]] SLAMing on 100.23241403699998 meters Centerline goodness : 0.791585 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.39 [[ 0.94758071 -0.28526708 -0.14392185 2.98948953] [ 0.28564017 0.95815818 -0.01850917 0.01781563] [ 0.14317995 -0.02357093 0.98941595 -0.38533828] [ 0. 0. 0. 1. ]] SLAMing on 100.26241403699999 meters Centerline goodness : 0.790476 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.39 [[ 0.94754764 -0.28538865 -0.1438985 2.98917667] [ 0.28572103 0.95812849 -0.01879598 0.01897712] [ 0.14323741 -0.02330474 0.98941393 -0.38515057] [ 0. 0. 0. 1. ]] SLAMing on 100.29241403699999 meters Centerline goodness : 0.793665 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.38 [[ 0.94835744 -0.28249651 -0.14427017 2.98670632] [ 0.28326555 0.95891436 -0.01561632 0.01912166] [ 0.1427543 -0.02605692 0.9894151 -0.3847355 ] [ 0. 0. 0. 1. ]] SLAMing on 100.32241403699999 meters Centerline goodness : 0.790351 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.38 [[ 0.94840149 -0.28257982 -0.14381679 2.9858217 ] [ 0.28333909 0.95889279 -0.01560689 0.01910497] [ 0.14231508 -0.02594733 0.98948126 -0.38476734] [ 0. 0. 0. 1. ]] SLAMing on 100.35241403699999 meters Centerline goodness : 0.790895 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.38 [[ 0.94838041 -0.28269541 -0.14372855 2.98568534] [ 0.2834381 0.95886177 -0.0157149 0.01886233] [ 0.14225834 -0.02583444 0.98949237 -0.38460855] [ 0. 0. 0. 1. ]] SLAMing on 100.38241403699999 meters Centerline goodness : 0.792450 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.38 [[ 0.94834539 -0.28289682 -0.14356329 2.98540639] [ 0.28361985 0.95880602 -0.01583685 0.01869227] [ 0.14212954 -0.02569859 0.98951441 -0.38457565] [ 0. 0. 0. 1. ]] SLAMing on 100.41241403699999 meters Centerline goodness : 0.789152 Centerline is valid? [False, False] Translation: X:2.99, Y:0.02, Z:-0.38 [[ 0.94828001 -0.28319931 -0.14339866 2.98522039] [ 0.28391392 0.95871812 -0.01588866 0.01857464] [ 0.14197855 -0.02564597 0.98953746 -0.38489195] [ 0. 0. 0. 1. ]] SLAMing on 100.44241403699999 meters Centerline goodness : 0.790134 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:-0.39 [[ 0.94820109 -0.28356775 -0.14319227 2.98478623] [ 0.28425468 0.95861408 -0.01607237 0.01894392] [ 0.14182373 -0.02546323 0.98956438 -0.38503004] [ 0. 0. 0. 1. ]] SLAMing on 100.472414037 meters Centerline goodness : 0.787521 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:-0.38 [[ 0.94809529 -0.28399314 -0.14304971 2.98416641] [ 0.28463749 0.95849534 -0.0163764 0.01955571] [ 0.14176327 -0.02519092 0.98958001 -0.38482054] [ 0. 0. 0. 1. ]] SLAMing on 100.502414037 meters Centerline goodness : 0.789779 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:-0.38 [[ 0.94799446 -0.28436557 -0.14297806 2.98367323] [ 0.28496333 0.95839263 -0.01671731 0.02027889] [ 0.14178295 -0.02489559 0.98958466 -0.38453132] [ 0. 0. 0. 1. ]] SLAMing on 100.532414037 meters Centerline goodness : 0.790434 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:-0.38 [[ 0.94793092 -0.2846637 -0.14280598 2.98322264] [ 0.2852308 0.95830944 -0.01692378 0.02054938] [ 0.1416699 -0.02469009 0.989606 -0.38448104] [ 0. 0. 0. 1. ]] SLAMing on 100.562414037 meters Centerline goodness : 0.789200 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.94985536 -0.28224973 -0.13457294 2.97368806] [ 0.28225285 0.95914272 -0.01945703 0.01710162] [ 0.1345664 -0.01950224 0.99071265 -0.38956332] [ 0. 0. 0. 1. ]] SLAMing on 100.59241403699998 meters Centerline goodness : 0.787637 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.94978835 -0.28252747 -0.13446306 2.97344708] [ 0.28249767 0.95906561 -0.01970348 0.01760754] [ 0.13452567 -0.01927136 0.9907227 -0.38957993] [ 0. 0. 0. 1. ]] SLAMing on 100.62241403699998 meters Centerline goodness : 0.787906 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.94972229 -0.28280147 -0.13435365 2.97316184] [ 0.28273055 0.95899063 -0.02001032 0.0186747 ] [ 0.13450284 -0.01898163 0.99073139 -0.38966107] [ 0. 0. 0. 1. ]] SLAMing on 100.65241403699999 meters Centerline goodness : 0.789773 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.94968585 -0.28299992 -0.13419326 2.97292196] [ 0.28290211 0.95893606 -0.0202 0.0198062 ] [ 0.13439935 -0.0187799 0.99074928 -0.3900017 ] [ 0. 0. 0. 1. ]] SLAMing on 100.68241403699999 meters Centerline goodness : 0.789332 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.95026949 -0.28107915 -0.13409852 2.96890172] [ 0.28130316 0.95945628 -0.0176687 0.02012358] [ 0.13362797 -0.0209323 0.99081048 -0.38892837] [ 0. 0. 0. 1. ]] SLAMing on 100.71241403699999 meters Centerline goodness : 0.788662 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.95009795 -0.28189107 -0.13360878 2.96662997] [ 0.28196909 0.95924056 -0.01873447 0.02182032] [ 0.13344404 -0.01987397 0.99085706 -0.38740402] [ 0. 0. 0. 1. ]] SLAMing on 100.74241403699999 meters Centerline goodness : 0.791309 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-0.39 [[ 0.94994084 -0.2826635 -0.13309303 2.96434313] [ 0.28260079 0.95903407 -0.01975986 0.02348457] [ 0.13322614 -0.0188415 0.99090655 -0.38589969] [ 0. 0. 0. 1. ]] SLAMing on 100.77241403699999 meters Centerline goodness : 0.793678 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-0.38 [[ 0.94978419 -0.28340533 -0.13263262 2.96241896] [ 0.28322402 0.95883185 -0.02063111 0.0247941 ] [ 0.13301935 -0.01796964 0.99095053 -0.38475911] [ 0. 0. 0. 1. ]] SLAMing on 100.80241403699999 meters Centerline goodness : 0.790106 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-0.39 [[ 0.94964743 -0.28402248 -0.13229135 2.96228204] [ 0.28383154 0.9586507 -0.02070014 0.02394032] [ 0.1327005 -0.01789063 0.9909947 -0.38543903] [ 0. 0. 0. 1. ]] SLAMing on 100.83241403699999 meters Centerline goodness : 0.786771 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.94877605 -0.28702778 -0.13205706 2.96578923] [ 0.28641919 0.9578039 -0.02399459 0.02492037] [ 0.13337188 -0.01505818 0.99095166 -0.38691199] [ 0. 0. 0. 1. ]] SLAMing on 100.862414037 meters Centerline goodness : 0.786378 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.94876533 -0.28707107 -0.13203998 2.96705765] [ 0.28654332 0.95778161 -0.02339465 0.02370728] [ 0.13318139 -0.01563914 0.99096828 -0.38861169] [ 0. 0. 0. 1. ]] SLAMing on 100.892414037 meters Centerline goodness : 0.788717 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:-0.39 [[ 0.9486351 -0.28762213 -0.13177616 2.96710273] [ 0.28711187 0.95761433 -0.0232719 0.02450685] [ 0.13288425 -0.01575796 0.99100629 -0.39011624] [ 0. 0. 0. 1. ]] SLAMing on 100.922414037 meters Centerline goodness : 0.788811 Centerline is valid? [False, False] Translation: X:2.97, Y:0.03, Z:-0.39 [[ 0.94858597 -0.28787448 -0.13157865 2.96623956] [ 0.28730623 0.95754556 -0.02369896 0.02635117] [ 0.13281488 -0.01532286 0.99102241 -0.38984888] [ 0. 0. 0. 1. ]] SLAMing on 100.952414037 meters Centerline goodness : 0.788335 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:-0.39 [[ 0.95050089 -0.28357684 -0.12701272 2.9468588 ] [ 0.28268963 0.95887667 -0.02533976 0.0226516 ] [ 0.1289753 -0.01181971 0.99157736 -0.39156601] [ 0. 0. 0. 1. ]] SLAMing on 100.98241403699998 meters Centerline goodness : 0.789789 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:-0.39 [[ 0.95042649 -0.28392428 -0.12679311 2.94572923] [ 0.28294404 0.95878236 -0.0260588 0.02410452] [ 0.12896572 -0.01110838 0.99158683 -0.39061518] [ 0. 0. 0. 1. ]] SLAMing on 101.01241403699999 meters Centerline goodness : 0.788643 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-0.39 [[ 0.95033985 -0.28433272 -0.12652694 2.94447181] [ 0.28325293 0.95866989 -0.02682962 0.02499522] [ 0.12892611 -0.01034187 0.99160027 -0.38944589] [ 0. 0. 0. 1. ]] SLAMing on 101.04241403699999 meters Centerline goodness : 0.789972 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:-0.39 [[ 0.95040055 -0.28401423 -0.12678611 2.94540185] [ 0.28295434 0.95876234 -0.0266763 0.0249678 ] [ 0.12913419 -0.01052151 0.99157131 -0.38977097] [ 0. 0. 0. 1. ]] SLAMing on 101.07241403699999 meters Centerline goodness : 0.788818 Centerline is valid? [False, False] Translation: X:2.95, Y:0.03, Z:-0.39 [[ 0.95048631 -0.28359244 -0.12708698 2.94686049] [ 0.28257683 0.95888315 -0.02633316 0.02508241] [ 0.12932945 -0.01088253 0.99154196 -0.3907588 ] [ 0. 0. 0. 1. ]] SLAMing on 101.10241403699999 meters Centerline goodness : 0.789296 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.9506115 -0.28180455 -0.13009217 2.93420248] [ 0.27962467 0.95946714 -0.03511187 0.02469013] [ 0.13471385 -0.00299923 0.99088 -0.38886839] [ 0. 0. 0. 1. ]] SLAMing on 101.13241403699999 meters Centerline goodness : 0.788739 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95160002 -0.27821399 -0.13059243 2.93280651] [ 0.27654077 0.9604973 -0.03114717 0.02452693] [ 0.13409925 -0.00647448 0.99094675 -0.38954125] [ 0. 0. 0. 1. ]] SLAMing on 101.16241403699999 meters Centerline goodness : 0.791373 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.9515817 -0.27826194 -0.13062372 2.93255629] [ 0.27656016 0.96048469 -0.03136293 0.02471024] [ 0.13418919 -0.00628093 0.99093583 -0.38897508] [ 0. 0. 0. 1. ]] SLAMing on 101.19241403699999 meters Centerline goodness : 0.788887 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95152519 -0.2785073 -0.13051243 2.93193014] [ 0.27676597 0.96041544 -0.03166681 0.02440567] [ 0.13416559 -0.00598963 0.99094083 -0.38824089] [ 0. 0. 0. 1. ]] SLAMing on 101.222414037 meters Centerline goodness : 0.788207 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95153663 -0.27851732 -0.13040758 2.93189882] [ 0.27680013 0.96041159 -0.03148432 0.02266844] [ 0.13401388 -0.00613835 0.99096044 -0.38810324] [ 0. 0. 0. 1. ]] SLAMing on 101.252414037 meters Centerline goodness : 0.788075 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.9515579 -0.27833352 -0.1306446 2.93277878] [ 0.27664618 0.9604632 -0.03126224 0.02224222] [ 0.13418066 -0.0063945 0.99093626 -0.38852911] [ 0. 0. 0. 1. ]] SLAMing on 101.282414037 meters Centerline goodness : 0.787078 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95166202 -0.27779893 -0.13102346 2.93439554] [ 0.27617266 0.96061461 -0.03079352 0.02206841] [ 0.13441746 -0.00688008 0.99090091 -0.38946198] [ 0. 0. 0. 1. ]] SLAMing on 101.312414037 meters Centerline goodness : 0.787412 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-0.39 [[ 0.95174281 -0.27736482 -0.13135593 2.93566041] [ 0.27576795 0.96073818 -0.0305644 0.02237229] [ 0.13467615 -0.0071343 0.99086399 -0.39008235] [ 0. 0. 0. 1. ]] SLAMing on 101.34241403699998 meters Centerline goodness : 0.786468 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-0.39 [[ 0.95179489 -0.2771048 -0.13152728 2.93624139] [ 0.27550952 0.96081298 -0.03054375 0.02310155] [ 0.13483693 -0.00716564 0.99084189 -0.39032648] [ 0. 0. 0. 1. ]] SLAMing on 101.37241403699998 meters Centerline goodness : 0.789785 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95278277 -0.27340014 -0.13212626 2.93495628] [ 0.27228208 0.96184385 -0.02681196 0.02161196] [ 0.13441523 -0.01042964 0.99087021 -0.39004941] [ 0. 0. 0. 1. ]] SLAMing on 101.40241403699999 meters Centerline goodness : 0.786257 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-0.39 [[ 0.95283795 -0.27314871 -0.13224837 2.93522357] [ 0.27201336 0.96191654 -0.02693129 0.02140279] [ 0.13456814 -0.01031217 0.99085068 -0.38959332] [ 0. 0. 0. 1. ]] SLAMing on 101.43241403699999 meters Centerline goodness : 0.787326 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-0.39 [[ 0.95289138 -0.27289978 -0.13237721 2.93535136] [ 0.27174557 0.96198855 -0.02706247 0.02127019] [ 0.1347307 -0.01018532 0.9908299 -0.38898427] [ 0. 0. 0. 1. ]] SLAMing on 101.46241403699999 meters Centerline goodness : 0.788404 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95376416 -0.26959055 -0.1328716 2.93295063] [ 0.26886085 0.96288627 -0.02374619 0.0198032 ] [ 0.13434198 -0.01307571 0.99084876 -0.38750589] [ 0. 0. 0. 1. ]] SLAMing on 101.49241403699999 meters Centerline goodness : 0.789051 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95377326 -0.26944591 -0.13309947 2.93319613] [ 0.26869909 0.962928 -0.02388441 0.02015667] [ 0.13460076 -0.0129834 0.99081485 -0.3870318 ] [ 0. 0. 0. 1. ]] SLAMing on 101.52241403699999 meters Centerline goodness : 0.789726 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.9538381 -0.26902469 -0.13348629 2.93443881] [ 0.26832971 0.96304017 -0.02351158 0.01980215] [ 0.13487785 -0.0133921 0.99077173 -0.38747235] [ 0. 0. 0. 1. ]] SLAMing on 101.55241403699999 meters Centerline goodness : 0.787702 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-0.39 [[ 0.95391695 -0.2685139 -0.13395051 2.93605387] [ 0.26788105 0.96317582 -0.02306689 0.01892695] [ 0.13521168 -0.01387891 0.99071953 -0.38797967] [ 0. 0. 0. 1. ]] SLAMing on 101.58241403699999 meters Centerline goodness : 0.786402 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-0.39 [[ 0.95401066 -0.26801149 -0.13428886 2.9375893 ] [ 0.26744013 0.96330902 -0.02261654 0.0177187 ] [ 0.13542316 -0.01433781 0.9906841 -0.38856446] [ 0. 0. 0. 1. ]] SLAMing on 101.612414037 meters Centerline goodness : 0.785988 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95573157 -0.26466452 -0.12856852 2.9336752 ] [ 0.26404386 0.96425603 -0.02216177 0.01288335] [ 0.1298384 -0.01276703 0.99145297 -0.39430431] [ 0. 0. 0. 1. ]] SLAMing on 101.642414037 meters Centerline goodness : 0.786299 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95576069 -0.26460193 -0.12848081 2.93341893] [ 0.26398964 0.96427264 -0.02208484 0.01271662] [ 0.12973422 -0.01280978 0.99146606 -0.39419465] [ 0. 0. 0. 1. ]] SLAMing on 101.672414037 meters Centerline goodness : 0.785526 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95577015 -0.26455405 -0.12850907 2.93290971] [ 0.263906 0.96428925 -0.02235757 0.01314893] [ 0.1298347 -0.01254562 0.99145628 -0.39327667] [ 0. 0. 0. 1. ]] SLAMing on 101.702414037 meters Centerline goodness : 0.787714 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95662064 -0.26136103 -0.12871424 2.92975816] [ 0.26110553 0.96512014 -0.01915764 0.01189039] [ 0.12923176 -0.0152814 0.99149666 -0.39151761] [ 0. 0. 0. 1. ]] SLAMing on 101.73241403699998 meters Centerline goodness : 0.788893 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95664766 -0.26116207 -0.12891711 2.92991648] [ 0.26088062 0.96517678 -0.01936689 0.01168966] [ 0.1294857 -0.01510469 0.99146624 -0.39072282] [ 0. 0. 0. 1. ]] SLAMing on 101.76241403699999 meters Centerline goodness : 0.790366 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95668165 -0.26096823 -0.12905736 2.93008292] [ 0.26067295 0.9652307 -0.01947595 0.01105711] [ 0.12965273 -0.01500947 0.99144586 -0.39004224] [ 0. 0. 0. 1. ]] SLAMing on 101.79241403699999 meters Centerline goodness : 0.790060 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95669136 -0.26092131 -0.12908024 2.92991514] [ 0.26060651 0.96524563 -0.01962464 0.0107293 ] [ 0.12971463 -0.01486443 0.99143994 -0.38943066] [ 0. 0. 0. 1. ]] SLAMing on 101.82241403699999 meters Centerline goodness : 0.791227 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.9567704 -0.26054355 -0.12925732 2.93056056] [ 0.26023484 0.96534695 -0.01957279 0.01100839] [ 0.12987772 -0.0149106 0.9914179 -0.3894822 ] [ 0. 0. 0. 1. ]] SLAMing on 101.85241403699999 meters Centerline goodness : 0.789201 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95683239 -0.26023208 -0.12942582 2.93152036] [ 0.25996277 0.96542633 -0.01927058 0.01070123] [ 0.12996592 -0.01520718 0.99140184 -0.39008391] [ 0. 0. 0. 1. ]] SLAMing on 101.88241403699999 meters Centerline goodness : 0.789451 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95687492 -0.2599456 -0.12968682 2.93258209] [ 0.25972784 0.9654971 -0.01888906 0.01027695] [ 0.13012237 -0.01560881 0.99137507 -0.39071428] [ 0. 0. 0. 1. ]] SLAMing on 101.91241403699999 meters Centerline goodness : 0.788489 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95686269 -0.26007877 -0.12950998 2.93291967] [ 0.2599208 0.96545423 -0.01842042 0.00904459] [ 0.12982672 -0.01603652 0.99140701 -0.39169985] [ 0. 0. 0. 1. ]] SLAMing on 101.94241403699999 meters Centerline goodness : 0.786469 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95681929 -0.26030655 -0.1293729 2.93267996] [ 0.26016376 0.96539102 -0.01830295 0.0078632 ] [ 0.12965981 -0.01614552 0.99142708 -0.39166501] [ 0. 0. 0. 1. ]] SLAMing on 101.972414037 meters Centerline goodness : 0.785907 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95676002 -0.26062723 -0.12916541 2.9322063 ] [ 0.26050637 0.96530187 -0.0181308 0.00628719] [ 0.129409 -0.01630159 0.9914573 -0.39155546] [ 0. 0. 0. 1. ]] SLAMing on 102.002414037 meters Centerline goodness : 0.785892 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95667455 -0.26106413 -0.12891597 2.93144962] [ 0.26093891 0.96518445 -0.01816243 0.00503801] [ 0.12916925 -0.01626365 0.99148918 -0.39118317] [ 0. 0. 0. 1. ]] SLAMing on 102.032414037 meters Centerline goodness : 0.786402 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 0.95643563 -0.26215327 -0.1284778 2.92927093] [ 0.26195634 0.9648979 -0.01873286 0.00444622] [ 0.12887884 -0.0157388 0.99153544 -0.38972257] [ 0. 0. 0. 1. ]] SLAMing on 102.062414037 meters Centerline goodness : 0.787764 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 0.95640085 -0.2622649 -0.1285089 2.92944903] [ 0.26208116 0.96486575 -0.01864285 0.00378438] [ 0.1288832 -0.01584972 0.99153311 -0.38974235] [ 0. 0. 0. 1. ]] SLAMing on 102.09241403699998 meters Centerline goodness : 0.787764 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 0.95640085 -0.2622649 -0.1285089 2.92944903] [ 0.26208116 0.96486575 -0.01864285 0.00378438] [ 0.1288832 -0.01584972 0.99153311 -0.38974235] [ 0. 0. 0. 1. ]] SLAMing on 102.12241403699998 meters Centerline goodness : 0.783389 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.56403421e-01 -2.62238338e-01 -1.28543960e-01 2.93010353e+00] [ 2.62098368e-01 9.64867472e-01 -1.83086538e-02 2.86111678e-03] [ 1.28829116e-01 -1.61807029e-02 9.91534792e-01 -3.90415238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15241403699999 meters Centerline goodness : 0.783456 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.56456468e-01 -2.61971370e-01 -1.28693537e-01 2.93129809e+00] [ 2.61900240e-01 9.64931158e-01 -1.77799054e-02 1.49949217e-03] [ 1.28838230e-01 -1.66991626e-02 9.91525012e-01 -3.91347485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18241403699999 meters Centerline goodness : 0.781753 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:-0.39 [[ 9.56504563e-01 -2.61814801e-01 -1.28654698e-01 2.93190783e+00] [ 2.61791913e-01 9.64967611e-01 -1.73926322e-02 -2.15304645e-04] [ 1.28701265e-01 -1.70446272e-02 9.91536921e-01 -3.91880478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21241403699999 meters Centerline goodness : 0.782127 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:-0.39 [[ 9.56515305e-01 -2.61790198e-01 -1.28624893e-01 2.93181038e+00] [ 2.61763354e-01 9.64974911e-01 -1.74174588e-02 -3.16318234e-04] [ 1.28679515e-01 -1.70092174e-02 9.91540352e-01 -3.91736699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24241403699999 meters Centerline goodness : 0.781139 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:-0.39 [[ 9.56516253e-01 -2.61804451e-01 -1.28588829e-01 2.93161710e+00] [ 2.61758917e-01 9.64973574e-01 -1.75576530e-02 -2.33550723e-05] [ 1.28681494e-01 -1.68650922e-02 9.91542557e-01 -3.91485060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27241403699999 meters Centerline goodness : 0.783475 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.56540294e-01 -2.61647387e-01 -1.28729600e-01 2.93163200e+00] [ 2.61579995e-01 9.65018870e-01 -1.77337631e-02 4.44526464e-04] [ 1.28866486e-01 -1.67100293e-02 9.91521156e-01 -3.90970027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30241403699999 meters Centerline goodness : 0.838343 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.56576435e-01 -2.61406031e-01 -1.28951196e-01 2.93211611e+00] [ 2.61353871e-01 9.65082050e-01 -1.76292590e-02 9.18923722e-05] [ 1.29056879e-01 -1.68381606e-02 9.91494225e-01 -3.90818906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33241403699999 meters Centerline goodness : 0.783409 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:-0.39 [[ 9.56599843e-01 -2.61304075e-01 -1.28984191e-01 2.93237443e+00] [ 2.61266335e-01 9.65107816e-01 -1.75158693e-02 -2.57044964e-04] [ 1.29060618e-01 -1.69435488e-02 9.91491943e-01 -3.90919556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362414037 meters Centerline goodness : 0.783758 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:-0.39 [[ 9.56634257e-01 -2.61132990e-01 -1.29075406e-01 2.93285329e+00] [ 2.61124699e-01 9.65150218e-01 -1.72901239e-02 -6.53834306e-04] [ 1.29092178e-01 -1.71644518e-02 9.91484035e-01 -3.91216713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.392414037 meters Centerline goodness : 0.782565 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:-0.39 [[ 9.56646478e-01 -2.61001233e-01 -1.29251201e-01 2.93316040e+00] [ 2.60994256e-01 9.65185420e-01 -1.72946055e-02 -7.88129514e-04] [ 1.29265288e-01 -1.71889978e-02 9.91461055e-01 -3.90965065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422414037 meters Centerline goodness : 0.784353 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:-0.39 [[ 9.56638824e-01 -2.61006717e-01 -1.29296766e-01 2.93291440e+00] [ 2.60965665e-01 9.65188317e-01 -1.75622874e-02 -1.20855655e-06] [ 1.29379603e-01 -1.69412506e-02 9.91450408e-01 -3.90525169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452414037 meters Centerline goodness : 0.785098 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.56674995e-01 -2.60802813e-01 -1.29440510e-01 2.93292851e+00] [ 2.60722655e-01 9.65248405e-01 -1.78665456e-02 1.25136317e-03] [ 1.29601891e-01 -1.66555960e-02 9.91426216e-01 -3.90023727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48241403699998 meters Centerline goodness : 0.783609 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.57629522e-01 -2.56885217e-01 -1.30213991e-01 2.93226069e+00] [ 2.57246542e-01 9.66239571e-01 -1.43285537e-02 7.73946058e-04] [ 1.29498705e-01 -1.97756529e-02 9.91382373e-01 -3.89716678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51241403699999 meters Centerline goodness : 0.786454 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.57689814e-01 -2.56502887e-01 -1.30523903e-01 2.93350856e+00] [ 2.56880244e-01 9.66338512e-01 -1.42274722e-02 1.01522320e-03] [ 1.29779662e-01 -1.99035068e-02 9.91343074e-01 -3.90235412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54241403699999 meters Centerline goodness : 0.787555 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.57700823e-01 -2.56366075e-01 -1.30711781e-01 2.93430663e+00] [ 2.56755894e-01 9.66372667e-01 -1.41520290e-02 1.09690117e-03] [ 1.29944392e-01 -2.00076103e-02 9.91319399e-01 -3.90683128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57241403699999 meters Centerline goodness : 0.785859 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.57683857e-01 -2.56431025e-01 -1.30708679e-01 2.93452150e+00] [ 2.56806682e-01 9.66357524e-01 -1.42640670e-02 1.87049840e-03] [ 1.29969065e-01 -1.99063954e-02 9.91318202e-01 -3.91030482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60241403699999 meters Centerline goodness : 0.784326 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 9.57666550e-01 -2.56500150e-01 -1.30699854e-01 2.93458772e+00] [ 2.56851965e-01 9.66342737e-01 -1.44492989e-02 2.66098269e-03] [ 1.30007102e-01 -1.97329042e-02 9.91316683e-01 -3.91155542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63241403699999 meters Centerline goodness : 0.785351 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:-0.39 [[ 0.9576263 -0.2567389 -0.13052587 2.93418347] [ 0.25703419 0.96628789 -0.01487054 0.0045149 ] [ 0.12994342 -0.01930919 0.99133338 -0.39138383] [ 0. 0. 0. 1. ]] SLAMing on 102.66241403699999 meters Centerline goodness : 0.785107 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95757655 -0.25706595 -0.13024689 2.93355403] [ 0.25732732 0.96620615 -0.01511054 0.00524192] [ 0.12972975 -0.01904658 0.99136644 -0.39152277] [ 0. 0. 0. 1. ]] SLAMing on 102.69241403699999 meters Centerline goodness : 0.783663 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95748937 -0.25753233 -0.12996615 2.9326391 ] [ 0.25773787 0.96609009 -0.0155284 0.00578413] [ 0.12955807 -0.01862892 0.99139683 -0.39117673] [ 0. 0. 0. 1. ]] SLAMing on 102.722414037 meters Centerline goodness : 0.786081 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95741017 -0.25802898 -0.12956395 2.93155715] [ 0.25820133 0.9659626 -0.01575871 0.00574167] [ 0.12922014 -0.01836604 0.99144584 -0.39100907] [ 0. 0. 0. 1. ]] SLAMing on 102.752414037 meters Centerline goodness : 0.786511 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95722995 -0.25901335 -0.12892986 2.92978415] [ 0.25912593 0.96570775 -0.01619556 0.00567131] [ 0.12870343 -0.0179062 0.99152146 -0.3907155 ] [ 0. 0. 0. 1. ]] SLAMing on 102.782414037 meters Centerline goodness : 0.787755 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95711127 -0.25961524 -0.12859992 2.92856067] [ 0.25966896 0.96555424 -0.0166447 0.00642787] [ 0.12849141 -0.01746257 0.99155686 -0.39025063] [ 0. 0. 0. 1. ]] SLAMing on 102.812414037 meters Centerline goodness : 0.789248 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95701871 -0.26006789 -0.128374 2.92744448] [ 0.26006051 0.9654406 -0.01711658 0.00756199] [ 0.12838894 -0.01700412 0.99157811 -0.3896452 ] [ 0. 0. 0. 1. ]] SLAMing on 102.84241403699998 meters Centerline goodness : 0.791132 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95693516 -0.26035405 -0.12841675 2.92706723] [ 0.26025547 0.96537487 -0.01784544 0.01002005] [ 0.12861644 -0.01634423 0.99155972 -0.38922629] [ 0. 0. 0. 1. ]] SLAMing on 102.87241403699998 meters Centerline goodness : 0.789354 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95696083 -0.26017145 -0.1285954 2.92810936] [ 0.26007918 0.96542308 -0.01780725 0.01089388] [ 0.12878191 -0.01640415 0.99153725 -0.39007646] [ 0. 0. 0. 1. ]] SLAMing on 102.90241403699999 meters Centerline goodness : 0.790410 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95699505 -0.25999018 -0.12870734 2.92915552] [ 0.25991709 0.9654694 -0.01766172 0.01170075] [ 0.12885487 -0.01655105 0.99152533 -0.39124766] [ 0. 0. 0. 1. ]] SLAMing on 102.93241403699999 meters Centerline goodness : 0.790616 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95698882 -0.26004272 -0.12864753 2.93014314] [ 0.25998019 0.96545397 -0.01757629 0.01258796] [ 0.12877385 -0.01662549 0.99153461 -0.39290228] [ 0. 0. 0. 1. ]] SLAMing on 102.96241403699999 meters Centerline goodness : 0.791602 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95690701 -0.26050335 -0.12832375 2.92955208] [ 0.26040243 0.96533493 -0.01786166 0.01301563] [ 0.12852842 -0.01632387 0.99157147 -0.39310004] [ 0. 0. 0. 1. ]] SLAMing on 102.99241403699999 meters Centerline goodness : 0.794476 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-0.39 [[ 0.95679414 -0.26109223 -0.12796801 2.92843532] [ 0.26093221 0.96518341 -0.01831302 0.01391509] [ 0.12829399 -0.01586918 0.99160921 -0.39290786] [ 0. 0. 0. 1. ]] SLAMing on 103.02241403699999 meters Centerline goodness : 0.794964 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-0.39 [[ 0.95661347 -0.26196573 -0.12753284 2.92651427] [ 0.26168638 0.96496112 -0.01924232 0.01560415] [ 0.12810506 -0.01496615 0.99164767 -0.39184893] [ 0. 0. 0. 1. ]] SLAMing on 103.05241403699999 meters Centerline goodness : 0.799954 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95683951 -0.26141131 -0.12697357 2.91957859] [ 0.26129769 0.96509323 -0.01784881 0.01678525] [ 0.12720721 -0.01609946 0.9917455 -0.38856331] [ 0. 0. 0. 1. ]] SLAMing on 103.08241403699999 meters Centerline goodness : 0.800731 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95666107 -0.26228138 -0.12652303 2.91756551] [ 0.26207235 0.96486905 -0.01859561 0.01729132] [ 0.12695544 -0.01536849 0.99178936 -0.38736787] [ 0. 0. 0. 1. ]] SLAMing on 103.112414037 meters Centerline goodness : 0.800547 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95651982 -0.26298246 -0.12613507 2.91620377] [ 0.26271246 0.96468565 -0.01907267 0.01725676] [ 0.12669647 -0.01489386 0.99182971 -0.38673259] [ 0. 0. 0. 1. ]] SLAMing on 103.142414037 meters Centerline goodness : 0.799644 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95639611 -0.26353906 -0.12591124 2.91587949] [ 0.26322631 0.96453866 -0.01941835 0.01775206] [ 0.12656375 -0.01457151 0.99185144 -0.38702902] [ 0. 0. 0. 1. ]] SLAMing on 103.172414037 meters Centerline goodness : 0.800941 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95639617 -0.26347409 -0.12604671 2.91644134] [ 0.26314986 0.96455748 -0.01951962 0.01912572] [ 0.12672222 -0.01450068 0.99183225 -0.3875513 ] [ 0. 0. 0. 1. ]] SLAMing on 103.202414037 meters Centerline goodness : 0.801018 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95641282 -0.26328068 -0.12632419 2.91712117] [ 0.26292384 0.96461354 -0.01979337 0.02126089] [ 0.12706523 -0.01428301 0.99179152 -0.38781452] [ 0. 0. 0. 1. ]] SLAMing on 103.23241403699998 meters Centerline goodness : 0.803248 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95742887 -0.25918711 -0.12709048 2.91712466] [ 0.25932013 0.96566235 -0.01578917 0.02266222] [ 0.12681885 -0.01784011 0.99176545 -0.38937525] [ 0. 0. 0. 1. ]] SLAMing on 103.26241403699999 meters Centerline goodness : 0.801680 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95744787 -0.25903583 -0.1272557 2.91761739] [ 0.25912339 0.96570907 -0.01615732 0.02409049] [ 0.12707731 -0.01750514 0.99173834 -0.38933445] [ 0. 0. 0. 1. ]] SLAMing on 103.29241403699999 meters Centerline goodness : 0.804625 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:-0.39 [[ 0.95833627 -0.25551379 -0.12768827 2.91589966] [ 0.25599766 0.96659149 -0.01288773 0.02451243] [ 0.12671539 -0.02033712 0.99173061 -0.38894402] [ 0. 0. 0. 1. ]] SLAMing on 103.32241403699999 meters Centerline goodness : 0.802684 Centerline is valid? [False, False] Translation: X:2.92, Y:0.03, Z:-0.39 [[ 0.95839077 -0.25515481 -0.12799669 2.916662 ] [ 0.25560075 0.96669218 -0.01320937 0.02677766] [ 0.12710384 -0.02005632 0.99168662 -0.38904797] [ 0. 0. 0. 1. ]] SLAMing on 103.35241403699999 meters Centerline goodness : 0.802658 Centerline is valid? [False, False] Translation: X:2.92, Y:0.03, Z:-0.39 [[ 0.95845048 -0.25470768 -0.1284394 2.91798563] [ 0.25512691 0.96681392 -0.01345711 0.02883499] [ 0.12760463 -0.01987037 0.99162605 -0.38939865] [ 0. 0. 0. 1. ]] SLAMing on 103.38241403699999 meters Centerline goodness : 0.800797 Centerline is valid? [False, False] Translation: X:2.92, Y:0.03, Z:-0.39 [[ 0.95853098 -0.25420346 -0.12883694 2.9195191 ] [ 0.25462886 0.96694549 -0.01343747 0.03016044] [ 0.12799415 -0.01992537 0.99157475 -0.39015576] [ 0. 0. 0. 1. ]] SLAMing on 103.41241403699999 meters Centerline goodness : 0.801408 Centerline is valid? [False, False] Translation: X:2.92, Y:0.03, Z:-0.39 [[ 0.95879706 -0.25299365 -0.12923782 2.92146776] [ 0.2534513 0.96725851 -0.0131687 0.03271281] [ 0.12833798 -0.02012938 0.99152618 -0.3913912 ] [ 0. 0. 0. 1. ]] SLAMing on 103.44241403699999 meters Centerline goodness : 0.800173 Centerline is valid? [False, False] Translation: X:2.92, Y:0.03, Z:-0.39 [[ 0.95960651 -0.24976477 -0.12951026 2.91922453] [ 0.25063351 0.96803231 -0.00981248 0.03224754] [ 0.12782093 -0.02304349 0.99152953 -0.3908336 ] [ 0. 0. 0. 1. ]] SLAMing on 103.472414037 meters Centerline goodness : 0.805032 Centerline is valid? [False, False] Translation: X:2.92, Y:0.03, Z:-0.39 [[ 0.96038785 -0.24666211 -0.12966491 2.91653053] [ 0.2479233 0.96875732 -0.00658009 0.03190702] [ 0.12723689 -0.02582751 0.99153604 -0.39001325] [ 0. 0. 0. 1. ]] SLAMing on 103.502414037 meters Centerline goodness : 0.803583 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96111722 -0.2439005 -0.12948453 2.91223624] [ 0.24545075 0.96940041 -0.00409544 0.03263119] [ 0.12652124 -0.02784588 0.99157298 -0.38788703] [ 0. 0. 0. 1. ]] SLAMing on 103.532414037 meters Centerline goodness : 0.802047 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96106609 -0.24420605 -0.12928797 2.91119151] [ 0.24568471 0.96933872 -0.00463415 0.03338124] [ 0.12645552 -0.02731035 0.99159626 -0.38699597] [ 0. 0. 0. 1. ]] SLAMing on 103.562414037 meters Centerline goodness : 0.807290 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96101355 -0.24440058 -0.12931096 2.91086501] [ 0.24584043 0.96929764 -0.00495644 0.03357501] [ 0.12655216 -0.02702665 0.99159171 -0.38640613] [ 0. 0. 0. 1. ]] SLAMing on 103.59241403699998 meters Centerline goodness : 0.806299 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96100323 -0.24438141 -0.1294238 2.9120761 ] [ 0.24587222 0.96929143 -0.00458042 0.03221952] [ 0.12656875 -0.02741992 0.99157879 -0.38744119] [ 0. 0. 0. 1. ]] SLAMing on 103.62241403699998 meters Centerline goodness : 0.806785 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96101899 -0.24420711 -0.12963559 2.91308532] [ 0.24573678 0.96932701 -0.00431086 0.03195408] [ 0.12671202 -0.02771341 0.99155233 -0.38811336] [ 0. 0. 0. 1. ]] SLAMing on 103.65241403699999 meters Centerline goodness : 0.803875 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96102097 -0.24404462 -0.12992657 2.91416722] [ 0.24560363 0.96936152 -0.00413484 0.03213308] [ 0.1269549 -0.02793677 0.991515 -0.3887314 ] [ 0. 0. 0. 1. ]] SLAMing on 103.68241403699999 meters Centerline goodness : 0.801087 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.9610342 -0.24397749 -0.12995477 2.91473843] [ 0.2455772 0.96936952 -0.00381869 0.03213979] [ 0.12690587 -0.02824404 0.99151257 -0.38962016] [ 0. 0. 0. 1. ]] SLAMing on 103.71241403699999 meters Centerline goodness : 0.803969 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96098314 -0.24430931 -0.1297088 2.91415607] [ 0.24589325 0.96928903 -0.00390924 0.03138597] [ 0.12668038 -0.0281378 0.99154442 -0.38940962] [ 0. 0. 0. 1. ]] SLAMing on 103.74241403699999 meters Centerline goodness : 0.803155 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96093773 -0.24459103 -0.12951415 2.91362428] [ 0.24617563 0.96921747 -0.00387951 0.03008438] [ 0.12647627 -0.02815526 0.99156998 -0.38910606] [ 0. 0. 0. 1. ]] SLAMing on 103.77241403699999 meters Centerline goodness : 0.801040 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96083128 -0.24517625 -0.129197 2.91227935] [ 0.24673076 0.96907546 -0.00408415 0.02874764] [ 0.12620298 -0.02795269 0.99161054 -0.38814208] [ 0. 0. 0. 1. ]] SLAMing on 103.80241403699999 meters Centerline goodness : 0.803670 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96074807 -0.24564139 -0.12893195 2.91121947] [ 0.24716979 0.96896281 -0.00426174 0.02842171] [ 0.12597713 -0.02777362 0.99164429 -0.38764672] [ 0. 0. 0. 1. ]] SLAMing on 103.83241403699999 meters Centerline goodness : 0.802269 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96051375 -0.24693234 -0.12820983 2.90817885] [ 0.24836053 0.96865486 -0.00498021 0.0274169 ] [ 0.12542085 -0.0270587 0.99173456 -0.38583852] [ 0. 0. 0. 1. ]] SLAMing on 103.862414037 meters Centerline goodness : 0.802648 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96042824 -0.24739168 -0.12796467 2.90712913] [ 0.24879042 0.96854343 -0.0051908 0.02645636] [ 0.1252235 -0.02685099 0.99176514 -0.3850574 ] [ 0. 0. 0. 1. ]] SLAMing on 103.892414037 meters Centerline goodness : 0.802687 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-0.39 [[ 0.96042141 -0.24739536 -0.12800882 2.90747048] [ 0.24882121 0.9685366 -0.00498599 0.02511008] [ 0.12521474 -0.02706266 0.9917605 -0.38512089] [ 0. 0. 0. 1. ]] SLAMing on 103.922414037 meters Centerline goodness : 0.801356 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-0.39 [[ 0.9596756 -0.25026866 -0.12801694 2.91112525] [ 0.25134422 0.96786514 -0.00794735 0.02421147] [ 0.1258921 -0.02454944 0.99174014 -0.38627137] [ 0. 0. 0. 1. ]] SLAMing on 103.952414037 meters Centerline goodness : 0.799822 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-0.39 [[ 0.95961417 -0.25063086 -0.12776864 2.91067099] [ 0.25171541 0.96776945 -0.00785174 0.02345661] [ 0.12561847 -0.02462669 0.99177292 -0.38647076] [ 0. 0. 0. 1. ]] SLAMing on 103.98241403699998 meters Centerline goodness : 0.799822 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-0.39 [[ 0.95961417 -0.25063086 -0.12776864 2.91067099] [ 0.25171541 0.96776945 -0.00785174 0.02345661] [ 0.12561847 -0.02462669 0.99177292 -0.38647076] [ 0. 0. 0. 1. ]] SLAMing on 104.01241403699999 meters Centerline goodness : 0.797471 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-0.39 [[ 0.95954734 -0.25096914 -0.12760638 2.91015386] [ 0.25205583 0.96768105 -0.00782548 0.02290985] [ 0.12544623 -0.02465501 0.99179402 -0.38636433] [ 0. 0. 0. 1. ]] SLAMing on 104.04241403699999 meters Centerline goodness : 0.799551 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-0.39 [[ 0.959448 -0.25148992 -0.12732774 2.90937545] [ 0.25256361 0.96754797 -0.00790803 0.0226245 ] [ 0.12518449 -0.02457101 0.99182917 -0.38634313] [ 0. 0. 0. 1. ]] SLAMing on 104.07241403699999 meters Centerline goodness : 0.798341 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-0.39 [[ 0.95845043 -0.25565171 -0.12655032 2.91023616] [ 0.25627167 0.96653475 -0.01163627 0.02268057] [ 0.12529012 -0.02127847 0.99189194 -0.38665549] [ 0. 0. 0. 1. ]] SLAMing on 104.10241403699999 meters Centerline goodness : 0.798063 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-0.39 [[ 0.95833673 -0.25626327 -0.12617388 2.90954855] [ 0.25688533 0.96637232 -0.01159582 0.02140145] [ 0.12490253 -0.02129952 0.99194037 -0.38686691] [ 0. 0. 0. 1. ]] SLAMing on 104.13241403699999 meters Centerline goodness : 0.797770 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.39 [[ 0.95883773 -0.25728968 -0.12013423 2.88815815] [ 0.25717405 0.96622021 -0.0167338 0.01589347] [ 0.12038155 -0.01485041 0.99261662 -0.38859106] [ 0. 0. 0. 1. ]] SLAMing on 104.16241403699999 meters Centerline goodness : 0.798235 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.39 [[ 0.95859546 -0.25849459 -0.11947923 2.88600259] [ 0.25831663 0.96590638 -0.01724502 0.01492371] [ 0.1198635 -0.01433247 0.99268692 -0.38778268] [ 0. 0. 0. 1. ]] SLAMing on 104.19241403699999 meters Centerline goodness : 0.798141 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.39 [[ 0.95816617 -0.2605591 -0.11843374 2.88189777] [ 0.26024315 0.96536778 -0.01840002 0.0145427 ] [ 0.11912641 -0.0131913 0.99279146 -0.38578797] [ 0. 0. 0. 1. ]] SLAMing on 104.222414037 meters Centerline goodness : 0.797746 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.38 [[ 0.95801046 -0.26130757 -0.11804366 2.88027721] [ 0.26093602 0.96517169 -0.01886789 0.01453889] [ 0.11886272 -0.01272621 0.99282914 -0.38490345] [ 0. 0. 0. 1. ]] SLAMing on 104.252414037 meters Centerline goodness : 0.800283 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.38 [[ 0.95792794 -0.26175301 -0.11772608 2.87938364] [ 0.26136201 0.96505336 -0.01902423 0.01410029] [ 0.1185916 -0.01254528 0.99286386 -0.38462998] [ 0. 0. 0. 1. ]] SLAMing on 104.282414037 meters Centerline goodness : 0.798495 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.39 [[ 0.9579536 -0.26153804 -0.11799472 2.88058126] [ 0.26118261 0.96510744 -0.01874227 0.01326368] [ 0.1187794 -0.01286394 0.99283733 -0.38518911] [ 0. 0. 0. 1. ]] SLAMing on 104.312414037 meters Centerline goodness : 0.798385 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.39 [[ 0.95801862 -0.26113774 -0.11835288 2.8820866 ] [ 0.26082506 0.96521072 -0.01839994 0.01301368] [ 0.11904039 -0.01324191 0.99280111 -0.38599218] [ 0. 0. 0. 1. ]] SLAMing on 104.34241403699998 meters Centerline goodness : 0.798868 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.39 [[ 0.95805816 -0.2608678 -0.11862778 2.88330346] [ 0.26059147 0.96527927 -0.01811122 0.01312583] [ 0.11923357 -0.01356178 0.99277361 -0.38685158] [ 0. 0. 0. 1. ]] SLAMing on 104.37241403699998 meters Centerline goodness : 0.795371 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.39 [[ 0.95808448 -0.26065569 -0.1188812 2.88408389] [ 0.26039002 0.965335 -0.01803838 0.01345423] [ 0.11946199 -0.01367319 0.99274462 -0.3870972 ] [ 0. 0. 0. 1. ]] SLAMing on 104.40241403699999 meters Centerline goodness : 0.795119 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.39 [[ 0.95811267 -0.26054138 -0.11890461 2.88386797] [ 0.26025544 0.96536821 -0.01820221 0.01458681] [ 0.11952916 -0.01350581 0.99273882 -0.38684629] [ 0. 0. 0. 1. ]] SLAMing on 104.43241403699999 meters Centerline goodness : 0.796056 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.39 [[ 0.95814291 -0.26035218 -0.1190752 2.88431872] [ 0.26005905 0.96541987 -0.01826935 0.01498946] [ 0.11971402 -0.01346194 0.99271714 -0.38681942] [ 0. 0. 0. 1. ]] SLAMing on 104.46241403699999 meters Centerline goodness : 0.795501 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.39 [[ 0.95821656 -0.26002003 -0.11920825 2.88504076] [ 0.25973714 0.96550824 -0.01817867 0.01537759] [ 0.11982336 -0.0135437 0.99270284 -0.38728948] [ 0. 0. 0. 1. ]] SLAMing on 104.49241403699999 meters Centerline goodness : 0.795976 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.39 [[ 0.95817761 -0.26023682 -0.11904812 2.88452805] [ 0.25992956 0.96545271 -0.01837628 0.01547394] [ 0.11971752 -0.01333638 0.99271842 -0.38703683] [ 0. 0. 0. 1. ]] SLAMing on 104.52241403699999 meters Centerline goodness : 0.797083 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.39 [[ 0.95810287 -0.26062554 -0.11879906 2.88346468] [ 0.26027809 0.96535247 -0.01870656 0.01569204] [ 0.11955837 -0.01299798 0.99274209 -0.38641028] [ 0. 0. 0. 1. ]] SLAMing on 104.55241403699999 meters Centerline goodness : 0.797382 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95793381 -0.26154527 -0.11813929 2.88087139] [ 0.26109273 0.96511536 -0.01956844 0.01624609] [ 0.11913608 -0.01210004 0.9928042 -0.38484815] [ 0. 0. 0. 1. ]] SLAMing on 104.58241403699999 meters Centerline goodness : 0.800244 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95787299 -0.26178372 -0.11810424 2.88018063] [ 0.26127528 0.96505617 -0.02004552 0.01688376] [ 0.11922482 -0.01165666 0.99279885 -0.38390969] [ 0. 0. 0. 1. ]] SLAMing on 104.612414037 meters Centerline goodness : 0.797351 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95785614 -0.26176708 -0.11827771 2.880208 ] [ 0.26122771 0.96506333 -0.02031867 0.01764314] [ 0.11946424 -0.01143505 0.99277265 -0.38342104] [ 0. 0. 0. 1. ]] SLAMing on 104.642414037 meters Centerline goodness : 0.797079 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95794442 -0.26136099 -0.1184606 2.88151801] [ 0.26087756 0.96516787 -0.01984646 0.0173047 ] [ 0.11952145 -0.01189191 0.9927604 -0.38457332] [ 0. 0. 0. 1. ]] SLAMing on 104.672414037 meters Centerline goodness : 0.797685 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.39 [[ 0.95796333 -0.26125255 -0.11854684 2.88223941] [ 0.26079408 0.96519463 -0.01964115 0.01730324] [ 0.11955208 -0.01210082 0.99275418 -0.38531761] [ 0. 0. 0. 1. ]] SLAMing on 104.702414037 meters Centerline goodness : 0.797774 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.39 [[ 0.95790631 -0.26154609 -0.11836021 2.88196686] [ 0.26107354 0.9651167 -0.01975757 0.01813293] [ 0.11939893 -0.01197482 0.99277414 -0.38585416] [ 0. 0. 0. 1. ]] SLAMing on 104.73241403699998 meters Centerline goodness : 0.799133 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.39 [[ 0.95780437 -0.26204146 -0.1180892 2.88110528] [ 0.26152846 0.96498649 -0.0200981 0.01860909] [ 0.11922102 -0.01163364 0.99279958 -0.38564296] [ 0. 0. 0. 1. ]] SLAMing on 104.76241403699999 meters Centerline goodness : 0.798204 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.39 [[ 0.95767631 -0.26266308 -0.11774626 2.8800396 ] [ 0.26209136 0.96482332 -0.02059326 0.01884836] [ 0.11901342 -0.0111386 0.99283017 -0.38515427] [ 0. 0. 0. 1. ]] SLAMing on 104.79241403699999 meters Centerline goodness : 0.796768 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95756021 -0.26322376 -0.11743803 2.87902583] [ 0.26261563 0.96467408 -0.0209034 0.01843155] [ 0.1187917 -0.0108248 0.99286019 -0.38466283] [ 0. 0. 0. 1. ]] SLAMing on 104.82241403699999 meters Centerline goodness : 0.797875 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95724504 -0.26467351 -0.11674702 2.8767336 ] [ 0.26398835 0.9642845 -0.02157677 0.01704583] [ 0.11828814 -0.0101656 0.99292728 -0.38361312] [ 0. 0. 0. 1. ]] SLAMing on 104.85241403699999 meters Centerline goodness : 0.796728 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95712597 -0.26519061 -0.11654959 2.87609808] [ 0.2644825 0.96414441 -0.02178454 0.01692724] [ 0.11814769 -0.00997478 0.99294593 -0.38344935] [ 0. 0. 0. 1. ]] SLAMing on 104.88241403699999 meters Centerline goodness : 0.796064 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.38 [[ 0.95698274 -0.2658479 -0.11622796 2.87544813] [ 0.26513985 0.96396356 -0.02179705 0.01733052] [ 0.11783422 -0.00995726 0.99298336 -0.38413614] [ 0. 0. 0. 1. ]] SLAMing on 104.91241403699999 meters Centerline goodness : 0.795097 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.38 [[ 0.9569259 -0.26618531 -0.11592324 2.87490086] [ 0.26547407 0.96387108 -0.02181888 0.01709321] [ 0.11754292 -0.00989556 0.9930185 -0.38436139] [ 0. 0. 0. 1. ]] SLAMing on 104.94241403699999 meters Centerline goodness : 0.795190 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.38 [[ 0.95676126 -0.26704873 -0.11529475 2.87291859] [ 0.26628359 0.96363729 -0.02227586 0.0159935 ] [ 0.11705106 -0.00938842 0.99308152 -0.38338558] [ 0. 0. 0. 1. ]] SLAMing on 104.972414037 meters Centerline goodness : 0.793224 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95870286 -0.2634699 -0.10710949 2.86151931] [ 0.26239951 0.96465526 -0.02422254 0.01167644] [ 0.10970564 -0.00488326 0.99395212 -0.38706249] [ 0. 0. 0. 1. ]] SLAMing on 105.002414037 meters Centerline goodness : 0.794690 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95862762 -0.26383489 -0.10688419 2.86039675] [ 0.26271627 0.96455768 -0.02467064 0.0119753 ] [ 0.10960494 -0.00443026 0.99396536 -0.38612465] [ 0. 0. 0. 1. ]] SLAMing on 105.032414037 meters Centerline goodness : 0.797203 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95937037 -0.26103727 -0.10708896 2.85722258] [ 0.26026286 0.96530076 -0.02139345 0.01199492] [ 0.10895754 -0.00734704 0.99401925 -0.38512866] [ 0. 0. 0. 1. ]] SLAMing on 105.062414037 meters Centerline goodness : 0.798539 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95941466 -0.26077047 -0.10734183 2.85804346] [ 0.26001044 0.96537163 -0.02126466 0.01251974] [ 0.10916996 -0.00750838 0.99399474 -0.385516 ] [ 0. 0. 0. 1. ]] SLAMing on 105.09241403699998 meters Centerline goodness : 0.796850 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95912612 -0.26182526 -0.10735273 2.86289534] [ 0.26090559 0.96509561 -0.02277584 0.01202929] [ 0.10956894 -0.00616403 0.99396009 -0.38844445] [ 0. 0. 0. 1. ]] SLAMing on 105.12241403699998 meters Centerline goodness : 0.796457 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.9591604 -0.26171389 -0.10731807 2.8637158 ] [ 0.26084104 0.96512319 -0.02234243 0.01043423] [ 0.10942249 -0.00656298 0.99397366 -0.38932421] [ 0. 0. 0. 1. ]] SLAMing on 105.15241403699999 meters Centerline goodness : 0.793993 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95917987 -0.26171373 -0.10714431 2.86396113] [ 0.2608835 0.96512085 -0.021944 0.00927778] [ 0.10915025 -0.00690394 0.99400129 -0.39007936] [ 0. 0. 0. 1. ]] SLAMing on 105.18241403699999 meters Centerline goodness : 0.794311 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95910268 -0.26206398 -0.10697907 2.86304106] [ 0.26120553 0.96502765 -0.02221054 0.00949004] [ 0.10905835 -0.00664134 0.99401316 -0.38941738] [ 0. 0. 0. 1. ]] SLAMing on 105.21241403699999 meters Centerline goodness : 0.797483 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95905894 -0.26222842 -0.10696827 2.86235292] [ 0.26132474 0.9649856 -0.02263121 0.01019245] [ 0.10915738 -0.00624879 0.99400484 -0.38844236] [ 0. 0. 0. 1. ]] SLAMing on 105.24241403699999 meters Centerline goodness : 0.797538 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95985578 -0.25914483 -0.1073352 2.85956789] [ 0.25859522 0.96579391 -0.01925173 0.00887218] [ 0.10865267 -0.00927748 0.99403648 -0.3869314 ] [ 0. 0. 0. 1. ]] SLAMing on 105.27241403699999 meters Centerline goodness : 0.796326 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.95994683 -0.25859297 -0.10785065 2.8607987 ] [ 0.25805518 0.96594023 -0.01915711 0.00902357] [ 0.10913117 -0.00944161 0.99398252 -0.38676778] [ 0. 0. 0. 1. ]] SLAMing on 105.30241403699999 meters Centerline goodness : 0.796513 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.39 [[ 0.9602034 -0.25728931 -0.10868143 2.86441903] [ 0.2568693 0.96627685 -0.01808894 0.0077833 ] [ 0.10967044 -0.01054786 0.99391204 -0.38867044] [ 0. 0. 0. 1. ]] SLAMing on 105.33241403699999 meters Centerline goodness : 0.793599 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.39 [[ 9.60136654e-01 -2.56073394e-01 -1.12089351e-01 2.85265300e+00] [ 2.54557915e-01 9.66655722e-01 -2.78744265e-02 7.45956332e-03] [ 1.15489711e-01 -1.76997284e-03 9.93307099e-01 -3.86347066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362414037 meters Centerline goodness : 0.793976 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.39 [[ 9.60206388e-01 -2.55768353e-01 -1.12188421e-01 2.85345144e+00] [ 2.54284780e-01 9.66735942e-01 -2.75838590e-02 7.37526101e-03] [ 1.15511657e-01 -2.04161041e-03 9.93304026e-01 -3.87064292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.392414037 meters Centerline goodness : 0.794545 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.39 [[ 9.60133523e-01 -2.56218369e-01 -1.11784463e-01 2.85144517e+00] [ 2.54642132e-01 9.66618186e-01 -2.84018760e-02 7.94488962e-03] [ 1.15329977e-01 -1.19544074e-03 9.93326516e-01 -3.85216628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422414037 meters Centerline goodness : 0.796108 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 9.60425388e-01 -2.55190056e-01 -1.11629335e-01 2.84740625e+00] [ 2.53744814e-01 9.66888425e-01 -2.72092495e-02 6.69587955e-03] [ 1.14876642e-01 -2.19291092e-03 9.93377344e-01 -3.82333784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.452414037 meters Centerline goodness : 0.801953 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.38 [[ 9.60591298e-01 -2.54703258e-01 -1.11313108e-01 2.84186252e+00] [ 2.53323614e-01 9.67015655e-01 -2.66058299e-02 5.04912904e-03] [ 1.14418109e-01 -2.64091011e-03 9.93429173e-01 -3.77777684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48241403699998 meters Centerline goodness : 0.800649 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.38 [[ 9.60595818e-01 -2.54610673e-01 -1.11485784e-01 2.84200852e+00] [ 2.53221334e-01 9.67040164e-01 -2.66885342e-02 4.60672902e-03] [ 1.14606416e-01 -2.59368462e-03 9.93407591e-01 -3.77182788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51241403699999 meters Centerline goodness : 0.799731 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.38 [[ 0.96086157 -0.25321252 -0.11237644 2.84574407] [ 0.25196794 0.9674027 -0.02538051 0.0036185 ] [ 0.11513994 -0.0039281 0.99334151 -0.37940967] [ 0. 0. 0. 1. ]] SLAMing on 105.54241403699999 meters Centerline goodness : 0.798960 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.38 [[ 0.96101126 -0.25236598 -0.11299899 2.84830149] [ 0.25120599 0.96762034 -0.0246256 0.00311888] [ 0.11555478 -0.00472054 0.99328989 -0.3808466 ] [ 0. 0. 0. 1. ]] SLAMing on 105.57241403699999 meters Centerline goodness : 0.798693 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.38 [[ 9.61134442e-01 -2.51711155e-01 -1.13411108e-01 2.85011203e+00] [ 2.50620119e-01 9.67787653e-01 -2.40128199e-02 2.75567539e-03] [ 1.15802165e-01 -5.34355721e-03 9.93257925e-01 -3.81981854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60241403699999 meters Centerline goodness : 0.799653 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.38 [[ 0.96132706 -0.25086516 -0.11365276 2.85149724] [ 0.24982846 0.9680047 -0.02350837 0.00294877] [ 0.11591384 -0.00579447 0.99324237 -0.38292265] [ 0. 0. 0. 1. ]] SLAMing on 105.63241403699999 meters Centerline goodness : 0.795843 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.38 [[ 0.96137085 -0.25066852 -0.11371622 2.85165697] [ 0.2496181 0.96805631 -0.02361739 0.0033197 ] [ 0.11600384 -0.00568056 0.99323252 -0.38273022] [ 0. 0. 0. 1. ]] SLAMing on 105.66241403699999 meters Centerline goodness : 0.798766 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.38 [[ 0.96135084 -0.25082976 -0.1135297 2.85063335] [ 0.24973275 0.96801691 -0.02401711 0.00386288] [ 0.11592287 -0.00526321 0.99324427 -0.38179985] [ 0. 0. 0. 1. ]] SLAMing on 105.69241403699999 meters Centerline goodness : 0.798875 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.38 [[ 0.96125741 -0.2512925 -0.11329729 2.84935684] [ 0.25012816 0.96789988 -0.02461169 0.00470632] [ 0.11584516 -0.00468067 0.99325626 -0.38082011] [ 0. 0. 0. 1. ]] SLAMing on 105.722414037 meters Centerline goodness : 0.800545 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96123146 -0.25136901 -0.1133477 2.84904049] [ 0.25016174 0.96788161 -0.024986 0.00550723] [ 0.11598786 -0.00433793 0.99324116 -0.38015841] [ 0. 0. 0. 1. ]] SLAMing on 105.752414037 meters Centerline goodness : 0.799427 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96125725 -0.25121792 -0.11346389 2.84929311] [ 0.24997388 0.96792209 -0.02529593 0.00710786] [ 0.116179 -0.00404711 0.99322005 -0.38012555] [ 0. 0. 0. 1. ]] SLAMing on 105.782414037 meters Centerline goodness : 0.797642 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96128217 -0.25103222 -0.11366357 2.84992133] [ 0.24977115 0.96797072 -0.02543727 0.00771446] [ 0.11640858 -0.00393749 0.99319361 -0.38018094] [ 0. 0. 0. 1. ]] SLAMing on 105.812414037 meters Centerline goodness : 0.800323 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96133826 -0.2507781 -0.11375013 2.85058697] [ 0.24948737 0.96803755 -0.02567786 0.00908242] [ 0.11655384 -0.00369411 0.9931775 -0.38053538] [ 0. 0. 0. 1. ]] SLAMing on 105.84241403699998 meters Centerline goodness : 0.798981 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96137876 -0.25056071 -0.11388686 2.85098625] [ 0.24924593 0.96809452 -0.02587401 0.01013747] [ 0.11673626 -0.00351111 0.99315674 -0.38049091] [ 0. 0. 0. 1. ]] SLAMing on 105.87241403699998 meters Centerline goodness : 0.803237 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96140535 -0.25036 -0.1141036 2.85124646] [ 0.24900862 0.96814738 -0.02617935 0.01166941] [ 0.11702336 -0.00324382 0.99312386 -0.38017723] [ 0. 0. 0. 1. ]] SLAMing on 105.90241403699999 meters Centerline goodness : 0.803237 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96140535 -0.25036 -0.1141036 2.85124646] [ 0.24900862 0.96814738 -0.02617935 0.01166941] [ 0.11702336 -0.00324382 0.99312386 -0.38017723] [ 0. 0. 0. 1. ]] SLAMing on 105.93241403699999 meters Centerline goodness : 0.805186 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96228156 -0.24676091 -0.11455676 2.84913557] [ 0.24576454 0.96905748 -0.02296519 0.01316702] [ 0.11667899 -0.00605501 0.99315122 -0.37937343] [ 0. 0. 0. 1. ]] SLAMing on 105.96241403699999 meters Centerline goodness : 0.803901 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96312797 -0.24325348 -0.11494455 2.84754356] [ 0.24266532 0.9699181 -0.01929798 0.01254052] [ 0.1161811 -0.00930663 0.99318444 -0.37926752] [ 0. 0. 0. 1. ]] SLAMing on 105.99241403699999 meters Centerline goodness : 0.802505 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96403353 -0.23943875 -0.11536218 2.8462736 ] [ 0.23925934 0.97083027 -0.01560617 0.01235218] [ 0.11573382 -0.01255661 0.99320089 -0.37933108] [ 0. 0. 0. 1. ]] SLAMing on 106.02241403699999 meters Centerline goodness : 0.803869 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96409926 -0.23906485 -0.11558814 2.84711052] [ 0.23887558 0.97092337 -0.01569269 0.01286922] [ 0.11597879 -0.01248187 0.99317326 -0.3793806 ] [ 0. 0. 0. 1. ]] SLAMing on 106.05241403699999 meters Centerline goodness : 0.799390 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96432463 -0.23782072 -0.11627254 2.84986211] [ 0.23769076 0.97122216 -0.01518593 0.01349016] [ 0.116538 -0.01299275 0.99310125 -0.38053762] [ 0. 0. 0. 1. ]] SLAMing on 106.08241403699999 meters Centerline goodness : 0.800950 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.9644514 -0.23709583 -0.11670073 2.8517021 ] [ 0.23699829 0.97139558 -0.01491428 0.0146339 ] [ 0.11689868 -0.01327378 0.99305514 -0.38157301] [ 0. 0. 0. 1. ]] SLAMing on 106.112414037 meters Centerline goodness : 0.799150 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96459419 -0.23624335 -0.11724812 2.85384256] [ 0.23619414 0.97159746 -0.01451572 0.01604502] [ 0.11734722 -0.01369154 0.99299656 -0.38281751] [ 0. 0. 0. 1. ]] SLAMing on 106.142414037 meters Centerline goodness : 0.798908 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:-0.38 [[ 0.96480217 -0.23516724 -0.1176994 2.85598325] [ 0.23516513 0.97185308 -0.01410519 0.0181663 ] [ 0.1177036 -0.01407007 0.99294909 -0.38429621] [ 0. 0. 0. 1. ]] SLAMing on 106.172414037 meters Centerline goodness : 0.799894 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:-0.38 [[ 0.96481247 -0.2351371 -0.11767514 2.85601618] [ 0.2351217 0.97186202 -0.01421254 0.01813328] [ 0.1177059 -0.01395554 0.99295043 -0.38416768] [ 0. 0. 0. 1. ]] SLAMing on 106.202414037 meters Centerline goodness : 0.800327 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.9647396 -0.23567853 -0.11718849 2.85407802] [ 0.23559131 0.97173959 -0.01479574 0.01729622] [ 0.11736374 -0.01333455 0.99299947 -0.38255821] [ 0. 0. 0. 1. ]] SLAMing on 106.23241403699998 meters Centerline goodness : 0.798890 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96468187 -0.23598808 -0.11704066 2.85300366] [ 0.23583134 0.97167219 -0.01538636 0.01775826] [ 0.11735615 -0.01275892 0.99300793 -0.38131927] [ 0. 0. 0. 1. ]] SLAMing on 106.26241403699999 meters Centerline goodness : 0.799392 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96465254 -0.23607547 -0.11710613 2.85256947] [ 0.23585647 0.97165741 -0.01592519 0.01872201] [ 0.11754659 -0.01225796 0.99299171 -0.38028134] [ 0. 0. 0. 1. ]] SLAMing on 106.29241403699999 meters Centerline goodness : 0.797274 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96546707 -0.23238887 -0.11776564 2.85134097] [ 0.23258187 0.97249911 -0.01229419 0.01809094] [ 0.11738402 -0.01552052 0.99296531 -0.37970215] [ 0. 0. 0. 1. ]] SLAMing on 106.32241403699999 meters Centerline goodness : 0.801394 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96637576 -0.22807986 -0.11873278 2.85185867] [ 0.22873833 0.9734531 -0.00823591 0.01703852] [ 0.11745924 -0.01919976 0.99289209 -0.38008849] [ 0. 0. 0. 1. ]] SLAMing on 106.35241403699999 meters Centerline goodness : 0.800138 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96649208 -0.22720939 -0.11945273 2.85395303] [ 0.22789054 0.97365299 -0.00810942 0.01774885] [ 0.11814804 -0.01938445 0.99280677 -0.38028264] [ 0. 0. 0. 1. ]] SLAMing on 106.38241403699999 meters Centerline goodness : 0.799442 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:-0.38 [[ 0.96657924 -0.22660576 -0.11989327 2.85512557] [ 0.22727473 0.97379577 -0.00824647 0.01908154] [ 0.11862026 -0.01927784 0.99275254 -0.38018695] [ 0. 0. 0. 1. ]] SLAMing on 106.41241403699999 meters Centerline goodness : 0.803065 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96743423 -0.2227447 -0.12023229 2.85349107] [ 0.22382592 0.97461824 -0.00460934 0.01939255] [ 0.11820729 -0.02245187 0.99273509 -0.37993986] [ 0. 0. 0. 1. ]] SLAMing on 106.44241403699999 meters Centerline goodness : 0.800486 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96745679 -0.22263078 -0.12026181 2.85353529] [ 0.22368702 0.97464912 -0.00481758 0.01996761] [ 0.11828561 -0.0222402 0.99273052 -0.37969135] [ 0. 0. 0. 1. ]] SLAMing on 106.472414037 meters Centerline goodness : 0.800565 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96747758 -0.22266252 -0.12003558 2.85329099] [ 0.22372813 0.97464027 -0.00469783 0.0183655 ] [ 0.11803754 -0.02231029 0.99275848 -0.37962032] [ 0. 0. 0. 1. ]] SLAMing on 106.502414037 meters Centerline goodness : 0.798815 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96748161 -0.22264812 -0.12002977 2.85321082] [ 0.22372127 0.97464216 -0.00463244 0.01699944] [ 0.11801748 -0.02237141 0.99275948 -0.37913337] [ 0. 0. 0. 1. ]] SLAMing on 106.532414037 meters Centerline goodness : 0.801536 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96745879 -0.22277369 -0.11998074 2.8528281 ] [ 0.22383449 0.97461567 -0.00473476 0.0162505 ] [ 0.11798989 -0.02227514 0.99276493 -0.37854038] [ 0. 0. 0. 1. ]] SLAMing on 106.562414037 meters Centerline goodness : 0.800954 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.38 [[ 0.96750898 -0.22236814 -0.1203278 2.85359735] [ 0.22347961 0.9746989 -0.00435025 0.01504861] [ 0.11825073 -0.02268191 0.99272468 -0.37826402] [ 0. 0. 0. 1. ]] SLAMing on 106.59241403699998 meters Centerline goodness : 0.800620 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.38 [[ 0.96752965 -0.22217162 -0.1205245 2.85406881] [ 0.22331312 0.97473804 -0.00412418 0.01469894] [ 0.11839609 -0.02292443 0.99270179 -0.37831303] [ 0. 0. 0. 1. ]] SLAMing on 106.62241403699998 meters Centerline goodness : 0.799662 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.38 [[ 0.96766393 -0.22120925 -0.12121462 2.85608945] [ 0.22245107 0.97493806 -0.00336133 0.01304098] [ 0.1189203 -0.02371168 0.99262063 -0.37851255] [ 0. 0. 0. 1. ]] SLAMing on 106.65241403699999 meters Centerline goodness : 0.801377 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.38 [[ 9.67759107e-01 -2.20564485e-01 -1.21629023e-01 2.85776079e+00] [ 2.21873778e-01 9.75071252e-01 -2.84240918e-03 1.20942652e-02] [ 1.19223898e-01 -2.42355236e-02 9.92571560e-01 -3.79183119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68241403699999 meters Centerline goodness : 0.795836 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.38 [[ 9.67875558e-01 -2.19752756e-01 -1.22170501e-01 2.85991143e+00] [ 2.21142200e-01 9.75239008e-01 -2.23727463e-03 1.10959085e-02] [ 1.19637085e-01 -2.48516499e-02 9.92506606e-01 -3.80025537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71241403699999 meters Centerline goodness : 0.796636 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.38 [[ 9.68082615e-01 -2.18538926e-01 -1.22706110e-01 2.86252488e+00] [ 2.20044817e-01 9.75488884e-01 -1.30988166e-03 9.34198343e-03] [ 1.19984707e-01 -2.57327699e-02 9.92442187e-01 -3.81135601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74241403699999 meters Centerline goodness : 0.800934 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.07, Z:-0.42 [[ 0.96835625 -0.19591295 -0.15461012 2.5835456 ] [ 0.20980246 0.97453361 0.07916539 -0.0732387 ] [ 0.13516324 -0.10909789 0.98479874 -0.4220821 ] [ 0. 0. 0. 1. ]] SLAMing on 106.77241403699999 meters Centerline goodness : 0.796503 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.34 [[ 0.96939078 -0.22308171 -0.10254788 2.78107822] [ 0.21795511 0.9741809 -0.05888239 0.02150468] [ 0.11303577 0.03472922 0.99298378 -0.33862951] [ 0. 0. 0. 1. ]] SLAMing on 106.80241403699999 meters Centerline goodness : 0.798562 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.34 [[ 0.97016636 -0.21936655 -0.10322572 2.78009006] [ 0.21469984 0.97515988 -0.05447191 0.01721546] [ 0.1126109 0.03068427 0.99316527 -0.33821033] [ 0. 0. 0. 1. ]] SLAMing on 106.83241403699999 meters Centerline goodness : 0.797176 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.34 [[ 0.97085592 -0.21598129 -0.10387905 2.77954983] [ 0.21175016 0.97602862 -0.0502991 0.01350015] [ 0.11225259 0.02683677 0.99331724 -0.33840311] [ 0. 0. 0. 1. ]] SLAMing on 106.862414037 meters Centerline goodness : 0.796877 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.34 [[ 0.97102153 -0.21484376 -0.10468689 2.78217044] [ 0.21072511 0.97631337 -0.04906262 0.01049799] [ 0.11274801 0.0255807 0.99329427 -0.33926956] [ 0. 0. 0. 1. ]] SLAMing on 106.892414037 meters Centerline goodness : 0.794700 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.34 [[ 0.97110978 -0.21427859 -0.10502607 2.7835808 ] [ 0.2102414 0.97645852 -0.04824215 0.00882796] [ 0.11289086 0.0247676 0.99329866 -0.34010963] [ 0. 0. 0. 1. ]] SLAMing on 106.922414037 meters Centerline goodness : 0.796269 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.34 [[ 0.97116091 -0.21394753 -0.10522807 2.7844071 ] [ 0.20997747 0.97654724 -0.04759144 0.00696155] [ 0.11294225 0.02412343 0.99330867 -0.3405777 ] [ 0. 0. 0. 1. ]] SLAMing on 106.952414037 meters Centerline goodness : 0.796467 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:-0.34 [[ 0.97116098 -0.21393666 -0.10524953 2.78407639] [ 0.21002317 0.97656179 -0.04708869 0.00315383] [ 0.11285667 0.02362586 0.99333035 -0.33979952] [ 0. 0. 0. 1. ]] SLAMing on 106.98241403699998 meters Centerline goodness : 0.795936 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.34 [[ 9.71111904e-01 -2.14209402e-01 -1.05147525e-01 2.78297649e+00] [ 2.10349387e-01 9.76512521e-01 -4.66522504e-02 -4.54201491e-04] [ 1.12671225e-01 2.31868383e-02 9.93361750e-01 -3.38608431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01241403699999 meters Centerline goodness : 0.797181 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:-0.34 [[ 0.97111144 -0.21413142 -0.10531054 2.78337427] [ 0.21032645 0.97654228 -0.04612989 -0.0028502 ] [ 0.11271806 0.02264767 0.99336888 -0.33856781] [ 0. 0. 0. 1. ]] SLAMing on 107.04241403699999 meters Centerline goodness : 0.793268 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.34 [[ 0.97112627 -0.21401222 -0.10541604 2.78392074] [ 0.21028136 0.97658388 -0.0454497 -0.00521915] [ 0.1126744 0.02197037 0.99338904 -0.3390079 ] [ 0. 0. 0. 1. ]] SLAMing on 107.07241403699999 meters Centerline goodness : 0.792439 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.34 [[ 0.97120606 -0.21350717 -0.10570466 2.78544829] [ 0.20991334 0.97672215 -0.04416142 -0.00978195] [ 0.11267286 0.02070102 0.99341648 -0.34001084] [ 0. 0. 0. 1. ]] SLAMing on 107.10241403699999 meters Centerline goodness : 0.791529 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.34 [[ 0.97126661 -0.21312612 -0.10591704 2.78622371] [ 0.20960685 0.97682003 -0.04344654 -0.01212803] [ 0.11272148 0.01999724 0.99342538 -0.34028236] [ 0. 0. 0. 1. ]] SLAMing on 107.13241403699999 meters Centerline goodness : 0.792289 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:-0.34 [[ 0.9713076 -0.21274318 -0.1063103 2.78716403] [ 0.20930767 0.97692055 -0.04262097 -0.015833 ] [ 0.11292404 0.01914651 0.99341913 -0.34014254] [ 0. 0. 0. 1. ]] SLAMing on 107.16241403699999 meters Centerline goodness : 0.791656 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:-0.34 [[ 0.97139856 -0.21212323 -0.1067173 2.78841548] [ 0.20874581 0.97706719 -0.04201067 -0.01725517] [ 0.11318141 0.01853232 0.99340149 -0.34039118] [ 0. 0. 0. 1. ]] SLAMing on 107.19241403699999 meters Centerline goodness : 0.790059 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:-0.34 [[ 0.97145223 -0.2117681 -0.10693376 2.78876441] [ 0.20842734 0.97715123 -0.04163564 -0.01859646] [ 0.11330755 0.01815911 0.993394 -0.34005603] [ 0. 0. 0. 1. ]] SLAMing on 107.222414037 meters Centerline goodness : 0.844447 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:-0.34 [[ 0.97157099 -0.21101351 -0.10734571 2.78953959] [ 0.20775615 0.97732934 -0.04080136 -0.02175256] [ 0.11352175 0.01733968 0.99338419 -0.33953087] [ 0. 0. 0. 1. ]] SLAMing on 107.252414037 meters Centerline goodness : 0.788708 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:-0.34 [[ 0.97166586 -0.21042471 -0.10764249 2.79068339] [ 0.20723784 0.97746801 -0.04010953 -0.02362918] [ 0.11365712 0.01666546 0.99338025 -0.33992589] [ 0. 0. 0. 1. ]] SLAMing on 107.282414037 meters Centerline goodness : 0.840962 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.34 [[ 0.97174106 -0.20995863 -0.10787345 2.79173175] [ 0.20688133 0.97758465 -0.03909441 -0.02718446] [ 0.11366364 0.01567264 0.99339566 -0.34045283] [ 0. 0. 0. 1. ]] SLAMing on 107.312414037 meters Centerline goodness : 0.788671 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.34 [[ 0.97176035 -0.20978959 -0.10802843 2.79235075] [ 0.20676757 0.9776291 -0.03858132 -0.02874185] [ 0.1137057 0.01515502 0.99339888 -0.3408043 ] [ 0. 0. 0. 1. ]] SLAMing on 107.34241403699998 meters Centerline goodness : 0.841491 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.34 [[ 0.97175449 -0.20975782 -0.10814282 2.79282516] [ 0.20678425 0.97764284 -0.03814129 -0.03051598] [ 0.11372548 0.01470174 0.99340343 -0.3410685 ] [ 0. 0. 0. 1. ]] SLAMing on 107.37241403699998 meters Centerline goodness : 0.839697 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.34 [[ 0.97151766 -0.21089165 -0.10806551 2.79332592] [ 0.20791371 0.97739903 -0.03824947 -0.03476502] [ 0.11368962 0.01469173 0.99340768 -0.34138794] [ 0. 0. 0. 1. ]] SLAMing on 107.40241403699999 meters Centerline goodness : 0.841370 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.34 [[ 0.97146688 -0.21123025 -0.10786043 2.7930802 ] [ 0.2083061 0.97733207 -0.03782318 -0.03726507] [ 0.11340486 0.01427599 0.99344629 -0.34162001] [ 0. 0. 0. 1. ]] SLAMing on 107.43241403699999 meters Centerline goodness : 0.840291 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.34 [[ 0.97111033 -0.21314124 -0.10731049 2.79100325] [ 0.21019097 0.97691285 -0.03822364 -0.04130876] [ 0.11298003 0.01456367 0.99349052 -0.34058668] [ 0. 0. 0. 1. ]] SLAMing on 107.46241403699999 meters Centerline goodness : 0.838720 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.34 [[ 0.97097398 -0.21392368 -0.10698689 2.78969205] [ 0.2109844 0.97674234 -0.0382098 -0.04312275] [ 0.11267261 0.01452816 0.99352595 -0.33999377] [ 0. 0. 0. 1. ]] SLAMing on 107.49241403699999 meters Centerline goodness : 0.836177 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.34 [[ 0.9708464 -0.21464221 -0.10670511 2.7884099 ] [ 0.21171733 0.9765858 -0.03815678 -0.04490409] [ 0.11239675 0.01445305 0.99355829 -0.33936596] [ 0. 0. 0. 1. ]] SLAMing on 107.52241403699999 meters Centerline goodness : 0.839800 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.34 [[ 0.97039949 -0.21684591 -0.10631406 2.78654697] [ 0.21388495 0.97609427 -0.03864207 -0.04846377] [ 0.11215192 0.01475926 0.99358146 -0.33844821] [ 0. 0. 0. 1. ]] SLAMing on 107.55241403699999 meters Centerline goodness : 0.838643 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.34 [[ 0.96948845 -0.22118325 -0.10568877 2.78762113] [ 0.2178938 0.9750742 -0.04186407 -0.05080365] [ 0.11231403 0.0175578 0.99351763 -0.33915746] [ 0. 0. 0. 1. ]] SLAMing on 107.58241403699999 meters Centerline goodness : 0.839850 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.34 [[ 0.96936707 -0.22182965 -0.10544713 2.78728563] [ 0.21857787 0.97493234 -0.04160106 -0.05258176] [ 0.11203217 0.01727829 0.99355435 -0.33960686] [ 0. 0. 0. 1. ]] SLAMing on 107.612414037 meters Centerline goodness : 0.781695 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.34 [[ 0.96929595 -0.22226564 -0.10518249 2.78703223] [ 0.21905787 0.97483854 -0.04127309 -0.0540702 ] [ 0.11170954 0.01696478 0.99359608 -0.34018078] [ 0. 0. 0. 1. ]] SLAMing on 107.642414037 meters Centerline goodness : 0.839762 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.34 [[ 0.96923504 -0.22264245 -0.10494651 2.78686116] [ 0.21946499 0.97475604 -0.04105824 -0.05486835] [ 0.11143855 0.016763 0.99362994 -0.34079205] [ 0. 0. 0. 1. ]] SLAMing on 107.672414037 meters Centerline goodness : 0.836419 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.34 [[ 0.96914032 -0.22319903 -0.10463861 2.78625534] [ 0.22003345 0.9746292 -0.04102699 -0.05418284] [ 0.11114103 0.01673692 0.9936637 -0.34142883] [ 0. 0. 0. 1. ]] SLAMing on 107.702414037 meters Centerline goodness : 0.834957 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.34 [[ 0.9694907 -0.22179026 -0.10438808 2.78229061] [ 0.21888193 0.97498428 -0.03868281 -0.05451287] [ 0.11035621 0.01465396 0.99378407 -0.34010864] [ 0. 0. 0. 1. ]] SLAMing on 107.73241403699998 meters Centerline goodness : 0.834960 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.34 [[ 0.9694239 -0.2221934 -0.10415079 2.78179204] [ 0.2192757 0.97489035 -0.03881968 -0.05439201] [ 0.11016107 0.01479499 0.99380363 -0.34028153] [ 0. 0. 0. 1. ]] SLAMing on 107.76241403699999 meters Centerline goodness : 0.835889 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.34 [[ 0.96937248 -0.22250817 -0.10395726 2.78182007] [ 0.21958553 0.97481715 -0.03890648 -0.05403192] [ 0.10999633 0.01488736 0.99382049 -0.34093169] [ 0. 0. 0. 1. ]] SLAMing on 107.79241403699999 meters Centerline goodness : 0.835889 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.34 [[ 0.96937248 -0.22250817 -0.10395726 2.78182007] [ 0.21958553 0.97481715 -0.03890648 -0.05403192] [ 0.10999633 0.01488736 0.99382049 -0.34093169] [ 0. 0. 0. 1. ]] SLAMing on 107.82241403699999 meters Centerline goodness : 0.835106 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.34 [[ 0.96922759 -0.22329741 -0.10361538 2.78131949] [ 0.22032785 0.97462909 -0.03941804 -0.05126853] [ 0.10978851 0.0153757 0.99383604 -0.34183488] [ 0. 0. 0. 1. ]] SLAMing on 107.85241403699999 meters Centerline goodness : 0.834528 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.34 [[ 0.96974502 -0.22109042 -0.1035066 2.77843361] [ 0.21844828 0.97517147 -0.03634494 -0.05123772] [ 0.10897221 0.01263449 0.9939645 -0.34160687] [ 0. 0. 0. 1. ]] SLAMing on 107.88241403699999 meters Centerline goodness : 0.836114 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.05, Z:-0.34 [[ 0.97021223 -0.21929604 -0.10294403 2.7743479 ] [ 0.21692953 0.97560242 -0.03378598 -0.04905144] [ 0.10784158 0.01044797 0.99411319 -0.34142786] [ 0. 0. 0. 1. ]] SLAMing on 107.91241403699999 meters Centerline goodness : 0.835487 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.05, Z:-0.34 [[ 0.97015235 -0.21966934 -0.10271217 2.77368998] [ 0.21724518 0.97551213 -0.03435998 -0.04705192] [ 0.1077448 0.01102069 0.9941175 -0.34136097] [ 0. 0. 0. 1. ]] SLAMing on 107.94241403699999 meters Centerline goodness : 0.835735 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.34 [[ 0.96999558 -0.22057886 -0.10224259 2.77196164] [ 0.21802756 0.97529196 -0.03563108 -0.04395576] [ 0.10757584 0.01227029 0.99412116 -0.34058055] [ 0. 0. 0. 1. ]] SLAMing on 107.972414037 meters Centerline goodness : 0.784089 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.34 [[ 0.96994669 -0.22083223 -0.10215938 2.77160097] [ 0.21824045 0.97522977 -0.03602766 -0.04224822] [ 0.10758494 0.0126496 0.99411542 -0.34055587] [ 0. 0. 0. 1. ]] SLAMing on 108.002414037 meters Centerline goodness : 0.839353 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.34 [[ 0.97055473 -0.21814594 -0.10215605 2.76913043] [ 0.21589044 0.97586741 -0.03277367 -0.04197685] [ 0.1068402 0.00975413 0.99422836 -0.34048358] [ 0. 0. 0. 1. ]] SLAMing on 108.032414037 meters Centerline goodness : 0.787178 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.34 [[ 0.97118211 -0.21541392 -0.10199094 2.76654546] [ 0.21348059 0.97649768 -0.02963662 -0.03855785] [ 0.10597806 0.00700947 0.99434376 -0.34126913] [ 0. 0. 0. 1. ]] SLAMing on 108.062414037 meters Centerline goodness : 0.838029 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.34 [[ 0.97116289 -0.21553208 -0.10192427 2.76667367] [ 0.21356627 0.97646932 -0.02995189 -0.0364593 ] [ 0.10598152 0.00732058 0.99434115 -0.34179911] [ 0. 0. 0. 1. ]] SLAMing on 108.09241403699998 meters Centerline goodness : 0.784871 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.34 [[ 0.97101271 -0.21657231 -0.10114717 2.76514584] [ 0.21454227 0.97623317 -0.03066626 -0.03445449] [ 0.10538469 0.00807699 0.99439873 -0.34238777] [ 0. 0. 0. 1. ]] SLAMing on 108.12241403699998 meters Centerline goodness : 0.783114 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 0.9709376 -0.2170838 -0.10077101 2.76448914] [ 0.21503768 0.97611763 -0.03087343 -0.0343811 ] [ 0.10506648 0.00830661 0.99443051 -0.3427027 ] [ 0. 0. 0. 1. ]] SLAMing on 108.15241403699999 meters Centerline goodness : 0.784017 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 0.97085622 -0.21756135 -0.10052492 2.76412171] [ 0.21548536 0.9760085 -0.03120047 -0.0336299 ] [ 0.10490119 0.00862953 0.99444521 -0.3429881 ] [ 0. 0. 0. 1. ]] SLAMing on 108.18241403699999 meters Centerline goodness : 0.787162 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 0.97140214 -0.21513255 -0.10047819 2.76201377] [ 0.21340785 0.97656936 -0.02773751 -0.03249503] [ 0.10409116 0.00550145 0.99455254 -0.34415739] [ 0. 0. 0. 1. ]] SLAMing on 108.21241403699999 meters Centerline goodness : 0.786814 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 0.9713902 -0.21515382 -0.10054811 2.7623615 ] [ 0.21340431 0.97656346 -0.02797168 -0.03057081] [ 0.10420982 0.00571402 0.99453892 -0.34457585] [ 0. 0. 0. 1. ]] SLAMing on 108.24241403699999 meters Centerline goodness : 0.788636 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 0.97133007 -0.21549213 -0.10040437 2.7617068 ] [ 0.21369597 0.97648608 -0.02844245 -0.02892699] [ 0.10417259 0.006171 0.99454009 -0.34434017] [ 0. 0. 0. 1. ]] SLAMing on 108.27241403699999 meters Centerline goodness : 0.790062 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 0.97186949 -0.2129649 -0.10057657 2.75933402] [ 0.21145969 0.97705345 -0.02552153 -0.02863783] [ 0.10370387 0.0035357 0.99460193 -0.3437862 ] [ 0. 0. 0. 1. ]] SLAMing on 108.30241403699999 meters Centerline goodness : 0.789370 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 0.97188064 -0.21284092 -0.10073119 2.75976454] [ 0.21132728 0.97708029 -0.02559058 -0.02763149] [ 0.10386918 0.00358374 0.99458451 -0.34399041] [ 0. 0. 0. 1. ]] SLAMing on 108.33241403699999 meters Centerline goodness : 0.790766 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 9.72616278e-01 -2.09260948e-01 -1.01130764e-01 2.75888470e+00] [ 2.08096697e-01 9.77859753e-01 -2.20469383e-02 -2.68092203e-02] [ 1.03505267e-01 3.98233111e-04 9.94628826e-01 -3.44489948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362414037 meters Centerline goodness : 0.791966 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.34 [[ 9.72642808e-01 -2.09014470e-01 -1.01385007e-01 2.75959772e+00] [ 2.07821959e-01 9.77912349e-01 -2.23040595e-02 -2.50749005e-02] [ 1.03807521e-01 6.23852309e-04 9.94597210e-01 -3.44608713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.392414037 meters Centerline goodness : 0.793786 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 9.73245757e-01 -2.06251183e-01 -1.01257825e-01 2.75675578e+00] [ 2.05376490e-01 9.78496597e-01 -1.91025522e-02 -2.40932784e-02] [ 1.03020361e-01 -2.20449876e-03 9.94676805e-01 -3.44468150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422414037 meters Centerline goodness : 0.796401 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 9.73205871e-01 -2.06496863e-01 -1.01140389e-01 2.75625085e+00] [ 2.05577971e-01 9.78445651e-01 -1.95398622e-02 -2.29514138e-02] [ 1.02995294e-01 -1.77592735e-03 9.94680258e-01 -3.44152535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452414037 meters Centerline goodness : 0.794838 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 9.73187737e-01 -2.06606586e-01 -1.01090791e-01 2.75599630e+00] [ 2.05661911e-01 9.78422907e-01 -1.97937582e-02 -2.25481156e-02] [ 1.02999066e-01 -1.52748241e-03 9.94680280e-01 -3.43866629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48241403699998 meters Centerline goodness : 0.796004 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 9.73113227e-01 -2.06935685e-01 -1.01134908e-01 2.75539533e+00] [ 2.05910861e-01 9.78354227e-01 -2.05845768e-02 -2.06458675e-02] [ 1.03205449e-01 -7.93652065e-04 9.94659744e-01 -3.42893883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51241403699999 meters Centerline goodness : 0.797463 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 9.73082653e-01 -2.07085476e-01 -1.01122479e-01 2.75488796e+00] [ 2.06024786e-01 9.78322746e-01 -2.09378428e-02 -1.94290969e-02] [ 1.03266344e-01 -4.59485379e-04 9.94653634e-01 -3.42359366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54241403699999 meters Centerline goodness : 0.798817 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 9.73051086e-01 -2.07240738e-01 -1.01108160e-01 2.75472249e+00] [ 2.06139992e-01 9.78289972e-01 -2.13315360e-02 -1.82586910e-02] [ 1.03333862e-01 -8.57610004e-05 9.94646724e-01 -3.42129059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57241403699999 meters Centerline goodness : 0.800320 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 9.73095469e-01 -2.06954094e-01 -1.01268016e-01 2.75563591e+00] [ 2.05874762e-01 9.78350607e-01 -2.11109640e-02 -1.80836148e-02] [ 1.03444626e-01 -3.05545352e-04 9.94635167e-01 -3.42808837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60241403699999 meters Centerline goodness : 0.797139 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 9.73137609e-01 -2.06661139e-01 -1.01461164e-01 2.75672343e+00] [ 2.05617904e-01 9.78412349e-01 -2.07497614e-02 -1.79030703e-02] [ 1.03559025e-01 -6.69858600e-04 9.94623084e-01 -3.43788763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63241403699999 meters Centerline goodness : 0.798500 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.35 [[ 9.73306041e-01 -2.05620651e-01 -1.01958317e-01 2.75988137e+00] [ 2.04694599e-01 9.78630089e-01 -1.95772778e-02 -1.82212774e-02] [ 1.03804970e-01 -1.81563419e-03 9.94596014e-01 -3.46609428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66241403699999 meters Centerline goodness : 0.799808 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.35 [[ 9.73345648e-01 -2.05394132e-01 -1.02036759e-01 2.76070851e+00] [ 2.04493653e-01 9.78677174e-01 -1.93218802e-02 -1.81197522e-02] [ 1.03829647e-01 -2.05900150e-03 9.94592964e-01 -3.47444541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69241403699999 meters Centerline goodness : 0.800214 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.35 [[ 0.97390991 -0.2027861 -0.10186893 2.75723386] [ 0.20219493 0.97921122 -0.01620497 -0.01785595] [ 0.10303734 -0.0048152 0.99466583 -0.34647889] [ 0. 0. 0. 1. ]] SLAMing on 108.722414037 meters Centerline goodness : 0.798266 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.35 [[ 0.97445164 -0.20021082 -0.10178222 2.75370927] [ 0.19991244 0.97972446 -0.01322855 -0.01790147] [ 0.10236703 -0.00745695 0.99471875 -0.3450234 ] [ 0. 0. 0. 1. ]] SLAMing on 108.752414037 meters Centerline goodness : 0.801598 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 0.97439374 -0.20050288 -0.10176164 2.75279332] [ 0.2001272 0.97966999 -0.01399317 -0.01631203] [ 0.10249849 -0.00673041 0.99471039 -0.34376023] [ 0. 0. 0. 1. ]] SLAMing on 108.782414037 meters Centerline goodness : 0.802245 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 0.97437037 -0.20065945 -0.10167681 2.75212444] [ 0.20022618 0.97964158 -0.01455478 -0.01651272] [ 0.10252739 -0.00617661 0.99471101 -0.34256623] [ 0. 0. 0. 1. ]] SLAMing on 108.812414037 meters Centerline goodness : 0.804406 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 0.9743501 -0.20075794 -0.10167657 2.7521181 ] [ 0.20030657 0.97962245 -0.01473548 -0.01667796] [ 0.10256291 -0.00600896 0.99470837 -0.34234593] [ 0. 0. 0. 1. ]] SLAMing on 108.84241403699998 meters Centerline goodness : 0.800162 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 0.97438929 -0.20040016 -0.10200634 2.75335958] [ 0.19996606 0.9796945 -0.01456915 -0.01644464] [ 0.10285471 -0.00620178 0.99467706 -0.34289699] [ 0. 0. 0. 1. ]] SLAMing on 108.87241403699998 meters Centerline goodness : 0.800584 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 0.97443236 -0.20003351 -0.10231403 2.75436026] [ 0.19961244 0.97976848 -0.01444288 -0.01612429] [ 0.10313312 -0.00634954 0.9946473 -0.34321076] [ 0. 0. 0. 1. ]] SLAMing on 108.90241403699999 meters Centerline goodness : 0.802153 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 0.97447863 -0.1996236 -0.10267332 2.75529726] [ 0.19919881 0.97985212 -0.01447921 -0.01558023] [ 0.10349506 -0.00634272 0.99460974 -0.34312945] [ 0. 0. 0. 1. ]] SLAMing on 108.93241403699999 meters Centerline goodness : 0.804314 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:-0.34 [[ 0.97525933 -0.19549643 -0.10320068 2.75469934] [ 0.19546735 0.98065406 -0.01049422 -0.01539244] [ 0.10325575 -0.00993778 0.99460519 -0.34340046] [ 0. 0. 0. 1. ]] SLAMing on 108.96241403699999 meters Centerline goodness : 0.803664 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 0.97606356 -0.19098013 -0.10405052 2.75557778] [ 0.19139322 0.98149453 -0.00609319 -0.01585559] [ 0.10328869 -0.01396723 0.99455335 -0.34457384] [ 0. 0. 0. 1. ]] SLAMing on 108.99241403699999 meters Centerline goodness : 0.802176 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 0.97612505 -0.19057989 -0.10420744 2.7563653 ] [ 0.19101124 0.98157001 -0.00591752 -0.01572168] [ 0.10341466 -0.01412856 0.99453798 -0.34493018] [ 0. 0. 0. 1. ]] SLAMing on 109.02241403699999 meters Centerline goodness : 0.803752 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:-0.34 [[ 0.97614246 -0.19052431 -0.10414594 2.7563081 ] [ 0.19093522 0.98158367 -0.00610279 -0.01540965] [ 0.10339068 -0.01392793 0.9945433 -0.34477858] [ 0. 0. 0. 1. ]] SLAMing on 109.05241403699999 meters Centerline goodness : 0.807593 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97617099 -0.1903491 -0.10419889 2.75633416] [ 0.19072268 0.98162271 -0.00645935 -0.01385613] [ 0.10351353 -0.01356766 0.9945355 -0.34444886] [ 0. 0. 0. 1. ]] SLAMing on 109.08241403699999 meters Centerline goodness : 0.805355 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.9761491 -0.19052986 -0.10407359 2.75594417] [ 0.19087762 0.98159097 -0.00670083 -0.01336436] [ 0.10343441 -0.01332431 0.99454703 -0.34427582] [ 0. 0. 0. 1. ]] SLAMing on 109.112414037 meters Centerline goodness : 0.807029 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97609352 -0.19090564 -0.10390613 2.75516288] [ 0.19120495 0.98152398 -0.00716562 -0.01302714] [ 0.10335432 -0.01287306 0.9945613 -0.34361413] [ 0. 0. 0. 1. ]] SLAMing on 109.142414037 meters Centerline goodness : 0.806996 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.01, Z:-0.34 [[ 0.9760588 -0.19107854 -0.10391444 2.75487656] [ 0.19132963 0.98149611 -0.00763971 -0.0117725 ] [ 0.1034514 -0.01242511 0.9945569 -0.3431294 ] [ 0. 0. 0. 1. ]] SLAMing on 109.172414037 meters Centerline goodness : 0.808814 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97607036 -0.19085042 -0.10422458 2.75549517] [ 0.19107699 0.98154326 -0.00789975 -0.01057216] [ 0.1038086 -0.01220421 0.99452241 -0.34285801] [ 0. 0. 0. 1. ]] SLAMing on 109.202414037 meters Centerline goodness : 0.809624 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97610588 -0.19043808 -0.10464539 2.75653821] [ 0.19065845 0.98162395 -0.00798645 -0.00970952] [ 0.10424334 -0.01215591 0.99447753 -0.34279016] [ 0. 0. 0. 1. ]] SLAMing on 109.23241403699998 meters Centerline goodness : 0.809858 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97624387 -0.18950885 -0.10504424 2.75850347] [ 0.18977189 0.98179897 -0.00757726 -0.00918877] [ 0.10456829 -0.01253719 0.99443868 -0.34381028] [ 0. 0. 0. 1. ]] SLAMing on 109.26241403699999 meters Centerline goodness : 0.808761 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.9763241 -0.18892136 -0.1053564 2.75977953] [ 0.18920591 0.98190971 -0.00737907 -0.00843894] [ 0.10484453 -0.01272969 0.99440715 -0.34436018] [ 0. 0. 0. 1. ]] SLAMing on 109.29241403699999 meters Centerline goodness : 0.810082 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97634321 -0.18876 -0.1054685 2.76001639] [ 0.18903936 0.98194138 -0.00743317 -0.00803467] [ 0.10496697 -0.01268037 0.99439486 -0.3442044 ] [ 0. 0. 0. 1. ]] SLAMing on 109.32241403699999 meters Centerline goodness : 0.808784 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97633237 -0.18881205 -0.10547563 2.75951894] [ 0.18905461 0.98193571 -0.00778534 -0.0073358 ] [ 0.10504025 -0.01233957 0.99439141 -0.34342017] [ 0. 0. 0. 1. ]] SLAMing on 109.35241403699999 meters Centerline goodness : 0.811538 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.97692507 -0.185731 -0.10545805 2.75627686] [ 0.18629008 0.98248397 -0.00461114 -0.00834487] [ 0.10446727 -0.01514105 0.99441306 -0.34161933] [ 0. 0. 0. 1. ]] SLAMing on 109.38241403699999 meters Centerline goodness : 0.809228 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 0.9769669 -0.18532266 -0.10578841 2.75683787] [ 0.18586186 0.98256404 -0.00482563 -0.00777771] [ 0.10483819 -0.01494755 0.99437695 -0.34097326] [ 0. 0. 0. 1. ]] SLAMing on 109.41241403699999 meters Centerline goodness : 0.807022 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 9.77765046e-01 -1.80581976e-01 -1.06609874e-01 2.75761571e+00] [ 1.81557222e-01 9.83380218e-01 -5.66898046e-04 -8.95939457e-03] [ 1.04940412e-01 -1.88014995e-02 9.94300766e-01 -3.41407639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44241403699999 meters Centerline goodness : 0.807306 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 9.77914485e-01 -1.79337430e-01 -1.07337537e-01 2.75993795e+00] [ 1.80347264e-01 9.83602954e-01 -3.03937691e-04 -7.84228428e-03] [ 1.05632025e-01 -1.90608060e-02 9.94222591e-01 -3.41770139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.472414037 meters Centerline goodness : 0.807435 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:-0.34 [[ 9.78052998e-01 -1.78087684e-01 -1.08153175e-01 2.76254108e+00] [ 1.79134458e-01 9.83824601e-01 -3.74529691e-05 -6.72993664e-03] [ 1.06410424e-01 -1.93373294e-02 9.94134241e-01 -3.42240696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502414037 meters Centerline goodness : 0.807094 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.97896253 -0.1721992 -0.10945227 2.76600843] [ 0.17381111 0.98476481 0.00528857 -0.00830794] [ 0.10687405 -0.02420133 0.99397798 -0.34469627] [ 0. 0. 0. 1. ]] SLAMing on 109.532414037 meters Centerline goodness : 0.807303 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.35 [[ 0.97966347 -0.1678343 -0.10995966 2.76606483] [ 0.16989745 0.98541496 0.00960256 -0.0097536 ] [ 0.10674426 -0.02808914 0.99388966 -0.3452615 ] [ 0. 0. 0. 1. ]] SLAMing on 109.562414037 meters Centerline goodness : 0.808255 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.98040547 -0.16298003 -0.11064641 2.76561423] [ 0.16544669 0.98612731 0.0134282 -0.00959293] [ 0.10692292 -0.03147116 0.99376912 -0.34417643] [ 0. 0. 0. 1. ]] SLAMing on 109.59241403699998 meters Centerline goodness : 0.808371 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.98048693 -0.1622721 -0.11096461 2.76632316] [ 0.16473497 0.98624769 0.01333757 -0.00875503] [ 0.10727428 -0.03135707 0.99373486 -0.34359892] [ 0. 0. 0. 1. ]] SLAMing on 109.62241403699998 meters Centerline goodness : 0.806719 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.98053679 -0.16170894 -0.11134549 2.76717674] [ 0.16417459 0.98634187 0.01328236 -0.00863647] [ 0.10767685 -0.03130394 0.99369299 -0.34307789] [ 0. 0. 0. 1. ]] SLAMing on 109.65241403699999 meters Centerline goodness : 0.806445 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.98065597 -0.16047305 -0.11208149 2.76966667] [ 0.16305812 0.98651383 0.01423099 -0.01102785] [ 0.10828624 -0.0322315 0.99359711 -0.34354485] [ 0. 0. 0. 1. ]] SLAMing on 109.68241403699999 meters Centerline goodness : 0.802748 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.98071 -0.16009368 -0.11215131 2.77045406] [ 0.16274149 0.98655764 0.01480646 -0.01292143] [ 0.10827331 -0.03277252 0.99358082 -0.34403025] [ 0. 0. 0. 1. ]] SLAMing on 109.71241403699999 meters Centerline goodness : 0.802748 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.98071 -0.16009368 -0.11215131 2.77045406] [ 0.16274149 0.98655764 0.01480646 -0.01292143] [ 0.10827331 -0.03277252 0.99358082 -0.34403025] [ 0. 0. 0. 1. ]] SLAMing on 109.74241403699999 meters Centerline goodness : 0.803451 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.34 [[ 0.98071065 -0.16001247 -0.11226147 2.77076649] [ 0.16269974 0.98655947 0.01513927 -0.01492764] [ 0.10833014 -0.03311215 0.99356337 -0.34388265] [ 0. 0. 0. 1. ]] SLAMing on 109.77241403699999 meters Centerline goodness : 0.802967 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.34 [[ 0.98066253 -0.16032541 -0.11223531 2.77020014] [ 0.16304337 0.98649852 0.01541176 -0.01798475] [ 0.10824907 -0.03341296 0.99356213 -0.34309408] [ 0. 0. 0. 1. ]] SLAMing on 109.80241403699999 meters Centerline goodness : 0.799937 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.34 [[ 0.98056757 -0.16085038 -0.11231379 2.76978763] [ 0.16360611 0.98640072 0.01570528 -0.02148025] [ 0.10826021 -0.03377531 0.99354867 -0.34232703] [ 0. 0. 0. 1. ]] SLAMing on 109.83241403699999 meters Centerline goodness : 0.802000 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:-0.34 [[ 0.9805129 -0.1611725 -0.11232929 2.76953305] [ 0.16396462 0.98633618 0.01601676 -0.02491554] [ 0.10821298 -0.03412266 0.99354194 -0.34175925] [ 0. 0. 0. 1. ]] SLAMing on 109.862414037 meters Centerline goodness : 0.800209 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.34 [[ 0.97990706 -0.16495778 -0.11212088 2.77048905] [ 0.16736331 0.98581822 0.01232688 -0.02658511] [ 0.10849739 -0.03084412 0.99361811 -0.34102175] [ 0. 0. 0. 1. ]] SLAMing on 109.892414037 meters Centerline goodness : 0.798112 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.34 [[ 0.97910148 -0.17013847 -0.11141455 2.76893117] [ 0.17211973 0.98504072 0.00834149 -0.03188212] [ 0.10832866 -0.02734381 0.99373901 -0.3385167 ] [ 0. 0. 0. 1. ]] SLAMing on 109.922414037 meters Centerline goodness : 0.799058 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.34 [[ 0.97894932 -0.17120135 -0.11112302 2.76742398] [ 0.17316823 0.98485792 0.00822432 -0.03474519] [ 0.10803238 -0.02729417 0.99377263 -0.33749966] [ 0. 0. 0. 1. ]] SLAMing on 109.952414037 meters Centerline goodness : 0.798576 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.34 [[ 0.97824922 -0.17520393 -0.1110497 2.76862913] [ 0.17687701 0.98421858 0.00532038 -0.03864035] [ 0.10836503 -0.0248468 0.99380061 -0.3371766 ] [ 0. 0. 0. 1. ]] SLAMing on 109.98241403699998 meters Centerline goodness : 0.798240 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.34 [[ 0.97817302 -0.17560131 -0.11109334 2.76865937] [ 0.17731728 0.98413734 0.00568149 -0.04179059] [ 0.10833343 -0.02525625 0.99379374 -0.33697572] [ 0. 0. 0. 1. ]] SLAMing on 110.01241403699999 meters Centerline goodness : 0.795271 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.05, Z:-0.34 [[ 0.97810061 -0.17604253 -0.1110325 2.76838948] [ 0.17780054 0.9840479 0.00605718 -0.04501731] [ 0.10819498 -0.02566617 0.99379832 -0.33675924] [ 0. 0. 0. 1. ]] SLAMing on 110.04241403699999 meters Centerline goodness : 0.792181 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.05, Z:-0.34 [[ 0.97746861 -0.17961956 -0.11086894 2.76959615] [ 0.18105341 0.98346893 0.00292024 -0.04897071] [ 0.10851163 -0.02292764 0.99383074 -0.33596054] [ 0. 0. 0. 1. ]] SLAMing on 110.07241403699999 meters Centerline goodness : 0.794354 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.05, Z:-0.34 [[ 0.97745652 -0.17962197 -0.11097166 2.76971594] [ 0.18109014 0.98346126 0.00321245 -0.05129575] [ 0.1085593 -0.0232359 0.99381838 -0.33553527] [ 0. 0. 0. 1. ]] SLAMing on 110.10241403699999 meters Centerline goodness : 0.835745 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:-0.33 [[ 0.97747023 -0.17939302 -0.11122091 2.76974096] [ 0.18092039 0.98349074 0.00371263 -0.05501825] [ 0.10871872 -0.02375111 0.99378877 -0.33436251] [ 0. 0. 0. 1. ]] SLAMing on 110.13241403699999 meters Centerline goodness : 0.794139 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:-0.33 [[ 0.97751062 -0.17905125 -0.11141651 2.77013559] [ 0.18061954 0.98354465 0.00406241 -0.05646596] [ 0.10885574 -0.02409505 0.99376549 -0.33403049] [ 0. 0. 0. 1. ]] SLAMing on 110.16241403699999 meters Centerline goodness : 0.794667 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:-0.33 [[ 0.97755128 -0.17862155 -0.11174902 2.7708588 ] [ 0.18023811 0.98361293 0.00445224 -0.05769251] [ 0.10912252 -0.02449373 0.99372649 -0.33379287] [ 0. 0. 0. 1. ]] SLAMing on 110.19241403699999 meters Centerline goodness : 0.793208 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:-0.33 [[ 0.97764539 -0.17775795 -0.11230139 2.77223144] [ 0.17947736 0.98374778 0.00530917 -0.06034087] [ 0.1095325 -0.02534605 0.99366001 -0.33357178] [ 0. 0. 0. 1. ]] SLAMing on 110.222414037 meters Centerline goodness : 0.794949 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:-0.33 [[ 0.97767635 -0.17757849 -0.11231581 2.77182218] [ 0.17934181 0.98377023 0.00571436 -0.06382375] [ 0.10947821 -0.02572972 0.99365613 -0.33245721] [ 0. 0. 0. 1. ]] SLAMing on 110.252414037 meters Centerline goodness : 0.793841 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.33 [[ 0.97767593 -0.1776254 -0.11224523 2.7714712 ] [ 0.17940261 0.98375832 0.00585464 -0.06548795] [ 0.10938224 -0.02586102 0.99366329 -0.33192481] [ 0. 0. 0. 1. ]] SLAMing on 110.282414037 meters Centerline goodness : 0.794950 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.33 [[ 0.97769055 -0.17739491 -0.11248218 2.77208517] [ 0.17921769 0.98378975 0.0062245 -0.06748339] [ 0.10955462 -0.02624443 0.99363425 -0.33174028] [ 0. 0. 0. 1. ]] SLAMing on 110.312414037 meters Centerline goodness : 0.793596 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.33 [[ 0.97770889 -0.17715395 -0.11270229 2.77301462] [ 0.17903697 0.98381932 0.00673057 -0.06949341] [ 0.10968634 -0.02675841 0.99360601 -0.33203115] [ 0. 0. 0. 1. ]] SLAMing on 110.34241403699998 meters Centerline goodness : 0.791333 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.33 [[ 0.97775377 -0.17668046 -0.1130557 2.77399462] [ 0.17864999 0.98388447 0.00745244 -0.07190629] [ 0.10991704 -0.02748405 0.9935607 -0.33199135] [ 0. 0. 0. 1. ]] SLAMing on 110.37241403699998 meters Centerline goodness : 0.841772 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.33 [[ 0.97772487 -0.17677488 -0.11315795 2.77380326] [ 0.17878076 0.98385842 0.00774969 -0.07390154] [ 0.10996145 -0.02780753 0.99354679 -0.33136588] [ 0. 0. 0. 1. ]] SLAMing on 110.40241403699999 meters Centerline goodness : 0.839921 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.33 [[ 0.97771089 -0.17682732 -0.1131968 2.77440192] [ 0.17887301 0.98383885 0.00809653 -0.07578288] [ 0.10993573 -0.02816392 0.9935396 -0.33179499] [ 0. 0. 0. 1. ]] SLAMing on 110.43241403699999 meters Centerline goodness : 0.787473 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:-0.33 [[ 0.97712285 -0.18004043 -0.11320944 2.77701635] [ 0.1817458 0.98333362 0.00484211 -0.07618313] [ 0.11045088 -0.02530668 0.99355935 -0.33263463] [ 0. 0. 0. 1. ]] SLAMing on 110.46241403699999 meters Centerline goodness : 0.790698 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:-0.33 [[ 9.76348049e-01 -1.84773918e-01 -1.12263466e-01 2.77618462e+00] [ 1.86052415e-01 9.82539382e-01 9.28714821e-04 -7.80908418e-02] [ 1.10131674e-01 -2.17936378e-02 9.93678042e-01 -3.31821151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49241403699999 meters Centerline goodness : 0.788462 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.33 [[ 9.76225728e-01 -1.85650536e-01 -1.11880322e-01 2.77445309e+00] [ 1.86879682e-01 9.82382678e-01 5.08423377e-04 -7.90511400e-02] [ 1.09814902e-01 -2.14044950e-02 9.93721558e-01 -3.30665885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52241403699999 meters Centerline goodness : 0.843993 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.33 [[ 9.76000787e-01 -1.87176948e-01 -1.11298042e-01 2.77177017e+00] [ 1.88315411e-01 9.82108560e-01 -2.88359708e-04 -8.08072052e-02] [ 1.09360734e-01 -2.06776973e-02 9.93787031e-01 -3.28795443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55241403699999 meters Centerline goodness : 0.845153 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.33 [[ 9.75947604e-01 -1.87497449e-01 -1.11224910e-01 2.77118260e+00] [ 1.88629302e-01 9.82048299e-01 -3.52759688e-04 -8.21843835e-02] [ 1.09294375e-01 -2.06360021e-02 9.93795198e-01 -3.28058189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58241403699999 meters Centerline goodness : 0.788199 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.33 [[ 9.75909848e-01 -1.87721585e-01 -1.11178126e-01 2.77064656e+00] [ 1.88843762e-01 9.82007045e-01 -4.44615868e-04 -8.31813086e-02] [ 1.09261167e-01 -2.05613907e-02 9.93800396e-01 -3.27327317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.612414037 meters Centerline goodness : 0.846909 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.33 [[ 9.75906051e-01 -1.87670404e-01 -1.11297798e-01 2.77061402e+00] [ 1.88796720e-01 9.82016098e-01 -4.26759160e-04 -8.38666445e-02] [ 1.09376319e-01 -2.05961822e-02 9.93787008e-01 -3.26750677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642414037 meters Centerline goodness : 0.787595 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.33 [[ 9.76029176e-01 -1.86635487e-01 -1.11956434e-01 2.77222882e+00] [ 1.87814521e-01 9.82204513e-01 -1.57679097e-05 -8.40315531e-02] [ 1.09967057e-01 -2.10116540e-02 9.93713116e-01 -3.26636868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.672414037 meters Centerline goodness : 0.844588 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.09, Z:-0.33 [[ 0.97684857 -0.18157567 -0.11312443 2.77410432] [ 0.18327527 0.98305029 0.00472194 -0.08578096] [ 0.11034961 -0.02534553 0.99356961 -0.32770308] [ 0. 0. 0. 1. ]] SLAMing on 110.702414037 meters Centerline goodness : 0.786081 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97698157 -0.18052701 -0.11365301 2.77587191] [ 0.18228144 0.9832329 0.00515175 -0.08545517] [ 0.11081735 -0.02574999 0.99350715 -0.32819881] [ 0. 0. 0. 1. ]] SLAMing on 110.73241403699998 meters Centerline goodness : 0.841933 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97709494 -0.17966973 -0.11403629 2.77722085] [ 0.18146612 0.98338189 0.00548661 -0.08503149] [ 0.11115545 -0.02605466 0.99346143 -0.32864849] [ 0. 0. 0. 1. ]] SLAMing on 110.76241403699999 meters Centerline goodness : 0.839647 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97742278 -0.177496 -0.1146293 2.78048516] [ 0.17945796 0.98374112 0.00694576 -0.08635701] [ 0.11153271 -0.02736009 0.99338405 -0.33044741] [ 0. 0. 0. 1. ]] SLAMing on 110.79241403699999 meters Centerline goodness : 0.839534 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97752411 -0.17669428 -0.11500322 2.78225147] [ 0.17872222 0.9838711 0.00748569 -0.08655616] [ 0.11182567 -0.02787107 0.99333691 -0.33144879] [ 0. 0. 0. 1. ]] SLAMing on 110.82241403699999 meters Centerline goodness : 0.838357 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97763275 -0.17609185 -0.11500374 2.78200897] [ 0.17812474 0.98397884 0.00756431 -0.0856322 ] [ 0.11182923 -0.02788012 0.99333626 -0.33090554] [ 0. 0. 0. 1. ]] SLAMing on 110.85241403699999 meters Centerline goodness : 0.840151 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97759504 -0.17649731 -0.1147024 2.78015643] [ 0.17846688 0.98392064 0.00705296 -0.08564997] [ 0.11161323 -0.02736551 0.99337486 -0.32919529] [ 0. 0. 0. 1. ]] SLAMing on 110.88241403699999 meters Centerline goodness : 0.839595 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97753555 -0.17703143 -0.11438581 2.77830631] [ 0.1789489 0.98383599 0.00663568 -0.08722873] [ 0.11136215 -0.02695583 0.99341424 -0.32728881] [ 0. 0. 0. 1. ]] SLAMing on 110.91241403699999 meters Centerline goodness : 0.841813 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.33 [[ 0.97688219 -0.18069126 -0.11424473 2.77866591] [ 0.18225207 0.98324637 0.00328049 -0.09091189] [ 0.11173796 -0.024026 0.99344722 -0.32541308] [ 0. 0. 0. 1. ]] SLAMing on 110.94241403699999 meters Centerline goodness : 0.841165 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.32 [[ 0.97677571 -0.18137217 -0.11407605 2.77773911] [ 0.18292157 0.98312238 0.00317601 -0.09305303] [ 0.11157468 -0.02396922 0.99346694 -0.32449067] [ 0. 0. 0. 1. ]] SLAMing on 110.972414037 meters Centerline goodness : 0.837438 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.32 [[ 9.75760990e-01 -1.86326688e-01 -1.14773060e-01 2.78024762e+00] [ 1.87642897e-01 9.82237082e-01 6.76433999e-04 -9.42475888e-02] [ 1.12608317e-01 -2.21963873e-02 9.93391508e-01 -3.23600323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002414037 meters Centerline goodness : 0.838145 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.32 [[ 9.75311881e-01 -1.88218856e-01 -1.15500640e-01 2.78229257e+00] [ 1.89538139e-01 9.81873257e-01 4.47941294e-04 -9.49831549e-02] [ 1.13322679e-01 -2.23286588e-02 9.93307305e-01 -3.23480382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.032414037 meters Centerline goodness : 0.838672 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:-0.32 [[ 9.74925549e-01 -1.89465950e-01 -1.16716871e-01 2.78579887e+00] [ 1.90868850e-01 9.81615171e-01 8.59066205e-04 -9.57795207e-02] [ 1.14408288e-01 -2.31151406e-02 9.93164857e-01 -3.24181490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062414037 meters Centerline goodness : 0.784505 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:-0.33 [[ 9.74224497e-01 -1.93070602e-01 -1.16663501e-01 2.78815207e+00] [ 1.94161740e-01 9.80967394e-01 -2.04727747e-03 -9.66210339e-02] [ 1.14838360e-01 -2.06570805e-02 9.93169389e-01 -3.25168158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09241403699998 meters Centerline goodness : 0.784784 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:-0.33 [[ 9.73992181e-01 -1.93680266e-01 -1.17589058e-01 2.79077831e+00] [ 1.94892194e-01 9.80823918e-01 -1.21409376e-03 -9.81788577e-02] [ 1.15569306e-01 -2.17346716e-02 9.93061599e-01 -3.25549989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12241403699998 meters Centerline goodness : 0.784787 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:-0.33 [[ 0.97335816 -0.19693028 -0.11744083 2.7923697 ] [ 0.19790176 0.9802158 -0.00344755 -0.10052508] [ 0.11579629 -0.01988604 0.9930739 -0.32569487] [ 0. 0. 0. 1. ]] SLAMing on 111.15241403699999 meters Centerline goodness : 0.785845 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:-0.33 [[ 9.73186219e-01 -1.97401518e-01 -1.18072964e-01 2.79366771e+00] [ 1.98491657e-01 9.80099202e-01 -2.57234394e-03 -1.02304045e-01] [ 1.16231003e-01 -2.09331287e-02 9.93001590e-01 -3.25172772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18241403699999 meters Centerline goodness : 0.833288 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:-0.32 [[ 9.72961890e-01 -1.97963711e-01 -1.18977012e-01 2.79538671e+00] [ 1.99224758e-01 9.79952935e-01 -1.31977588e-03 -1.04402172e-01] [ 1.16853140e-01 -2.24190748e-02 9.92896132e-01 -3.24574825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21241403699999 meters Centerline goodness : 0.787664 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:-0.32 [[ 9.72970564e-01 -1.97611008e-01 -1.19491303e-01 2.79645938e+00] [ 1.98975976e-01 9.80004231e-01 -5.17665531e-04 -1.04913979e-01] [ 1.17204279e-01 -2.32722253e-02 9.92835112e-01 -3.24601161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24241403699999 meters Centerline goodness : 0.787884 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.32 [[ 9.73150553e-01 -1.96567967e-01 -1.19745711e-01 2.79678984e+00] [ 1.98042468e-01 9.80193350e-01 4.21924993e-04 -1.05336591e-01] [ 1.17291012e-01 -2.41253327e-02 9.92804506e-01 -3.24588398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27241403699999 meters Centerline goodness : 0.788829 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.32 [[ 0.9738382 -0.1927031 -0.12043539 2.79701438] [ 0.19465224 0.98086189 0.0045224 -0.10785444] [ 0.117259 -0.0278471 0.99271087 -0.32436884] [ 0. 0. 0. 1. ]] SLAMing on 111.30241403699999 meters Centerline goodness : 0.790181 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.33 [[ 0.97393645 -0.19210566 -0.12059522 2.7978547 ] [ 0.1940759 0.98097526 0.00469915 -0.10790613] [ 0.1173982 -0.0279813 0.99269064 -0.3251038 ] [ 0. 0. 0. 1. ]] SLAMing on 111.33241403699999 meters Centerline goodness : 0.836668 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.33 [[ 0.97422077 -0.19087277 -0.1202559 2.79816903] [ 0.19280784 0.98122595 0.00455766 -0.10811208] [ 0.11712827 -0.02762645 0.99273247 -0.32650863] [ 0. 0. 0. 1. ]] SLAMing on 111.362414037 meters Centerline goodness : 0.832567 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.33 [[ 0.97454525 -0.18841649 -0.12149393 2.80024013] [ 0.19074468 0.98160933 0.00772001 -0.1086252 ] [ 0.117805 -0.03069782 0.99256215 -0.32698916] [ 0. 0. 0. 1. ]] SLAMing on 111.392414037 meters Centerline goodness : 0.836315 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.33 [[ 0.9749629 -0.1856465 -0.12240393 2.79972484] [ 0.18843172 0.98201916 0.01148264 -0.10905605] [ 0.1180713 -0.03425993 0.99241394 -0.32547814] [ 0. 0. 0. 1. ]] SLAMing on 111.422414037 meters Centerline goodness : 0.835099 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.32 [[ 0.97512581 -0.18451051 -0.12282312 2.79966075] [ 0.18748031 0.98218264 0.01297699 -0.10977673] [ 0.11824035 -0.03568111 0.99234373 -0.32460539] [ 0. 0. 0. 1. ]] SLAMing on 111.452414037 meters Centerline goodness : 0.836004 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.32 [[ 0.97484782 -0.18534118 -0.12377549 2.80034113] [ 0.18849914 0.9819706 0.01420625 -0.11062067] [ 0.11891089 -0.03718051 0.99220855 -0.3228361 ] [ 0. 0. 0. 1. ]] SLAMing on 111.48241403699998 meters Centerline goodness : 0.837675 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.32 [[ 0.97443666 -0.1870966 -0.12437063 2.80214964] [ 0.19023455 0.98164244 0.01374565 -0.1107588 ] [ 0.11951573 -0.03705385 0.99214062 -0.32288763] [ 0. 0. 0. 1. ]] SLAMing on 111.51241403699999 meters Centerline goodness : 0.830665 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.32 [[ 0.97400041 -0.18881087 -0.12519451 2.80494158] [ 0.19197213 0.98130648 0.01357566 -0.11148648] [ 0.12029095 -0.03725656 0.99203933 -0.32343306] [ 0. 0. 0. 1. ]] SLAMing on 111.54241403699999 meters Centerline goodness : 0.835566 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:-0.32 [[ 0.97303453 -0.19352944 -0.12549962 2.80781853] [ 0.19634022 0.98048164 0.01030885 -0.11153761] [ 0.12105501 -0.03467149 0.99204011 -0.32412549] [ 0. 0. 0. 1. ]] SLAMing on 111.57241403699999 meters Centerline goodness : 0.838094 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:-0.32 [[ 0.97275181 -0.19477239 -0.12576816 2.8081997 ] [ 0.19756651 0.9802383 0.01001708 -0.11154126] [ 0.12133172 -0.03459171 0.99200909 -0.3235018 ] [ 0. 0. 0. 1. ]] SLAMing on 111.60241403699999 meters Centerline goodness : 0.838094 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:-0.32 [[ 0.97275181 -0.19477239 -0.12576816 2.8081997 ] [ 0.19756651 0.9802383 0.01001708 -0.11154126] [ 0.12133172 -0.03459171 0.99200909 -0.3235018 ] [ 0. 0. 0. 1. ]] SLAMing on 111.63241403699999 meters Centerline goodness : 0.786200 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:-0.32 [[ 0.9722051 -0.19658944 -0.12716067 2.80981334] [ 0.19951186 0.97983871 0.0105418 -0.11093733] [ 0.12252454 -0.03561886 0.99182611 -0.32170037] [ 0. 0. 0. 1. ]] SLAMing on 111.66241403699999 meters Centerline goodness : 0.836801 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:-0.32 [[ 0.97191532 -0.19735041 -0.12819294 2.81114258] [ 0.20038016 0.97965586 0.0110541 -0.11060243] [ 0.12340343 -0.03643097 0.99168764 -0.32069743] [ 0. 0. 0. 1. ]] SLAMing on 111.69241403699999 meters Centerline goodness : 0.838335 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:-0.32 [[ 0.97162886 -0.19810996 -0.12918901 2.81246493] [ 0.20125021 0.97947128 0.01159151 -0.11039667] [ 0.12424053 -0.03726196 0.99155224 -0.31977731] [ 0. 0. 0. 1. ]] SLAMing on 111.722414037 meters Centerline goodness : 0.837749 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:-0.32 [[ 0.9710671 -0.20010126 -0.13033865 2.81476748] [ 0.20327987 0.97905408 0.01141975 -0.11009829] [ 0.12532348 -0.03758456 0.99140377 -0.31927909] [ 0. 0. 0. 1. ]] SLAMing on 111.752414037 meters Centerline goodness : 0.837685 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.11, Z:-0.32 [[ 0.9708207 -0.20078929 -0.13111378 2.81604533] [ 0.20401912 0.97889884 0.01154404 -0.1095853 ] [ 0.12602921 -0.03795691 0.99130011 -0.31885697] [ 0. 0. 0. 1. ]] SLAMing on 111.782414037 meters Centerline goodness : 0.838368 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.11, Z:-0.32 [[ 0.97086146 -0.19925921 -0.13313076 2.81690928] [ 0.20300968 0.97906063 0.01507858 -0.10817661] [ 0.12733854 -0.04166604 0.99098377 -0.31683793] [ 0. 0. 0. 1. ]] SLAMing on 111.812414037 meters Centerline goodness : 0.838559 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.10, Z:-0.32 [[ 0.97075328 -0.19984945 -0.13303485 2.81598647] [ 0.20345971 0.9789835 0.01398029 -0.10494333] [ 0.12744497 -0.04063864 0.99101275 -0.31621963] [ 0. 0. 0. 1. ]] SLAMing on 111.84241403699998 meters Centerline goodness : 0.835590 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.10, Z:-0.32 [[ 0.97068052 -0.2002465 -0.13296865 2.81541091] [ 0.20373463 0.97893949 0.01302583 -0.10151884] [ 0.12755989 -0.03973424 0.99103464 -0.31598357] [ 0. 0. 0. 1. ]] SLAMing on 111.87241403699998 meters Centerline goodness : 0.835156 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:-0.32 [[ 0.97124491 -0.19728982 -0.13326682 2.81382171] [ 0.20103286 0.97946802 0.01510558 -0.09708109] [ 0.12755041 -0.04146223 0.99096507 -0.3157375 ] [ 0. 0. 0. 1. ]] SLAMing on 111.90241403699999 meters Centerline goodness : 0.837460 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.32 [[ 0.97121489 -0.19740257 -0.13331865 2.81397703] [ 0.20105905 0.97947314 0.01440932 -0.09456491] [ 0.1277376 -0.04079947 0.99096847 -0.31586656] [ 0. 0. 0. 1. ]] SLAMing on 111.93241403699999 meters Centerline goodness : 0.837687 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.32 [[ 0.97114259 -0.19779315 -0.1332664 2.81474521] [ 0.20132776 0.97943152 0.01345514 -0.09142581] [ 0.12786398 -0.03989708 0.99098891 -0.31693027] [ 0. 0. 0. 1. ]] SLAMing on 111.96241403699999 meters Centerline goodness : 0.836514 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.32 [[ 0.97105121 -0.19840881 -0.1330169 2.81435391] [ 0.20185384 0.97933204 0.0127977 -0.0897815 ] [ 0.12772854 -0.0392772 0.99103114 -0.31723924] [ 0. 0. 0. 1. ]] SLAMing on 111.99241403699999 meters Centerline goodness : 0.837860 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.32 [[ 0.97094978 -0.19909346 -0.13273403 2.81360991] [ 0.2024308 0.97922301 0.01200324 -0.08729891] [ 0.12758645 -0.038524 0.99107901 -0.31736612] [ 0. 0. 0. 1. ]] SLAMing on 112.02241403699999 meters Centerline goodness : 0.836586 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.08, Z:-0.32 [[ 0.97075307 -0.20052518 -0.13201566 2.81074907] [ 0.203643 0.97898981 0.01041507 -0.0802675 ] [ 0.1271535 -0.03699453 0.99119291 -0.31718268] [ 0. 0. 0. 1. ]] SLAMing on 112.05241403699999 meters Centerline goodness : 0.840429 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.32 [[ 0.97049652 -0.20242525 -0.1309982 2.80683381] [ 0.20521708 0.97868352 0.00803217 -0.0734577 ] [ 0.12657986 -0.03467826 0.99135007 -0.31587705] [ 0. 0. 0. 1. ]] SLAMing on 112.08241403699999 meters Centerline goodness : 0.836942 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.32 [[ 0.97036886 -0.20338155 -0.13046153 2.80507408] [ 0.20601935 0.97852354 0.0069072 -0.07051668] [ 0.12625489 -0.03358013 0.99142931 -0.31548649] [ 0. 0. 0. 1. ]] SLAMing on 112.112414037 meters Centerline goodness : 0.838774 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.31 [[ 0.97022669 -0.20431015 -0.13006738 2.80352456] [ 0.20679073 0.97836851 0.00571446 -0.0678581 ] [ 0.12608631 -0.03244105 0.99148869 -0.31481768] [ 0. 0. 0. 1. ]] SLAMing on 112.142414037 meters Centerline goodness : 0.838272 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.31 [[ 0.9700132 -0.20587924 -0.12918256 2.80102569] [ 0.20810813 0.97809824 0.0038512 -0.06301982] [ 0.12556035 -0.03061965 0.99161335 -0.31461278] [ 0. 0. 0. 1. ]] SLAMing on 112.172414037 meters Centerline goodness : 0.837787 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.31 [[ 0.96990292 -0.20657588 -0.12889814 2.80033773] [ 0.20869119 0.97797706 0.00297699 -0.0605243 ] [ 0.12544445 -0.02978729 0.99165337 -0.31473662] [ 0. 0. 0. 1. ]] SLAMing on 112.202414037 meters Centerline goodness : 0.835772 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.32 [[ 9.69728006e-01 -2.07653300e-01 -1.28482296e-01 2.79978476e+00] [ 2.09586399e-01 9.77788884e-01 1.56218220e-03 -5.43832724e-02] [ 1.25304169e-01 -2.84430337e-02 9.91710572e-01 -3.15908444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23241403699998 meters Centerline goodness : 0.834190 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.32 [[ 9.69660725e-01 -2.07909115e-01 -1.28576353e-01 2.80030249e+00] [ 2.09761006e-01 9.77752291e-01 8.81934248e-04 -5.07523636e-02] [ 1.25532461e-01 -2.78254822e-02 9.91699220e-01 -3.16597004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26241403699999 meters Centerline goodness : 0.832959 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.32 [[ 9.69597574e-01 -2.08182776e-01 -1.28609782e-01 2.80059180e+00] [ 2.09946487e-01 9.77712865e-01 1.60380799e-04 -4.69296934e-02] [ 1.25710050e-01 -2.71566767e-02 9.91695265e-01 -3.17272207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29241403699999 meters Centerline goodness : 0.834334 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.32 [[ 9.69548580e-01 -2.08691543e-01 -1.28153776e-01 2.79982142e+00] [ 2.10287071e-01 9.77639059e-01 -1.10392592e-03 -4.15968545e-02] [ 1.25518517e-01 -2.58787725e-02 9.91753695e-01 -3.17829949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32241403699999 meters Centerline goodness : 0.833817 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.32 [[ 9.69472050e-01 -2.09387045e-01 -1.27597060e-01 2.79806588e+00] [ 2.10782365e-01 9.77529501e-01 -2.62076505e-03 -3.65904458e-02] [ 1.25278644e-01 -2.43544516e-02 9.91822626e-01 -3.17311301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35241403699999 meters Centerline goodness : 0.791958 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.32 [[ 0.96939563 -0.20984841 -0.12741962 2.79688734] [ 0.21110524 0.97745628 -0.00371331 -0.0330857 ] [ 0.12532634 -0.02329928 0.99184195 -0.31649408] [ 0. 0. 0. 1. ]] SLAMing on 112.38241403699999 meters Centerline goodness : 0.793161 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.32 [[ 9.70010187e-01 -2.07056949e-01 -1.27309293e-01 2.79402484e+00] [ 2.08646106e-01 9.77990820e-01 -8.71475959e-04 -3.16882783e-02] [ 1.24687765e-01 -2.57172478e-02 9.91862684e-01 -3.16006681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41241403699999 meters Centerline goodness : 0.795515 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.32 [[ 9.69978099e-01 -2.07232106e-01 -1.27268780e-01 2.79380164e+00] [ 2.08728504e-01 9.77972296e-01 -1.61218242e-03 -2.86835027e-02] [ 1.24799437e-01 -2.50008406e-02 9.91866956e-01 -3.15919928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44241403699999 meters Centerline goodness : 0.793878 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.32 [[ 9.70088817e-01 -2.06658295e-01 -1.27357909e-01 2.79547626e+00] [ 2.08138097e-01 9.78097929e-01 -1.72435261e-03 -2.48349586e-02] [ 1.24924859e-01 -2.48352577e-02 9.91855327e-01 -3.17877827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.472414037 meters Centerline goodness : 0.793114 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.32 [[ 9.70054534e-01 -2.06807207e-01 -1.27377312e-01 2.79591593e+00] [ 2.08251550e-01 9.78073215e-01 -2.01943438e-03 -2.33333284e-02] [ 1.25001970e-01 -2.45675611e-02 9.91852278e-01 -3.18436333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502414037 meters Centerline goodness : 0.792808 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:-0.32 [[ 0.96990412 -0.20789414 -0.12675182 2.7936565 ] [ 0.20914902 0.9778776 -0.00347547 -0.01973373] [ 0.12467029 -0.02313915 0.99192837 -0.3175294 ] [ 0. 0. 0. 1. ]] SLAMing on 112.532414037 meters Centerline goodness : 0.794102 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:-0.32 [[ 0.96979348 -0.20857187 -0.12648468 2.79214018] [ 0.2096948 0.97775644 -0.00452104 -0.01720506] [ 0.12461417 -0.02213871 0.99195826 -0.31650281] [ 0. 0. 0. 1. ]] SLAMing on 112.562414037 meters Centerline goodness : 0.795029 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.32 [[ 0.96971876 -0.20901865 -0.12631996 2.79117705] [ 0.21003571 0.977679 -0.00536397 -0.01484749] [ 0.12462154 -0.02133016 0.99197505 -0.31579729] [ 0. 0. 0. 1. ]] SLAMing on 112.59241403699998 meters Centerline goodness : 0.796129 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.32 [[ 0.96961733 -0.20970858 -0.12595454 2.78993988] [ 0.21058954 0.97755342 -0.0064315 -0.01130445] [ 0.12447603 -0.02028861 0.99201517 -0.31551091] [ 0. 0. 0. 1. ]] SLAMing on 112.62241403699998 meters Centerline goodness : 0.794100 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.32 [[ 0.96961072 -0.20977397 -0.1258965 2.79046831] [ 0.21060605 0.97754725 -0.00681576 -0.00875996] [ 0.12449954 -0.01990593 0.99201997 -0.3164474 ] [ 0. 0. 0. 1. ]] SLAMing on 112.65241403699999 meters Centerline goodness : 0.793822 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.32 [[ 0.96962673 -0.20963652 -0.12600213 2.79127515] [ 0.21044576 0.97758043 -0.00700563 -0.00675617] [ 0.12464585 -0.01972377 0.99200523 -0.3172478 ] [ 0. 0. 0. 1. ]] SLAMing on 112.68241403699999 meters Centerline goodness : 0.792558 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:-0.32 [[ 0.96962394 -0.20956783 -0.1261378 2.79195961] [ 0.21033955 0.97760098 -0.00732104 -0.00469597] [ 0.12484669 -0.01943311 0.99198571 -0.31779539] [ 0. 0. 0. 1. ]] SLAMing on 112.71241403699999 meters Centerline goodness : 0.794711 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:-0.32 [[ 0.96960696 -0.20966108 -0.12611334 2.79215702] [ 0.21038435 0.97758836 -0.00770816 -0.00294902] [ 0.12490304 -0.01905839 0.99198589 -0.31815717] [ 0. 0. 0. 1. ]] SLAMing on 112.74241403699999 meters Centerline goodness : 0.795243 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.32 [[ 9.69629504e-01 -2.09734167e-01 -1.25818140e-01 2.79140159e+00] [ 2.10358532e-01 9.77587751e-01 -8.45437249e-03 2.72545576e-04] [ 1.24771443e-01 -1.82693102e-02 9.92017298e-01 -3.17958396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77241403699999 meters Centerline goodness : 0.795780 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.32 [[ 9.70188693e-01 -2.07213874e-01 -1.25683378e-01 2.78779878e+00] [ 2.08152578e-01 9.78079388e-01 -5.76322455e-03 1.05152720e-03] [ 1.24122541e-01 -2.05699038e-02 9.92053665e-01 -3.16699017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80241403699999 meters Centerline goodness : 0.797886 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:-0.32 [[ 9.70817737e-01 -2.04339590e-01 -1.25531879e-01 2.78437514e+00] [ 2.05613974e-01 9.78628999e-01 -2.85947907e-03 2.24966596e-03] [ 1.23433442e-01 -2.30350755e-02 9.92085465e-01 -3.15700956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83241403699999 meters Centerline goodness : 0.801101 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 9.71497847e-01 -2.00880532e-01 -1.25852868e-01 2.78218531e+00] [ 2.02453593e-01 9.79291813e-01 -2.97422269e-04 5.69420264e-03] [ 1.23306429e-01 -2.51904201e-02 9.92048873e-01 -3.14559093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862414037 meters Centerline goodness : 0.798310 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 9.71465359e-01 -2.00981683e-01 -1.25942125e-01 2.78227068e+00] [ 2.02476046e-01 9.79286750e-01 -9.54677117e-04 7.78874708e-03] [ 1.23525326e-01 -2.45728277e-02 9.92037131e-01 -3.14263999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.892414037 meters Centerline goodness : 0.800726 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.32 [[ 9.71571491e-01 -2.00259197e-01 -1.26273876e-01 2.78433888e+00] [ 2.01757414e-01 9.79435070e-01 -9.43413461e-04 1.00701973e-02] [ 1.23865990e-01 -2.45600971e-02 9.91994969e-01 -3.15704608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922414037 meters Centerline goodness : 0.799423 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 9.71646589e-01 -1.99586704e-01 -1.26759826e-01 2.78696936e+00] [ 2.01150727e-01 9.79560188e-01 -4.71528557e-04 1.03616476e-02] [ 1.24262990e-01 -2.50396720e-02 9.91933327e-01 -3.17457162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.952414037 meters Centerline goodness : 0.799611 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 9.71702354e-01 -1.99287266e-01 -1.26803475e-01 2.78883889e+00] [ 2.00891285e-01 9.79613532e-01 -1.41701810e-04 1.10908443e-02] [ 1.24246639e-01 -2.53360210e-02 9.91927850e-01 -3.19630049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98241403699998 meters Centerline goodness : 0.802107 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 9.71579309e-01 -2.00147768e-01 -1.26390336e-01 2.78665617e+00] [ 2.01610155e-01 9.79465054e-01 -1.24605612e-03 1.29168431e-02] [ 1.24044313e-01 -2.42709330e-02 9.91979803e-01 -3.18041132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01241403699999 meters Centerline goodness : 0.803892 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.32 [[ 9.71938649e-01 -1.98481388e-01 -1.26255301e-01 2.78212346e+00] [ 2.00190003e-01 9.79756714e-01 8.62763561e-04 1.29263485e-02] [ 1.23528236e-01 -2.61136023e-02 9.91997407e-01 -3.15605707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04241403699999 meters Centerline goodness : 0.804751 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 0.97247667 -0.19574694 -0.12638143 2.77885332] [ 0.19778193 0.9802393 0.00363554 0.01222639] [ 0.1231724 -0.02853144 0.99197506 -0.31350911] [ 0. 0. 0. 1. ]] SLAMing on 113.07241403699999 meters Centerline goodness : 0.805029 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 0.9725312 -0.19521912 -0.12677759 2.78021032] [ 0.19727965 0.98033996 0.00378235 0.01249428] [ 0.12354675 -0.0286891 0.99192396 -0.31379893] [ 0. 0. 0. 1. ]] SLAMing on 113.10241403699999 meters Centerline goodness : 0.807429 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 0.9725727 -0.19472069 -0.12722498 2.78178203] [ 0.19680652 0.98043454 0.00391244 0.01311753] [ 0.12397393 -0.02884384 0.99186617 -0.31433574] [ 0. 0. 0. 1. ]] SLAMing on 113.13241403699999 meters Centerline goodness : 0.803826 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.32 [[ 0.97272931 -0.19356444 -0.12779081 2.78436011] [ 0.19574718 0.98064348 0.0046272 0.01361709] [ 0.12442156 -0.0295157 0.99179035 -0.31578643] [ 0. 0. 0. 1. ]] SLAMing on 113.16241403699999 meters Centerline goodness : 0.806420 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.9727949 -0.19298477 -0.12816773 2.78593055] [ 0.19519771 0.9807521 0.00481493 0.01408607] [ 0.12477156 -0.02970198 0.99174082 -0.31639731] [ 0. 0. 0. 1. ]] SLAMing on 113.19241403699999 meters Centerline goodness : 0.804881 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97291145 -0.19205949 -0.12867189 2.78801192] [ 0.19431939 0.98092492 0.00512638 0.01512738] [ 0.1252329 -0.02999096 0.99167397 -0.31727684] [ 0. 0. 0. 1. ]] SLAMing on 113.222414037 meters Centerline goodness : 0.805048 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.9728944 -0.1921271 -0.12869989 2.78790646] [ 0.19437361 0.98091478 0.00500919 0.0153933 ] [ 0.12528123 -0.02988927 0.99167094 -0.31705629] [ 0. 0. 0. 1. ]] SLAMing on 113.252414037 meters Centerline goodness : 0.802187 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97285966 -0.19235783 -0.12861785 2.78751351] [ 0.19457039 0.98087708 0.00474505 0.01565106] [ 0.12524556 -0.02964149 0.99168288 -0.31674736] [ 0. 0. 0. 1. ]] SLAMing on 113.282414037 meters Centerline goodness : 0.804174 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97292832 -0.19197418 -0.12867168 2.78802104] [ 0.19421482 0.98094638 0.00497951 0.01553752] [ 0.12526409 -0.02983466 0.99167475 -0.3170038 ] [ 0. 0. 0. 1. ]] SLAMing on 113.312414037 meters Centerline goodness : 0.804221 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.9730645 -0.19115932 -0.12885493 2.78938659] [ 0.19344008 0.98109774 0.0053059 0.01649817] [ 0.12540501 -0.03008869 0.99164926 -0.31791935] [ 0. 0. 0. 1. ]] SLAMing on 113.34241403699998 meters Centerline goodness : 0.803510 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97307011 -0.19113664 -0.1288462 2.78919823] [ 0.19337319 0.98111274 0.00495998 0.01775515] [ 0.12546462 -0.0297418 0.99165218 -0.31757754] [ 0. 0. 0. 1. ]] SLAMing on 113.37241403699998 meters Centerline goodness : 0.802517 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.9730082 -0.19174386 -0.12841077 2.78715465] [ 0.19382625 0.9810285 0.00380293 0.01995192] [ 0.12524544 -0.02858967 0.99171377 -0.31590973] [ 0. 0. 0. 1. ]] SLAMing on 113.40241403699999 meters Centerline goodness : 0.803817 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97297696 -0.19194518 -0.12834671 2.78680587] [ 0.19399799 0.98099543 0.00357022 0.01973331] [ 0.12522225 -0.02837274 0.99172293 -0.31549282] [ 0. 0. 0. 1. ]] SLAMing on 113.43241403699999 meters Centerline goodness : 0.804421 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97296461 -0.19204229 -0.12829505 2.78689382] [ 0.19409025 0.9809773 0.00353733 0.01902631] [ 0.12517521 -0.02834252 0.99172974 -0.3154996 ] [ 0. 0. 0. 1. ]] SLAMing on 113.46241403699999 meters Centerline goodness : 0.804226 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97288602 -0.19252201 -0.128172 2.78677694] [ 0.19454333 0.9808883 0.0033229 0.01765709] [ 0.12508269 -0.02816781 0.99174639 -0.31539082] [ 0. 0. 0. 1. ]] SLAMing on 113.49241403699999 meters Centerline goodness : 0.803514 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97281271 -0.19304885 -0.12793585 2.78643684] [ 0.19507087 0.98078343 0.00334784 0.01663672] [ 0.12483107 -0.02821338 0.99177679 -0.31571669] [ 0. 0. 0. 1. ]] SLAMing on 113.52241403699999 meters Centerline goodness : 0.803514 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97281271 -0.19304885 -0.12793585 2.78643684] [ 0.19507087 0.98078343 0.00334784 0.01663672] [ 0.12483107 -0.02821338 0.99177679 -0.31571669] [ 0. 0. 0. 1. ]] SLAMing on 113.55241403699999 meters Centerline goodness : 0.804174 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97279097 -0.19311178 -0.1280061 2.78664541] [ 0.19513244 0.98077129 0.00331691 0.01689234] [ 0.12490417 -0.0282048 0.99176783 -0.31583682] [ 0. 0. 0. 1. ]] SLAMing on 113.58241403699999 meters Centerline goodness : 0.803567 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97278457 -0.19311987 -0.12804256 2.78695501] [ 0.19515338 0.98076681 0.00341012 0.0168668 ] [ 0.12492133 -0.02830525 0.99176281 -0.31613205] [ 0. 0. 0. 1. ]] SLAMing on 113.612414037 meters Centerline goodness : 0.801148 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97280249 -0.19294356 -0.12817218 2.78772449] [ 0.19501518 0.98079327 0.00369429 0.01597887] [ 0.12499762 -0.02858933 0.99174505 -0.31658394] [ 0. 0. 0. 1. ]] SLAMing on 113.642414037 meters Centerline goodness : 0.802877 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97278925 -0.19290765 -0.12832657 2.7879359 ] [ 0.19496579 0.9808036 0.00355426 0.01609287] [ 0.12517751 -0.02847684 0.9917256 -0.31627135] [ 0. 0. 0. 1. ]] SLAMing on 113.672414037 meters Centerline goodness : 0.804790 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97276249 -0.19304081 -0.12832918 2.78750895] [ 0.1950511 0.98078797 0.00316602 0.01645282] [ 0.12525254 -0.02811053 0.99172657 -0.31550958] [ 0. 0. 0. 1. ]] SLAMing on 113.702414037 meters Centerline goodness : 0.800719 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 0.97273546 -0.19320724 -0.12828363 2.78743484] [ 0.19520086 0.9807586 0.00303343 0.01621984] [ 0.12522919 -0.0279918 0.99173288 -0.31540558] [ 0. 0. 0. 1. ]] SLAMing on 113.73241403699998 meters Centerline goodness : 0.801256 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.32 [[ 9.72668316e-01 -1.93703169e-01 -1.28044636e-01 2.78666363e+00] [ 1.95661015e-01 9.80667674e-01 2.77117779e-03 1.56386205e-02] [ 1.25032449e-01 -2.77487803e-02 9.91764534e-01 -3.15033597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76241403699999 meters Centerline goodness : 0.801628 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97255723 -0.19433963 -0.12792401 2.78639615] [ 0.19631378 0.98053688 0.00288615 0.01336242] [ 0.12487332 -0.02792019 0.99177977 -0.31511477] [ 0. 0. 0. 1. ]] SLAMing on 113.79241403699999 meters Centerline goodness : 0.800402 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97251617 -0.19460975 -0.12782545 2.78646793] [ 0.19661636 0.98047544 0.00314889 0.01188857] [ 0.12471691 -0.02819493 0.99179168 -0.31552855] [ 0. 0. 0. 1. ]] SLAMing on 113.82241403699999 meters Centerline goodness : 0.800273 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97246105 -0.19499908 -0.12765136 2.78628477] [ 0.19702262 0.98039339 0.00329816 0.01064361] [ 0.12450541 -0.02835754 0.99181362 -0.31582998] [ 0. 0. 0. 1. ]] SLAMing on 113.85241403699999 meters Centerline goodness : 0.799243 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97231506 -0.19601347 -0.12720906 2.78519396] [ 0.19805083 0.9801857 0.00344475 0.00908647] [ 0.12401328 -0.02854324 0.99186995 -0.31633085] [ 0. 0. 0. 1. ]] SLAMing on 113.88241403699999 meters Centerline goodness : 0.798568 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.32 [[ 0.97225012 -0.19653795 -0.12689576 2.78434933] [ 0.19857018 0.98008063 0.00344249 0.00823971] [ 0.12369149 -0.02854467 0.99191008 -0.31631167] [ 0. 0. 0. 1. ]] SLAMing on 113.91241403699999 meters Centerline goodness : 0.799258 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.32 [[ 0.9721102 -0.19768693 -0.126181 2.78186943] [ 0.19965655 0.97986125 0.00303065 0.00712106] [ 0.12304075 -0.02813899 0.99200261 -0.31541424] [ 0. 0. 0. 1. ]] SLAMing on 113.94241403699999 meters Centerline goodness : 0.797677 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 9.72037716e-01 -1.98144517e-01 -1.26021546e-01 2.78094285e+00] [ 2.00060343e-01 9.79780118e-01 2.60384798e-03 7.03967133e-03] [ 1.22957467e-01 -2.77429522e-02 9.92024087e-01 -3.14584344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.972414037 meters Centerline goodness : 0.797981 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 9.71981505e-01 -1.98549756e-01 -1.25817122e-01 2.78002163e+00] [ 2.00416152e-01 9.79708332e-01 2.22499670e-03 6.92260852e-03] [ 1.22822310e-01 -2.73784391e-02 9.92050957e-01 -3.13876347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002414037 meters Centerline goodness : 0.796670 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 9.71933568e-01 -1.98906545e-01 -1.25623745e-01 2.77918314e+00] [ 2.00728248e-01 9.79645150e-01 1.88411430e-03 6.90895551e-03] [ 1.22691930e-01 -2.70474681e-02 9.92076169e-01 -3.13251650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.032414037 meters Centerline goodness : 0.797013 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 9.71958696e-01 -1.98605749e-01 -1.25904922e-01 2.78054640e+00] [ 2.00476877e-01 9.79695874e-01 2.23987558e-03 6.31515932e-03] [ 1.22903681e-01 -2.74180922e-02 9.92039784e-01 -3.14040204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062414037 meters Centerline goodness : 0.796818 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 9.71984887e-01 -1.98377569e-01 -1.26062360e-01 2.78156195e+00] [ 2.00290669e-01 9.79733181e-01 2.55759774e-03 6.27052171e-03] [ 1.23000107e-01 -2.77350609e-02 9.92019022e-01 -3.14877501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09241403699998 meters Centerline goodness : 0.797421 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.32 [[ 9.72008855e-01 -1.98109482e-01 -1.26298928e-01 2.78241982e+00] [ 2.00038087e-01 9.79784549e-01 2.64596224e-03 6.67725288e-03] [ 1.23221548e-01 -2.78364947e-02 9.91988699e-01 -3.15197981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12241403699998 meters Centerline goodness : 0.797618 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.32 [[ 9.72053820e-01 -1.97686259e-01 -1.26615616e-01 2.78330535e+00] [ 1.99612220e-01 9.79871576e-01 2.58005297e-03 7.50290329e-03] [ 1.23557002e-01 -2.77819746e-02 9.91948501e-01 -3.15159758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15241403699999 meters Centerline goodness : 0.800234 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 0.97290018 -0.19302096 -0.12731121 2.78318523] [ 0.19541299 0.9806998 0.00645439 0.0076509 ] [ 0.12360825 -0.03115774 0.99184182 -0.31498317] [ 0. 0. 0. 1. ]] SLAMing on 114.18241403699999 meters Centerline goodness : 0.799525 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 0.97365236 -0.18886701 -0.12779019 2.78247714] [ 0.19172519 0.98139423 0.01033488 0.00666681] [ 0.12346064 -0.03456318 0.99174738 -0.31478422] [ 0. 0. 0. 1. ]] SLAMing on 114.21241403699999 meters Centerline goodness : 0.801054 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 0.97447253 -0.18411487 -0.12847177 2.78230492] [ 0.18744117 0.98217327 0.01419439 0.00674816] [ 0.12356814 -0.03791294 0.99161158 -0.31443035] [ 0. 0. 0. 1. ]] SLAMing on 114.24241403699999 meters Centerline goodness : 0.798015 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.31 [[ 0.97454318 -0.18337356 -0.12899505 2.783585 ] [ 0.18668224 0.98232145 0.01393947 0.00808883] [ 0.12415847 -0.0376657 0.99154726 -0.31397074] [ 0. 0. 0. 1. ]] SLAMing on 114.27241403699999 meters Centerline goodness : 0.800521 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.31 [[ 0.97463333 -0.18248924 -0.12956679 2.78528851] [ 0.18582824 0.9824816 0.01406282 0.00894792] [ 0.12473068 -0.03778326 0.99147097 -0.31409366] [ 0. 0. 0. 1. ]] SLAMing on 114.30241403699999 meters Centerline goodness : 0.800075 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97498349 -0.17987794 -0.1305799 2.7896918 ] [ 0.18340635 0.98291628 0.01541742 0.00921507] [ 0.12557586 -0.03898091 0.99131791 -0.31577506] [ 0. 0. 0. 1. ]] SLAMing on 114.33241403699999 meters Centerline goodness : 0.801030 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.9752422 -0.17790959 -0.13134238 2.79317945] [ 0.18157714 0.98323996 0.01639892 0.00945483] [ 0.12622355 -0.03984169 0.99120142 -0.31714696] [ 0. 0. 0. 1. ]] SLAMing on 114.362414037 meters Centerline goodness : 0.800419 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97528628 -0.1774795 -0.13159674 2.79409441] [ 0.1811717 0.9833124 0.01653904 0.00960815] [ 0.12646536 -0.0399719 0.99116535 -0.31736099] [ 0. 0. 0. 1. ]] SLAMing on 114.392414037 meters Centerline goodness : 0.798139 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97534215 -0.177075 -0.13172752 2.79465532] [ 0.18079656 0.98337782 0.01675336 0.00935381] [ 0.12657132 -0.04015615 0.99114438 -0.3174234 ] [ 0. 0. 0. 1. ]] SLAMing on 114.422414037 meters Centerline goodness : 0.797836 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97538513 -0.17683568 -0.13173073 2.79485059] [ 0.18057318 0.98341648 0.01689254 0.00895981] [ 0.12655897 -0.04026377 0.99114159 -0.31746383] [ 0. 0. 0. 1. ]] SLAMing on 114.452414037 meters Centerline goodness : 0.798424 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.32 [[ 0.97540405 -0.17686126 -0.13155623 2.79385512] [ 0.18057345 0.98341889 0.01674848 0.00825588] [ 0.12641272 -0.0400921 0.99116721 -0.31632656] [ 0. 0. 0. 1. ]] SLAMing on 114.48241403699998 meters Centerline goodness : 0.800150 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.31 [[ 0.97536012 -0.1772443 -0.13136626 2.79236081] [ 0.18089515 0.98336725 0.01630305 0.00798334] [ 0.12629165 -0.03966486 0.99119984 -0.31480962] [ 0. 0. 0. 1. ]] SLAMing on 114.51241403699999 meters Centerline goodness : 0.798573 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.31 [[ 0.97522702 -0.17833202 -0.13088144 2.78905779] [ 0.18183728 0.98321052 0.0152406 0.00652043] [ 0.12596613 -0.03866217 0.99128087 -0.31147376] [ 0. 0. 0. 1. ]] SLAMing on 114.54241403699999 meters Centerline goodness : 0.799014 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.31 [[ 0.97520966 -0.17834301 -0.13099575 2.78931873] [ 0.18186061 0.98320526 0.01530161 0.00529147] [ 0.12606677 -0.03874524 0.99126484 -0.3111661 ] [ 0. 0. 0. 1. ]] SLAMing on 114.57241403699999 meters Centerline goodness : 0.796711 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.31 [[ 0.97465458 -0.18102126 -0.13145244 2.79354793] [ 0.18421919 0.98280587 0.01248605 0.0041899 ] [ 0.12693199 -0.03638565 0.99124384 -0.31238017] [ 0. 0. 0. 1. ]] SLAMing on 114.60241403699999 meters Centerline goodness : 0.800175 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.31 [[ 9.74631642e-01 -1.81135582e-01 -1.31465068e-01 2.79375014e+00] [ 1.84377302e-01 9.82771966e-01 1.28169404e-02 2.17063106e-03] [ 1.26878579e-01 -3.67309702e-02 9.91237944e-01 -3.12457929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63241403699999 meters Centerline goodness : 0.798448 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.31 [[ 9.74602360e-01 -1.81416382e-01 -1.31294847e-01 2.79329258e+00] [ 1.84669273e-01 9.82715587e-01 1.29357934e-02 5.00625814e-04] [ 1.26678728e-01 -3.68533787e-02 9.91258961e-01 -3.12190050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66241403699999 meters Centerline goodness : 0.797183 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:-0.31 [[ 9.74631197e-01 -1.81064042e-01 -1.31566874e-01 2.79447830e+00] [ 1.84411319e-01 9.82754832e-01 1.36163686e-02 -2.43739587e-03] [ 1.26832546e-01 -3.75333584e-02 9.91213777e-01 -3.12471217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69241403699999 meters Centerline goodness : 0.794886 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.31 [[ 0.97467557 -0.18072304 -0.13170694 2.79541331] [ 0.18412814 0.98280185 0.01404835 -0.00362954] [ 0.12690296 -0.03794354 0.99118915 -0.31299966] [ 0. 0. 0. 1. ]] SLAMing on 114.722414037 meters Centerline goodness : 0.796682 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97475277 -0.18021586 -0.13183052 2.79619662] [ 0.18370901 0.98287028 0.01473144 -0.00623516] [ 0.12691746 -0.03857797 0.9911628 -0.31313474] [ 0. 0. 0. 1. ]] SLAMing on 114.752414037 meters Centerline goodness : 0.797627 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97476885 -0.18020919 -0.13172069 2.79563729] [ 0.18369669 0.98287273 0.01472143 -0.00694697] [ 0.12681173 -0.03854665 0.99117755 -0.3125207 ] [ 0. 0. 0. 1. ]] SLAMing on 114.782414037 meters Centerline goodness : 0.796918 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.9748965 -0.17916644 -0.13219759 2.79683832] [ 0.18272595 0.98304632 0.0152043 -0.00754621] [ 0.12723225 -0.03897855 0.99110677 -0.31210719] [ 0. 0. 0. 1. ]] SLAMing on 114.812414037 meters Centerline goodness : 0.797413 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97491292 -0.17885236 -0.13250147 2.79761877] [ 0.18244147 0.98309671 0.01536122 -0.00768547] [ 0.12751437 -0.03914962 0.99106377 -0.31209292] [ 0. 0. 0. 1. ]] SLAMing on 114.84241403699998 meters Centerline goodness : 0.797881 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97491686 -0.17880703 -0.13253364 2.79790308] [ 0.18241888 0.98309824 0.01553086 -0.00897397] [ 0.12751656 -0.03931794 0.99105682 -0.31204107] [ 0. 0. 0. 1. ]] SLAMing on 114.87241403699998 meters Centerline goodness : 0.797480 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97487184 -0.17921433 -0.13231444 2.79715936] [ 0.18280919 0.98302716 0.01544037 -0.01019463] [ 0.12730155 -0.03924068 0.99108753 -0.31158683] [ 0. 0. 0. 1. ]] SLAMing on 114.90241403699999 meters Centerline goodness : 0.791984 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97415181 -0.1834566 -0.13180262 2.797337 ] [ 0.18655618 0.98237746 0.01145964 -0.01193525] [ 0.12737758 -0.03575202 0.99120974 -0.31045634] [ 0. 0. 0. 1. ]] SLAMing on 114.93241403699999 meters Centerline goodness : 0.795762 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97408456 -0.18392374 -0.13164847 2.79682915] [ 0.18701539 0.98229071 0.01141081 -0.01390381] [ 0.12721835 -0.03573539 0.99123079 -0.3100092 ] [ 0. 0. 0. 1. ]] SLAMing on 114.96241403699999 meters Centerline goodness : 0.795536 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.31 [[ 0.97405704 -0.18420835 -0.13145404 2.79644508] [ 0.18730079 0.98223583 0.01145356 -0.01486209] [ 0.12700903 -0.03577786 0.9912561 -0.31000913] [ 0. 0. 0. 1. ]] SLAMing on 114.99241403699999 meters Centerline goodness : 0.796235 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97401857 -0.18442334 -0.13143766 2.79611668] [ 0.18751855 0.98219414 0.01146569 -0.01522897] [ 0.12698276 -0.03581479 0.99125813 -0.30971049] [ 0. 0. 0. 1. ]] SLAMing on 115.02241403699999 meters Centerline goodness : 0.793508 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97405488 -0.18422098 -0.13145236 2.7965534 ] [ 0.18737844 0.98221498 0.01196084 -0.01709133] [ 0.12691104 -0.03628185 0.99125033 -0.30991741] [ 0. 0. 0. 1. ]] SLAMing on 115.05241403699999 meters Centerline goodness : 0.793577 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97407587 -0.18406636 -0.13151337 2.79680453] [ 0.18724411 0.98223874 0.01211175 -0.0178752 ] [ 0.12694816 -0.03642287 0.9912404 -0.30980498] [ 0. 0. 0. 1. ]] SLAMing on 115.08241403699999 meters Centerline goodness : 0.791972 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97407118 -0.18410819 -0.1314896 2.79648673] [ 0.18728178 0.98223191 0.01208347 -0.01861348] [ 0.12692861 -0.03639577 0.9912439 -0.30927113] [ 0. 0. 0. 1. ]] SLAMing on 115.112414037 meters Centerline goodness : 0.793349 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97404843 -0.18447342 -0.13114579 2.79533983] [ 0.18764311 0.98216239 0.01212867 -0.02147056] [ 0.12656904 -0.03642252 0.9912889 -0.30830938] [ 0. 0. 0. 1. ]] SLAMing on 115.142414037 meters Centerline goodness : 0.790397 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97405895 -0.18438482 -0.13119224 2.79579347] [ 0.18758104 0.98217175 0.01232869 -0.02283794] [ 0.12658009 -0.03661805 0.99128028 -0.30839796] [ 0. 0. 0. 1. ]] SLAMing on 115.172414037 meters Centerline goodness : 0.789497 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97419367 -0.18324753 -0.13178402 2.79834787] [ 0.18656473 0.98235433 0.0131744 -0.02326877] [ 0.12704443 -0.03742067 0.9911909 -0.3096154 ] [ 0. 0. 0. 1. ]] SLAMing on 115.20241403699998 meters Centerline goodness : 0.788853 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.9742778 -0.18253452 -0.1321511 2.79991638] [ 0.18589963 0.9824762 0.01348501 -0.02302239] [ 0.12737383 -0.03770499 0.99113785 -0.31022319] [ 0. 0. 0. 1. ]] SLAMing on 115.23241403699998 meters Centerline goodness : 0.788720 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.97435685 -0.18189485 -0.13244993 2.80124509] [ 0.18530017 0.98258576 0.01375011 -0.02291989] [ 0.12764234 -0.03794051 0.99109432 -0.3107097 ] [ 0. 0. 0. 1. ]] SLAMing on 115.26241403699999 meters Centerline goodness : 0.787796 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.31 [[ 0.9744329 -0.18124059 -0.13278695 2.80267241] [ 0.18470193 0.98269306 0.01412616 -0.02325849] [ 0.12792858 -0.038291 0.99104393 -0.31121108] [ 0. 0. 0. 1. ]] SLAMing on 115.29241403699999 meters Centerline goodness : 0.788379 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.31 [[ 0.97467551 -0.17945397 -0.13343134 2.80569734] [ 0.18307131 0.9829813 0.01525299 -0.02462665] [ 0.12842331 -0.03929416 0.99094068 -0.3123279 ] [ 0. 0. 0. 1. ]] SLAMing on 115.32241403699999 meters Centerline goodness : 0.787145 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97485776 -0.17809512 -0.13391968 2.80771377] [ 0.18183114 0.98319788 0.01610487 -0.02523642] [ 0.12880135 -0.04005072 0.99086132 -0.31301334] [ 0. 0. 0. 1. ]] SLAMing on 115.35241403699999 meters Centerline goodness : 0.788037 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.31 [[ 0.9748593 -0.17802043 -0.13400773 2.80750498] [ 0.18173653 0.98321824 0.01592906 -0.02476443] [ 0.12892315 -0.03988269 0.99085226 -0.31236402] [ 0. 0. 0. 1. ]] SLAMing on 115.38241403699999 meters Centerline goodness : 0.787970 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.31 [[ 0.97484852 -0.17808498 -0.1340004 2.80680881] [ 0.1817658 0.98321721 0.01565596 -0.02448817] [ 0.12896341 -0.03961888 0.9908576 -0.31140225] [ 0. 0. 0. 1. ]] SLAMing on 115.41241403699999 meters Centerline goodness : 0.787970 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.31 [[ 0.97484852 -0.17808498 -0.1340004 2.80680881] [ 0.1817658 0.98321721 0.01565596 -0.02448817] [ 0.12896341 -0.03961888 0.9908576 -0.31140225] [ 0. 0. 0. 1. ]] SLAMing on 115.44241403699999 meters Centerline goodness : 0.790547 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97485937 -0.1780979 -0.13390421 2.80598814] [ 0.18176133 0.9832197 0.01555117 -0.0255763 ] [ 0.12888762 -0.03949881 0.99087225 -0.31025349] [ 0. 0. 0. 1. ]] SLAMing on 115.472414037 meters Centerline goodness : 0.789677 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97484163 -0.17828721 -0.13378139 2.80559343] [ 0.1819477 0.98318518 0.01555413 -0.02661985] [ 0.12875877 -0.03950402 0.9908888 -0.30989481] [ 0. 0. 0. 1. ]] SLAMing on 115.502414037 meters Centerline goodness : 0.785878 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97414716 -0.18228042 -0.13345847 2.80640797] [ 0.18547435 0.98257828 0.01179786 -0.02787045] [ 0.12898287 -0.03624598 0.99098418 -0.30920349] [ 0. 0. 0. 1. ]] SLAMing on 115.532414037 meters Centerline goodness : 0.784940 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97345834 -0.18600186 -0.13334983 2.80813643] [ 0.18874236 0.98199323 0.00810089 -0.02829428] [ 0.12944185 -0.03305464 0.99103592 -0.30915599] [ 0. 0. 0. 1. ]] SLAMing on 115.562414037 meters Centerline goodness : 0.842362 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97271804 -0.1900193 -0.13308749 2.81004777] [ 0.19236969 0.98131024 0.00491098 -0.03070478] [ 0.12966693 -0.030379 0.99109213 -0.30980483] [ 0. 0. 0. 1. ]] SLAMing on 115.59241403699998 meters Centerline goodness : 0.784320 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.9726747 -0.19038663 -0.1328791 2.80994268] [ 0.19278192 0.98122743 0.00527931 -0.032298 ] [ 0.1293795 -0.03075173 0.99111819 -0.31030669] [ 0. 0. 0. 1. ]] SLAMing on 115.62241403699998 meters Centerline goodness : 0.785163 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.9726125 -0.19087761 -0.13262978 2.80943622] [ 0.19329095 0.98112637 0.00544482 -0.03350625] [ 0.12908728 -0.03093183 0.99115069 -0.31051163] [ 0. 0. 0. 1. ]] SLAMing on 115.65241403699999 meters Centerline goodness : 0.785443 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97255472 -0.19139144 -0.1323126 2.80867268] [ 0.1938107 0.98102334 0.00553268 -0.03459494] [ 0.12874284 -0.03102443 0.9911926 -0.31050922] [ 0. 0. 0. 1. ]] SLAMing on 115.68241403699999 meters Centerline goodness : 0.835846 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 0.9724301 -0.19236761 -0.13181203 2.80738746] [ 0.1947768 0.98083211 0.00551164 -0.0366119 ] [ 0.12822521 -0.03103361 0.99125941 -0.31039624] [ 0. 0. 0. 1. ]] SLAMing on 115.71241403699999 meters Centerline goodness : 0.841608 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 0.97239523 -0.19276066 -0.13149464 2.80659262] [ 0.19515717 0.98075676 0.00546477 -0.03788438] [ 0.12791086 -0.03097604 0.99130182 -0.31011251] [ 0. 0. 0. 1. ]] SLAMing on 115.74241403699999 meters Centerline goodness : 0.838597 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 9.71590386e-01 -1.97451011e-01 -1.30480725e-01 2.80559322e+00] [ 1.99306039e-01 9.79936581e-01 1.18302947e-03 -3.88852690e-02] [ 1.27629245e-01 -2.71550165e-02 9.91450140e-01 -3.08917241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77241403699999 meters Centerline goodness : 0.838544 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71470245e-01 -1.98398220e-01 -1.29937328e-01 2.80393082e+00] [ 2.00204251e-01 9.79753810e-01 8.54722200e-04 -4.05968132e-02] [ 1.27137017e-01 -2.68443426e-02 9.91521841e-01 -3.08199885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80241403699999 meters Centerline goodness : 0.836619 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71343887e-01 -1.99278704e-01 -1.29533977e-01 2.80258589e+00] [ 2.01036361e-01 9.79583650e-01 5.03962114e-04 -4.16193543e-02] [ 1.26788937e-01 -2.65305599e-02 9.91574856e-01 -3.07601004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83241403699999 meters Centerline goodness : 0.838454 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71097187e-01 -2.00828876e-01 -1.28988434e-01 2.80029612e+00] [ 2.02488262e-01 9.79284657e-01 -2.54719542e-04 -4.15375393e-02] [ 1.26367550e-01 -2.58712864e-02 9.91646065e-01 -3.06683171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862414037 meters Centerline goodness : 0.835460 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71051807e-01 -2.01007747e-01 -1.29051436e-01 2.80073149e+00] [ 2.02670232e-01 9.79247013e-01 -2.55256455e-04 -4.14811304e-02] [ 1.26424542e-01 -2.59070172e-02 9.91637868e-01 -3.07084881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.892414037 meters Centerline goodness : 0.836764 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71089488e-01 -2.00632999e-01 -1.29350707e-01 2.80264428e+00] [ 2.02364755e-01 9.79310187e-01 2.50071818e-04 -4.20479091e-02] [ 1.26624292e-01 -2.64188662e-02 9.91598877e-01 -3.08521143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922414037 meters Centerline goodness : 0.837138 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71071303e-01 -2.00759386e-01 -1.29291120e-01 2.80246611e+00] [ 2.02463603e-01 9.79289788e-01 3.85056576e-05 -4.17059293e-02] [ 1.26605743e-01 -2.62141377e-02 9.91606678e-01 -3.08412651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95241403699998 meters Centerline goodness : 0.837003 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71058648e-01 -2.00888866e-01 -1.29185004e-01 2.80183767e+00] [ 2.02547855e-01 9.79272319e-01 -3.02353205e-04 -4.12754278e-02] [ 1.26568038e-01 -2.58725428e-02 9.91620463e-01 -3.07810946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98241403699998 meters Centerline goodness : 0.835304 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71089679e-01 -2.00594465e-01 -1.29409029e-01 2.80218253e+00] [ 2.02215799e-01 9.79340790e-01 -6.23344542e-04 -3.95718383e-02] [ 1.26860580e-01 -2.55632268e-02 9.91591103e-01 -3.07434221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01241403699999 meters Centerline goodness : 0.835399 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71124429e-01 -2.00224127e-01 -1.29721403e-01 2.80337383e+00] [ 2.01870658e-01 9.79412079e-01 -4.65619546e-04 -3.86772040e-02] [ 1.27143938e-01 -2.57347706e-02 9.91550372e-01 -3.08109084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04241403699999 meters Centerline goodness : 0.836877 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71194356e-01 -1.99716931e-01 -1.29979497e-01 2.80445473e+00] [ 2.01392937e-01 9.79510500e-01 -2.55023415e-04 -3.78816436e-02] [ 1.27367215e-01 -2.59292753e-02 9.91516649e-01 -3.08706659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07241403699999 meters Centerline goodness : 0.782675 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71192014e-01 -1.99812152e-01 -1.29850593e-01 2.80407835e+00] [ 2.01462945e-01 9.79496042e-01 -4.31327858e-04 -3.78357977e-02] [ 1.27274326e-01 -2.57411807e-02 9.91533478e-01 -3.08433863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10241403699999 meters Centerline goodness : 0.837316 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71178776e-01 -1.99862625e-01 -1.29871923e-01 2.80396686e+00] [ 2.01490116e-01 9.79490351e-01 -6.20523524e-04 -3.77679263e-02] [ 1.27332315e-01 -2.55652696e-02 9.91530584e-01 -3.08098056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13241403699999 meters Centerline goodness : 0.839269 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71239366e-01 -1.99603640e-01 -1.29817103e-01 2.80421427e+00] [ 2.01235495e-01 9.79542732e-01 -5.58170125e-04 -3.78702241e-02] [ 1.27272812e-01 -2.55816922e-02 9.91537800e-01 -3.08261738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16241403699999 meters Centerline goodness : 0.836489 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71213887e-01 -1.99828577e-01 -1.29661583e-01 2.80343238e+00] [ 2.01407501e-01 9.79507074e-01 -9.54351396e-04 -3.70619544e-02] [ 1.27195144e-01 -2.51879360e-02 9.91557847e-01 -3.07688589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19241403699999 meters Centerline goodness : 0.840403 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71200223e-01 -1.99825890e-01 -1.29768023e-01 2.80310713e+00] [ 2.01354507e-01 9.79517480e-01 -1.36713536e-03 -3.55270942e-02] [ 1.27383236e-01 -2.48016141e-02 9.91543439e-01 -3.07009953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222414037 meters Centerline goodness : 0.842069 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 9.71951089e-01 -1.95642485e-01 -1.30518575e-01 2.80306471e+00] [ 1.97634240e-01 9.80272996e-01 2.35806028e-03 -3.50556484e-02] [ 1.27482498e-01 -2.80868587e-02 9.91443060e-01 -3.07161043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.252414037 meters Centerline goodness : 0.840519 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.31 [[ 9.72037646e-01 -1.94928100e-01 -1.30942164e-01 2.80482519e+00] [ 1.96964423e-01 9.80407035e-01 2.65730904e-03 -3.47214707e-02] [ 1.27858634e-01 -2.83739521e-02 9.91386448e-01 -3.07973036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282414037 meters Centerline goodness : 0.784967 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.31 [[ 0.97209904 -0.1943284 -0.13137702 2.80623012] [ 0.19639244 0.98052133 0.00281449 -0.03460573] [ 0.12827104 -0.02853742 0.99132848 -0.30825321] [ 0. 0. 0. 1. ]] SLAMing on 116.312414037 meters Centerline goodness : 0.841123 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 0.97276944 -0.19077886 -0.13161707 2.80425107] [ 0.19323702 0.98113349 0.0060444 -0.03550449] [ 0.12798077 -0.0313131 0.99128221 -0.30699463] [ 0. 0. 0. 1. ]] SLAMing on 116.34241403699998 meters Centerline goodness : 0.841110 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 0.97336995 -0.18755502 -0.1318107 2.80188111] [ 0.19040647 0.98166168 0.00925838 -0.03618813] [ 0.12765706 -0.03410944 0.99123167 -0.30568092] [ 0. 0. 0. 1. ]] SLAMing on 116.37241403699998 meters Centerline goodness : 0.843437 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 0.97404574 -0.18353143 -0.13248058 2.80123503] [ 0.18684973 0.98230304 0.01295817 -0.03655219] [ 0.12775784 -0.03737581 0.99110089 -0.30514731] [ 0. 0. 0. 1. ]] SLAMing on 116.40241403699999 meters Centerline goodness : 0.787905 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 0.97413234 -0.18278245 -0.13287877 2.80284761] [ 0.18617233 0.98242512 0.01344398 -0.03675929] [ 0.12808612 -0.03783457 0.99104112 -0.30584306] [ 0. 0. 0. 1. ]] SLAMing on 116.43241403699999 meters Centerline goodness : 0.787573 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.31 [[ 0.97418883 -0.18212319 -0.13336889 2.80443305] [ 0.18558062 0.98253125 0.0138626 -0.03761266] [ 0.1285144 -0.03825547 0.99096951 -0.3061386 ] [ 0. 0. 0. 1. ]] SLAMing on 116.46241403699999 meters Centerline goodness : 0.785288 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 0.97423638 -0.18178796 -0.13347891 2.80504218] [ 0.18527593 0.98258556 0.01408709 -0.03861233] [ 0.12859359 -0.03845458 0.99095153 -0.30624453] [ 0. 0. 0. 1. ]] SLAMing on 116.49241403699999 meters Centerline goodness : 0.785775 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 0.97435217 -0.18091197 -0.1338234 2.80600031] [ 0.18445662 0.98273403 0.01447698 -0.03932016] [ 0.12889375 -0.03879029 0.99089945 -0.30597881] [ 0. 0. 0. 1. ]] SLAMing on 116.52241403699999 meters Centerline goodness : 0.786041 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 0.97436736 -0.18068082 -0.13402498 2.8065518 ] [ 0.18424302 0.98277278 0.01456591 -0.0391118 ] [ 0.12908432 -0.03888572 0.9908709 -0.30605944] [ 0. 0. 0. 1. ]] SLAMing on 116.55241403699999 meters Centerline goodness : 0.787074 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 0.97436409 -0.18058923 -0.13417209 2.80681212] [ 0.18417298 0.98278403 0.01469248 -0.03964196] [ 0.12920888 -0.0390267 0.99084912 -0.30592141] [ 0. 0. 0. 1. ]] SLAMing on 116.58241403699999 meters Centerline goodness : 0.840429 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.31 [[ 0.97434147 -0.18088427 -0.13393874 2.80605719] [ 0.18446409 0.98272911 0.01471397 -0.0408623 ] [ 0.12896397 -0.03904332 0.99088037 -0.3054714 ] [ 0. 0. 0. 1. ]] SLAMing on 116.612414037 meters Centerline goodness : 0.786716 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.30 [[ 0.97428238 -0.18138408 -0.13369239 2.80507283] [ 0.18494743 0.98263952 0.01462959 -0.04314483] [ 0.12871785 -0.03897942 0.99091489 -0.30457457] [ 0. 0. 0. 1. ]] SLAMing on 116.642414037 meters Centerline goodness : 0.784176 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.97355047 -0.18588692 -0.13283647 2.80441131] [ 0.18898885 0.98191733 0.01102561 -0.04686726] [ 0.12838492 -0.0358386 0.99107664 -0.30335581] [ 0. 0. 0. 1. ]] SLAMing on 116.672414037 meters Centerline goodness : 0.842090 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.97345871 -0.18651895 -0.13262288 2.80365663] [ 0.18962939 0.98179289 0.01110968 -0.04978004] [ 0.12813604 -0.03596401 0.99110431 -0.3027764 ] [ 0. 0. 0. 1. ]] SLAMing on 116.70241403699998 meters Centerline goodness : 0.843084 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.97261471 -0.19155055 -0.13163968 2.80241235] [ 0.19417322 0.98094037 0.0072627 -0.05177404] [ 0.12773951 -0.03262471 0.99127103 -0.30174173] [ 0. 0. 0. 1. ]] SLAMing on 116.73241403699998 meters Centerline goodness : 0.840798 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.97240342 -0.19270124 -0.13152118 2.80138026] [ 0.19528386 0.98072245 0.00690579 -0.05357583] [ 0.12765502 -0.03239918 0.99128931 -0.30084934] [ 0. 0. 0. 1. ]] SLAMing on 116.76241403699999 meters Centerline goodness : 0.839958 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.97166957 -0.19648395 -0.13134804 2.80305517] [ 0.1986408 0.98006648 0.00339466 -0.05399916] [ 0.12806282 -0.02938956 0.9913305 -0.30102162] [ 0. 0. 0. 1. ]] SLAMing on 116.79241403699999 meters Centerline goodness : 0.840477 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 9.70926346e-01 -2.00303713e-01 -1.31074231e-01 2.80473697e+00] [ 2.02043020e-01 9.79376647e-01 -2.96597441e-05 -5.48781826e-02] [ 1.28376982e-01 -2.64538360e-02 9.91372556e-01 -3.01408210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82241403699999 meters Centerline goodness : 0.842237 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.30 [[ 0.97014489 -0.20442775 -0.13049208 2.80607134] [ 0.20578748 0.97859172 -0.0031238 -0.05771037] [ 0.12833706 -0.0238231 0.99144443 -0.30209849] [ 0. 0. 0. 1. ]] SLAMing on 116.85241403699999 meters Centerline goodness : 0.839059 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.30 [[ 0.97005391 -0.20497942 -0.13030292 2.80533431] [ 0.20632072 0.97847896 -0.003268 -0.05873219] [ 0.12816854 -0.02371406 0.99146884 -0.30167194] [ 0. 0. 0. 1. ]] SLAMing on 116.88241403699999 meters Centerline goodness : 0.840222 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.96995486 -0.20563495 -0.13000705 2.80422735] [ 0.2069304 0.978349 -0.00361209 -0.0589719 ] [ 0.12793504 -0.02339884 0.99150649 -0.30110502] [ 0. 0. 0. 1. ]] SLAMing on 116.91241403699999 meters Centerline goodness : 0.844004 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.96985263 -0.20624997 -0.1297953 2.80328347] [ 0.20749717 0.97822749 -0.00398873 -0.05880834] [ 0.12779201 -0.02306368 0.99153279 -0.30055458] [ 0. 0. 0. 1. ]] SLAMing on 116.94241403699999 meters Centerline goodness : 0.843572 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.9696403 -0.20737112 -0.1295952 2.80263612] [ 0.20858199 0.97799539 -0.00430953 -0.05917625] [ 0.12763718 -0.02285253 0.99155762 -0.30069404] [ 0. 0. 0. 1. ]] SLAMing on 116.972414037 meters Centerline goodness : 0.844294 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.9693338 -0.20940692 -0.12861075 2.80245573] [ 0.21036273 0.97760336 -0.00626074 -0.06004264] [ 0.12704134 -0.02098616 0.99167539 -0.30103613] [ 0. 0. 0. 1. ]] SLAMing on 117.002414037 meters Centerline goodness : 0.843476 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.96919128 -0.21025699 -0.12829759 2.80185241] [ 0.21117921 0.97742556 -0.00652784 -0.06128108] [ 0.12677387 -0.02076706 0.99171423 -0.30104671] [ 0. 0. 0. 1. ]] SLAMing on 117.032414037 meters Centerline goodness : 0.844457 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.96906036 -0.21109668 -0.12790707 2.80081178] [ 0.21195775 0.97725377 -0.00699863 -0.06161109] [ 0.12647506 -0.02032881 0.99176146 -0.3007224 ] [ 0. 0. 0. 1. ]] SLAMing on 117.062414037 meters Centerline goodness : 0.846496 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.96879125 -0.21275727 -0.12719225 2.79767971] [ 0.21341091 0.97692445 -0.00862592 -0.05916851] [ 0.12609244 -0.0187875 0.99184057 -0.29892776] [ 0. 0. 0. 1. ]] SLAMing on 117.09241403699998 meters Centerline goodness : 0.846383 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.96867454 -0.21334688 -0.12709348 2.7967381 ] [ 0.21390461 0.97680928 -0.00940459 -0.05719561] [ 0.12615253 -0.01807589 0.99184616 -0.29822362] [ 0. 0. 0. 1. ]] SLAMing on 117.12241403699998 meters Centerline goodness : 0.847394 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.30 [[ 0.96860168 -0.21364415 -0.12714936 2.79668798] [ 0.2141451 0.97675191 -0.00987837 -0.05537438] [ 0.12630384 -0.0176602 0.99183439 -0.29821908] [ 0. 0. 0. 1. ]] SLAMing on 117.15241403699999 meters Centerline goodness : 0.846903 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.96855765 -0.21384323 -0.1271501 2.7970273 ] [ 0.21432112 0.97671132 -0.01007272 -0.0542836 ] [ 0.12634293 -0.01749495 0.99183234 -0.29879502] [ 0. 0. 0. 1. ]] SLAMing on 117.18241403699999 meters Centerline goodness : 0.845676 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.96780172 -0.21753922 -0.12663537 2.7991682 ] [ 0.21756337 0.97594849 -0.01381025 -0.05216789] [ 0.12659387 -0.01418564 0.99185319 -0.30039163] [ 0. 0. 0. 1. ]] SLAMing on 117.21241403699999 meters Centerline goodness : 0.844442 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.96770552 -0.21818756 -0.12625456 2.79847771] [ 0.21817977 0.9758073 -0.01406081 -0.05187569] [ 0.12626802 -0.01393947 0.99189822 -0.30072333] [ 0. 0. 0. 1. ]] SLAMing on 117.24241403699999 meters Centerline goodness : 0.847005 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.30 [[ 0.96756115 -0.21914405 -0.12570328 2.7968423 ] [ 0.21905026 0.97560223 -0.01474031 -0.05057396] [ 0.12586665 -0.01327319 0.99195837 -0.30045481] [ 0. 0. 0. 1. ]] SLAMing on 117.27241403699999 meters Centerline goodness : 0.846154 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.30 [[ 0.9673579 -0.22035919 -0.12514198 2.79456239] [ 0.22013305 0.97534178 -0.01580661 -0.04882448] [ 0.12553934 -0.01225724 0.99201292 -0.29940293] [ 0. 0. 0. 1. ]] SLAMing on 117.30241403699999 meters Centerline goodness : 0.847966 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.30 [[ 0.96701321 -0.22250439 -0.12400507 2.79004662] [ 0.22203192 0.97487701 -0.01779453 -0.04585737] [ 0.12484905 -0.01032554 0.99212202 -0.29711428] [ 0. 0. 0. 1. ]] SLAMing on 117.33241403699999 meters Centerline goodness : 0.847966 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:-0.30 [[ 0.96701321 -0.22250439 -0.12400507 2.79004662] [ 0.22203192 0.97487701 -0.01779453 -0.04585737] [ 0.12484905 -0.01032554 0.99212202 -0.29711428] [ 0. 0. 0. 1. ]] SLAMing on 117.362414037 meters Centerline goodness : 0.850092 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.30 [[ 0.96688411 -0.22324878 -0.1236734 2.78886433] [ 0.22267721 0.9747147 -0.01860393 -0.04411518] [ 0.12469958 -0.00955141 0.99214857 -0.29664717] [ 0. 0. 0. 1. ]] SLAMing on 117.392414037 meters Centerline goodness : 0.847120 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.30 [[ 0.96677848 -0.22379962 -0.12350348 2.78830404] [ 0.22314873 0.97459416 -0.01925785 -0.04240126] [ 0.12467567 -0.00894157 0.99215726 -0.29649727] [ 0. 0. 0. 1. ]] SLAMing on 117.422414037 meters Centerline goodness : 0.847690 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.30 [[ 0.96665261 -0.22444735 -0.12331313 2.78818001] [ 0.22367861 0.97445311 -0.02022418 -0.03869822] [ 0.12470213 -0.00803275 0.99216171 -0.29711194] [ 0. 0. 0. 1. ]] SLAMing on 117.45241403699998 meters Centerline goodness : 0.845200 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:-0.30 [[ 0.96661717 -0.22458612 -0.12333824 2.78851638] [ 0.2237622 0.97442449 -0.02067349 -0.03630045] [ 0.12482679 -0.00761508 0.99214933 -0.29764958] [ 0. 0. 0. 1. ]] SLAMing on 117.48241403699998 meters Centerline goodness : 0.842765 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.30 [[ 0.96733827 -0.221362 -0.12351335 2.78735739] [ 0.22087509 0.97513975 -0.01779525 -0.03251539] [ 0.12438197 -0.010067 0.99218334 -0.2986942 ] [ 0. 0. 0. 1. ]] SLAMing on 117.51241403699999 meters Centerline goodness : 0.790882 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.30 [[ 0.96732303 -0.2214101 -0.12354641 2.78736422] [ 0.22083201 0.97513586 -0.01852777 -0.02898508] [ 0.12457677 -0.00936067 0.99216582 -0.29875078] [ 0. 0. 0. 1. ]] SLAMing on 117.54241403699999 meters Centerline goodness : 0.789668 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.30 [[ 0.96799907 -0.21838998 -0.1236269 2.7851495 ] [ 0.21817613 0.97578738 -0.01543271 -0.02789601] [ 0.12400392 -0.01203359 0.99220876 -0.29864443] [ 0. 0. 0. 1. ]] SLAMing on 117.57241403699999 meters Centerline goodness : 0.792844 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.30 [[ 0.96793658 -0.21876042 -0.12346115 2.784435 ] [ 0.21842595 0.97571561 -0.01640594 -0.02462107] [ 0.12405195 -0.01108721 0.99221378 -0.29824583] [ 0. 0. 0. 1. ]] SLAMing on 117.60241403699999 meters Centerline goodness : 0.793311 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.30 [[ 0.96853887 -0.21636192 -0.12296332 2.78342024] [ 0.21625734 0.97623082 -0.01435828 -0.02120023] [ 0.12314717 -0.01268517 0.99230734 -0.29985983] [ 0. 0. 0. 1. ]] SLAMing on 117.63241403699999 meters Centerline goodness : 0.793273 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.30 [[ 0.96851202 -0.21655425 -0.12283619 2.78344141] [ 0.21637827 0.9761954 -0.01493294 -0.0183297 ] [ 0.12314591 -0.01211635 0.99231461 -0.30044164] [ 0. 0. 0. 1. ]] SLAMing on 117.66241403699999 meters Centerline goodness : 0.794957 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:-0.30 [[ 0.96851144 -0.2166157 -0.12273235 2.78351952] [ 0.2163622 0.9761893 -0.01555144 -0.01511062] [ 0.1231787 -0.0114929 0.99231795 -0.30088884] [ 0. 0. 0. 1. ]] SLAMing on 117.69241403699999 meters Centerline goodness : 0.795503 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.30 [[ 0.96914027 -0.21384629 -0.12262508 2.78082966] [ 0.21392909 0.97676733 -0.01264643 -0.01372129] [ 0.12248056 -0.01397691 0.99237249 -0.30072149] [ 0. 0. 0. 1. ]] SLAMing on 117.722414037 meters Centerline goodness : 0.795678 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:-0.30 [[ 0.9697393 -0.21124185 -0.12240334 2.77724971] [ 0.21162137 0.97730014 -0.01004164 -0.01218191] [ 0.12174602 -0.01616539 0.99242964 -0.29965268] [ 0. 0. 0. 1. ]] SLAMing on 117.752414037 meters Centerline goodness : 0.798533 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.30 [[ 0.97033331 -0.20867333 -0.12210122 2.7732925 ] [ 0.20933513 0.97781499 -0.00752703 -0.01050223] [ 0.12096309 -0.01825635 0.99248911 -0.29827904] [ 0. 0. 0. 1. ]] SLAMing on 117.782414037 meters Centerline goodness : 0.801121 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:-0.30 [[ 0.97088968 -0.20629731 -0.12171543 2.76881141] [ 0.20715051 0.97829224 -0.00574095 -0.00616842] [ 0.1202576 -0.01963959 0.99254844 -0.29652976] [ 0. 0. 0. 1. ]] SLAMing on 117.812414037 meters Centerline goodness : 0.800950 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.00, Z:-0.30 [[ 0.97087481 -0.20638472 -0.12168589 2.76885005] [ 0.20718104 0.9782829 -0.006211 -0.00447996] [ 0.12032508 -0.01918091 0.99254923 -0.2965752 ] [ 0. 0. 0. 1. ]] SLAMing on 117.84241403699998 meters Centerline goodness : 0.799488 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.00, Z:-0.30 [[ 0.97084699 -0.20658695 -0.12156465 2.76882449] [ 0.20734713 0.97824582 -0.0065026 -0.00363061] [ 0.12026346 -0.01889305 0.99256222 -0.29684163] [ 0. 0. 0. 1. ]] SLAMing on 117.87241403699998 meters Centerline goodness : 0.802343 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.00, Z:-0.30 [[ 9.70801666e-01 -2.06808402e-01 -1.21550031e-01 2.76904988e+00] [ 2.07539106e-01 9.78203382e-01 -6.75745002e-03 -2.67056485e-03] [ 1.20298149e-01 -1.86662410e-02 9.92562304e-01 -2.97251099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90241403699999 meters Centerline goodness : 0.802322 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:-0.30 [[ 9.70747718e-01 -2.07110933e-01 -1.21465754e-01 2.76917712e+00] [ 2.07784635e-01 9.78147851e-01 -7.23376289e-03 9.93190396e-04] [ 1.20309658e-01 -1.82165586e-02 9.92569264e-01 -2.98237673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93241403699999 meters Centerline goodness : 0.800797 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:-0.30 [[ 0.97073054 -0.20711901 -0.12158923 2.76950917] [ 0.20775289 0.97815196 -0.00758122 0.00327671] [ 0.12050296 -0.01790119 0.99255155 -0.2984849 ] [ 0. 0. 0. 1. ]] SLAMing on 117.96241403699999 meters Centerline goodness : 0.801690 Centerline is valid? [False, False] Translation: X:2.77, Y:0.01, Z:-0.30 [[ 0.97068512 -0.20746867 -0.12135543 2.76902824] [ 0.20800642 0.97809173 -0.00836098 0.00669186] [ 0.12043139 -0.01712683 0.9925739 -0.29868328] [ 0. 0. 0. 1. ]] SLAMing on 117.99241403699999 meters Centerline goodness : 0.799570 Centerline is valid? [False, False] Translation: X:2.77, Y:0.01, Z:-0.30 [[ 0.9706992 -0.20742577 -0.12131615 2.7690491 ] [ 0.20794285 0.97810384 -0.00852305 0.0073124 ] [ 0.12042769 -0.01695351 0.99257733 -0.29870752] [ 0. 0. 0. 1. ]] SLAMing on 118.02241403699999 meters Centerline goodness : 0.799772 Centerline is valid? [False, False] Translation: X:2.77, Y:0.01, Z:-0.30 [[ 0.97073152 -0.20722134 -0.12140686 2.76951606] [ 0.20771812 0.97815012 -0.00869022 0.00826855] [ 0.12055493 -0.01678253 0.99256479 -0.29887909] [ 0. 0. 0. 1. ]] SLAMing on 118.05241403699999 meters Centerline goodness : 0.798781 Centerline is valid? [False, False] Translation: X:2.77, Y:0.01, Z:-0.30 [[ 0.9707677 -0.20693197 -0.12161094 2.77035035] [ 0.2073913 0.97821659 -0.00900837 0.01010353] [ 0.12082596 -0.01647602 0.99253697 -0.29913071] [ 0. 0. 0. 1. ]] SLAMing on 118.08241403699999 meters Centerline goodness : 0.800308 Centerline is valid? [False, False] Translation: X:2.77, Y:0.01, Z:-0.30 [[ 0.97088226 -0.20614963 -0.1220245 2.77205647] [ 0.20661376 0.97838141 -0.00897628 0.01242333] [ 0.12123695 -0.01649703 0.9924865 -0.29995423] [ 0. 0. 0. 1. ]] SLAMing on 118.112414037 meters Centerline goodness : 0.798350 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.30 [[ 0.97164498 -0.20224913 -0.12247988 2.77133765] [ 0.20309454 0.97914269 -0.00567413 0.01612682] [ 0.12107287 -0.01936175 0.99245478 -0.30068376] [ 0. 0. 0. 1. ]] SLAMing on 118.142414037 meters Centerline goodness : 0.797404 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.30 [[ 0.97164376 -0.2021704 -0.12261945 2.77136084] [ 0.20293861 0.97917104 -0.00632334 0.01856702] [ 0.1213438 -0.01874019 0.99243362 -0.30009671] [ 0. 0. 0. 1. ]] SLAMing on 118.172414037 meters Centerline goodness : 0.798427 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.30 [[ 0.97161688 -0.20228328 -0.12264633 2.77119288] [ 0.20297708 0.97915888 -0.00694285 0.02054782] [ 0.12149466 -0.01814861 0.99242616 -0.29967641] [ 0. 0. 0. 1. ]] SLAMing on 118.20241403699998 meters Centerline goodness : 0.796085 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.30 [[ 0.9716658 -0.20195107 -0.12280606 2.77226204] [ 0.2026034 0.97923379 -0.00728396 0.02296501] [ 0.12172685 -0.01780335 0.99240396 -0.30033421] [ 0. 0. 0. 1. ]] SLAMing on 118.23241403699998 meters Centerline goodness : 0.796244 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.30 [[ 0.97163415 -0.20214792 -0.12273265 2.77220181] [ 0.20274687 0.97920074 -0.00772086 0.0244312 ] [ 0.12174066 -0.01738181 0.99240974 -0.30043617] [ 0. 0. 0. 1. ]] SLAMing on 118.26241403699999 meters Centerline goodness : 0.795703 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.9715625 -0.2026034 -0.12254866 2.77147083] [ 0.20312452 0.97911724 -0.00835848 0.02612077] [ 0.12168296 -0.01677186 0.99242731 -0.30008416] [ 0. 0. 0. 1. ]] SLAMing on 118.29241403699999 meters Centerline goodness : 0.795703 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.97152259 -0.20289684 -0.12237944 2.77112634] [ 0.2033352 0.97906755 -0.00902904 0.02889671] [ 0.1216497 -0.01611213 0.99244232 -0.30021419] [ 0. 0. 0. 1. ]] SLAMing on 118.32241403699999 meters Centerline goodness : 0.794746 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.97156187 -0.2026305 -0.12250885 2.77205078] [ 0.20306892 0.97912282 -0.00902894 0.02964274] [ 0.12178075 -0.01610557 0.99242635 -0.30084521] [ 0. 0. 0. 1. ]] SLAMing on 118.35241403699999 meters Centerline goodness : 0.795482 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.97159879 -0.20238871 -0.12261565 2.772767 ] [ 0.20280782 0.97917548 -0.00918504 0.03067004] [ 0.12192119 -0.01594324 0.99241173 -0.30117459] [ 0. 0. 0. 1. ]] SLAMing on 118.38241403699999 meters Centerline goodness : 0.796210 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.97162411 -0.20226321 -0.12262208 2.77279556] [ 0.20263251 0.97920796 -0.00958326 0.03219848] [ 0.12201086 -0.01553589 0.99240717 -0.30092471] [ 0. 0. 0. 1. ]] SLAMing on 118.41241403699999 meters Centerline goodness : 0.794649 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.97225627 -0.1993964 -0.12230622 2.76870142] [ 0.20006746 0.97975786 -0.00689542 0.03359449] [ 0.1212054 -0.01776538 0.99246846 -0.29924366] [ 0. 0. 0. 1. ]] SLAMing on 118.44241403699999 meters Centerline goodness : 0.796335 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.97225153 -0.19933545 -0.12244318 2.76860013] [ 0.19994788 0.97977866 -0.00739104 0.03490746] [ 0.12144051 -0.01729631 0.992448 -0.29843779] [ 0. 0. 0. 1. ]] SLAMing on 118.472414037 meters Centerline goodness : 0.797355 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.30 [[ 0.97301528 -0.19527884 -0.1229123 2.7677804 ] [ 0.19633863 0.98052973 -0.00354907 0.03478481] [ 0.12121222 -0.02067913 0.99241119 -0.29842913] [ 0. 0. 0. 1. ]] SLAMing on 118.502414037 meters Centerline goodness : 0.795892 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:-0.30 [[ 0.97310032 -0.19439837 -0.12363266 2.76985177] [ 0.19547955 0.98070174 -0.00344249 0.03621586] [ 0.12191598 -0.02081777 0.99232208 -0.29867856] [ 0. 0. 0. 1. ]] SLAMing on 118.532414037 meters Centerline goodness : 0.794774 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:-0.30 [[ 0.97321245 -0.19345279 -0.12423183 2.77212578] [ 0.19457214 0.98088307 -0.00317579 0.03748755] [ 0.12247126 -0.02108134 0.99224814 -0.29949821] [ 0. 0. 0. 1. ]] SLAMing on 118.562414037 meters Centerline goodness : 0.792718 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:-0.30 [[ 9.73514623e-01 -1.91439312e-01 -1.24981075e-01 2.77642112e+00] [ 1.92719589e-01 9.81252072e-01 -1.87935020e-03 3.76827851e-02] [ 1.22997720e-01 -2.22567265e-02 9.92157346e-01 -3.02203215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59241403699998 meters Centerline goodness : 0.792910 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:-0.30 [[ 9.73581777e-01 -1.90987754e-01 -1.25148717e-01 2.77751906e+00] [ 1.92285985e-01 9.81337396e-01 -1.73628992e-03 3.76623156e-02] [ 1.23144726e-01 -2.23739240e-02 9.92136475e-01 -3.02760780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62241403699998 meters Centerline goodness : 0.794667 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:-0.30 [[ 9.73651989e-01 -1.90537824e-01 -1.25288236e-01 2.77822391e+00] [ 1.91847947e-01 9.81423295e-01 -1.63721202e-03 3.76547314e-02] [ 1.23272744e-01 -2.24422161e-02 9.92119034e-01 -3.02881831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65241403699999 meters Centerline goodness : 0.795131 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:-0.30 [[ 9.73698695e-01 -1.90178751e-01 -1.25470689e-01 2.77856232e+00] [ 1.91455636e-01 9.81499401e-01 -1.91460798e-03 3.82869344e-02] [ 1.23513524e-01 -2.21578192e-02 9.92095480e-01 -3.02274964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68241403699999 meters Centerline goodness : 0.794595 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:-0.30 [[ 9.74406917e-01 -1.86462683e-01 -1.25550099e-01 2.77581834e+00] [ 1.88137809e-01 9.82141473e-01 1.51372342e-03 3.70691577e-02] [ 1.23025706e-01 -2.50957031e-02 9.92086126e-01 -3.00492471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71241403699999 meters Centerline goodness : 0.796266 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:-0.30 [[ 0.97502324 -0.18302445 -0.12582423 2.77394091] [ 0.18513245 0.98269999 0.00516848 0.03520661] [ 0.12270151 -0.02833354 0.99203909 -0.29960148] [ 0. 0. 0. 1. ]] SLAMing on 118.74241403699999 meters Centerline goodness : 0.796103 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:-0.30 [[ 0.97504588 -0.18266989 -0.12616355 2.77441779] [ 0.18476737 0.98276942 0.00502746 0.03558005] [ 0.12307131 -0.02821291 0.99199672 -0.29892521] [ 0. 0. 0. 1. ]] SLAMing on 118.77241403699999 meters Centerline goodness : 0.796478 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97518741 -0.18132035 -0.12701359 2.77690989] [ 0.18350335 0.98300311 0.00560324 0.03486229] [ 0.12383877 -0.02877162 0.99188515 -0.2988925 ] [ 0. 0. 0. 1. ]] SLAMing on 118.80241403699999 meters Centerline goodness : 0.797684 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97522432 -0.18085045 -0.12739953 2.77809894] [ 0.18306509 0.98308371 0.00579596 0.03495468] [ 0.1241962 -0.02897477 0.99183455 -0.29910709] [ 0. 0. 0. 1. ]] SLAMing on 118.83241403699999 meters Centerline goodness : 0.797190 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:-0.30 [[ 0.97525641 -0.18051317 -0.12763202 2.77911507] [ 0.1827582 0.98313955 0.00600535 0.0350852 ] [ 0.12439604 -0.02918255 0.99180341 -0.29963753] [ 0. 0. 0. 1. ]] SLAMing on 118.862414037 meters Centerline goodness : 0.796216 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.9752602 -0.18032925 -0.12786283 2.77998935] [ 0.18259448 0.98316924 0.00612346 0.03464851] [ 0.12460656 -0.02931902 0.99177296 -0.2998754 ] [ 0. 0. 0. 1. ]] SLAMing on 118.892414037 meters Centerline goodness : 0.795183 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97528508 -0.18022223 -0.12782397 2.78057446] [ 0.1825307 0.98317878 0.00648382 0.03297295] [ 0.12450529 -0.02965537 0.99177568 -0.30041603] [ 0. 0. 0. 1. ]] SLAMing on 118.922414037 meters Centerline goodness : 0.795625 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97531097 -0.18019454 -0.1276653 2.78091097] [ 0.18255343 0.98317154 0.00692605 0.03000293] [ 0.12426885 -0.03006079 0.99179312 -0.30085204] [ 0. 0. 0. 1. ]] SLAMing on 118.95241403699998 meters Centerline goodness : 0.795254 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97467425 -0.18388789 -0.12726099 2.7824181 ] [ 0.18584738 0.98257205 0.00359542 0.02710614] [ 0.12438193 -0.02715549 0.99186275 -0.30093772] [ 0. 0. 0. 1. ]] SLAMing on 118.98241403699998 meters Centerline goodness : 0.796172 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97463306 -0.18429889 -0.12698159 2.78129981] [ 0.18625788 0.9824942 0.00362644 0.02583086] [ 0.12409033 -0.02718577 0.99189844 -0.30035657] [ 0. 0. 0. 1. ]] SLAMing on 119.01241403699999 meters Centerline goodness : 0.794791 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97456554 -0.18483613 -0.12671865 2.77980597] [ 0.1867531 0.98240129 0.00331353 0.02559729] [ 0.12387611 -0.02689435 0.99193316 -0.29926959] [ 0. 0. 0. 1. ]] SLAMing on 119.04241403699999 meters Centerline goodness : 0.792145 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.30 [[ 0.97453915 -0.18506679 -0.12658488 2.77890329] [ 0.18697429 0.98235942 0.00325208 0.02527646] [ 0.12374999 -0.0268374 0.99195045 -0.29855308] [ 0. 0. 0. 1. ]] SLAMing on 119.07241403699999 meters Centerline goodness : 0.792760 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.30 [[ 0.974543 -0.18495411 -0.12671983 2.77902204] [ 0.18689269 0.98237417 0.00347876 0.02431432] [ 0.12384288 -0.02707321 0.99193245 -0.29824216] [ 0. 0. 0. 1. ]] SLAMing on 119.10241403699999 meters Centerline goodness : 0.791578 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.30 [[ 0.9745754 -0.18462249 -0.12695405 2.77976695] [ 0.1866179 0.98242482 0.003903 0.02253776] [ 0.12400223 -0.02749566 0.99190092 -0.2981812 ] [ 0. 0. 0. 1. ]] SLAMing on 119.13241403699999 meters Centerline goodness : 0.789040 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.30 [[ 0.97463476 -0.1842203 -0.1270825 2.78093969] [ 0.18632304 0.98247701 0.00475836 0.017356 ] [ 0.12397904 -0.02831606 0.99188074 -0.29835804] [ 0. 0. 0. 1. ]] SLAMing on 119.16241403699999 meters Centerline goodness : 0.790953 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.30 [[ 0.97464429 -0.18418764 -0.12705679 2.78084681] [ 0.18631131 0.98247837 0.00493389 0.0154425 ] [ 0.12392178 -0.0284809 0.99188317 -0.29792624] [ 0. 0. 0. 1. ]] SLAMing on 119.19241403699999 meters Centerline goodness : 0.792284 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.30 [[ 0.97464107 -0.18421658 -0.12703952 2.78037405] [ 0.186332 0.98247477 0.00486995 0.0142883 ] [ 0.123916 -0.02841798 0.9918857 -0.29702975] [ 0. 0. 0. 1. ]] SLAMing on 119.222414037 meters Centerline goodness : 0.792284 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.30 [[ 0.97464107 -0.18421658 -0.12703952 2.78037405] [ 0.186332 0.98247477 0.00486995 0.0142883 ] [ 0.123916 -0.02841798 0.9918857 -0.29702975] [ 0. 0. 0. 1. ]] SLAMing on 119.252414037 meters Centerline goodness : 0.790877 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.30 [[ 0.97466489 -0.18388048 -0.12734334 2.78082496] [ 0.18599854 0.98253809 0.00484257 0.01396783] [ 0.12422923 -0.02840556 0.99184687 -0.29635316] [ 0. 0. 0. 1. ]] SLAMing on 119.282414037 meters Centerline goodness : 0.791711 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.30 [[ 0.97473528 -0.18303231 -0.12802463 2.78254873] [ 0.18519701 0.98268812 0.00511137 0.01404589] [ 0.12487273 -0.02869201 0.99175782 -0.29624419] [ 0. 0. 0. 1. ]] SLAMing on 119.312414037 meters Centerline goodness : 0.789889 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.30 [[ 0.97488799 -0.18157156 -0.12893864 2.78565437] [ 0.18385169 0.98293625 0.0059062 0.01357294] [ 0.12566606 -0.02946347 0.99163499 -0.29703403] [ 0. 0. 0. 1. ]] SLAMing on 119.34241403699998 meters Centerline goodness : 0.790376 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.30 [[ 0.97506262 -0.17994123 -0.12990016 2.78930252] [ 0.18237764 0.98320356 0.00701127 0.01206049] [ 0.12645668 -0.03052732 0.99150229 -0.29830153] [ 0. 0. 0. 1. ]] SLAMing on 119.37241403699998 meters Centerline goodness : 0.790489 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.30 [[ 0.97524994 -0.17832566 -0.13071923 2.79273053] [ 0.18092377 0.98346311 0.00817923 0.0101642 ] [ 0.12709897 -0.03162701 0.99138569 -0.29957928] [ 0. 0. 0. 1. ]] SLAMing on 119.40241403699999 meters Centerline goodness : 0.791013 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.30 [[ 0.97615514 -0.17230486 -0.13203097 2.79535541] [ 0.17558737 0.98437063 0.01354732 0.00628148] [ 0.12763314 -0.03640725 0.99115301 -0.30036753] [ 0. 0. 0. 1. ]] SLAMing on 119.43241403699999 meters Centerline goodness : 0.789976 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.30 [[ 0.97685814 -0.16789887 -0.13250712 2.79476495] [ 0.17172329 0.98498259 0.01789969 0.00402341] [ 0.12751187 -0.04024002 0.99102042 -0.30013956] [ 0. 0. 0. 1. ]] SLAMing on 119.46241403699999 meters Centerline goodness : 0.792348 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.30 [[ 9.77485971e-01 -1.63914332e-01 -1.32865606e-01 2.79357150e+00] [ 1.68262136e-01 9.85494366e-01 2.21067505e-02 1.41555300e-03] [ 1.27314693e-01 -4.39652891e-02 9.90887492e-01 -2.99609141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49241403699999 meters Centerline goodness : 0.790743 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.30 [[ 9.77536912e-01 -1.63406778e-01 -1.33115778e-01 2.79385320e+00] [ 1.67800567e-01 9.85566227e-01 2.24094086e-02 1.51664675e-04] [ 1.27532565e-01 -4.42429270e-02 9.90847116e-01 -2.98853339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52241403699999 meters Centerline goodness : 0.789289 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.30 [[ 0.97740336 -0.16433602 -0.13295244 2.79446556] [ 0.16865473 0.98543357 0.02182336 -0.00594236] [ 0.12742943 -0.04375328 0.99088213 -0.29800014] [ 0. 0. 0. 1. ]] SLAMing on 119.55241403699999 meters Centerline goodness : 0.787591 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.30 [[ 0.97683837 -0.16758935 -0.13304367 2.79685727] [ 0.17153093 0.98500207 0.0186566 -0.00855075] [ 0.12792164 -0.04104559 0.99093457 -0.29791903] [ 0. 0. 0. 1. ]] SLAMing on 119.58241403699999 meters Centerline goodness : 0.787464 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.30 [[ 0.97623572 -0.17109731 -0.13300196 2.79875451] [ 0.17464447 0.98451127 0.01539026 -0.01098214] [ 0.1283087 -0.03825257 0.99099628 -0.29773863] [ 0. 0. 0. 1. ]] SLAMing on 119.612414037 meters Centerline goodness : 0.785328 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.30 [[ 0.97594643 -0.17281304 -0.13290683 2.79883684] [ 0.17620475 0.98425247 0.01410567 -0.0142988 ] [ 0.12837623 -0.0371852 0.99102815 -0.2968159 ] [ 0. 0. 0. 1. ]] SLAMing on 119.642414037 meters Centerline goodness : 0.787335 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.30 [[ 0.97561842 -0.17476111 -0.13276763 2.7975408 ] [ 0.17807135 0.98392649 0.01338885 -0.01883829] [ 0.12829374 -0.03670452 0.99105676 -0.29518516] [ 0. 0. 0. 1. ]] SLAMing on 119.672414037 meters Centerline goodness : 0.787404 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.29 [[ 0.97557882 -0.17499454 -0.13275115 2.79718958] [ 0.17834979 0.98387141 0.01372605 -0.02152553] [ 0.12820808 -0.03706698 0.99105435 -0.29459318] [ 0. 0. 0. 1. ]] SLAMing on 119.70241403699998 meters Centerline goodness : 0.786402 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.29 [[ 0.97555295 -0.17521252 -0.13265373 2.79668553] [ 0.1786123 0.98381872 0.01408473 -0.02466355] [ 0.12803941 -0.03743399 0.99106236 -0.29393727] [ 0. 0. 0. 1. ]] SLAMing on 119.73241403699998 meters Centerline goodness : 0.784945 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.29 [[ 0.97549097 -0.17553922 -0.13267765 2.79653921] [ 0.17898246 0.98374698 0.01439269 -0.02849448] [ 0.12799475 -0.03778691 0.99105474 -0.29326399] [ 0. 0. 0. 1. ]] SLAMing on 119.76241403699999 meters Centerline goodness : 0.838152 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.29 [[ 0.97482952 -0.17941807 -0.13235018 2.79801636] [ 0.18251689 0.98313469 0.01156575 -0.0351479 ] [ 0.12804295 -0.03543077 0.99113554 -0.29286824] [ 0. 0. 0. 1. ]] SLAMing on 119.79241403699999 meters Centerline goodness : 0.841048 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.29 [[ 0.97472334 -0.18001085 -0.13232725 2.7974732 ] [ 0.1831279 0.98301978 0.01167415 -0.0390469 ] [ 0.12797883 -0.03561188 0.99113733 -0.29183845] [ 0. 0. 0. 1. ]] SLAMing on 119.82241403699999 meters Centerline goodness : 0.838928 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.29 [[ 0.97462471 -0.18078344 -0.13200005 2.79599208] [ 0.18388528 0.9828793 0.01159724 -0.04163344] [ 0.12764353 -0.03557582 0.99118187 -0.29072859] [ 0. 0. 0. 1. ]] SLAMing on 119.85241403699999 meters Centerline goodness : 0.840867 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:-0.29 [[ 0.97455577 -0.18122412 -0.13190477 2.7950796 ] [ 0.18431821 0.98279894 0.01153481 -0.04316314] [ 0.12754548 -0.03555377 0.99119528 -0.28971928] [ 0. 0. 0. 1. ]] SLAMing on 119.88241403699999 meters Centerline goodness : 0.839637 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.29 [[ 0.97451088 -0.18120528 -0.13226183 2.79577116] [ 0.18439741 0.98277609 0.012196 -0.04674706] [ 0.12777379 -0.03627387 0.99113978 -0.28934651] [ 0. 0. 0. 1. ]] SLAMing on 119.91241403699999 meters Centerline goodness : 0.838695 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.29 [[ 0.97453163 -0.18093211 -0.13248272 2.79663814] [ 0.18420983 0.98280341 0.01281386 -0.04985176] [ 0.12788603 -0.03689213 0.99110248 -0.28942438] [ 0. 0. 0. 1. ]] SLAMing on 119.94241403699999 meters Centerline goodness : 0.839258 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:-0.29 [[ 0.97456942 -0.18065235 -0.13258649 2.79734568] [ 0.18401063 0.98283255 0.01342616 -0.05311015] [ 0.12788485 -0.03748205 0.9910805 -0.28947696] [ 0. 0. 0. 1. ]] SLAMing on 119.972414037 meters Centerline goodness : 0.838288 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.29 [[ 0.9746298 -0.18025531 -0.13268298 2.79763542] [ 0.18370481 0.98287989 0.01413046 -0.05759195] [ 0.12786435 -0.03814647 0.9910578 -0.2887341 ] [ 0. 0. 0. 1. ]] SLAMing on 120.002414037 meters Centerline goodness : 0.838374 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.29 [[ 0.97464132 -0.18016327 -0.13272336 2.79722281] [ 0.18362495 0.98289354 0.01421872 -0.05844561] [ 0.12789124 -0.03822947 0.99105113 -0.28796231] [ 0. 0. 0. 1. ]] SLAMing on 120.032414037 meters Centerline goodness : 0.840366 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.29 [[ 0.97463469 -0.18018739 -0.13273933 2.79656789] [ 0.18363851 0.98289228 0.0141304 -0.05917951] [ 0.12792234 -0.03814803 0.99105025 -0.28685126] [ 0. 0. 0. 1. ]] SLAMing on 120.062414037 meters Centerline goodness : 0.839448 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.29 [[ 0.9746334 -0.18020318 -0.13272734 2.79625735] [ 0.18368144 0.98288117 0.01434332 -0.06103036] [ 0.12787049 -0.03835903 0.9910488 -0.2861825 ] [ 0. 0. 0. 1. ]] SLAMing on 120.09241403699998 meters Centerline goodness : 0.840102 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.29 [[ 0.97403995 -0.18333403 -0.13279611 2.79892618] [ 0.18656587 0.98236658 0.01220957 -0.06635496] [ 0.12821603 -0.03666784 0.99106817 -0.28671983] [ 0. 0. 0. 1. ]] SLAMing on 120.12241403699998 meters Centerline goodness : 0.839533 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.29 [[ 0.97338617 -0.18691028 -0.13260433 2.80058926] [ 0.18975427 0.98179008 0.00903083 -0.06795403] [ 0.12850166 -0.03395273 0.99112791 -0.2869065 ] [ 0. 0. 0. 1. ]] SLAMing on 120.15241403699999 meters Centerline goodness : 0.840600 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.29 [[ 0.97327916 -0.18751577 -0.13253492 2.80022751] [ 0.19039253 0.98166435 0.009262 -0.07138357] [ 0.12836804 -0.03424817 0.99113506 -0.28639514] [ 0. 0. 0. 1. ]] SLAMing on 120.18241403699999 meters Centerline goodness : 0.839918 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.29 [[ 0.97317288 -0.18823966 -0.13228896 2.79929328] [ 0.19112134 0.98152219 0.00931825 -0.07426584] [ 0.12809048 -0.03435151 0.99116739 -0.28569317] [ 0. 0. 0. 1. ]] SLAMing on 120.21241403699999 meters Centerline goodness : 0.842615 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.08, Z:-0.28 [[ 0.97245005 -0.19191998 -0.13231638 2.79986557] [ 0.19463907 0.98084385 0.00780884 -0.07720183] [ 0.12828303 -0.03334765 0.99117677 -0.28410323] [ 0. 0. 0. 1. ]] SLAMing on 120.24241403699999 meters Centerline goodness : 0.844457 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.08, Z:-0.28 [[ 0.97238154 -0.19232785 -0.13222758 2.79965623] [ 0.19506883 0.98075714 0.00797425 -0.0792354 ] [ 0.12814948 -0.03354749 0.99118731 -0.28389624] [ 0. 0. 0. 1. ]] SLAMing on 120.27241403699999 meters Centerline goodness : 0.844570 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.08, Z:-0.28 [[ 0.97209332 -0.19345608 -0.1327001 2.8017697 ] [ 0.19625857 0.98051748 0.00824846 -0.08113358] [ 0.12851905 -0.03406181 0.99112191 -0.28446413] [ 0. 0. 0. 1. ]] SLAMing on 120.30241403699999 meters Centerline goodness : 0.843209 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.08, Z:-0.29 [[ 0.97137177 -0.19783328 -0.13152523 2.80298111] [ 0.20012418 0.9797611 0.00430055 -0.08422781] [ 0.12801251 -0.03049881 0.9913035 -0.28568066] [ 0. 0. 0. 1. ]] SLAMing on 120.33241403699999 meters Centerline goodness : 0.842008 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.29 [[ 0.9711932 -0.19826847 -0.13218692 2.80531985] [ 0.20071832 0.97963445 0.00533821 -0.0867455 ] [ 0.12843646 -0.03171677 0.99121043 -0.28614945] [ 0. 0. 0. 1. ]] SLAMing on 120.362414037 meters Centerline goodness : 0.844001 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.29 [[ 0.97092488 -0.19905273 -0.13297704 2.80655296] [ 0.20166038 0.97943524 0.00630048 -0.08824924] [ 0.12898827 -0.03293349 0.99109909 -0.2851971 ] [ 0. 0. 0. 1. ]] SLAMing on 120.392414037 meters Centerline goodness : 0.842212 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.28 [[ 0.97076547 -0.19921314 -0.13389747 2.80748908] [ 0.20203927 0.97934698 0.00772203 -0.08941485] [ 0.12959376 -0.03454883 0.9909651 -0.28392389] [ 0. 0. 0. 1. ]] SLAMing on 120.422414037 meters Centerline goodness : 0.841874 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.28 [[ 0.97030648 -0.20056699 -0.13519697 2.80857418] [ 0.2036066 0.97901233 0.00889997 -0.09042078] [ 0.13057446 -0.03616269 0.99077877 -0.28165128] [ 0. 0. 0. 1. ]] SLAMing on 120.45241403699998 meters Centerline goodness : 0.843791 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.28 [[ 0.96996334 -0.20200059 -0.13552448 2.80988401] [ 0.20498887 0.97872892 0.00832224 -0.09061613] [ 0.13096063 -0.03585328 0.99073905 -0.28181469] [ 0. 0. 0. 1. ]] SLAMing on 120.48241403699998 meters Centerline goodness : 0.843854 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.28 [[ 0.96965113 -0.20299684 -0.13626798 2.8128891 ] [ 0.20602461 0.97851122 0.00834618 -0.09123146] [ 0.1316455 -0.03616744 0.99063685 -0.28300094] [ 0. 0. 0. 1. ]] SLAMing on 120.51241403699999 meters Centerline goodness : 0.844990 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.28 [[ 0.96935752 -0.20419627 -0.13656454 2.81417946] [ 0.20719672 0.97826678 0.0079762 -0.09198199] [ 0.13196785 -0.03602752 0.99059906 -0.28311946] [ 0. 0. 0. 1. ]] SLAMing on 120.54241403699999 meters Centerline goodness : 0.842014 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.28 [[ 0.96903954 -0.20504798 -0.13754159 2.81637459] [ 0.2081785 0.97805288 0.00861866 -0.09271892] [ 0.13275571 -0.03698503 0.99045849 -0.28298879] [ 0. 0. 0. 1. ]] SLAMing on 120.57241403699999 meters Centerline goodness : 0.842154 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.28 [[ 0.96882752 -0.20555106 -0.13828231 2.8183492 ] [ 0.20875062 0.97792851 0.00888842 -0.0923955 ] [ 0.13340319 -0.03747786 0.99035297 -0.2834327 ] [ 0. 0. 0. 1. ]] SLAMing on 120.60241403699999 meters Centerline goodness : 0.841777 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.29 [[ 0.96803861 -0.20947789 -0.13791395 2.82095515] [ 0.21209362 0.97723952 0.00438488 -0.09032924] [ 0.13385642 -0.0334954 0.99043451 -0.28562706] [ 0. 0. 0. 1. ]] SLAMing on 120.63241403699999 meters Centerline goodness : 0.843937 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.29 [[ 0.96798556 -0.2093718 -0.13844639 2.82189904] [ 0.21208741 0.97723794 0.00499465 -0.09052951] [ 0.13424932 -0.03419749 0.99035733 -0.28552388] [ 0. 0. 0. 1. ]] SLAMing on 120.66241403699999 meters Centerline goodness : 0.842202 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.28 [[ 0.96802242 -0.20893067 -0.13885446 2.82162015] [ 0.2117812 0.97729921 0.00591388 -0.09054528] [ 0.13446677 -0.03513153 0.99029514 -0.28445397] [ 0. 0. 0. 1. ]] SLAMing on 120.69241403699999 meters Centerline goodness : 0.842215 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.28 [[ 0.96824 -0.20806279 -0.13864044 2.81725018] [ 0.21100202 0.97746276 0.00668615 -0.08987335] [ 0.13412473 -0.03572721 0.99032021 -0.28146946] [ 0. 0. 0. 1. ]] SLAMing on 120.722414037 meters Centerline goodness : 0.842991 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.28 [[ 0.96858748 -0.20516574 -0.140518 2.81933875] [ 0.20871772 0.97791558 0.01086406 -0.09045141] [ 0.13518581 -0.03985139 0.99001852 -0.28109484] [ 0. 0. 0. 1. ]] SLAMing on 120.752414037 meters Centerline goodness : 0.844008 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.09, Z:-0.28 [[ 0.96854999 -0.20533191 -0.14053373 2.81912912] [ 0.20879943 0.97790498 0.01022948 -0.08822648] [ 0.13532819 -0.03925113 0.99002304 -0.28091596] [ 0. 0. 0. 1. ]] SLAMing on 120.782414037 meters Centerline goodness : 0.841277 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.08, Z:-0.28 [[ 0.96872777 -0.20423783 -0.14090214 2.8208793 ] [ 0.20774363 0.97812718 0.01047851 -0.08402306] [ 0.13568011 -0.03942234 0.98996807 -0.28260248] [ 0. 0. 0. 1. ]] SLAMing on 120.812414037 meters Centerline goodness : 0.839497 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.08, Z:-0.28 [[ 0.96872292 -0.20413717 -0.14108125 2.822081 ] [ 0.2076108 0.97815834 0.01019885 -0.08148092] [ 0.13591783 -0.03916985 0.98994549 -0.28376837] [ 0. 0. 0. 1. ]] SLAMing on 120.84241403699998 meters Centerline goodness : 0.838049 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.08, Z:-0.28 [[ 0.96869889 -0.20424364 -0.14109216 2.82275887] [ 0.20766266 0.9781515 0.00979054 -0.0791325 ] [ 0.13600985 -0.03878365 0.98994805 -0.28470474] [ 0. 0. 0. 1. ]] SLAMing on 120.87241403699998 meters Centerline goodness : 0.835452 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.28 [[ 0.96863354 -0.20482168 -0.14070232 2.82186234] [ 0.20804415 0.97808312 0.00842855 -0.07448855] [ 0.13589222 -0.03743647 0.99001607 -0.28483948] [ 0. 0. 0. 1. ]] SLAMing on 120.90241403699999 meters Centerline goodness : 0.837868 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.28 [[ 0.9685798 -0.20513351 -0.14061799 2.82169626] [ 0.20823907 0.9780486 0.00757804 -0.07156149] [ 0.13597672 -0.0366221 0.99003493 -0.28497017] [ 0. 0. 0. 1. ]] SLAMing on 120.93241403699999 meters Centerline goodness : 0.837286 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.29 [[ 0.96855799 -0.20520071 -0.14067013 2.82230564] [ 0.20821774 0.97805805 0.00691514 -0.06830215] [ 0.13616456 -0.03598773 0.99003237 -0.28568655] [ 0. 0. 0. 1. ]] SLAMing on 120.96241403699999 meters Centerline goodness : 0.835374 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.29 [[ 0.96851145 -0.20548752 -0.14057191 2.82250721] [ 0.20841893 0.97801937 0.00629822 -0.0654887 ] [ 0.13618784 -0.03539775 0.99005044 -0.28644708] [ 0. 0. 0. 1. ]] SLAMing on 120.99241403699999 meters Centerline goodness : 0.838566 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.29 [[ 0.96827937 -0.20733235 -0.1394574 2.81872074] [ 0.20990793 0.97771355 0.00385686 -0.05983568] [ 0.13554974 -0.03300773 0.99022056 -0.28512587] [ 0. 0. 0. 1. ]] SLAMing on 121.02241403699999 meters Centerline goodness : 0.836736 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.28 [[ 9.68061686e-01 -2.08937425e-01 -1.38570286e-01 2.81479084e+00] [ 2.11222126e-01 9.77436382e-01 1.82583559e-03 -5.55027980e-02] [ 1.35062154e-01 -3.10366319e-02 9.90350919e-01 -2.83012568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05241403699999 meters Centerline goodness : 0.839473 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.28 [[ 0.96846987 -0.20719714 -0.13833097 2.81002721] [ 0.209683 0.97776321 0.00348382 -0.05252713] [ 0.1345331 -0.03237962 0.99037993 -0.28077723] [ 0. 0. 0. 1. ]] SLAMing on 121.08241403699999 meters Centerline goodness : 0.836715 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.28 [[ 9.68242492e-01 -2.08358998e-01 -1.38177437e-01 2.80863377e+00] [ 2.10585647e-01 9.77574212e-01 1.53127484e-03 -4.54189226e-02] [ 1.34759644e-01 -3.05808302e-02 9.90406306e-01 -2.80313077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.112414037 meters Centerline goodness : 0.835569 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.28 [[ 9.68163660e-01 -2.08776531e-01 -1.38099554e-01 2.80921549e+00] [ 2.10945192e-01 9.77497279e-01 1.09325926e-03 -4.41966786e-02] [ 1.34763692e-01 -3.01898909e-02 9.90417749e-01 -2.81199662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142414037 meters Centerline goodness : 0.835569 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.28 [[ 9.68163660e-01 -2.08776531e-01 -1.38099554e-01 2.80921549e+00] [ 2.10945192e-01 9.77497279e-01 1.09325926e-03 -4.41966786e-02] [ 1.34763692e-01 -3.01898909e-02 9.90417749e-01 -2.81199662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.172414037 meters Centerline goodness : 0.835711 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.28 [[ 9.68070551e-01 -2.09318287e-01 -1.37932093e-01 2.80939294e+00] [ 2.11423758e-01 9.77394291e-01 6.27957213e-04 -4.35373556e-02] [ 1.34682598e-01 -2.97700284e-02 9.90441489e-01 -2.81760463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20241403699998 meters Centerline goodness : 0.834045 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.28 [[ 9.67966173e-01 -2.10070529e-01 -1.37520399e-01 2.80871031e+00] [ 2.12085871e-01 9.77251034e-01 2.23808406e-06 -4.19748864e-02] [ 1.34391482e-01 -2.91683001e-02 9.90498935e-01 -2.82245679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23241403699998 meters Centerline goodness : 0.778217 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:-0.29 [[ 9.67972720e-01 -2.10202454e-01 -1.37272510e-01 2.81010026e+00] [ 2.12146890e-01 9.77237673e-01 -4.76097869e-04 -3.59789197e-02] [ 1.34247946e-01 -2.86610864e-02 9.90533206e-01 -2.85302830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26241403699999 meters Centerline goodness : 0.831154 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.29 [[ 9.68007195e-01 -2.09913182e-01 -1.37471912e-01 2.81148385e+00] [ 2.11830294e-01 9.77306215e-01 -6.99848256e-04 -3.21885738e-02] [ 1.34499061e-01 -2.84432572e-02 9.90505418e-01 -2.86823654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29241403699999 meters Centerline goodness : 0.833636 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.29 [[ 9.67929374e-01 -2.10429436e-01 -1.37230390e-01 2.81067727e+00] [ 2.12224293e-01 9.77219696e-01 -1.58610881e-03 -2.80534005e-02] [ 1.34438004e-01 -2.75883812e-02 9.90537886e-01 -2.87003076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32241403699999 meters Centerline goodness : 0.784677 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.29 [[ 0.96777621 -0.21148041 -0.13669395 2.80834924] [ 0.21307868 0.97703043 -0.00300175 -0.0238054 ] [ 0.13418896 -0.02622155 0.99060878 -0.28609148] [ 0. 0. 0. 1. ]] SLAMing on 121.35241403699999 meters Centerline goodness : 0.786980 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.28 [[ 0.96743965 -0.21398724 -0.13516647 2.80283513] [ 0.21518181 0.97655629 -0.00588288 -0.01854237] [ 0.13325653 -0.02339404 0.99080544 -0.28358475] [ 0. 0. 0. 1. ]] SLAMing on 121.38241403699999 meters Centerline goodness : 0.786089 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.28 [[ 0.96726341 -0.21522728 -0.1344571 2.80065207] [ 0.21627201 0.97630832 -0.00696268 -0.01756867] [ 0.13277015 -0.02234456 0.99089495 -0.2828211 ] [ 0. 0. 0. 1. ]] SLAMing on 121.41241403699999 meters Centerline goodness : 0.838116 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.28 [[ 0.96707924 -0.21646846 -0.13378771 2.79823604] [ 0.21736083 0.9760579 -0.00807697 -0.01618003] [ 0.13233296 -0.02126913 0.9909771 -0.28178284] [ 0. 0. 0. 1. ]] SLAMing on 121.44241403699999 meters Centerline goodness : 0.792747 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.28 [[ 0.96724996 -0.21632653 -0.13277935 2.79058286] [ 0.21731274 0.97607551 -0.00719456 -0.01126629] [ 0.13115904 -0.02189571 0.99111951 -0.27937973] [ 0. 0. 0. 1. ]] SLAMing on 121.472414037 meters Centerline goodness : 0.794927 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.28 [[ 0.96713264 -0.21696394 -0.13259375 2.78957701] [ 0.21780991 0.97595619 -0.00826749 -0.00764914] [ 0.13119944 -0.02088447 0.99113599 -0.27891462] [ 0. 0. 0. 1. ]] SLAMing on 121.502414037 meters Centerline goodness : 0.794030 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.28 [[ 0.9670944 -0.21711079 -0.13263232 2.789881 ] [ 0.21789504 0.97593299 -0.00874978 -0.00535082] [ 0.13133993 -0.02043806 0.99112669 -0.279312 ] [ 0. 0. 0. 1. ]] SLAMing on 121.532414037 meters Centerline goodness : 0.794682 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:-0.28 [[ 0.96702897 -0.21736901 -0.13268638 2.79005833] [ 0.21806882 0.975888 -0.00941277 -0.00310406] [ 0.13153309 -0.01983234 0.99111338 -0.27939881] [ 0. 0. 0. 1. ]] SLAMing on 121.562414037 meters Centerline goodness : 0.796675 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.28 [[ 9.67104945e-01 -2.17002196e-01 -1.32733088e-01 2.79063277e+00] [ 2.17600128e-01 9.75985108e-01 -1.01613807e-02 1.66436754e-03] [ 1.31750559e-01 -1.90556155e-02 9.91099729e-01 -2.79924588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59241403699998 meters Centerline goodness : 0.793675 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:-0.28 [[ 0.96715483 -0.21660555 -0.13301721 2.7921782 ] [ 0.21718703 0.97607568 -0.01029881 0.00383952] [ 0.13206564 -0.01892907 0.99106022 -0.28101522] [ 0. 0. 0. 1. ]] SLAMing on 121.62241403699998 meters Centerline goodness : 0.794041 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.28 [[ 0.96722595 -0.2161279 -0.13327676 2.79371759] [ 0.21670192 0.97618285 -0.01035914 0.00562078] [ 0.13234139 -0.0188617 0.99102472 -0.28207167] [ 0. 0. 0. 1. ]] SLAMing on 121.65241403699999 meters Centerline goodness : 0.795654 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.28 [[ 0.96725355 -0.21591006 -0.13342941 2.79439127] [ 0.21643626 0.97623786 -0.01072351 0.00824915] [ 0.13257415 -0.01850661 0.9910003 -0.28252072] [ 0. 0. 0. 1. ]] SLAMing on 121.68241403699999 meters Centerline goodness : 0.798663 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.28 [[ 0.9679548 -0.21273748 -0.13344014 2.79181102] [ 0.21364839 0.97688088 -0.0076228 0.00966207] [ 0.13197678 -0.02113075 0.99102756 -0.28214591] [ 0. 0. 0. 1. ]] SLAMing on 121.71241403699999 meters Centerline goodness : 0.797990 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.28 [[ 0.96869007 -0.20922265 -0.13366167 2.78881511] [ 0.21039691 0.97760092 -0.00543801 0.01606637] [ 0.13180553 -0.02285426 0.9910121 -0.28075701] [ 0. 0. 0. 1. ]] SLAMing on 121.74241403699999 meters Centerline goodness : 0.799478 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.28 [[ 0.96872774 -0.2088889 -0.13391039 2.78945686] [ 0.20998696 0.97768559 -0.00602998 0.01887562] [ 0.13218185 -0.02227803 0.9909751 -0.28058041] [ 0. 0. 0. 1. ]] SLAMing on 121.77241403699999 meters Centerline goodness : 0.801994 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.28 [[ 0.9687322 -0.20887292 -0.13390305 2.78957396] [ 0.20989928 0.97770097 -0.00656493 0.02050827] [ 0.13228837 -0.0217465 0.99097269 -0.28045193] [ 0. 0. 0. 1. ]] SLAMing on 121.80241403699999 meters Centerline goodness : 0.801960 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.28 [[ 0.96868504 -0.20910931 -0.1338753 2.7892987 ] [ 0.21005065 0.97766389 -0.00721344 0.02159746] [ 0.13239344 -0.02113304 0.99097193 -0.27991373] [ 0. 0. 0. 1. ]] SLAMing on 121.83241403699999 meters Centerline goodness : 0.803087 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.28 [[ 0.9685865 -0.20986793 -0.13340031 2.78824343] [ 0.21069242 0.97751912 -0.00806657 0.0233971 ] [ 0.13209426 -0.02029326 0.99102941 -0.27990862] [ 0. 0. 0. 1. ]] SLAMing on 121.862414037 meters Centerline goodness : 0.801679 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.28 [[ 0.96856205 -0.2099192 -0.13349711 2.78861135] [ 0.21069758 0.97751494 -0.00843068 0.02497733] [ 0.13226518 -0.01996188 0.99101334 -0.28006663] [ 0. 0. 0. 1. ]] SLAMing on 121.892414037 meters Centerline goodness : 0.802973 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.28 [[ 0.96860553 -0.20946404 -0.13389602 2.78986232] [ 0.21021531 0.97761674 -0.00866225 0.02777247] [ 0.13271342 -0.01975669 0.99095753 -0.28054843] [ 0. 0. 0. 1. ]] SLAMing on 121.922414037 meters Centerline goodness : 0.802681 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.28 [[ 0.96938636 -0.2055913 -0.13424718 2.7891883 ] [ 0.2068141 0.97836786 -0.00492486 0.02915264] [ 0.13235563 -0.02299011 0.99093564 -0.28150275] [ 0. 0. 0. 1. ]] SLAMing on 121.95241403699998 meters Centerline goodness : 0.805442 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.28 [[ 9.70269690e-01 -2.00826610e-01 -1.35075540e-01 2.79006099e+00] [ 2.02540798e-01 9.79273238e-01 -1.07293765e-03 3.17868013e-02] [ 1.32491336e-01 -2.63172688e-02 9.90834722e-01 -2.82728184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98241403699998 meters Centerline goodness : 0.802919 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.28 [[ 9.70307759e-01 -2.00530274e-01 -1.35242232e-01 2.79064812e+00] [ 2.02225652e-01 9.79338186e-01 -1.22621159e-03 3.26936582e-02] [ 1.32693775e-01 -2.61596459e-02 9.90811806e-01 -2.82775685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01241403699999 meters Centerline goodness : 0.805323 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.28 [[ 9.70445538e-01 -1.99933002e-01 -1.35137902e-01 2.79053189e+00] [ 2.01552282e-01 9.79476226e-01 -1.73237315e-03 3.42174357e-02] [ 1.32710720e-01 -2.55561787e-02 9.90825286e-01 -2.81964849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04241403699999 meters Centerline goodness : 0.804914 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 9.70438839e-01 -1.99925653e-01 -1.35196866e-01 2.79027058e+00] [ 2.01474842e-01 9.79491068e-01 -2.26617446e-03 3.57505831e-02] [ 1.32877189e-01 -2.50395835e-02 9.90816164e-01 -2.81293283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07241403699999 meters Centerline goodness : 0.805452 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97040218 -0.20002045 -0.1353197 2.78988873] [ 0.20148081 0.979488 -0.00295757 0.03781385] [ 0.1331356 -0.02439429 0.99079757 -0.28031895] [ 0. 0. 0. 1. ]] SLAMing on 122.10241403699999 meters Centerline goodness : 0.805371 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97034167 -0.20032567 -0.13530215 2.78896432] [ 0.20168733 0.97944293 -0.00370973 0.0398245 ] [ 0.13326388 -0.02368902 0.99079744 -0.27925189] [ 0. 0. 0. 1. ]] SLAMing on 122.13241403699999 meters Centerline goodness : 0.804655 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97024439 -0.2008187 -0.13526891 2.78799951] [ 0.20208376 0.9793581 -0.00445622 0.0410929 ] [ 0.1333716 -0.02301202 0.9907989 -0.2781271 ] [ 0. 0. 0. 1. ]] SLAMing on 122.16241403699999 meters Centerline goodness : 0.805233 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97014767 -0.20135355 -0.13516749 2.78699419] [ 0.20252467 0.97926349 -0.00517386 0.04168449] [ 0.13340637 -0.02235534 0.99080925 -0.27698305] [ 0. 0. 0. 1. ]] SLAMing on 122.19241403699999 meters Centerline goodness : 0.805871 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97014685 -0.20136461 -0.1351569 2.78730249] [ 0.20253919 0.97926063 -0.00514717 0.04104636] [ 0.13339028 -0.02238106 0.99081084 -0.27715137] [ 0. 0. 0. 1. ]] SLAMing on 122.222414037 meters Centerline goodness : 0.806159 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97020178 -0.20093594 -0.13540031 2.78898853] [ 0.20214916 0.97934263 -0.00487191 0.04063978] [ 0.13358224 -0.02264433 0.990779 -0.27811958] [ 0. 0. 0. 1. ]] SLAMing on 122.252414037 meters Centerline goodness : 0.805418 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97019547 -0.20091808 -0.13547203 2.78898621] [ 0.20209978 0.97935157 -0.00511656 0.04137907] [ 0.13370276 -0.0224148 0.99076796 -0.27781851] [ 0. 0. 0. 1. ]] SLAMing on 122.282414037 meters Centerline goodness : 0.804962 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.9701945 -0.20086094 -0.13556371 2.78891736] [ 0.20200956 0.97936881 -0.005373 0.04208242] [ 0.13384609 -0.02217231 0.99075406 -0.27731822] [ 0. 0. 0. 1. ]] SLAMing on 122.312414037 meters Centerline goodness : 0.804235 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.9703438 -0.1998387 -0.13600515 2.79041762] [ 0.20104182 0.97957004 -0.00497278 0.04216786] [ 0.13422033 -0.02251741 0.99069565 -0.27744837] [ 0. 0. 0. 1. ]] SLAMing on 122.34241403699998 meters Centerline goodness : 0.803490 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97036821 -0.19951271 -0.13630926 2.79131218] [ 0.20073751 0.9796331 -0.00484159 0.04195371] [ 0.13449902 -0.02266425 0.9906545 -0.27746501] [ 0. 0. 0. 1. ]] SLAMing on 122.37241403699998 meters Centerline goodness : 0.806064 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97036154 -0.19945648 -0.136439 2.79128279] [ 0.20066923 0.97964656 -0.00494843 0.04223711] [ 0.13464899 -0.02257734 0.99063612 -0.27699045] [ 0. 0. 0. 1. ]] SLAMing on 122.40241403699999 meters Centerline goodness : 0.803941 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97038018 -0.19925344 -0.136603 2.79161839] [ 0.20048157 0.97968547 -0.00484879 0.04224422] [ 0.13479412 -0.02268122 0.99061401 -0.27685552] [ 0. 0. 0. 1. ]] SLAMing on 122.43241403699999 meters Centerline goodness : 0.803910 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97041792 -0.19903192 -0.13665784 2.79261907] [ 0.20031055 0.97972225 -0.00447141 0.04122249] [ 0.13477668 -0.02303487 0.99060822 -0.27770271] [ 0. 0. 0. 1. ]] SLAMing on 122.46241403699999 meters Centerline goodness : 0.802565 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97045473 -0.19877024 -0.13677722 2.79386365] [ 0.20012777 0.97976207 -0.00389388 0.03966312] [ 0.13478312 -0.02359408 0.99059418 -0.27877356] [ 0. 0. 0. 1. ]] SLAMing on 122.49241403699999 meters Centerline goodness : 0.803000 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97043123 -0.19894861 -0.13668458 2.7940763 ] [ 0.20032803 0.97972178 -0.00372914 0.03748259] [ 0.13465476 -0.02376288 0.9906076 -0.27886089] [ 0. 0. 0. 1. ]] SLAMing on 122.52241403699999 meters Centerline goodness : 0.804941 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97039429 -0.19924519 -0.13651477 2.79323236] [ 0.20056895 0.97967088 -0.00412953 0.03804135] [ 0.13456233 -0.02337335 0.99062943 -0.27820295] [ 0. 0. 0. 1. ]] SLAMing on 122.55241403699999 meters Centerline goodness : 0.803662 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97039638 -0.19912574 -0.1366741 2.7931736 ] [ 0.20040167 0.97970348 -0.00450072 0.03914753] [ 0.13479631 -0.02302223 0.99060584 -0.27746065] [ 0. 0. 0. 1. ]] SLAMing on 122.58241403699999 meters Centerline goodness : 0.803256 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97045174 -0.19862421 -0.13701041 2.79383757] [ 0.1998772 0.97980972 -0.00469127 0.04022558] [ 0.13517593 -0.02283261 0.9905585 -0.27695477] [ 0. 0. 0. 1. ]] SLAMing on 122.612414037 meters Centerline goodness : 0.804089 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 9.71341176e-01 -1.93677931e-01 -1.37786713e-01 2.79443740e+00] [ 1.95500252e-01 9.80703601e-01 -3.13520655e-04 3.80741153e-02] [ 1.35188648e-01 -2.66328016e-02 9.90461874e-01 -2.77116251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642414037 meters Centerline goodness : 0.803430 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.28 [[ 9.71443419e-01 -1.92809114e-01 -1.38283513e-01 2.79549588e+00] [ 1.94629526e-01 9.80876758e-01 -3.64513969e-04 3.83603821e-02] [ 1.35709366e-01 -2.65599499e-02 9.90392618e-01 -2.76315816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672414037 meters Centerline goodness : 0.807277 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.28 [[ 0.97213944 -0.18915127 -0.13844386 2.79345861] [ 0.19143953 0.98149893 0.00328042 0.03720373] [ 0.13526201 -0.02969265 0.99036485 -0.27558459] [ 0. 0. 0. 1. ]] SLAMing on 122.70241403699998 meters Centerline goodness : 0.804411 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.27 [[ 0.97282581 -0.18536809 -0.13873937 2.79168477] [ 0.18813391 0.9821186 0.00697771 0.03621452] [ 0.13496507 -0.03288968 0.99030435 -0.27475561] [ 0. 0. 0. 1. ]] SLAMing on 122.73241403699998 meters Centerline goodness : 0.809029 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.27 [[ 0.97362413 -0.18035585 -0.13974195 2.79249187] [ 0.18370934 0.98291481 0.01137386 0.03405798] [ 0.13530309 -0.03674576 0.99012263 -0.27447762] [ 0. 0. 0. 1. ]] SLAMing on 122.76241403699999 meters Centerline goodness : 0.806976 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.28 [[ 0.97373063 -0.17921783 -0.14046219 2.79535852] [ 0.18269168 0.98309539 0.01213323 0.0328055 ] [ 0.13591324 -0.03747577 0.9900117 -0.27539941] [ 0. 0. 0. 1. ]] SLAMing on 122.79241403699999 meters Centerline goodness : 0.804016 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.28 [[ 0.97384648 -0.17814443 -0.14102337 2.79833466] [ 0.18176533 0.98325441 0.01312 0.03077018] [ 0.1363246 -0.03841003 0.98991933 -0.27689166] [ 0. 0. 0. 1. ]] SLAMing on 122.82241403699999 meters Centerline goodness : 0.801620 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.28 [[ 0.9735233 -0.17931884 -0.14176435 2.80455411] [ 0.18274663 0.98309355 0.01143379 0.02755307] [ 0.13731732 -0.03703802 0.9898344 -0.27882911] [ 0. 0. 0. 1. ]] SLAMing on 122.85241403699999 meters Centerline goodness : 0.803593 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.28 [[ 0.97355283 -0.17904978 -0.1419016 2.80497954] [ 0.18252864 0.98312992 0.01178334 0.02544578] [ 0.1373979 -0.0373728 0.98981063 -0.27847266] [ 0. 0. 0. 1. ]] SLAMing on 122.88241403699999 meters Centerline goodness : 0.802125 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.28 [[ 0.9735657 -0.17893223 -0.14196157 2.80470171] [ 0.18244097 0.98314369 0.01199038 0.02398123] [ 0.13742316 -0.03757303 0.98979955 -0.27771472] [ 0. 0. 0. 1. ]] SLAMing on 122.91241403699999 meters Centerline goodness : 0.803657 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.27 [[ 0.9737217 -0.17783021 -0.14227599 2.8008409 ] [ 0.18155854 0.98328663 0.01356108 0.02143282] [ 0.13748651 -0.03903614 0.98973413 -0.27397617] [ 0. 0. 0. 1. ]] SLAMing on 122.94241403699999 meters Centerline goodness : 0.803268 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.27 [[ 0.9736899 -0.17809407 -0.14216359 2.80027011] [ 0.18183324 0.9832346 0.01365284 0.01952057] [ 0.13734867 -0.0391437 0.98974902 -0.27337212] [ 0. 0. 0. 1. ]] SLAMing on 122.972414037 meters Centerline goodness : 0.802872 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.27 [[ 0.97308098 -0.1813443 -0.14222394 2.8026156 ] [ 0.18464038 0.98275302 0.01021896 0.01819704] [ 0.13791786 -0.03620416 0.98978176 -0.27311604] [ 0. 0. 0. 1. ]] SLAMing on 123.002414037 meters Centerline goodness : 0.798809 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-0.27 [[ 0.97245562 -0.18455023 -0.14237726 2.80563061] [ 0.18742319 0.98225488 0.0069208 0.01636384] [ 0.13857353 -0.03341497 0.98978827 -0.27337191] [ 0. 0. 0. 1. ]] SLAMing on 123.032414037 meters Centerline goodness : 0.798809 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-0.27 [[ 0.97245562 -0.18455023 -0.14237726 2.80563061] [ 0.18742319 0.98225488 0.0069208 0.01636384] [ 0.13857353 -0.03341497 0.98978827 -0.27337191] [ 0. 0. 0. 1. ]] SLAMing on 123.062414037 meters Centerline goodness : 0.800628 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-0.27 [[ 0.97189418 -0.18736603 -0.14253304 2.80975529] [ 0.18996242 0.98178007 0.00470867 0.0107527 ] [ 0.13905385 -0.03165225 0.98977884 -0.2746441 ] [ 0. 0. 0. 1. ]] SLAMing on 123.09241403699998 meters Centerline goodness : 0.798439 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-0.28 [[ 0.97191182 -0.18719752 -0.14263416 2.81042715] [ 0.18987972 0.98179301 0.0053082 0.00842575] [ 0.13904354 -0.03224244 0.98976124 -0.27501112] [ 0. 0. 0. 1. ]] SLAMing on 123.12241403699998 meters Centerline goodness : 0.798979 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-0.27 [[ 0.97192636 -0.1869988 -0.14279568 2.81067875] [ 0.18972101 0.98182225 0.00556924 0.00758224] [ 0.13915853 -0.03250423 0.98973652 -0.27474322] [ 0. 0. 0. 1. ]] SLAMing on 123.15241403699999 meters Centerline goodness : 0.799419 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-0.27 [[ 0.97193892 -0.18686474 -0.14288565 2.81050259] [ 0.18960449 0.98184411 0.00568244 0.00749469] [ 0.13922959 -0.03261475 0.98972289 -0.27427632] [ 0. 0. 0. 1. ]] SLAMing on 123.18241403699999 meters Centerline goodness : 0.799212 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-0.27 [[ 0.97198282 -0.18655473 -0.14299206 2.80972012] [ 0.18933879 0.98189352 0.00599456 0.00539673] [ 0.13928466 -0.03290055 0.98970568 -0.27262572] [ 0. 0. 0. 1. ]] SLAMing on 123.21241403699999 meters Centerline goodness : 0.798134 Centerline is valid? [False, False] Translation: X:2.81, Y:0.00, Z:-0.27 [[ 9.71966200e-01 -1.86608924e-01 -1.43034317e-01 2.80941987e+00] [ 1.89418624e-01 9.81877083e-01 6.16267984e-03 2.28999565e-03] [ 1.39292106e-01 -3.30832799e-02 9.89698543e-01 -2.71565094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24241403699999 meters Centerline goodness : 0.799751 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.27 [[ 9.71678399e-01 -1.88554301e-01 -1.42437229e-01 2.80880717e+00] [ 1.91100960e-01 9.81561009e-01 4.29048536e-03 -1.23027761e-03] [ 1.39001841e-01 -3.13888633e-02 9.89794538e-01 -2.70212217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27241403699999 meters Centerline goodness : 0.797388 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-0.27 [[ 9.71377007e-01 -1.90489011e-01 -1.41917751e-01 2.80777763e+00] [ 1.92813915e-01 9.81231665e-01 2.68574225e-03 -4.82037546e-03] [ 1.38742586e-01 -2.99725854e-02 9.89874810e-01 -2.68714524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30241403699999 meters Centerline goodness : 0.795457 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.27 [[ 9.71284833e-01 -1.91076524e-01 -1.41758720e-01 2.80677610e+00] [ 1.93402485e-01 9.81115827e-01 2.68553398e-03 -7.56984602e-03] [ 1.38568582e-01 -3.00249072e-02 9.89897597e-01 -2.67667177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33241403699999 meters Centerline goodness : 0.799070 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.27 [[ 0.97123015 -0.1911244 -0.14206847 2.80707883] [ 0.19353373 0.98108838 0.00320877 -0.00951525] [ 0.13876845 -0.0306115 0.98985163 -0.26729334] [ 0. 0. 0. 1. ]] SLAMing on 123.362414037 meters Centerline goodness : 0.796562 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.27 [[ 0.97126518 -0.19073046 -0.14235811 2.80838019] [ 0.19322655 0.98114684 0.00379067 -0.01095822] [ 0.13895122 -0.03118911 0.98980796 -0.26788081] [ 0. 0. 0. 1. ]] SLAMing on 123.392414037 meters Centerline goodness : 0.794550 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-0.27 [[ 0.97129831 -0.19041998 -0.1425476 2.80958675] [ 0.19301185 0.98118633 0.00445188 -0.01361659] [ 0.13901803 -0.03183748 0.98977794 -0.26841915] [ 0. 0. 0. 1. ]] SLAMing on 123.422414037 meters Centerline goodness : 0.793912 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.27 [[ 0.97127931 -0.19049349 -0.14257888 2.81002528] [ 0.19314023 0.98115928 0.00482995 -0.01719677] [ 0.13897251 -0.03222895 0.98977166 -0.26828664] [ 0. 0. 0. 1. ]] SLAMing on 123.45241403699998 meters Centerline goodness : 0.790344 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.27 [[ 9.70628455e-01 -1.93979299e-01 -1.42311045e-01 2.81101659e+00] [ 1.96221144e-01 9.80558096e-01 1.75568885e-03 -2.19199086e-02] [ 1.39203680e-01 -2.96285577e-02 9.89820430e-01 -2.67041950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48241403699998 meters Centerline goodness : 0.789067 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:-0.27 [[ 9.70597477e-01 -1.94182264e-01 -1.42245512e-01 2.81033196e+00] [ 1.96440029e-01 9.80514061e-01 1.86829721e-03 -2.41261392e-02] [ 1.39110934e-01 -2.97560771e-02 9.89829644e-01 -2.66042652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51241403699999 meters Centerline goodness : 0.793241 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.27 [[ 9.70569288e-01 -1.94294583e-01 -1.42284477e-01 2.80991210e+00] [ 1.96568269e-01 9.80488171e-01 1.96496730e-03 -2.52443410e-02] [ 1.39126464e-01 -2.98757503e-02 9.89823856e-01 -2.65294581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54241403699999 meters Centerline goodness : 0.840619 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.26 [[ 9.70558887e-01 -1.94283402e-01 -1.42370667e-01 2.80971687e+00] [ 1.96590511e-01 9.80483247e-01 2.18476566e-03 -2.64218078e-02] [ 1.39167590e-01 -3.01091658e-02 9.89811002e-01 -2.64682458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57241403699999 meters Centerline goodness : 0.793258 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.26 [[ 9.70552499e-01 -1.94180236e-01 -1.42554844e-01 2.81005063e+00] [ 1.96542926e-01 9.80491913e-01 2.54692655e-03 -2.81699355e-02] [ 1.39279309e-01 -3.04900721e-02 9.89783628e-01 -2.64406104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60241403699999 meters Centerline goodness : 0.832398 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.26 [[ 9.69975803e-01 -1.96968563e-01 -1.42654575e-01 2.81313000e+00] [ 1.99028310e-01 9.79993725e-01 1.73067387e-04 -3.37261103e-02] [ 1.39766500e-01 -2.85601701e-02 9.89772520e-01 -2.64535357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63241403699999 meters Centerline goodness : 0.834881 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.27 [[ 9.69407171e-01 -1.99759403e-01 -1.42639115e-01 2.81605758e+00] [ 2.01445746e-01 9.79496040e-01 -2.66822970e-03 -3.59309223e-02] [ 1.40247452e-01 -2.61474419e-02 9.89771167e-01 -2.65062541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66241403699999 meters Centerline goodness : 0.836995 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.27 [[ 9.69473294e-01 -1.99329260e-01 -1.42791377e-01 2.81716279e+00] [ 2.01132221e-01 9.79562369e-01 -1.84272756e-03 -3.91854045e-02] [ 1.40240369e-01 -2.69334717e-02 9.89751093e-01 -2.65531172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69241403699999 meters Centerline goodness : 0.835577 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.27 [[ 9.69528535e-01 -1.99008165e-01 -1.42864164e-01 2.81701510e+00] [ 2.00915747e-01 9.79607913e-01 -1.09491122e-03 -4.09507381e-02] [ 1.40168761e-01 -2.76421125e-02 9.89741700e-01 -2.65149233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722414037 meters Centerline goodness : 0.840888 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.26 [[ 9.69504721e-01 -1.99083244e-01 -1.42921162e-01 2.81646798e+00] [ 2.00986371e-01 9.79593371e-01 -1.14321947e-03 -4.06608419e-02] [ 1.40232219e-01 -2.76168490e-02 9.89733416e-01 -2.64454451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752414037 meters Centerline goodness : 0.840140 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.26 [[ 9.69464278e-01 -1.99217770e-01 -1.43008021e-01 2.81648714e+00] [ 2.01188612e-01 9.79552277e-01 -6.92606958e-04 -4.41724683e-02] [ 1.40221812e-01 -2.81001275e-02 9.89721287e-01 -2.63881211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782414037 meters Centerline goodness : 0.839204 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96880349 -0.2025273 -0.14283729 2.81898589] [ 0.20406631 0.97894911 -0.00394693 -0.04509852] [ 0.1406298 -0.02532448 0.98973831 -0.26460706] [ 0. 0. 0. 1. ]] SLAMing on 123.812414037 meters Centerline goodness : 0.837393 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.27 [[ 0.96809918 -0.20607139 -0.14254318 2.82113367] [ 0.20716356 0.97827909 -0.0072992 -0.04566321] [ 0.14095117 -0.02246341 0.98976167 -0.26539207] [ 0. 0. 0. 1. ]] SLAMing on 123.84241403699998 meters Centerline goodness : 0.838289 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.27 [[ 0.96736173 -0.20973741 -0.14220234 2.82280125] [ 0.21034915 0.97756569 -0.01088859 -0.04525802] [ 0.14129588 -0.01937894 0.98977772 -0.26579507] [ 0. 0. 0. 1. ]] SLAMing on 123.87241403699998 meters Centerline goodness : 0.838252 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96706728 -0.21146161 -0.1416505 2.82033531] [ 0.21197368 0.97720606 -0.01163955 -0.04662389] [ 0.14088305 -0.01876995 0.9898483 -0.26440204] [ 0. 0. 0. 1. ]] SLAMing on 123.90241403699999 meters Centerline goodness : 0.785518 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96697929 -0.2119791 -0.14147761 2.81934099] [ 0.21245358 0.97709847 -0.0119188 -0.04700124] [ 0.1407641 -0.01853219 0.9898697 -0.2636124 ] [ 0. 0. 0. 1. ]] SLAMing on 123.93241403699999 meters Centerline goodness : 0.840371 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96693313 -0.21233415 -0.14126049 2.81850715] [ 0.21278189 0.97702475 -0.01210432 -0.0472293 ] [ 0.14058516 -0.0183536 0.98989846 -0.26314359] [ 0. 0. 0. 1. ]] SLAMing on 123.96241403699999 meters Centerline goodness : 0.838478 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96696957 -0.21216507 -0.14126512 2.81854548] [ 0.21262846 0.97705965 -0.01198229 -0.04775497] [ 0.14056667 -0.01845048 0.98989928 -0.2630141 ] [ 0. 0. 0. 1. ]] SLAMing on 123.99241403699999 meters Centerline goodness : 0.837880 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96698938 -0.21200955 -0.14136295 2.81899808] [ 0.21247928 0.97709263 -0.01193919 -0.04788477] [ 0.14065592 -0.01849162 0.98988584 -0.26311427] [ 0. 0. 0. 1. ]] SLAMing on 124.02241403699999 meters Centerline goodness : 0.839567 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96701045 -0.21188939 -0.14139901 2.81901555] [ 0.21235048 0.97711994 -0.01199588 -0.04789539] [ 0.14070559 -0.01842601 0.98988 -0.26285774] [ 0. 0. 0. 1. ]] SLAMing on 124.05241403699999 meters Centerline goodness : 0.841169 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96700763 -0.21184819 -0.14148002 2.81855164] [ 0.212279 0.97713274 -0.01221651 -0.04755026] [ 0.1408328 -0.01821978 0.98986573 -0.26200256] [ 0. 0. 0. 1. ]] SLAMing on 124.08241403699999 meters Centerline goodness : 0.845142 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96768162 -0.20847554 -0.14188105 2.81631488] [ 0.20933439 0.97780257 -0.00901373 -0.04929917] [ 0.1406108 -0.02097816 0.98984267 -0.2601775 ] [ 0. 0. 0. 1. ]] SLAMing on 124.112414037 meters Centerline goodness : 0.845754 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.9677559 -0.20786962 -0.14226289 2.81729054] [ 0.20876916 0.97792588 -0.00874079 -0.04916425] [ 0.14093951 -0.02124116 0.98979032 -0.26025635] [ 0. 0. 0. 1. ]] SLAMing on 124.142414037 meters Centerline goodness : 0.843512 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96785865 -0.20709484 -0.14269321 2.81865227] [ 0.20803793 0.97808431 -0.00844397 -0.04859455] [ 0.1413147 -0.02151303 0.98973095 -0.26061191] [ 0. 0. 0. 1. ]] SLAMing on 124.172414037 meters Centerline goodness : 0.843775 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.9679538 -0.20640322 -0.1430495 2.8200079 ] [ 0.20738014 0.97822597 -0.00821114 -0.04754459] [ 0.14162955 -0.02171762 0.98968147 -0.26123742] [ 0. 0. 0. 1. ]] SLAMing on 124.20241403699998 meters Centerline goodness : 0.843600 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96805415 -0.20587555 -0.14313077 2.8205539 ] [ 0.20688874 0.97833233 -0.00793121 -0.04678881] [ 0.1416623 -0.02193431 0.98967201 -0.26173008] [ 0. 0. 0. 1. ]] SLAMing on 124.23241403699998 meters Centerline goodness : 0.843323 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96802996 -0.20614034 -0.14291313 2.82006876] [ 0.20714161 0.97827826 -0.0080002 -0.04778597] [ 0.14145797 -0.02185882 0.9897029 -0.26147928] [ 0. 0. 0. 1. ]] SLAMing on 124.26241403699999 meters Centerline goodness : 0.843597 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96798477 -0.20650601 -0.14269109 2.81965471] [ 0.20751081 0.97820027 -0.00796774 -0.0501783 ] [ 0.14122585 -0.02189729 0.9897352 -0.26118308] [ 0. 0. 0. 1. ]] SLAMing on 124.29241403699999 meters Centerline goodness : 0.843275 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96793689 -0.2069119 -0.14242768 2.81916491] [ 0.20791242 0.97811484 -0.00798651 -0.05251291] [ 0.14096314 -0.02188204 0.98977299 -0.26085189] [ 0. 0. 0. 1. ]] SLAMing on 124.32241403699999 meters Centerline goodness : 0.844769 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96779857 -0.20792019 -0.14189827 2.81710928] [ 0.2088572 0.97790986 -0.00842506 -0.05469008] [ 0.14051545 -0.02148271 0.98984539 -0.25936098] [ 0. 0. 0. 1. ]] SLAMing on 124.35241403699999 meters Centerline goodness : 0.844791 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96772049 -0.2083583 -0.14178814 2.81595436] [ 0.20925956 0.9778215 -0.00869227 -0.05476928] [ 0.14045459 -0.02125883 0.98985886 -0.25835468] [ 0. 0. 0. 1. ]] SLAMing on 124.38241403699999 meters Centerline goodness : 0.846804 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.26 [[ 0.96766329 -0.20864068 -0.14176328 2.815224 ] [ 0.20951066 0.97776559 -0.00892972 -0.05452111] [ 0.14047436 -0.02105996 0.98986031 -0.25758034] [ 0. 0. 0. 1. ]] SLAMing on 124.41241403699999 meters Centerline goodness : 0.845749 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96765405 -0.20840707 -0.14216935 2.81686106] [ 0.20936833 0.97780135 -0.0083323 -0.05592917] [ 0.1407499 -0.02170298 0.98980728 -0.2584753 ] [ 0. 0. 0. 1. ]] SLAMing on 124.44241403699999 meters Centerline goodness : 0.843420 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96761632 -0.20831769 -0.14255663 2.81866155] [ 0.2093569 0.97780787 -0.00783913 -0.05774317] [ 0.14102602 -0.02225994 0.9897556 -0.25948094] [ 0. 0. 0. 1. ]] SLAMing on 124.472414037 meters Centerline goodness : 0.839890 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96686344 -0.21198675 -0.14225581 2.82059401] [ 0.21254765 0.97708399 -0.01141821 -0.05751256] [ 0.14141638 -0.01919629 0.98976407 -0.26003837] [ 0. 0. 0. 1. ]] SLAMing on 124.502414037 meters Centerline goodness : 0.840017 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96598612 -0.2166148 -0.14124042 2.82017996] [ 0.21663615 0.97613075 -0.0154124 -0.05767906] [ 0.14120767 -0.01570961 0.98985534 -0.25981946] [ 0. 0. 0. 1. ]] SLAMing on 124.532414037 meters Centerline goodness : 0.841340 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96587572 -0.21729377 -0.14095214 2.81909427] [ 0.21725912 0.97598571 -0.01582315 -0.05788157] [ 0.14100555 -0.01533995 0.98988995 -0.25918511] [ 0. 0. 0. 1. ]] SLAMing on 124.562414037 meters Centerline goodness : 0.842832 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96573438 -0.21750138 -0.14159892 2.82018905] [ 0.2175521 0.97592858 -0.01531276 -0.05812732] [ 0.14152098 -0.01601708 0.98980567 -0.25893142] [ 0. 0. 0. 1. ]] SLAMing on 124.59241403699998 meters Centerline goodness : 0.841724 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96567794 -0.21753285 -0.14193508 2.82183061] [ 0.21761239 0.97591765 -0.01515242 -0.05850076] [ 0.14181309 -0.01625448 0.98975999 -0.25978878] [ 0. 0. 0. 1. ]] SLAMing on 124.62241403699998 meters Centerline goodness : 0.842354 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96566382 -0.2173381 -0.14232896 2.82360077] [ 0.21750184 0.97595075 -0.01459731 -0.05921457] [ 0.1420786 -0.01686072 0.98971177 -0.26075822] [ 0. 0. 0. 1. ]] SLAMing on 124.65241403699999 meters Centerline goodness : 0.841462 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96583026 -0.21637834 -0.14266159 2.82389744] [ 0.21666471 0.97614976 -0.01371304 -0.05964104] [ 0.14222628 -0.01766526 0.98967652 -0.26055304] [ 0. 0. 0. 1. ]] SLAMing on 124.68241403699999 meters Centerline goodness : 0.841996 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.06, Z:-0.26 [[ 0.96629063 -0.21330534 -0.14416395 2.82530826] [ 0.21415755 0.97675033 -0.00976406 -0.06049143] [ 0.14289491 -0.02143888 0.98950564 -0.26013596] [ 0. 0. 0. 1. ]] SLAMing on 124.71241403699999 meters Centerline goodness : 0.842684 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.26 [[ 0.96675559 -0.21169567 -0.14341746 2.82437354] [ 0.2125267 0.97710733 -0.00967811 -0.06063882] [ 0.14218307 -0.02112367 0.98961496 -0.26115377] [ 0. 0. 0. 1. ]] SLAMing on 124.74241403699999 meters Centerline goodness : 0.842212 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.06, Z:-0.26 [[ 0.96787683 -0.20708854 -0.14257901 2.82502178] [ 0.20800152 0.97809037 -0.008637 -0.0613014 ] [ 0.14124378 -0.0212971 0.98974574 -0.26481436] [ 0. 0. 0. 1. ]] SLAMing on 124.77241403699999 meters Centerline goodness : 0.843052 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.27 [[ 0.96839646 -0.20489781 -0.14221527 2.82477909] [ 0.20587799 0.97854539 -0.00794776 -0.06206117] [ 0.14079257 -0.02158242 0.98980384 -0.26579405] [ 0. 0. 0. 1. ]] SLAMing on 124.80241403699999 meters Centerline goodness : 0.844249 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.27 [[ 0.96890674 -0.20283847 -0.1416908 2.82289355] [ 0.20395456 0.97895705 -0.00675553 -0.06310453] [ 0.14007949 -0.02235301 0.98988791 -0.26534039] [ 0. 0. 0. 1. ]] SLAMing on 124.83241403699999 meters Centerline goodness : 0.842205 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.26 [[ 9.69922144e-01 -1.97878061e-01 -1.41757921e-01 2.82018999e+00] [ 1.99663545e-01 9.79863109e-01 -1.66000118e-03 -6.61171481e-02] [ 1.39231835e-01 -2.66938173e-02 9.89899963e-01 -2.63652680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862414037 meters Centerline goodness : 0.842756 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.26 [[ 9.70104575e-01 -1.97183655e-01 -1.41476920e-01 2.81932622e+00] [ 1.99072343e-01 9.79984454e-01 -8.19400900e-04 -6.73972661e-02] [ 1.38806755e-01 -2.73692374e-02 9.89941215e-01 -2.63380678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.892414037 meters Centerline goodness : 0.842257 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.26 [[ 9.70073803e-01 -1.97483126e-01 -1.41270065e-01 2.81989233e+00] [ 1.99371417e-01 9.79923667e-01 -8.02721246e-04 -6.90457807e-02] [ 1.38592404e-01 -2.73865142e-02 9.89970769e-01 -2.63902407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922414037 meters Centerline goodness : 0.841639 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.26 [[ 0.96956253 -0.20072048 -0.14021337 2.81991388] [ 0.20212097 0.979351 -0.0043283 -0.07013436] [ 0.13818688 -0.02414351 0.99011185 -0.2644952 ] [ 0. 0. 0. 1. ]] SLAMing on 124.95241403699998 meters Centerline goodness : 0.841639 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.26 [[ 0.96956253 -0.20072048 -0.14021337 2.81991388] [ 0.20212097 0.979351 -0.0043283 -0.07013436] [ 0.13818688 -0.02414351 0.99011185 -0.2644952 ] [ 0. 0. 0. 1. ]] SLAMing on 124.98241403699998 meters Centerline goodness : 0.842526 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.27 [[ 0.96878161 -0.20511126 -0.13925359 2.82210755] [ 0.20606504 0.97850807 -0.00769102 -0.07321129] [ 0.13783828 -0.02124438 0.99022689 -0.266487 ] [ 0. 0. 0. 1. ]] SLAMing on 125.01241403699999 meters Centerline goodness : 0.846464 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.07, Z:-0.27 [[ 0.96843663 -0.20621193 -0.1400255 2.82399526] [ 0.20728978 0.97825451 -0.00700395 -0.0742345 ] [ 0.13842487 -0.02224298 0.99012313 -0.26628167] [ 0. 0. 0. 1. ]] SLAMing on 125.04241403699999 meters Centerline goodness : 0.841866 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.08, Z:-0.27 [[ 0.96821166 -0.20692254 -0.14053202 2.82492639] [ 0.20810347 0.97808586 -0.00640284 -0.07506015] [ 0.13877728 -0.0230459 0.99005543 -0.26568803] [ 0. 0. 0. 1. ]] SLAMing on 125.07241403699999 meters Centerline goodness : 0.844145 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.08, Z:-0.27 [[ 0.96794955 -0.20764672 -0.14126752 2.82665838] [ 0.20893213 0.97791272 -0.00583721 -0.07580356] [ 0.13935938 -0.0238652 0.98995425 -0.26551785] [ 0. 0. 0. 1. ]] SLAMing on 125.10241403699999 meters Centerline goodness : 0.845880 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.08, Z:-0.27 [[ 0.96754485 -0.20990312 -0.1407041 2.82793788] [ 0.21098136 0.97746222 -0.00738027 -0.07893168] [ 0.13908209 -0.0225452 0.99002418 -0.26625328] [ 0. 0. 0. 1. ]] SLAMing on 125.13241403699999 meters Centerline goodness : 0.843997 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.08, Z:-0.27 [[ 0.96745897 -0.21052623 -0.14036331 2.82762498] [ 0.21161313 0.97732619 -0.007308 -0.08131744] [ 0.13871926 -0.02263253 0.9900731 -0.2658856 ] [ 0. 0. 0. 1. ]] SLAMing on 125.16241403699999 meters Centerline goodness : 0.845011 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.08, Z:-0.27 [[ 0.9672888 -0.21098705 -0.14084335 2.82883181] [ 0.21220855 0.97720303 -0.0064627 -0.08302518] [ 0.13899609 -0.02363686 0.9900108 -0.26566773] [ 0. 0. 0. 1. ]] SLAMing on 125.19241403699999 meters Centerline goodness : 0.844352 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.09, Z:-0.26 [[ 0.96691038 -0.21193189 -0.14201825 2.8308315 ] [ 0.21343703 0.97694538 -0.00472758 -0.08568346] [ 0.139746 -0.02574081 0.98985275 -0.26437248] [ 0. 0. 0. 1. ]] SLAMing on 125.222414037 meters Centerline goodness : 0.846520 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.09, Z:-0.26 [[ 0.96649916 -0.21346438 -0.14252135 2.83196387] [ 0.21495844 0.97661033 -0.00501236 -0.08552574] [ 0.14025778 -0.02579173 0.98977904 -0.26393561] [ 0. 0. 0. 1. ]] SLAMing on 125.252414037 meters Centerline goodness : 0.844823 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.27 [[ 0.96513569 -0.21891549 -0.14348903 2.83720558] [ 0.21993736 0.97547341 -0.00889857 -0.08280287] [ 0.14191777 -0.02297027 0.9896119 -0.26563358] [ 0. 0. 0. 1. ]] SLAMing on 125.282414037 meters Centerline goodness : 0.844512 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.27 [[ 0.96478137 -0.2197932 -0.1445263 2.84017684] [ 0.22085699 0.97526611 -0.00884368 -0.0823796 ] [ 0.14289538 -0.02338742 0.98946144 -0.2663225 ] [ 0. 0. 0. 1. ]] SLAMing on 125.312414037 meters Centerline goodness : 0.846083 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.27 [[ 0.96479019 -0.2196625 -0.14466609 2.84091643] [ 0.22082455 0.97527927 -0.00817692 -0.08294408] [ 0.14288601 -0.02405681 0.98944674 -0.2667323 ] [ 0. 0. 0. 1. ]] SLAMing on 125.34241403699998 meters Centerline goodness : 0.846273 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.27 [[ 0.96491147 -0.21902143 -0.14482908 2.84098067] [ 0.22031444 0.97540196 -0.00724993 -0.08389361] [ 0.14285446 -0.0249124 0.98943013 -0.26642668] [ 0. 0. 0. 1. ]] SLAMing on 125.37241403699998 meters Centerline goodness : 0.838274 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.27 [[ 0.96495075 -0.21873879 -0.14499447 2.84089159] [ 0.2201576 0.97544341 -0.00638695 -0.08472027] [ 0.14283097 -0.02575854 0.98941185 -0.26589165] [ 0. 0. 0. 1. ]] SLAMing on 125.40241403699999 meters Centerline goodness : 0.848776 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.09, Z:-0.26 [[ 0.96481441 -0.21889758 -0.14566059 2.84154621] [ 0.22050099 0.97537264 -0.00524633 -0.0856943 ] [ 0.14322176 -0.02705657 0.98932071 -0.26491918] [ 0. 0. 0. 1. ]] SLAMing on 125.43241403699999 meters Centerline goodness : 0.851290 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.09, Z:-0.26 [[ 0.96428089 -0.22045833 -0.14683491 2.84227915] [ 0.22241398 0.97494716 -0.00317139 -0.08787389] [ 0.14385544 -0.02960002 0.98915593 -0.26214415] [ 0. 0. 0. 1. ]] SLAMing on 125.46241403699999 meters Centerline goodness : 0.852932 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.09, Z:-0.26 [[ 9.63800997e-01 -2.21712470e-01 -1.48091927e-01 2.84434877e+00] [ 2.23847221e-01 9.74621517e-01 -2.30646875e-03 -8.85167282e-02] [ 1.44844952e-01 -3.09269895e-02 9.88970910e-01 -2.61075980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49241403699999 meters Centerline goodness : 0.848962 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:-0.26 [[ 9.63259138e-01 -2.23243250e-01 -1.49312706e-01 2.84719595e+00] [ 2.25484561e-01 9.74244758e-01 -1.96568918e-03 -8.88772425e-02] [ 1.45905948e-01 -3.17742419e-02 9.88788072e-01 -2.60893248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52241403699999 meters Centerline goodness : 0.850778 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:-0.26 [[ 9.62700233e-01 -2.24869283e-01 -1.50472811e-01 2.85001431e+00] [ 2.27161267e-01 9.73855089e-01 -2.00628130e-03 -8.84340641e-02] [ 1.46989864e-01 -3.22501469e-02 9.88612112e-01 -2.60917755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55241403699999 meters Centerline goodness : 0.850166 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:-0.26 [[ 9.62178744e-01 -2.26104642e-01 -1.51949846e-01 2.85264044e+00] [ 2.28507205e-01 9.73540749e-01 -1.69337447e-03 -8.72486718e-02] [ 1.48312247e-01 -3.30923056e-02 9.88386755e-01 -2.60335700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58241403699999 meters Centerline goodness : 0.851702 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:-0.26 [[ 9.61621812e-01 -2.26731057e-01 -1.54520282e-01 2.85430148e+00] [ 2.29598151e-01 9.73285240e-01 7.28701114e-04 -8.39283347e-02] [ 1.50227090e-01 -3.61783059e-02 9.87989348e-01 -2.57632791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.612414037 meters Centerline goodness : 0.851184 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:-0.26 [[ 9.61371820e-01 -2.27234563e-01 -1.55334080e-01 2.85548219e+00] [ 2.30112347e-01 9.73163909e-01 5.60412648e-04 -8.14104093e-02] [ 1.51038176e-01 -3.62830548e-02 9.87861837e-01 -2.57497384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642414037 meters Centerline goodness : 0.850864 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:-0.26 [[ 9.61096350e-01 -2.27905834e-01 -1.56053634e-01 2.85744103e+00] [ 2.30687785e-01 9.73027780e-01 -2.91686731e-04 -7.86735515e-02] [ 1.51910998e-01 -3.57193281e-02 9.87748540e-01 -2.58316433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.672414037 meters Centerline goodness : 0.849575 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:-0.26 [[ 9.60538985e-01 -2.29782292e-01 -1.56732119e-01 2.86046718e+00] [ 2.32312089e-01 9.72638729e-01 -2.23526681e-03 -7.50858570e-02] [ 1.52957354e-01 -3.42637050e-02 9.87638621e-01 -2.60126751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70241403699998 meters Centerline goodness : 0.849775 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:-0.26 [[ 0.96028718 -0.2305245 -0.15718456 2.86181842] [ 0.23297622 0.97247811 -0.00290077 -0.07350639] [ 0.15352724 -0.0338347 0.98756499 -0.26063353] [ 0. 0. 0. 1. ]] SLAMing on 125.73241403699998 meters Centerline goodness : 0.849719 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:-0.26 [[ 0.96012661 -0.23139616 -0.15688439 2.86097987] [ 0.23370035 0.97230103 -0.00385506 -0.07149969] [ 0.1534309 -0.03296259 0.98760945 -0.26054595] [ 0. 0. 0. 1. ]] SLAMing on 125.76241403699999 meters Centerline goodness : 0.829267 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.32 [[ 0.96669819 -0.19502426 -0.16571102 2.48645005] [ 0.19986799 0.97973777 0.01291037 -0.13126068] [ 0.15983551 -0.04560077 0.98608984 -0.32009714] [ 0. 0. 0. 1. ]] SLAMing on 125.79241403699999 meters Centerline goodness : 0.849290 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.21 [[ 0.89877392 -0.37420693 -0.22841765 2.99865276] [ 0.36772533 0.92714438 -0.07198181 0.0659348 ] [ 0.23871223 -0.01929958 0.97089855 -0.20577903] [ 0. 0. 0. 1. ]] SLAMing on 125.82241403699999 meters Centerline goodness : 0.849545 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.21 [[ 0.89992806 -0.37102381 -0.2290651 2.99622432] [ 0.36505412 0.92838508 -0.06954584 0.07024959] [ 0.23846378 -0.0210349 0.97092356 -0.20608336] [ 0. 0. 0. 1. ]] SLAMing on 125.85241403699999 meters Centerline goodness : 0.852061 Centerline is valid? [False, False] Translation: X:2.97, Y:0.06, Z:-0.22 [[ 0.90193651 -0.36849034 -0.22522301 2.96806533] [ 0.36357952 0.92932873 -0.06448282 0.06196257] [ 0.23306751 -0.02372706 0.97217106 -0.21619431] [ 0. 0. 0. 1. ]] SLAMing on 125.88241403699999 meters Centerline goodness : 0.851333 Centerline is valid? [False, False] Translation: X:2.94, Y:0.05, Z:-0.23 [[ 0.90365594 -0.36631286 -0.22185766 2.93661059] [ 0.36282203 0.93006293 -0.05781963 0.05238295] [ 0.22752166 -0.0282458 0.97336328 -0.22685972] [ 0. 0. 0. 1. ]] SLAMing on 125.91241403699999 meters Centerline goodness : 0.850628 Centerline is valid? [False, False] Translation: X:2.93, Y:0.06, Z:-0.23 [[ 0.90471942 -0.36332079 -0.22244274 2.93391259] [ 0.36031611 0.93118127 -0.05544137 0.05520184] [ 0.22727752 -0.02999082 0.97336811 -0.22655446] [ 0. 0. 0. 1. ]] SLAMing on 125.94241403699999 meters Centerline goodness : 0.848198 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-0.24 [[ 0.90529183 -0.36196069 -0.2223312 2.90769818] [ 0.36003879 0.93156424 -0.05059777 0.04746138] [ 0.2254302 -0.0342421 0.97365739 -0.23922476] [ 0. 0. 0. 1. ]] SLAMing on 125.972414037 meters Centerline goodness : 0.846194 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-0.25 [[ 0.90470122 -0.36313545 -0.22281911 2.88251489] [ 0.36162321 0.93103297 -0.04905377 0.0424937 ] [ 0.2252651 -0.03619756 0.97362486 -0.25209704] [ 0. 0. 0. 1. ]] SLAMing on 126.002414037 meters Centerline goodness : 0.846139 Centerline is valid? [False, False] Translation: X:2.87, Y:0.04, Z:-0.25 [[ 0.90618145 -0.3611494 -0.22001429 2.86868463] [ 0.35810665 0.93205879 -0.05500949 0.03899668] [ 0.22493289 -0.02894 0.97394439 -0.25398525] [ 0. 0. 0. 1. ]] SLAMing on 126.032414037 meters Centerline goodness : 0.844769 Centerline is valid? [False, False] Translation: X:2.87, Y:0.04, Z:-0.25 [[ 0.90609723 -0.36157805 -0.21965684 2.86772949] [ 0.35839702 0.93191126 -0.05561451 0.04066675] [ 0.22480967 -0.0283322 0.97399071 -0.25394262] [ 0. 0. 0. 1. ]] SLAMing on 126.062414037 meters Centerline goodness : 0.843744 Centerline is valid? [False, False] Translation: X:2.84, Y:0.04, Z:-0.26 [[ 0.90839599 -0.3574463 -0.21690751 2.84156928] [ 0.35481553 0.93347024 -0.05233784 0.0361844 ] [ 0.22118467 -0.02941867 0.97478812 -0.26187662] [ 0. 0. 0. 1. ]] SLAMing on 126.09241403699998 meters Centerline goodness : 0.843162 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:-0.27 [[ 0.90995317 -0.35448809 -0.21522875 2.81466716] [ 0.3528798 0.93447778 -0.04719236 0.02856416] [ 0.21785561 -0.03300704 0.97542271 -0.27247968] [ 0. 0. 0. 1. ]] SLAMing on 126.12241403699998 meters Centerline goodness : 0.842016 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.28 [[ 0.91134699 -0.35225667 -0.21298335 2.78771474] [ 0.35138382 0.93523246 -0.04323948 0.02063484] [ 0.21442034 -0.03543273 0.97609858 -0.28181703] [ 0. 0. 0. 1. ]] SLAMing on 126.15241403699999 meters Centerline goodness : 0.786240 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.29 [[ 0.91276548 -0.35041267 -0.2099289 2.7610457 ] [ 0.35002104 0.9358755 -0.04027797 0.01195338] [ 0.21058122 -0.03671519 0.97688666 -0.28971918] [ 0. 0. 0. 1. ]] SLAMing on 126.18241403699999 meters Centerline goodness : 0.785398 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.29 [[ 0.91284031 -0.35048482 -0.20948261 2.76006849] [ 0.35005492 0.93585824 -0.04038455 0.01213541] [ 0.2102002 -0.03646578 0.97697806 -0.28960064] [ 0. 0. 0. 1. ]] SLAMing on 126.21241403699999 meters Centerline goodness : 0.787894 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:-0.29 [[ 0.91429911 -0.34726204 -0.20848553 2.74691629] [ 0.34543313 0.93729903 -0.0463302 0.00844648] [ 0.21150201 -0.02965814 0.97692748 -0.29053027] [ 0. 0. 0. 1. ]] SLAMing on 126.24241403699999 meters Centerline goodness : 0.788734 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:-0.29 [[ 0.91576069 -0.34247539 -0.20998326 2.74730482] [ 0.3413189 0.93896831 -0.04289436 0.01215507] [ 0.21185789 -0.03239029 0.97676359 -0.29135285] [ 0. 0. 0. 1. ]] SLAMing on 126.27241403699999 meters Centerline goodness : 0.787587 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.29 [[ 0.91848747 -0.33659443 -0.20756915 2.73252263] [ 0.33471092 0.94123513 -0.04522213 0.00929178] [ 0.21059289 -0.0279397 0.9771745 -0.29373388] [ 0. 0. 0. 1. ]] SLAMing on 126.30241403699999 meters Centerline goodness : 0.842841 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.29 [[ 0.91970768 -0.3329027 -0.20811913 2.73087744] [ 0.33159576 0.94247739 -0.04219746 0.01134821] [ 0.21019522 -0.0302021 0.97719282 -0.2941402 ] [ 0. 0. 0. 1. ]] SLAMing on 126.33241403699999 meters Centerline goodness : 0.843434 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.29 [[ 0.91976977 -0.33269576 -0.20817566 2.73144466] [ 0.33138363 0.94255161 -0.04220609 0.01176023] [ 0.2102581 -0.03016612 0.9771804 -0.29448502] [ 0. 0. 0. 1. ]] SLAMing on 126.362414037 meters Centerline goodness : 0.845193 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:-0.30 [[ 0.92134859 -0.32993108 -0.20557787 2.7155192 ] [ 0.32761643 0.94367993 -0.0462132 0.00656307] [ 0.20924688 -0.02477222 0.97754902 -0.29705247] [ 0. 0. 0. 1. ]] SLAMing on 126.392414037 meters Centerline goodness : 0.841376 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:-0.30 [[ 9.24233007e-01 -3.26361417e-01 -1.98195800e-01 2.70744488e+00] [ 3.23519551e-01 9.45028705e-01 -4.74957597e-02 2.53412627e-03] [ 2.02801503e-01 -2.02230673e-02 9.79011020e-01 -3.02443279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422414037 meters Centerline goodness : 0.790284 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.31 [[ 0.92578782 -0.32395929 -0.19485199 2.68245481] [ 0.32172946 0.94581386 -0.04388955 -0.00603921] [ 0.19851214 -0.02205721 0.9798502 -0.31169901] [ 0. 0. 0. 1. ]] SLAMing on 126.45241403699998 meters Centerline goodness : 0.845502 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.32 [[ 0.9276014 -0.32091826 -0.1912253 2.6579288 ] [ 0.31909676 0.94683026 -0.04110603 -0.01365033] [ 0.19424958 -0.02288937 0.98068506 -0.31905988] [ 0. 0. 0. 1. ]] SLAMing on 126.48241403699998 meters Centerline goodness : 0.846307 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.32 [[ 0.92839471 -0.31866678 -0.19114063 2.65289398] [ 0.31731359 0.94753923 -0.03849008 -0.01286365] [ 0.19337875 -0.02491753 0.98080772 -0.31755602] [ 0. 0. 0. 1. ]] SLAMing on 126.51241403699999 meters Centerline goodness : 0.844704 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.32 [[ 0.92828589 -0.3191721 -0.19082578 2.65115328] [ 0.3176923 0.94738552 -0.03914432 -0.01232499] [ 0.19327936 -0.02428676 0.98084313 -0.31621195] [ 0. 0. 0. 1. ]] SLAMing on 126.54241403699999 meters Centerline goodness : 0.844543 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.32 [[ 0.92819841 -0.31954245 -0.19063141 2.65004908] [ 0.31797435 0.94727168 -0.03960644 -0.01255949] [ 0.19323567 -0.02385326 0.98086237 -0.315124 ] [ 0. 0. 0. 1. ]] SLAMing on 126.57241403699999 meters Centerline goodness : 0.845065 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.32 [[ 0.92898282 -0.31719054 -0.19073825 2.63470738] [ 0.31457934 0.9481808 -0.04464325 -0.01824408] [ 0.19501476 -0.0185295 0.98062526 -0.3160802 ] [ 0. 0. 0. 1. ]] SLAMing on 126.60241403699999 meters Centerline goodness : 0.842734 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.31 [[ 0.92877985 -0.31600976 -0.19366418 2.62485967] [ 0.31146807 0.94870435 -0.0542928 -0.01955359] [ 0.20088711 -0.00989415 0.97956443 -0.31492111] [ 0. 0. 0. 1. ]] SLAMing on 126.63241403699999 meters Centerline goodness : 0.788969 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.32 [[ 0.92885657 -0.31550732 -0.19411494 2.62667959] [ 0.3110045 0.94886892 -0.05407372 -0.01840647] [ 0.20125029 -0.01014389 0.97948733 -0.31594363] [ 0. 0. 0. 1. ]] SLAMing on 126.66241403699999 meters Centerline goodness : 0.842581 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.32 [[ 0.92922306 -0.31379475 -0.19513419 2.63113123] [ 0.30950642 0.94942439 -0.05290659 -0.01704274] [ 0.20186697 -0.01123326 0.97934853 -0.31862965] [ 0. 0. 0. 1. ]] SLAMing on 126.69241403699999 meters Centerline goodness : 0.783234 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.32 [[ 0.9293293 -0.31335524 -0.19533445 2.63233752] [ 0.30912502 0.94956623 -0.05258987 -0.01671653] [ 0.2019623 -0.01150946 0.97932567 -0.3194955 ] [ 0. 0. 0. 1. ]] SLAMing on 126.722414037 meters Centerline goodness : 0.784398 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.32 [[ 0.92938305 -0.31322019 -0.19529533 2.63248514] [ 0.30900167 0.94961043 -0.05251659 -0.01647364] [ 0.20190374 -0.01153855 0.9793374 -0.31976632] [ 0. 0. 0. 1. ]] SLAMing on 126.752414037 meters Centerline goodness : 0.840915 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.32 [[ 0.92939363 -0.31323279 -0.19522473 2.63187116] [ 0.30897084 0.94960894 -0.0527245 -0.01607 ] [ 0.20190219 -0.01131694 0.9793403 -0.31916673] [ 0. 0. 0. 1. ]] SLAMing on 126.782414037 meters Centerline goodness : 0.787002 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.32 [[ 0.93212238 -0.30841316 -0.18981358 2.61421946] [ 0.30388968 0.9512184 -0.05324122 -0.02199212] [ 0.19697446 -0.00805505 0.98037553 -0.32052477] [ 0. 0. 0. 1. ]] SLAMing on 126.812414037 meters Centerline goodness : 0.785723 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.32 [[ 0.9320846 -0.30849622 -0.1898641 2.61404752] [ 0.30393416 0.95119283 -0.05344371 -0.02102652] [ 0.19708455 -0.00789213 0.98035473 -0.32036236] [ 0. 0. 0. 1. ]] SLAMing on 126.84241403699998 meters Centerline goodness : 0.785723 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.32 [[ 0.9320846 -0.30849622 -0.1898641 2.61404752] [ 0.30393416 0.95119283 -0.05344371 -0.02102652] [ 0.19708455 -0.00789213 0.98035473 -0.32036236] [ 0. 0. 0. 1. ]] SLAMing on 126.87241403699998 meters Centerline goodness : 0.839776 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.32 [[ 0.93206267 -0.30841968 -0.19009596 2.61448887] [ 0.30382706 0.95121841 -0.05359721 -0.02000962] [ 0.19735321 -0.00780034 0.98030142 -0.32034654] [ 0. 0. 0. 1. ]] SLAMing on 126.90241403699999 meters Centerline goodness : 0.838466 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.32 [[ 0.93205915 -0.30834143 -0.19024012 2.61489932] [ 0.30374042 0.95124385 -0.05363669 -0.01941808] [ 0.19750316 -0.00779104 0.98027129 -0.3204955 ] [ 0. 0. 0. 1. ]] SLAMing on 126.93241403699999 meters Centerline goodness : 0.838456 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.33 [[ 9.34537307e-01 -3.05790365e-01 -1.82022730e-01 2.60510258e+00] [ 3.00580585e-01 9.52096444e-01 -5.62465430e-02 -2.45854496e-02] [ 1.90502845e-01 -2.14800588e-03 9.81684293e-01 -3.25343500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96241403699999 meters Centerline goodness : 0.783120 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:-0.33 [[ 9.34467451e-01 -3.06146930e-01 -1.81781847e-01 2.60449722e+00] [ 3.00921873e-01 9.51982092e-01 -5.63571047e-02 -2.56462908e-02] [ 1.90306617e-01 -2.03825386e-03 9.81722587e-01 -3.25029434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99241403699999 meters Centerline goodness : 0.836857 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.04, Z:-0.33 [[ 0.93560626 -0.30486769 -0.17803546 2.57734931] [ 0.30047858 0.95238138 -0.05179122 -0.03526076] [ 0.18534712 -0.00503965 0.98266019 -0.33481198] [ 0. 0. 0. 1. ]] SLAMing on 127.02241403699999 meters Centerline goodness : 0.838249 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.04, Z:-0.33 [[ 0.93635804 -0.30218375 -0.17865779 2.57546018] [ 0.29834735 0.95321801 -0.04862397 -0.03675356] [ 0.1849932 -0.00777263 0.98270906 -0.33429876] [ 0. 0. 0. 1. ]] SLAMing on 127.05241403699999 meters Centerline goodness : 0.836869 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.04, Z:-0.33 [[ 0.93635253 -0.30209506 -0.17883657 2.57560475] [ 0.29826809 0.9532454 -0.04857314 -0.03654187] [ 0.18514885 -0.00785966 0.98267906 -0.33413091] [ 0. 0. 0. 1. ]] SLAMing on 127.08241403699999 meters Centerline goodness : 0.842350 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.34 [[ 0.93757529 -0.3001269 -0.1757169 2.54866983] [ 0.29712826 0.95383385 -0.04376972 -0.0463467 ] [ 0.18074119 -0.01117305 0.98346723 -0.34346502] [ 0. 0. 0. 1. ]] SLAMing on 127.112414037 meters Centerline goodness : 0.837612 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.34 [[ 0.93760711 -0.29994028 -0.17586566 2.5493869 ] [ 0.29698056 0.95388991 -0.04354987 -0.04710942] [ 0.18081884 -0.01139601 0.9834504 -0.34368944] [ 0. 0. 0. 1. ]] SLAMing on 127.142414037 meters Centerline goodness : 0.841549 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.34 [[ 0.93769402 -0.29947045 -0.17620267 2.55097778] [ 0.29660371 0.9540311 -0.04302206 -0.04804332] [ 0.18098666 -0.01192083 0.9834133 -0.34452142] [ 0. 0. 0. 1. ]] SLAMing on 127.172414037 meters Centerline goodness : 0.842002 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.35 [[ 0.93775517 -0.2989933 -0.17668684 2.55286175] [ 0.29621718 0.95417378 -0.04251803 -0.04857188] [ 0.18130256 -0.01246618 0.98334835 -0.34542183] [ 0. 0. 0. 1. ]] SLAMing on 127.20241403699998 meters Centerline goodness : 0.842675 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.35 [[ 0.93772775 -0.29898344 -0.176849 2.55298906] [ 0.29617082 0.95417887 -0.04272619 -0.0477145 ] [ 0.18152 -0.01231198 0.98331018 -0.34518041] [ 0. 0. 0. 1. ]] SLAMing on 127.23241403699998 meters Centerline goodness : 0.842776 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.34 [[ 0.93860746 -0.29576593 -0.17759094 2.55160234] [ 0.29352317 0.95514018 -0.03938767 -0.04885874] [ 0.18127378 -0.0151575 0.98331585 -0.34476681] [ 0. 0. 0. 1. ]] SLAMing on 127.26241403699999 meters Centerline goodness : 0.845757 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.35 [[ 0.93867256 -0.29532726 -0.17797653 2.55269573] [ 0.2930767 0.95527591 -0.03942066 -0.04737271] [ 0.18165869 -0.01515768 0.98324482 -0.34510576] [ 0. 0. 0. 1. ]] SLAMing on 127.29241403699999 meters Centerline goodness : 0.844745 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.35 [[ 0.93876841 -0.29481928 -0.17831279 2.55412989] [ 0.29258086 0.95543142 -0.03933504 -0.04599746] [ 0.18196238 -0.01524441 0.98318732 -0.3459593 ] [ 0. 0. 0. 1. ]] SLAMing on 127.32241403699999 meters Centerline goodness : 0.841618 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.05, Z:-0.35 [[ 0.93911395 -0.29341275 -0.17881259 2.55657302] [ 0.29124227 0.95585908 -0.03887628 -0.04500409] [ 0.18232643 -0.01556852 0.98311479 -0.34711631] [ 0. 0. 0. 1. ]] SLAMing on 127.35241403699999 meters Centerline goodness : 0.842670 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:-0.35 [[ 0.93915929 -0.2932425 -0.17885374 2.55646435] [ 0.29101426 0.95591633 -0.03917472 -0.0441165 ] [ 0.18245691 -0.01525768 0.98309546 -0.34669554] [ 0. 0. 0. 1. ]] SLAMing on 127.38241403699999 meters Centerline goodness : 0.782104 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.35 [[ 0.94004678 -0.29019163 -0.17916718 2.55331943] [ 0.28847394 0.9568049 -0.03615491 -0.04498311] [ 0.18191989 -0.01769776 0.98315408 -0.34527487] [ 0. 0. 0. 1. ]] SLAMing on 127.41241403699999 meters Centerline goodness : 0.784262 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.34 [[ 0.94064166 -0.28831938 -0.17906759 2.54729858] [ 0.28691459 0.95734297 -0.03427043 -0.04444444] [ 0.18130993 -0.01914091 0.98323971 -0.34189466] [ 0. 0. 0. 1. ]] SLAMing on 127.44241403699999 meters Centerline goodness : 0.784433 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.34 [[ 0.94048227 -0.28898723 -0.17882807 2.54585467] [ 0.28747425 0.95715245 -0.03489609 -0.044465 ] [ 0.18125025 -0.01858931 0.9832613 -0.34066975] [ 0. 0. 0. 1. ]] SLAMing on 127.472414037 meters Centerline goodness : 0.785167 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.34 [[ 0.94031222 -0.28964798 -0.17865324 2.54520012] [ 0.28810273 0.9569554 -0.03511657 -0.04565425] [ 0.18113463 -0.01844995 0.98328523 -0.34018403] [ 0. 0. 0. 1. ]] SLAMing on 127.502414037 meters Centerline goodness : 0.845783 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.35 [[ 0.94054375 -0.29039907 -0.17619826 2.52030082] [ 0.28910088 0.95670973 -0.03357348 -0.05526687] [ 0.1783203 -0.01936174 0.98378199 -0.34886197] [ 0. 0. 0. 1. ]] SLAMing on 127.532414037 meters Centerline goodness : 0.840897 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.06, Z:-0.35 [[ 0.93867659 -0.29376865 -0.18051659 2.51336296] [ 0.29043439 0.95582468 -0.0452444 -0.05906145] [ 0.18583359 -0.00995836 0.98253077 -0.34987352] [ 0. 0. 0. 1. ]] SLAMing on 127.562414037 meters Centerline goodness : 0.782729 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.35 [[ 9.38301265e-01 -2.93206561e-01 -1.83359342e-01 2.50239459e+00] [ 2.88165804e-01 9.56047007e-01 -5.41718579e-02 -6.18274155e-02] [ 1.91183694e-01 -2.00836939e-03 9.81552221e-01 -3.49422582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59241403699998 meters Centerline goodness : 0.842438 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.35 [[ 9.38338196e-01 -2.92986670e-01 -1.83521772e-01 2.50310160e+00] [ 2.88004291e-01 9.56113704e-01 -5.38527028e-02 -6.14426794e-02] [ 1.91245805e-01 -2.32300980e-03 9.81539426e-01 -3.50100546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62241403699998 meters Centerline goodness : 0.842044 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:-0.35 [[ 9.41319306e-01 -2.87752090e-01 -1.76399262e-01 2.49146335e+00] [ 2.82702665e-01 9.57704706e-01 -5.36740046e-02 -6.60273013e-02] [ 1.84383211e-01 6.55835312e-04 9.82854212e-01 -3.54532670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65241403699999 meters Centerline goodness : 0.842625 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:-0.35 [[ 9.42226022e-01 -2.84430403e-01 -1.76944822e-01 2.48952536e+00] [ 2.79990997e-01 9.58693867e-01 -5.01109865e-02 -6.74251691e-02] [ 1.83889003e-01 -2.32708161e-03 9.82944260e-01 -3.54073229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68241403699999 meters Centerline goodness : 0.842576 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.07, Z:-0.36 [[ 9.44723075e-01 -2.80131794e-01 -1.70365751e-01 2.48161015e+00] [ 2.75694188e-01 9.59961549e-01 -4.96642611e-02 -7.14420562e-02] [ 1.77457108e-01 -4.98738749e-05 9.84128534e-01 -3.58599341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71241403699999 meters Centerline goodness : 0.787919 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.07, Z:-0.36 [[ 9.44976997e-01 -2.78921827e-01 -1.70941770e-01 2.48338811e+00] [ 2.74542036e-01 9.60313726e-01 -4.92363573e-02 -7.21820546e-02] [ 1.77890823e-01 -4.03476584e-04 9.84050147e-01 -3.58469250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74241403699999 meters Centerline goodness : 0.785056 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.07, Z:-0.36 [[ 0.94598356 -0.27502027 -0.17169438 2.48272565] [ 0.27128064 0.96143139 -0.04534859 -0.07424108] [ 0.17754414 -0.00367834 0.98410596 -0.35845802] [ 0. 0. 0. 1. ]] SLAMing on 127.77241403699999 meters Centerline goodness : 0.786483 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.94692959 -0.27122919 -0.17250821 2.48186532] [ 0.26809204 0.96249096 -0.04168705 -0.07610845] [ 0.17734433 -0.00677338 0.98412556 -0.35796595] [ 0. 0. 0. 1. ]] SLAMing on 127.80241403699999 meters Centerline goodness : 0.788605 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.94782919 -0.26773408 -0.17302685 2.48030502] [ 0.2651864 0.96344345 -0.0381168 -0.07797896] [ 0.17690675 -0.00975615 0.98417926 -0.35750153] [ 0. 0. 0. 1. ]] SLAMing on 127.83241403699999 meters Centerline goodness : 0.842200 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.94867776 -0.26434436 -0.17358737 2.47862307] [ 0.26235478 0.96434617 -0.03473369 -0.07965965] [ 0.17657997 -0.0125904 0.98420577 -0.35670814] [ 0. 0. 0. 1. ]] SLAMing on 127.862414037 meters Centerline goodness : 0.789963 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.94872523 -0.26399258 -0.17386304 2.47902413] [ 0.26198107 0.96444381 -0.0348433 -0.07909846] [ 0.17687951 -0.0124921 0.98415323 -0.35627383] [ 0. 0. 0. 1. ]] SLAMing on 127.892414037 meters Centerline goodness : 0.841883 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.94888892 -0.2630563 -0.17438805 2.48033212] [ 0.26106294 0.96469813 -0.03469383 -0.07905179] [ 0.17735826 -0.01260566 0.98406562 -0.35584856] [ 0. 0. 0. 1. ]] SLAMing on 127.922414037 meters Centerline goodness : 0.842564 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.94893993 -0.26261662 -0.17477276 2.48144774] [ 0.26063348 0.96481674 -0.03462438 -0.07898279] [ 0.17771663 -0.01269517 0.98399981 -0.35589561] [ 0. 0. 0. 1. ]] SLAMing on 127.95241403699998 meters Centerline goodness : 0.844919 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.95000492 -0.25803169 -0.17581323 2.48195437] [ 0.25675229 0.96599941 -0.0303875 -0.08071564] [ 0.17767641 -0.01627218 0.98395442 -0.35626402] [ 0. 0. 0. 1. ]] SLAMing on 127.98241403699998 meters Centerline goodness : 0.787705 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.95087073 -0.254411 -0.1764083 2.48068435] [ 0.25373412 0.96690348 -0.02677048 -0.08230029] [ 0.17738051 -0.01930554 0.98395297 -0.35581116] [ 0. 0. 0. 1. ]] SLAMing on 128.01241403699999 meters Centerline goodness : 0.788583 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.95092325 -0.25415857 -0.17648908 2.48092116] [ 0.25348392 0.96696985 -0.02674339 -0.08211456] [ 0.17745668 -0.01930624 0.98393922 -0.35569722] [ 0. 0. 0. 1. ]] SLAMing on 128.042414037 meters Centerline goodness : 0.845753 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.36 [[ 0.95099102 -0.25376898 -0.17668444 2.48167956] [ 0.25317079 0.96706391 -0.02630496 -0.08363029] [ 0.17754053 -0.01971555 0.98391598 -0.35579677] [ 0. 0. 0. 1. ]] SLAMing on 128.072414037 meters Centerline goodness : 0.842562 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.36 [[ 0.95092438 -0.25413151 -0.17652193 2.48199881] [ 0.25355792 0.96696576 -0.02618408 -0.08881056] [ 0.17734486 -0.01985945 0.98394837 -0.35517284] [ 0. 0. 0. 1. ]] SLAMing on 128.102414037 meters Centerline goodness : 0.845346 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.35 [[ 0.95089625 -0.25437357 -0.17632471 2.48114774] [ 0.25382834 0.96689906 -0.02602669 -0.09085459] [ 0.1771087 -0.02000752 0.98398791 -0.35441524] [ 0. 0. 0. 1. ]] SLAMing on 128.132414037 meters Centerline goodness : 0.845108 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.35 [[ 0.95083889 -0.25469896 -0.17616426 2.4800601 ] [ 0.25414954 0.96681373 -0.02606196 -0.09181486] [ 0.17695598 -0.01999134 0.98401571 -0.3535415 ] [ 0. 0. 0. 1. ]] SLAMing on 128.162414037 meters Centerline goodness : 0.845150 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.35 [[ 0.95081211 -0.25474291 -0.17624524 2.47960543] [ 0.25419003 0.9668022 -0.02609456 -0.09190668] [ 0.17704169 -0.01998876 0.98400035 -0.35281543] [ 0. 0. 0. 1. ]] SLAMing on 128.192414037 meters Centerline goodness : 0.845615 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.35 [[ 0.95080892 -0.25466505 -0.17637491 2.47974597] [ 0.25413244 0.96682017 -0.02598962 -0.09200141] [ 0.17714146 -0.02011142 0.98397989 -0.35266834] [ 0. 0. 0. 1. ]] SLAMing on 128.222414037 meters Centerline goodness : 0.844092 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.35 [[ 0.9508678 -0.25423121 -0.17668311 2.48113255] [ 0.25378495 0.96692433 -0.02550556 -0.09333402] [ 0.17732351 -0.0205871 0.98393727 -0.35319225] [ 0. 0. 0. 1. ]] SLAMing on 128.252414037 meters Centerline goodness : 0.842688 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:-0.36 [[ 0.95022777 -0.25655426 -0.17676846 2.48634433] [ 0.25576194 0.9663443 -0.02764999 -0.09704846] [ 0.17791292 -0.01893686 0.98386401 -0.35510613] [ 0. 0. 0. 1. ]] SLAMing on 128.282414037 meters Centerline goodness : 0.842287 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:-0.36 [[ 0.95027786 -0.25632937 -0.17682545 2.48763445] [ 0.25566581 0.96639027 -0.02692288 -0.10089194] [ 0.17778352 -0.019624 0.98387393 -0.35568751] [ 0. 0. 0. 1. ]] SLAMing on 128.312414037 meters Centerline goodness : 0.840237 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:-0.36 [[ 0.95027117 -0.25639406 -0.17676763 2.48783523] [ 0.25579299 0.9663662 -0.02657644 -0.10356552] [ 0.1776363 -0.0199611 0.98389374 -0.35555966] [ 0. 0. 0. 1. ]] SLAMing on 128.342414037 meters Centerline goodness : 0.841045 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:-0.36 [[ 0.95029284 -0.25638133 -0.17666957 2.48728637] [ 0.25582586 0.96636476 -0.02631122 -0.10476801] [ 0.17747296 -0.02019328 0.98391848 -0.35512669] [ 0. 0. 0. 1. ]] SLAMing on 128.372414037 meters Centerline goodness : 0.841949 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.11, Z:-0.35 [[ 0.95114647 -0.25299011 -0.17696439 2.48334871] [ 0.25302593 0.96719206 -0.02274641 -0.10644057] [ 0.17691317 -0.02314141 0.98395437 -0.35273001] [ 0. 0. 0. 1. ]] SLAMing on 128.402414037 meters Centerline goodness : 0.843580 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.11, Z:-0.35 [[ 0.9511929 -0.2527182 -0.17710329 2.4832859 ] [ 0.25279583 0.96725783 -0.02250696 -0.10736036] [ 0.17699247 -0.02336251 0.98393489 -0.35215189] [ 0. 0. 0. 1. ]] SLAMing on 128.432414037 meters Centerline goodness : 0.839503 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.11, Z:-0.35 [[ 0.95129251 -0.25218971 -0.17732147 2.48440135] [ 0.25236812 0.96738283 -0.02192681 -0.10992186] [ 0.17706746 -0.02389147 0.98390869 -0.35225706] [ 0. 0. 0. 1. ]] SLAMing on 128.462414037 meters Centerline goodness : 0.843115 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.11, Z:-0.35 [[ 0.95070508 -0.25445529 -0.1772353 2.48826537] [ 0.25427552 0.96683109 -0.02411632 -0.11284099] [ 0.17749313 -0.02213909 0.98387299 -0.35344152] [ 0. 0. 0. 1. ]] SLAMing on 128.492414037 meters Centerline goodness : 0.842005 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.11, Z:-0.35 [[ 0.95073628 -0.25438494 -0.17716891 2.4882448 ] [ 0.25425594 0.9668436 -0.02381965 -0.11425615] [ 0.17735399 -0.02240004 0.98389217 -0.35333878] [ 0. 0. 0. 1. ]] SLAMing on 128.52241403699998 meters Centerline goodness : 0.843461 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.12, Z:-0.35 [[ 0.95076943 -0.25420783 -0.17724522 2.48836082] [ 0.25411952 0.96688516 -0.02358717 -0.11526619] [ 0.17737181 -0.0226155 0.98388403 -0.35306654] [ 0. 0. 0. 1. ]] SLAMing on 128.55241403699998 meters Centerline goodness : 0.843926 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.12, Z:-0.35 [[ 0.95077915 -0.25409278 -0.17735801 2.48874256] [ 0.25405231 0.96690917 -0.02332566 -0.11658583] [ 0.17741597 -0.02288067 0.98386994 -0.35297571] [ 0. 0. 0. 1. ]] SLAMing on 128.58241403699998 meters Centerline goodness : 0.843519 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.12, Z:-0.35 [[ 0.95000815 -0.25705526 -0.17722053 2.49181012] [ 0.25661961 0.96616871 -0.02577598 -0.11932021] [ 0.17785078 -0.02099087 0.98383356 -0.35373055] [ 0. 0. 0. 1. ]] SLAMing on 128.61241403699998 meters Centerline goodness : 0.844907 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.12, Z:-0.35 [[ 0.94992468 -0.25744319 -0.17710479 2.49159869] [ 0.25706285 0.9660584 -0.02549231 -0.12224295] [ 0.17765639 -0.02131128 0.9838618 -0.35340356] [ 0. 0. 0. 1. ]] SLAMing on 128.64241403699998 meters Centerline goodness : 0.845900 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.12, Z:-0.35 [[ 0.94980223 -0.25755164 -0.17760316 2.49300855] [ 0.25738395 0.96600141 -0.02438809 -0.12448109] [ 0.1778461 -0.02254834 0.98379995 -0.35335913] [ 0. 0. 0. 1. ]] SLAMing on 128.67241403699998 meters Centerline goodness : 0.843879 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.35 [[ 0.94982529 -0.25743682 -0.17764629 2.49297638] [ 0.25760207 0.96598818 -0.02253896 -0.12881599] [ 0.17740657 -0.02435398 0.98383626 -0.35244014] [ 0. 0. 0. 1. ]] SLAMing on 128.70241403699998 meters Centerline goodness : 0.843736 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.35 [[ 0.94977747 -0.25753124 -0.17776506 2.49355889] [ 0.25785503 0.96594023 -0.02168527 -0.13087879] [ 0.17729506 -0.02524143 0.983834 -0.35233499] [ 0. 0. 0. 1. ]] SLAMing on 128.73241403699998 meters Centerline goodness : 0.844220 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.35 [[ 0.94973984 -0.25754675 -0.17794355 2.49408507] [ 0.25803938 0.96591099 -0.02077604 -0.13310724] [ 0.17722843 -0.02618461 0.98382135 -0.35197997] [ 0. 0. 0. 1. ]] SLAMing on 128.76241403699999 meters Centerline goodness : 0.844220 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.35 [[ 0.94973984 -0.25754675 -0.17794355 2.49408507] [ 0.25803938 0.96591099 -0.02077604 -0.13310724] [ 0.17722843 -0.02618461 0.98382135 -0.35197997] [ 0. 0. 0. 1. ]] SLAMing on 128.792414037 meters Centerline goodness : 0.844021 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.35 [[ 0.94969312 -0.25742587 -0.17836733 2.49490758] [ 0.25814855 0.96590735 -0.01955315 -0.13498466] [ 0.1773198 -0.02747578 0.98376967 -0.35163326] [ 0. 0. 0. 1. ]] SLAMing on 128.822414037 meters Centerline goodness : 0.842625 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.14, Z:-0.35 [[ 0.94909357 -0.25996883 -0.17786959 2.49530372] [ 0.26046251 0.96525581 -0.02098802 -0.1372642 ] [ 0.17714589 -0.02640877 0.98383023 -0.35116764] [ 0. 0. 0. 1. ]] SLAMing on 128.852414037 meters Centerline goodness : 0.840996 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.14, Z:-0.35 [[ 0.94878902 -0.260834 -0.17822746 2.49686063] [ 0.26138171 0.96501085 -0.02082474 -0.1382112 ] [ 0.17742323 -0.02682711 0.98376893 -0.35145437] [ 0. 0. 0. 1. ]] SLAMing on 128.882414037 meters Centerline goodness : 0.839747 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.14, Z:-0.35 [[ 0.94863563 -0.26132082 -0.17833076 2.49804603] [ 0.26193632 0.96486717 -0.02051111 -0.13968836] [ 0.17742548 -0.02725373 0.9837568 -0.35188101] [ 0. 0. 0. 1. ]] SLAMing on 128.912414037 meters Centerline goodness : 0.839641 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.14, Z:-0.35 [[ 0.94863029 -0.26127907 -0.17842034 2.49976778] [ 0.26201461 0.96485963 -0.01985549 -0.14159653] [ 0.1773384 -0.02791321 0.98375401 -0.35301041] [ 0. 0. 0. 1. ]] SLAMing on 128.942414037 meters Centerline goodness : 0.837730 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.15, Z:-0.35 [[ 0.94839322 -0.26317541 -0.17688699 2.49994342] [ 0.2635727 0.9643959 -0.02167893 -0.14521455] [ 0.17629445 -0.02606243 0.98399239 -0.35425109] [ 0. 0. 0. 1. ]] SLAMing on 128.972414037 meters Centerline goodness : 0.838007 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.15, Z:-0.35 [[ 0.94856697 -0.26239582 -0.17711336 2.50085207] [ 0.2630105 0.96457671 -0.02042663 -0.14718719] [ 0.17619929 -0.02720664 0.98397846 -0.35459166] [ 0. 0. 0. 1. ]] SLAMing on 129.002414037 meters Centerline goodness : 0.836073 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.15, Z:-0.36 [[ 0.9486919 -0.26187598 -0.1772136 2.50164761] [ 0.26264092 0.96469549 -0.01955412 -0.14825383] [ 0.17607791 -0.02799271 0.98397814 -0.35515959] [ 0. 0. 0. 1. ]] SLAMing on 129.032414037 meters Centerline goodness : 0.836913 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.15, Z:-0.36 [[ 0.94873913 -0.26181489 -0.17705093 2.50229774] [ 0.26259136 0.96471093 -0.01945764 -0.14903711] [ 0.17589727 -0.02803182 0.98400933 -0.35592348] [ 0. 0. 0. 1. ]] SLAMing on 129.062414037 meters Centerline goodness : 0.835393 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.15, Z:-0.36 [[ 0.94863929 -0.26187368 -0.17749836 2.50464073] [ 0.26270602 0.9646844 -0.01922382 -0.14919653] [ 0.17626411 -0.02839342 0.98393332 -0.35717791] [ 0. 0. 0. 1. ]] SLAMing on 129.092414037 meters Centerline goodness : 0.833643 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.15, Z:-0.36 [[ 0.94884627 -0.26146022 -0.17700085 2.50524582] [ 0.26231536 0.96479561 -0.01897574 -0.15147357] [ 0.17573105 -0.02842498 0.98402775 -0.35825141] [ 0. 0. 0. 1. ]] SLAMing on 129.122414037 meters Centerline goodness : 0.832441 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.15, Z:-0.36 [[ 0.94930304 -0.2600837 -0.17657918 2.50516079] [ 0.26106102 0.96515277 -0.01809092 -0.15347444] [ 0.17513104 -0.02892417 0.98412017 -0.35908379] [ 0. 0. 0. 1. ]] SLAMing on 129.152414037 meters Centerline goodness : 0.833356 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.16, Z:-0.36 [[ 0.94971546 -0.25863608 -0.17648774 2.50568352] [ 0.25976208 0.96552117 -0.01710347 -0.15551586] [ 0.17482622 -0.02960139 0.98415423 -0.35980249] [ 0. 0. 0. 1. ]] SLAMing on 129.182414037 meters Centerline goodness : 0.833612 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.16, Z:-0.36 [[ 0.95011103 -0.25730161 -0.17630912 2.50631674] [ 0.25856837 0.96585788 -0.01615416 -0.15759121] [ 0.17444604 -0.03023971 0.98420229 -0.36074368] [ 0. 0. 0. 1. ]] SLAMing on 129.212414037 meters Centerline goodness : 0.833248 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.16, Z:-0.36 [[ 0.95049321 -0.2562378 -0.17579775 2.50549305] [ 0.25762374 0.96612433 -0.01529004 -0.16061841] [ 0.17376037 -0.0307566 0.98430756 -0.36058514] [ 0. 0. 0. 1. ]] SLAMing on 129.242414037 meters Centerline goodness : 0.829748 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.16, Z:-0.36 [[ 0.95057942 -0.25557749 -0.17629215 2.5060211 ] [ 0.25712654 0.96627052 -0.01439543 -0.16087388] [ 0.17402506 -0.03164539 0.98423262 -0.36028935] [ 0. 0. 0. 1. ]] SLAMing on 129.27241403699998 meters Centerline goodness : 0.782421 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.16, Z:-0.36 [[ 0.95077299 -0.25471877 -0.17649101 2.50567456] [ 0.25645866 0.96646406 -0.01327304 -0.16159575] [ 0.17395311 -0.032643 0.98421276 -0.35971998] [ 0. 0. 0. 1. ]] SLAMing on 129.30241403699998 meters Centerline goodness : 0.833016 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.16, Z:-0.36 [[ 0.95093935 -0.2539177 -0.17674885 2.50543198] [ 0.25584128 0.9666417 -0.01220884 -0.162319 ] [ 0.17395285 -0.03360978 0.98418026 -0.35907209] [ 0. 0. 0. 1. ]] SLAMing on 129.33241403699998 meters Centerline goodness : 0.829737 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.17, Z:-0.36 [[ 0.95126957 -0.25297164 -0.17632797 2.50604316] [ 0.25502099 0.9668692 -0.01132424 -0.1657217 ] [ 0.17335079 -0.03419493 0.98426633 -0.35994872] [ 0. 0. 0. 1. ]] SLAMing on 129.36241403699998 meters Centerline goodness : 0.827145 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.17, Z:-0.36 [[ 0.95133008 -0.25293446 -0.17605463 2.5072938 ] [ 0.25501019 0.96687447 -0.0111159 -0.1681283 ] [ 0.17303432 -0.03432084 0.98431763 -0.36107819] [ 0. 0. 0. 1. ]] SLAMing on 129.39241403699998 meters Centerline goodness : 0.827432 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.17, Z:-0.36 [[ 0.95075223 -0.25585964 -0.17494584 2.50881177] [ 0.25766256 0.96615119 -0.01272302 -0.17317239] [ 0.17227944 -0.03298055 0.98449585 -0.36215149] [ 0. 0. 0. 1. ]] SLAMing on 129.42241403699998 meters Centerline goodness : 0.827619 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.18, Z:-0.36 [[ 0.95024138 -0.25711395 -0.17587988 2.51168145] [ 0.25912916 0.96577042 -0.01181372 -0.17507983] [ 0.17289706 -0.03434972 0.98434075 -0.36216941] [ 0. 0. 0. 1. ]] SLAMing on 129.45241403699998 meters Centerline goodness : 0.828330 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.18, Z:-0.36 [[ 0.94939728 -0.26045146 -0.17552731 2.51398646] [ 0.26205214 0.96494607 -0.01441384 -0.17596298] [ 0.17312849 -0.03231285 0.98436904 -0.36312156] [ 0. 0. 0. 1. ]] SLAMing on 129.48241403699998 meters Centerline goodness : 0.828840 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.18, Z:-0.36 [[ 0.94881194 -0.26177052 -0.17672605 2.5177519 ] [ 0.26359285 0.96453939 -0.01351202 -0.17770828] [ 0.17399629 -0.03376336 0.98416733 -0.36345605] [ 0. 0. 0. 1. ]] SLAMing on 129.51241403699999 meters Centerline goodness : 0.831031 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.18, Z:-0.36 [[ 0.94767372 -0.26491958 -0.17813516 2.52090773] [ 0.26710311 0.96359252 -0.01205785 -0.18137738] [ 0.17484406 -0.03615355 0.98393215 -0.36172386] [ 0. 0. 0. 1. ]] SLAMing on 129.542414037 meters Centerline goodness : 0.829578 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.18, Z:-0.36 [[ 0.9473599 -0.26523868 -0.17932556 2.52284305] [ 0.26783727 0.96341212 -0.0100146 -0.18443948] [ 0.17542068 -0.03854264 0.98373881 -0.36033102] [ 0. 0. 0. 1. ]] SLAMing on 129.572414037 meters Centerline goodness : 0.835322 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.19, Z:-0.36 [[ 0.9470503 -0.26579964 -0.1801285 2.52542332] [ 0.26868501 0.9631893 -0.00864466 -0.1873828 ] [ 0.17579559 -0.0402109 0.9836051 -0.36025821] [ 0. 0. 0. 1. ]] SLAMing on 129.602414037 meters Centerline goodness : 0.830963 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.19, Z:-0.36 [[ 0.94656469 -0.26692447 -0.18101551 2.52891056] [ 0.26995611 0.96283819 -0.00814382 -0.18896367] [ 0.17646243 -0.04115759 0.98344652 -0.36099059] [ 0. 0. 0. 1. ]] SLAMing on 129.632414037 meters Centerline goodness : 0.834408 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.19, Z:-0.36 [[ 0.94499377 -0.27234447 -0.18114981 2.53415971] [ 0.27476072 0.9614363 -0.01211538 -0.18819234] [ 0.17746356 -0.0383239 0.98338088 -0.3632772 ] [ 0. 0. 0. 1. ]] SLAMing on 129.662414037 meters Centerline goodness : 0.834326 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94471884 -0.2729176 -0.18172039 2.53674929] [ 0.27540795 0.96125396 -0.01188663 -0.18937014] [ 0.17792351 -0.03881772 0.9832784 -0.36404741] [ 0. 0. 0. 1. ]] SLAMing on 129.692414037 meters Centerline goodness : 0.834805 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.9446473 -0.27284478 -0.18220099 2.53798262] [ 0.2755162 0.96123363 -0.0109876 -0.19088765] [ 0.17813563 -0.03981992 0.98319991 -0.36391921] [ 0. 0. 0. 1. ]] SLAMing on 129.722414037 meters Centerline goodness : 0.835089 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94524402 -0.26969914 -0.1837828 2.53805258] [ 0.2732644 0.96191941 -0.00613386 -0.19413059] [ 0.17843853 -0.0444233 0.98294774 -0.36169597] [ 0. 0. 0. 1. ]] SLAMing on 129.752414037 meters Centerline goodness : 0.835095 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 9.45696160e-01 -2.66988011e-01 -1.85408129e-01 2.53909053e+00] [ 2.71274929e-01 9.62499082e-01 -2.33030179e-03 -1.94769289e-01] [ 1.79077316e-01 -4.80928194e-02 9.82658840e-01 -3.60719889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782414037 meters Centerline goodness : 0.829610 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 9.46059643e-01 -2.64707020e-01 -1.86819019e-01 2.53972120e+00] [ 2.69626829e-01 9.62964407e-01 9.61480284e-04 -1.94942102e-01] [ 1.79645555e-01 -5.12810374e-02 9.82393877e-01 -3.59728851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812414037 meters Centerline goodness : 0.834426 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.20, Z:-0.36 [[ 0.94645343 -0.26184025 -0.18885334 2.54101744] [ 0.26758651 0.96352015 0.00513527 -0.19528001] [ 0.18061938 -0.0553949 0.98199188 -0.35834973] [ 0. 0. 0. 1. ]] SLAMing on 129.842414037 meters Centerline goodness : 0.835085 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.20, Z:-0.36 [[ 0.94682873 -0.26043607 -0.18891376 2.53980089] [ 0.2663409 0.96385949 0.00611617 -0.19524511] [ 0.18049345 -0.05610643 0.98197464 -0.35757571] [ 0. 0. 0. 1. ]] SLAMing on 129.872414037 meters Centerline goodness : 0.838424 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.20, Z:-0.36 [[ 0.94686053 -0.2600751 -0.18925138 2.54104227] [ 0.26606562 0.96393294 0.00651027 -0.1956075 ] [ 0.18073248 -0.0565176 0.98190709 -0.35809366] [ 0. 0. 0. 1. ]] SLAMing on 129.902414037 meters Centerline goodness : 0.836426 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.20, Z:-0.36 [[ 0.94675234 -0.2603297 -0.1894425 2.54240429] [ 0.26628297 0.96387482 0.0062224 -0.19531156] [ 0.18097898 -0.05633639 0.9818721 -0.35894225] [ 0. 0. 0. 1. ]] SLAMing on 129.932414037 meters Centerline goodness : 0.835868 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94655403 -0.26061569 -0.19003928 2.54400747] [ 0.2665693 0.96379703 0.00600729 -0.19379551] [ 0.1815937 -0.05634486 0.98175811 -0.35949895] [ 0. 0. 0. 1. ]] SLAMing on 129.962414037 meters Centerline goodness : 0.838882 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94638792 -0.26137145 -0.18982853 2.54406197] [ 0.26703495 0.96367666 0.00443074 -0.19069601] [ 0.18177526 -0.05488405 0.98180726 -0.36038087] [ 0. 0. 0. 1. ]] SLAMing on 129.992414037 meters Centerline goodness : 0.837128 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94659672 -0.26068088 -0.18973699 2.54495647] [ 0.26628701 0.96388456 0.00421705 -0.19046387] [ 0.18178525 -0.05451634 0.9818259 -0.36168854] [ 0. 0. 0. 1. ]] SLAMing on 130.02241403699998 meters Centerline goodness : 0.837846 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94713295 -0.25952974 -0.18863588 2.54434194] [ 0.26489344 0.96427187 0.00335074 -0.19033703] [ 0.18102666 -0.053142 0.98204138 -0.36368094] [ 0. 0. 0. 1. ]] SLAMing on 130.05241403699998 meters Centerline goodness : 0.838350 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.9474918 -0.25730611 -0.18987587 2.54474762] [ 0.2632371 0.96471085 0.00626196 -0.1898993 ] [ 0.18156407 -0.05591553 0.98178813 -0.36289054] [ 0. 0. 0. 1. ]] SLAMing on 130.08241403699998 meters Centerline goodness : 0.840341 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94782015 -0.2561278 -0.18983021 2.54309135] [ 0.26211125 0.96501457 0.00667578 -0.18864467] [ 0.18147907 -0.05608407 0.98179424 -0.36212437] [ 0. 0. 0. 1. ]] SLAMing on 130.11241403699998 meters Centerline goodness : 0.838946 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94826352 -0.2545552 -0.18973123 2.5406683 ] [ 0.26065865 0.96540181 0.00751082 -0.18760212] [ 0.18125496 -0.05657733 0.98180734 -0.36092197] [ 0. 0. 0. 1. ]] SLAMing on 130.14241403699998 meters Centerline goodness : 0.838981 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94859326 -0.25344255 -0.18957243 2.5393792 ] [ 0.25956474 0.96569444 0.00777175 -0.18638036] [ 0.18109935 -0.05657854 0.98183598 -0.36069002] [ 0. 0. 0. 1. ]] SLAMing on 130.17241403699998 meters Centerline goodness : 0.838780 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94929626 -0.25006247 -0.19053967 2.5400713 ] [ 0.25672625 0.9664247 0.0107207 -0.18668049] [ 0.18146139 -0.05909366 0.98162096 -0.36094449] [ 0. 0. 0. 1. ]] SLAMing on 130.20241403699998 meters Centerline goodness : 0.834389 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.19, Z:-0.36 [[ 0.94898654 -0.25231399 -0.18910896 2.53905307] [ 0.25821975 0.96606189 0.00685391 -0.18540298] [ 0.18096163 -0.05533594 0.98193219 -0.36188736] [ 0. 0. 0. 1. ]] SLAMing on 130.23241403699998 meters Centerline goodness : 0.838554 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.18, Z:-0.36 [[ 0.94867927 -0.25316379 -0.18951447 2.54126711] [ 0.25900509 0.96585544 0.00629574 -0.18444183] [ 0.18144973 -0.05505785 0.98185774 -0.36305841] [ 0. 0. 0. 1. ]] SLAMing on 130.26241403699999 meters Centerline goodness : 0.838405 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.18, Z:-0.36 [[ 0.94827493 -0.2540303 -0.19037666 2.54374926] [ 0.25992754 0.96560792 0.00624607 -0.18378703] [ 0.18224252 -0.05540713 0.98169125 -0.36349549] [ 0. 0. 0. 1. ]] SLAMing on 130.292414037 meters Centerline goodness : 0.835433 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.18, Z:-0.37 [[ 0.94783554 -0.26113649 -0.18279911 2.5492836 ] [ 0.26711292 0.96362838 0.00842775 -0.18001024] [ 0.17394962 -0.05681613 0.98311416 -0.36730811] [ 0. 0. 0. 1. ]] SLAMing on 130.322414037 meters Centerline goodness : 0.838326 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.18, Z:-0.37 [[ 0.94770656 -0.26127826 -0.18326467 2.5500744 ] [ 0.26739186 0.96354553 0.00903347 -0.18048564] [ 0.1742236 -0.05756456 0.9830221 -0.36700152] [ 0. 0. 0. 1. ]] SLAMing on 130.352414037 meters Centerline goodness : 0.835964 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.18, Z:-0.37 [[ 0.94712854 -0.26259968 -0.18436086 2.55203695] [ 0.26891018 0.96311696 0.00964578 -0.18079584] [ 0.17502809 -0.05871231 0.98281129 -0.36609536] [ 0. 0. 0. 1. ]] SLAMing on 130.382414037 meters Centerline goodness : 0.837287 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.18, Z:-0.37 [[ 0.94676989 -0.26334064 -0.18514448 2.55438438] [ 0.26967832 0.96290399 0.00946048 -0.17982612] [ 0.17578503 -0.05888635 0.98266577 -0.36666436] [ 0. 0. 0. 1. ]] SLAMing on 130.412414037 meters Centerline goodness : 0.837605 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94655831 -0.26378452 -0.1855939 2.55591915] [ 0.27014075 0.96277526 0.0093686 -0.17910661] [ 0.17621393 -0.0590044 0.98258187 -0.36718254] [ 0. 0. 0. 1. ]] SLAMing on 130.442414037 meters Centerline goodness : 0.836149 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94652808 -0.26365266 -0.18593513 2.5570968 ] [ 0.27007344 0.96279162 0.0096245 -0.17893857] [ 0.17647926 -0.059326 0.98251488 -0.36768689] [ 0. 0. 0. 1. ]] SLAMing on 130.472414037 meters Centerline goodness : 0.833769 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94662939 -0.26346914 -0.18567931 2.55729454] [ 0.26990225 0.96283787 0.0097983 -0.18016216] [ 0.17619752 -0.05939062 0.98256154 -0.36803501] [ 0. 0. 0. 1. ]] SLAMing on 130.502414037 meters Centerline goodness : 0.835759 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94653022 -0.26372647 -0.18581951 2.55880914] [ 0.27009338 0.96278867 0.00935688 -0.17991485] [ 0.17643726 -0.05904519 0.98253934 -0.36906255] [ 0. 0. 0. 1. ]] SLAMing on 130.532414037 meters Centerline goodness : 0.835259 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.9465226 -0.26362436 -0.18600314 2.56036895] [ 0.2700037 0.96281366 0.00937335 -0.18004302] [ 0.17661532 -0.05909363 0.98250444 -0.37015031] [ 0. 0. 0. 1. ]] SLAMing on 130.562414037 meters Centerline goodness : 0.834619 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94646823 -0.26359222 -0.18632508 2.56181446] [ 0.27005615 0.96279534 0.00973673 -0.18056076] [ 0.1768264 -0.05953374 0.9824399 -0.37069989] [ 0. 0. 0. 1. ]] SLAMing on 130.592414037 meters Centerline goodness : 0.834595 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94631112 -0.26368003 -0.18699762 2.5627584 ] [ 0.2704739 0.96266068 0.01132667 -0.18321199] [ 0.17702864 -0.06129653 0.98229507 -0.36951004] [ 0. 0. 0. 1. ]] SLAMing on 130.622414037 meters Centerline goodness : 0.833654 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94600674 -0.26406573 -0.18799079 2.56413256] [ 0.2710798 0.96248011 0.01215647 -0.18318216] [ 0.17772728 -0.06246061 0.98209556 -0.36866498] [ 0. 0. 0. 1. ]] SLAMing on 130.652414037 meters Centerline goodness : 0.833654 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94600674 -0.26406573 -0.18799079 2.56413256] [ 0.2710798 0.96248011 0.01215647 -0.18318216] [ 0.17772728 -0.06246061 0.98209556 -0.36866498] [ 0. 0. 0. 1. ]] SLAMing on 130.682414037 meters Centerline goodness : 0.833863 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.18, Z:-0.37 [[ 0.94585029 -0.26464726 -0.18796027 2.56509541] [ 0.27157135 0.96234823 0.01161426 -0.18299634] [ 0.17780955 -0.06202997 0.98210796 -0.3693705 ] [ 0. 0. 0. 1. ]] SLAMing on 130.712414037 meters Centerline goodness : 0.834669 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.18, Z:-0.37 [[ 0.94614187 -0.26380648 -0.18767446 2.56575908] [ 0.27069718 0.96259452 0.01161193 -0.18345325] [ 0.17759111 -0.06178948 0.98216264 -0.37072088] [ 0. 0. 0. 1. ]] SLAMing on 130.742414037 meters Centerline goodness : 0.835461 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.18, Z:-0.37 [[ 0.94657145 -0.26250774 -0.18732907 2.56546606] [ 0.26936874 0.96296611 0.0116944 -0.18384509] [ 0.17732168 -0.06153018 0.9822276 -0.37151774] [ 0. 0. 0. 1. ]] SLAMing on 130.77241403699998 meters Centerline goodness : 0.835987 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94710472 -0.26095337 -0.18680471 2.56366627] [ 0.26781288 0.96339596 0.01202018 -0.1842575 ] [ 0.17683019 -0.06141308 0.98232353 -0.37126963] [ 0. 0. 0. 1. ]] SLAMing on 130.80241403699998 meters Centerline goodness : 0.835035 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.19, Z:-0.37 [[ 0.94797013 -0.25728426 -0.18750316 2.56293817] [ 0.26473233 0.96419917 0.01538679 -0.18532842] [ 0.17683161 -0.06422437 0.98214348 -0.37067106] [ 0. 0. 0. 1. ]] SLAMing on 130.83241403699998 meters Centerline goodness : 0.832560 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94893954 -0.25324722 -0.18809463 2.56175824] [ 0.26116156 0.96512471 0.01813655 -0.18387669] [ 0.17694175 -0.06633358 0.98198344 -0.37051063] [ 0. 0. 0. 1. ]] SLAMing on 130.86241403699998 meters Centerline goodness : 0.831984 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94921713 -0.25238059 -0.18785864 2.56210865] [ 0.26022901 0.9653802 0.01794227 -0.18320495] [ 0.17682673 -0.06591738 0.98203218 -0.37170658] [ 0. 0. 0. 1. ]] SLAMing on 130.89241403699998 meters Centerline goodness : 0.830048 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94931911 -0.25246681 -0.18722643 2.56215029] [ 0.26009604 0.96543391 0.01695337 -0.18312935] [ 0.17647458 -0.06479101 0.98217048 -0.37294776] [ 0. 0. 0. 1. ]] SLAMing on 130.92241403699998 meters Centerline goodness : 0.834266 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.37 [[ 0.94955402 -0.25223321 -0.186348 2.56263559] [ 0.25961268 0.96558179 0.01590821 -0.18420515] [ 0.17592166 -0.06348401 0.982355 -0.37476449] [ 0. 0. 0. 1. ]] SLAMing on 130.95241403699998 meters Centerline goodness : 0.830799 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.19, Z:-0.38 [[ 0.94958801 -0.25330987 -0.18470714 2.56308785] [ 0.2600516 0.96550955 0.01282451 -0.18508328] [ 0.17508793 -0.06021139 0.98270993 -0.37736373] [ 0. 0. 0. 1. ]] SLAMing on 130.98241403699998 meters Centerline goodness : 0.835723 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.19, Z:-0.38 [[ 0.94967921 -0.25280983 -0.18492319 2.56324062] [ 0.25964622 0.96561184 0.01332692 -0.18537184] [ 0.17519485 -0.06067091 0.98266261 -0.37714405] [ 0. 0. 0. 1. ]] SLAMing on 131.01241403699999 meters Centerline goodness : 0.837264 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.19, Z:-0.38 [[ 0.94967399 -0.25278838 -0.18497932 2.56225475] [ 0.25968321 0.96559757 0.01363686 -0.18508299] [ 0.17516834 -0.06098659 0.98264779 -0.37610114] [ 0. 0. 0. 1. ]] SLAMing on 131.042414037 meters Centerline goodness : 0.831709 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.19, Z:-0.38 [[ 0.94966422 -0.25237618 -0.1855913 2.56312012] [ 0.25945394 0.96564688 0.01448264 -0.18524035] [ 0.17556059 -0.06190604 0.98252029 -0.37581039] [ 0. 0. 0. 1. ]] SLAMing on 131.072414037 meters Centerline goodness : 0.833541 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.19, Z:-0.38 [[ 0.94951604 -0.25285953 -0.18569155 2.56451708] [ 0.25992148 0.96552368 0.01431273 -0.18588096] [ 0.17567047 -0.06185539 0.98250384 -0.37654317] [ 0. 0. 0. 1. ]] SLAMing on 131.102414037 meters Centerline goodness : 0.831583 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.38 [[ 0.94957869 -0.25250855 -0.18584871 2.56559783] [ 0.25965781 0.96558761 0.01477763 -0.1867854 ] [ 0.17572174 -0.06228959 0.98246724 -0.37712829] [ 0. 0. 0. 1. ]] SLAMing on 131.132414037 meters Centerline goodness : 0.831257 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.38 [[ 0.94961192 -0.25222718 -0.18606088 2.56587398] [ 0.25951394 0.96561503 0.01549586 -0.18798544] [ 0.17575471 -0.06300044 0.98241601 -0.37674544] [ 0. 0. 0. 1. ]] SLAMing on 131.162414037 meters Centerline goodness : 0.832923 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.38 [[ 0.94885237 -0.25550931 -0.18545667 2.56589208] [ 0.26232772 0.96489416 0.01278378 -0.18804655] [ 0.17567969 -0.06078034 0.98256928 -0.37620465] [ 0. 0. 0. 1. ]] SLAMing on 131.192414037 meters Centerline goodness : 0.834754 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.38 [[ 0.94862864 -0.25573244 -0.18629178 2.56780678] [ 0.26278114 0.96475746 0.01375224 -0.1892854 ] [ 0.17620949 -0.06199973 0.98239821 -0.37594905] [ 0. 0. 0. 1. ]] SLAMing on 131.222414037 meters Centerline goodness : 0.834761 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.38 [[ 0.94847281 -0.2558532 -0.18691832 2.56937619] [ 0.26317184 0.96463208 0.01501795 -0.19161361] [ 0.17646502 -0.06343576 0.98226066 -0.37558818] [ 0. 0. 0. 1. ]] SLAMing on 131.252414037 meters Centerline goodness : 0.838137 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.37 [[ 0.94843548 -0.25583374 -0.18713427 2.56958367] [ 0.26347729 0.96452018 0.0167495 -0.19549989] [ 0.17620969 -0.06519145 0.98219154 -0.374293 ] [ 0. 0. 0. 1. ]] SLAMing on 131.282414037 meters Centerline goodness : 0.839316 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.37 [[ 0.94844638 -0.2554459 -0.18760824 2.5699756 ] [ 0.26328911 0.96455425 0.01771872 -0.19626263] [ 0.17643215 -0.06620046 0.98208411 -0.37363046] [ 0. 0. 0. 1. ]] SLAMing on 131.312414037 meters Centerline goodness : 0.834950 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.37 [[ 0.94834662 -0.25532588 -0.18827476 2.57140447] [ 0.26335084 0.96452302 0.01848464 -0.19684014] [ 0.17687573 -0.06711216 0.98194243 -0.37344864] [ 0. 0. 0. 1. ]] SLAMing on 131.342414037 meters Centerline goodness : 0.838575 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.37 [[ 0.94807393 -0.25635004 -0.18825642 2.57271044] [ 0.26423826 0.96429618 0.01763574 -0.19688564] [ 0.17701402 -0.06646454 0.98196156 -0.37422886] [ 0. 0. 0. 1. ]] SLAMing on 131.372414037 meters Centerline goodness : 0.835227 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.38 [[ 0.9478189 -0.25807312 -0.18718332 2.57519184] [ 0.26541822 0.96401889 0.01485734 -0.19846192] [ 0.17661398 -0.06376393 0.98221264 -0.37716892] [ 0. 0. 0. 1. ]] SLAMing on 131.402414037 meters Centerline goodness : 0.832346 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.38 [[ 0.94774684 -0.25838109 -0.18712335 2.57547578] [ 0.26574595 0.96392702 0.01495999 -0.19945194] [ 0.17650787 -0.06390555 0.98222251 -0.37714452] [ 0. 0. 0. 1. ]] SLAMing on 131.432414037 meters Centerline goodness : 0.833475 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.38 [[ 0.9477116 -0.25810212 -0.18768594 2.57705148] [ 0.26566558 0.96393442 0.01588201 -0.20086549] [ 0.17681775 -0.06491326 0.98210068 -0.37719378] [ 0. 0. 0. 1. ]] SLAMing on 131.462414037 meters Centerline goodness : 0.837021 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.38 [[ 0.94772872 -0.2580622 -0.18765442 2.57779106] [ 0.26573585 0.9639045 0.01651005 -0.2028545 ] [ 0.17662032 -0.06551356 0.98209635 -0.37750134] [ 0. 0. 0. 1. ]] SLAMing on 131.492414037 meters Centerline goodness : 0.841403 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.38 [[ 0.94761458 -0.25797517 -0.18834922 2.57946233] [ 0.26577148 0.96388728 0.01693633 -0.20274565] [ 0.17717826 -0.06610696 0.98195608 -0.37768092] [ 0. 0. 0. 1. ]] SLAMing on 131.52241403699998 meters Centerline goodness : 0.838088 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.38 [[ 0.9476504 -0.25768732 -0.18856287 2.57999062] [ 0.26554353 0.96394518 0.01721432 -0.20268796] [ 0.17732836 -0.06638481 0.98191024 -0.37783099] [ 0. 0. 0. 1. ]] SLAMing on 131.55241403699998 meters Centerline goodness : 0.833762 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.38 [[ 0.9478431 -0.25670044 -0.18894005 2.58019498] [ 0.26480458 0.96412393 0.01853582 -0.20386922] [ 0.17740347 -0.06760123 0.98181367 -0.37728373] [ 0. 0. 0. 1. ]] SLAMing on 131.58241403699998 meters Centerline goodness : 0.838838 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.21, Z:-0.38 [[ 0.94854847 -0.25455677 -0.18829936 2.57864119] [ 0.26288961 0.96461321 0.02025876 -0.20714529] [ 0.17647905 -0.06871836 0.98190271 -0.37699271] [ 0. 0. 0. 1. ]] SLAMing on 131.61241403699998 meters Centerline goodness : 0.837469 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.21, Z:-0.38 [[ 0.94865784 -0.25426345 -0.18814464 2.57921841] [ 0.26257753 0.96469853 0.02024323 -0.20800767] [ 0.17635575 -0.06860646 0.98193269 -0.37771207] [ 0. 0. 0. 1. ]] SLAMing on 131.64241403699998 meters Centerline goodness : 0.836788 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.21, Z:-0.38 [[ 0.94847979 -0.25491255 -0.18816395 2.58049529] [ 0.2631385 0.96455724 0.01968389 -0.20812429] [ 0.17647723 -0.06818295 0.98194036 -0.37855526] [ 0. 0. 0. 1. ]] SLAMing on 131.67241403699998 meters Centerline goodness : 0.832944 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.21, Z:-0.38 [[ 0.94828087 -0.25526112 -0.1886933 2.58285736] [ 0.26354833 0.96444331 0.01978319 -0.20847844] [ 0.17693411 -0.06848982 0.98183678 -0.37943786] [ 0. 0. 0. 1. ]] SLAMing on 131.70241403699998 meters Centerline goodness : 0.836267 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.21, Z:-0.38 [[ 0.94785322 -0.25591921 -0.1899464 2.58475568] [ 0.26461134 0.96411627 0.02146309 -0.21015159] [ 0.1776376 -0.07060583 0.98155983 -0.37802739] [ 0. 0. 0. 1. ]] SLAMing on 131.73241403699998 meters Centerline goodness : 0.837661 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.21, Z:-0.38 [[ 0.94765301 -0.25608673 -0.19071804 2.58594127] [ 0.26506488 0.96396308 0.02271092 -0.21195666] [ 0.17802918 -0.07207472 0.98138211 -0.37697254] [ 0. 0. 0. 1. ]] SLAMing on 131.76241403699999 meters Centerline goodness : 0.838200 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.21, Z:-0.38 [[ 0.94709989 -0.25719368 -0.19197192 2.58843396] [ 0.2665788 0.9635062 0.02432151 -0.21484958] [ 0.1787108 -0.07421054 0.981099 -0.37566696] [ 0. 0. 0. 1. ]] SLAMing on 131.792414037 meters Centerline goodness : 0.839135 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.22, Z:-0.38 [[ 0.94673138 -0.25825436 -0.19236521 2.59032003] [ 0.26765064 0.96321419 0.02411557 -0.21562313] [ 0.17906095 -0.07431764 0.98102705 -0.37593858] [ 0. 0. 0. 1. ]] SLAMing on 131.822414037 meters Centerline goodness : 0.834959 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.22, Z:-0.38 [[ 0.94646544 -0.25879608 -0.19294497 2.59330368] [ 0.26827753 0.96303553 0.02428459 -0.21668756] [ 0.17952811 -0.07474732 0.98090902 -0.37708346] [ 0. 0. 0. 1. ]] SLAMing on 131.852414037 meters Centerline goodness : 0.839084 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94637234 -0.25918296 -0.19288233 2.59520879] [ 0.26865672 0.96293113 0.02423216 -0.21858184] [ 0.17945184 -0.07475178 0.98092263 -0.37831001] [ 0. 0. 0. 1. ]] SLAMing on 131.882414037 meters Centerline goodness : 0.838031 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94635762 -0.25889373 -0.19334241 2.59696998] [ 0.26874482 0.96285705 0.02612495 -0.22281782] [ 0.17939751 -0.07668332 0.98078346 -0.37803732] [ 0. 0. 0. 1. ]] SLAMing on 131.912414037 meters Centerline goodness : 0.837236 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94632944 -0.25851519 -0.19398578 2.59742233] [ 0.26862179 0.9628595 0.02727468 -0.2236307 ] [ 0.17973014 -0.07791964 0.98062511 -0.3769813 ] [ 0. 0. 0. 1. ]] SLAMing on 131.942414037 meters Centerline goodness : 0.841504 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94630148 -0.25826828 -0.1944505 2.59743373] [ 0.26852466 0.96286842 0.02790894 -0.22330412] [ 0.18002225 -0.07862502 0.98051522 -0.37616136] [ 0. 0. 0. 1. ]] SLAMing on 131.972414037 meters Centerline goodness : 0.838328 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94622445 -0.25817866 -0.19494376 2.59858972] [ 0.26852366 0.9628608 0.02818013 -0.22279795] [ 0.1804282 -0.07901174 0.98040951 -0.37636146] [ 0. 0. 0. 1. ]] SLAMing on 132.002414037 meters Centerline goodness : 0.841247 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94590093 -0.2589481 -0.19549249 2.60115449] [ 0.26923383 0.96268095 0.02754134 -0.22195086] [ 0.18106512 -0.07868457 0.9803184 -0.3775002 ] [ 0. 0. 0. 1. ]] SLAMing on 132.032414037 meters Centerline goodness : 0.839877 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94584589 -0.25896547 -0.19573564 2.60254751] [ 0.26930254 0.9626569 0.02770988 -0.22248656] [ 0.18125036 -0.07892138 0.98026513 -0.37815089] [ 0. 0. 0. 1. ]] SLAMing on 132.062414037 meters Centerline goodness : 0.838601 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94584898 -0.25877459 -0.195973 2.60347978] [ 0.26920178 0.96267348 0.02810995 -0.22332444] [ 0.18138387 -0.07934405 0.98020631 -0.37832627] [ 0. 0. 0. 1. ]] SLAMing on 132.092414037 meters Centerline goodness : 0.841112 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94604591 -0.25794015 -0.19612246 2.60309464] [ 0.26852095 0.96283862 0.0289534 -0.22403132] [ 0.18136604 -0.08005423 0.98015187 -0.37770338] [ 0. 0. 0. 1. ]] SLAMing on 132.122414037 meters Centerline goodness : 0.839810 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94653398 -0.2549875 -0.19762289 2.60353646] [ 0.26635606 0.96331658 0.03279669 -0.22480269] [ 0.18201066 -0.08368123 0.97972933 -0.37631906] [ 0. 0. 0. 1. ]] SLAMing on 132.152414037 meters Centerline goodness : 0.841840 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94660348 -0.25480258 -0.19752846 2.6021704 ] [ 0.26613948 0.96338013 0.032688 -0.22403842] [ 0.181966 -0.0835127 0.97975201 -0.37538106] [ 0. 0. 0. 1. ]] SLAMing on 132.182414037 meters Centerline goodness : 0.839355 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94663188 -0.25442799 -0.19787493 2.60304665] [ 0.26578279 0.9634796 0.03265842 -0.22301597] [ 0.18233924 -0.08350725 0.97968308 -0.37585164] [ 0. 0. 0. 1. ]] SLAMing on 132.212414037 meters Centerline goodness : 0.838477 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.94612119 -0.25600352 -0.1982849 2.60635952] [ 0.26692267 0.96325138 0.02998436 -0.2188808 ] [ 0.1833221 -0.08129557 0.97968568 -0.37864277] [ 0. 0. 0. 1. ]] SLAMing on 132.242414037 meters Centerline goodness : 0.840001 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.94605251 -0.25626716 -0.198272 2.60784454] [ 0.26703974 0.96324358 0.02918172 -0.21788219] [ 0.18350591 -0.08055394 0.97971253 -0.38021395] [ 0. 0. 0. 1. ]] SLAMing on 132.27241403699998 meters Centerline goodness : 0.837868 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.94613821 -0.25618698 -0.19796644 2.60793252] [ 0.26684962 0.9633096 0.02873844 -0.21789148] [ 0.18334056 -0.08001781 0.97978742 -0.38085908] [ 0. 0. 0. 1. ]] SLAMing on 132.30241403699998 meters Centerline goodness : 0.840365 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.94661391 -0.25458522 -0.1977586 2.60771858] [ 0.26540065 0.96367746 0.02980358 -0.21945031] [ 0.18298795 -0.08069775 0.97979757 -0.38124771] [ 0. 0. 0. 1. ]] SLAMing on 132.33241403699998 meters Centerline goodness : 0.841281 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94770964 -0.25152907 -0.1964168 2.6043476 ] [ 0.26244169 0.9644425 0.03122541 -0.22229512] [ 0.18157861 -0.08114058 0.98002317 -0.38089745] [ 0. 0. 0. 1. ]] SLAMing on 132.36241403699998 meters Centerline goodness : 0.842122 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.38 [[ 0.94786167 -0.25079289 -0.19662446 2.6046749 ] [ 0.26178823 0.96460633 0.03164721 -0.22242286] [ 0.1817283 -0.08147115 0.979968 -0.38093904] [ 0. 0. 0. 1. ]] SLAMing on 132.39241403699998 meters Centerline goodness : 0.836558 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.94780935 -0.25094734 -0.19667961 2.60516463] [ 0.26190124 0.96458426 0.03138397 -0.2222005 ] [ 0.18183833 -0.08125665 0.9799654 -0.38116083] [ 0. 0. 0. 1. ]] SLAMing on 132.42241403699998 meters Centerline goodness : 0.841987 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.94759333 -0.25130713 -0.19726024 2.6059035 ] [ 0.26240271 0.96443276 0.03184744 -0.22201004] [ 0.18224075 -0.08194005 0.97983373 -0.38050725] [ 0. 0. 0. 1. ]] SLAMing on 132.45241403699998 meters Centerline goodness : 0.847513 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.9475512 -0.2511836 -0.19761966 2.60676981] [ 0.26240167 0.96441624 0.0323524 -0.22218306] [ 0.18246121 -0.08251129 0.97974476 -0.38046426] [ 0. 0. 0. 1. ]] SLAMing on 132.48241403699998 meters Centerline goodness : 0.843279 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.22, Z:-0.38 [[ 0.94751345 -0.25121182 -0.1977647 2.60744159] [ 0.26251605 0.96437185 0.03274536 -0.22348348] [ 0.18249269 -0.08294308 0.97970244 -0.38037389] [ 0. 0. 0. 1. ]] SLAMing on 132.51241403699999 meters Centerline goodness : 0.849916 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.23, Z:-0.38 [[ 0.94742494 -0.2512238 -0.19817311 2.60889576] [ 0.26270379 0.96429489 0.03349748 -0.22522751] [ 0.18268195 -0.08379718 0.97959448 -0.38042345] [ 0. 0. 0. 1. ]] SLAMing on 132.542414037 meters Centerline goodness : 0.845232 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.23, Z:-0.38 [[ 0.94718332 -0.25156952 -0.19888825 2.61034643] [ 0.2634384 0.9640334 0.03521093 -0.22888752] [ 0.18287693 -0.08574601 0.97938943 -0.37917503] [ 0. 0. 0. 1. ]] SLAMing on 132.572414037 meters Centerline goodness : 0.845232 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.23, Z:-0.38 [[ 0.94718332 -0.25156952 -0.19888825 2.61034643] [ 0.2634384 0.9640334 0.03521093 -0.22888752] [ 0.18287693 -0.08574601 0.97938943 -0.37917503] [ 0. 0. 0. 1. ]] SLAMing on 132.602414037 meters Centerline goodness : 0.842222 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.23, Z:-0.38 [[ 0.94694346 -0.25186897 -0.19964998 2.61165986] [ 0.26399213 0.96384615 0.0361767 -0.23013204] [ 0.18332008 -0.08696331 0.97919923 -0.37829852] [ 0. 0. 0. 1. ]] SLAMing on 132.632414037 meters Centerline goodness : 0.848201 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.23, Z:-0.38 [[ 0.94651222 -0.25257645 -0.20079781 2.61399084] [ 0.2649211 0.96357018 0.03673305 -0.22992122] [ 0.18420488 -0.08796385 0.97894378 -0.37786085] [ 0. 0. 0. 1. ]] SLAMing on 132.662414037 meters Centerline goodness : 0.843561 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.94600777 -0.25379195 -0.20164063 2.61641974] [ 0.26620091 0.96322445 0.0365478 -0.22919373] [ 0.18494965 -0.08825142 0.97877746 -0.37808764] [ 0. 0. 0. 1. ]] SLAMing on 132.692414037 meters Centerline goodness : 0.844177 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.94469228 -0.25848082 -0.20185185 2.62153714] [ 0.2701724 0.96227321 0.03220486 -0.22649676] [ 0.18591228 -0.08495848 0.97888645 -0.38098459] [ 0. 0. 0. 1. ]] SLAMing on 132.722414037 meters Centerline goodness : 0.848515 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.94453879 -0.25903823 -0.20185555 2.62300053] [ 0.27067864 0.96214178 0.03187912 -0.22764814] [ 0.18595575 -0.08474905 0.97889635 -0.38175386] [ 0. 0. 0. 1. ]] SLAMing on 132.752414037 meters Centerline goodness : 0.847220 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.94462025 -0.25856579 -0.20207998 2.62396565] [ 0.2704558 0.96216202 0.0331346 -0.23063134] [ 0.18586621 -0.08595331 0.97880835 -0.38151782] [ 0. 0. 0. 1. ]] SLAMing on 132.782414037 meters Centerline goodness : 0.848908 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.9447811 -0.25746207 -0.20273615 2.62329745] [ 0.26998394 0.96218199 0.03625578 -0.23459607] [ 0.18573458 -0.08898928 0.97856199 -0.37865382] [ 0. 0. 0. 1. ]] SLAMing on 132.812414037 meters Centerline goodness : 0.847625 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.9446774 -0.25727647 -0.20345377 2.62347679] [ 0.27000175 0.96214895 0.0369925 -0.23414447] [ 0.18623553 -0.08987886 0.97838546 -0.3774274 ] [ 0. 0. 0. 1. ]] SLAMing on 132.842414037 meters Centerline goodness : 0.845526 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.9443745 -0.25793263 -0.20402833 2.62380473] [ 0.27068248 0.96196599 0.03677533 -0.2325959 ] [ 0.18678275 -0.08995658 0.978274 -0.37662102] [ 0. 0. 0. 1. ]] SLAMing on 132.872414037 meters Centerline goodness : 0.846303 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.38 [[ 0.94394809 -0.25885146 -0.20483633 2.62533858] [ 0.27164874 0.96170265 0.03653734 -0.23130432] [ 0.18753389 -0.09013288 0.97811405 -0.37641405] [ 0. 0. 0. 1. ]] SLAMing on 132.902414037 meters Centerline goodness : 0.849154 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.38 [[ 0.94395923 -0.25862915 -0.2050657 2.62644534] [ 0.27146192 0.96175181 0.0366318 -0.23144061] [ 0.18774825 -0.09024646 0.97806246 -0.37699362] [ 0. 0. 0. 1. ]] SLAMing on 132.932414037 meters Centerline goodness : 0.848646 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.38 [[ 0.94396284 -0.25831766 -0.20544135 2.62822888] [ 0.27124074 0.96180211 0.03694826 -0.23202738] [ 0.18804954 -0.09060185 0.97797172 -0.37780136] [ 0. 0. 0. 1. ]] SLAMing on 132.962414037 meters Centerline goodness : 0.848296 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.38 [[ 0.94387788 -0.25874491 -0.205294 2.62949779] [ 0.2714957 0.96176304 0.03608237 -0.23182991] [ 0.18810805 -0.08979379 0.97803499 -0.37910265] [ 0. 0. 0. 1. ]] SLAMing on 132.992414037 meters Centerline goodness : 0.847504 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.38 [[ 0.94407674 -0.25837308 -0.20484743 2.62960635] [ 0.27096109 0.96193589 0.03548849 -0.23104978] [ 0.18788083 -0.08900954 0.97815035 -0.38042521] [ 0. 0. 0. 1. ]] SLAMing on 133.02241403699998 meters Centerline goodness : 0.844504 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.38 [[ 0.94437312 -0.25735157 -0.20476713 2.62840386] [ 0.27000261 0.962188 0.03595606 -0.23010051] [ 0.18777113 -0.08924359 0.97815008 -0.38004936] [ 0. 0. 0. 1. ]] SLAMing on 133.05241403699998 meters Centerline goodness : 0.844315 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.38 [[ 0.94468554 -0.25632368 -0.20461527 2.62592197] [ 0.26903005 0.96244298 0.03641894 -0.22890948] [ 0.18759549 -0.0894521 0.97816474 -0.37865302] [ 0. 0. 0. 1. ]] SLAMing on 133.08241403699998 meters Centerline goodness : 0.843507 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.94514315 -0.25506217 -0.20407771 2.62354058] [ 0.26770146 0.96281208 0.03645308 -0.22773881] [ 0.18719069 -0.08908528 0.97827576 -0.37813879] [ 0. 0. 0. 1. ]] SLAMing on 133.11241403699998 meters Centerline goodness : 0.839755 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.94592399 -0.25249928 -0.20364656 2.62285967] [ 0.26504952 0.96354577 0.03644592 -0.22638003] [ 0.18702021 -0.0884515 0.97836587 -0.37970442] [ 0. 0. 0. 1. ]] SLAMing on 133.14241403699998 meters Centerline goodness : 0.842736 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.38 [[ 0.9460521 -0.25238463 -0.20319307 2.62368703] [ 0.26464538 0.96370466 0.03515902 -0.22513914] [ 0.18694452 -0.08703638 0.97850724 -0.38172695] [ 0. 0. 0. 1. ]] SLAMing on 133.17241403699998 meters Centerline goodness : 0.840870 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.38 [[ 0.94598799 -0.25290078 -0.20284948 2.62495673] [ 0.26478092 0.96373422 0.03327803 -0.22290368] [ 0.18707695 -0.08519129 0.9786443 -0.38395019] [ 0. 0. 0. 1. ]] SLAMing on 133.20241403699998 meters Centerline goodness : 0.835451 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.22, Z:-0.39 [[ 0.94633595 -0.25234402 -0.20191772 2.62508124] [ 0.26372983 0.96409281 0.03117094 -0.21958491] [ 0.18680162 -0.0827499 0.97890633 -0.38701045] [ 0. 0. 0. 1. ]] SLAMing on 133.23241403699998 meters Centerline goodness : 0.835849 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94649325 -0.25207277 -0.20151885 2.62413665] [ 0.26327069 0.96424317 0.03039165 -0.21769677] [ 0.18665227 -0.0818195 0.97901302 -0.3874369 ] [ 0. 0. 0. 1. ]] SLAMing on 133.26241403699999 meters Centerline goodness : 0.841893 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94671083 -0.25120305 -0.20158281 2.6238227 ] [ 0.26240566 0.96447636 0.03047321 -0.21653928] [ 0.1867669 -0.08174578 0.97899732 -0.3875717 ] [ 0. 0. 0. 1. ]] SLAMing on 133.292414037 meters Centerline goodness : 0.841765 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94702213 -0.2504558 -0.20104968 2.62154603] [ 0.26154918 0.96471724 0.03021062 -0.21548899] [ 0.18638967 -0.0811945 0.97911508 -0.38688473] [ 0. 0. 0. 1. ]] SLAMing on 133.322414037 meters Centerline goodness : 0.840993 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94724601 -0.24967839 -0.20096195 2.62104392] [ 0.26086075 0.96488519 0.03079351 -0.21639218] [ 0.18621674 -0.08159211 0.97911493 -0.38658029] [ 0. 0. 0. 1. ]] SLAMing on 133.352414037 meters Centerline goodness : 0.840122 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.9474741 -0.24867807 -0.20112696 2.62091561] [ 0.26006477 0.96506437 0.03189171 -0.21795332] [ 0.18616969 -0.0825226 0.9790459 -0.38602394] [ 0. 0. 0. 1. ]] SLAMing on 133.382414037 meters Centerline goodness : 0.839291 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.38 [[ 0.94771162 -0.2477896 -0.20110445 2.61953264] [ 0.25931405 0.96523887 0.03271325 -0.2188254 ] [ 0.18600783 -0.08315193 0.97902341 -0.38475607] [ 0. 0. 0. 1. ]] SLAMing on 133.412414037 meters Centerline goodness : 0.835976 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.38 [[ 0.94773191 -0.24733987 -0.20156195 2.62026469] [ 0.25896793 0.96531883 0.03309322 -0.21856579] [ 0.18638627 -0.08356159 0.97891655 -0.38465473] [ 0. 0. 0. 1. ]] SLAMing on 133.442414037 meters Centerline goodness : 0.837970 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.38 [[ 0.94775863 -0.2473142 -0.2014678 2.61984569] [ 0.25888356 0.96535044 0.03283035 -0.2179683 ] [ 0.18636762 -0.08327195 0.97894479 -0.38447822] [ 0. 0. 0. 1. ]] SLAMing on 133.472414037 meters Centerline goodness : 0.838974 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94832574 -0.24591427 -0.20051051 2.618008 ] [ 0.25728509 0.96579372 0.03235547 -0.21744829] [ 0.18569512 -0.08227189 0.97915712 -0.38519522] [ 0. 0. 0. 1. ]] SLAMing on 133.502414037 meters Centerline goodness : 0.843196 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94871977 -0.24500034 -0.19976395 2.61715289] [ 0.25621061 0.96609341 0.03193193 -0.217597 ] [ 0.18516731 -0.0814761 0.9793236 -0.38613895] [ 0. 0. 0. 1. ]] SLAMing on 133.532414037 meters Centerline goodness : 0.834518 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94918761 -0.24367412 -0.19916275 2.61694521] [ 0.2548426 0.96644933 0.03210815 -0.2187696 ] [ 0.18465678 -0.08123181 0.97944028 -0.38728498] [ 0. 0. 0. 1. ]] SLAMing on 133.562414037 meters Centerline goodness : 0.842422 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.94955451 -0.24276487 -0.19852317 2.61687529] [ 0.25388667 0.9666967 0.03223415 -0.22063989] [ 0.18408637 -0.08101047 0.97956598 -0.38828471] [ 0. 0. 0. 1. ]] SLAMing on 133.592414037 meters Centerline goodness : 0.841793 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.95031741 -0.24099475 -0.19702376 2.61738951] [ 0.25189517 0.96722893 0.03189093 -0.22391324] [ 0.18288153 -0.07993584 0.97987989 -0.39129697] [ 0. 0. 0. 1. ]] SLAMing on 133.622414037 meters Centerline goodness : 0.833284 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.22, Z:-0.39 [[ 0.95065685 -0.23980445 -0.19683844 2.6178095 ] [ 0.25077609 0.96750045 0.03246876 -0.22478023] [ 0.18265513 -0.08022903 0.97989816 -0.39224303] [ 0. 0. 0. 1. ]] SLAMing on 133.652414037 meters Centerline goodness : 0.791544 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.39 [[ 0.95094309 -0.23895206 -0.19649214 2.61741036] [ 0.24993572 0.96770777 0.03276916 -0.22520564] [ 0.18231671 -0.08027201 0.97995766 -0.39272276] [ 0. 0. 0. 1. ]] SLAMing on 133.682414037 meters Centerline goodness : 0.836002 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.39 [[ 0.95116928 -0.23827198 -0.19622301 2.61734626] [ 0.24925812 0.96787578 0.03296755 -0.2257648 ] [ 0.18206426 -0.0802679 0.98000493 -0.39328494] [ 0. 0. 0. 1. ]] SLAMing on 133.712414037 meters Centerline goodness : 0.836609 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.39 [[ 0.95211735 -0.23547022 -0.1950034 2.61695268] [ 0.24667243 0.96846844 0.03495129 -0.2329454 ] [ 0.18062465 -0.08137969 0.98017962 -0.39425595] [ 0. 0. 0. 1. ]] SLAMing on 133.742414037 meters Centerline goodness : 0.847238 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.24, Z:-0.39 [[ 0.9525527 -0.23501057 -0.19342539 2.61556559] [ 0.24599773 0.96865464 0.03454419 -0.23758125] [ 0.17924416 -0.08048737 0.98050666 -0.39467599] [ 0. 0. 0. 1. ]] SLAMing on 133.77241403699998 meters Centerline goodness : 0.846272 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.24, Z:-0.39 [[ 0.95301711 -0.23309728 -0.19345296 2.61572222] [ 0.24454207 0.9689243 0.03721397 -0.24289695] [ 0.1787668 -0.08277294 0.98040353 -0.39400234] [ 0. 0. 0. 1. ]] SLAMing on 133.80241403699998 meters Centerline goodness : 0.846688 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.25, Z:-0.39 [[ 0.95326163 -0.23214856 -0.19338904 2.61490151] [ 0.24388174 0.96902393 0.03891427 -0.24650508] [ 0.17836472 -0.08425954 0.98035012 -0.39263822] [ 0. 0. 0. 1. ]] SLAMing on 133.83241403699998 meters Centerline goodness : 0.837889 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.25, Z:-0.39 [[ 0.95346618 -0.23086052 -0.19392181 2.61453672] [ 0.24314743 0.96908764 0.04181466 -0.25189158] [ 0.17827387 -0.08702046 0.98012543 -0.39002859] [ 0. 0. 0. 1. ]] SLAMing on 133.86241403699998 meters Centerline goodness : 0.846215 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.25, Z:-0.39 [[ 0.95344144 -0.23042621 -0.19455892 2.61639666] [ 0.24301912 0.96905835 0.04321596 -0.25479266] [ 0.17858086 -0.08848543 0.97993837 -0.38984118] [ 0. 0. 0. 1. ]] SLAMing on 133.89241403699998 meters Centerline goodness : 0.844248 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.26, Z:-0.39 [[ 0.95350521 -0.23051448 -0.19414143 2.61817022] [ 0.24307373 0.96904387 0.04323355 -0.25869237] [ 0.1781656 -0.08841409 0.98002039 -0.3909767 ] [ 0. 0. 0. 1. ]] SLAMing on 133.92241403699998 meters Centerline goodness : 0.842469 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.26, Z:-0.39 [[ 0.95297419 -0.23335795 -0.1933501 2.61956325] [ 0.24548446 0.96853355 0.04098961 -0.26171931] [ 0.17770081 -0.08652649 0.98027322 -0.39171132] [ 0. 0. 0. 1. ]] SLAMing on 133.95241403699998 meters Centerline goodness : 0.845833 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.27, Z:-0.39 [[ 0.95214399 -0.23661051 -0.19348715 2.62308585] [ 0.24893607 0.9676206 0.04172769 -0.27102027] [ 0.17734895 -0.0878967 0.98021504 -0.39117676] [ 0. 0. 0. 1. ]] SLAMing on 133.98241403699998 meters Centerline goodness : 0.850160 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.27, Z:-0.39 [[ 0.95172895 -0.23710799 -0.19491486 2.62609735] [ 0.24994652 0.96726922 0.0437836 -0.27482995] [ 0.1781537 -0.09038841 0.97984243 -0.38992425] [ 0. 0. 0. 1. ]] SLAMing on 134.01241403699999 meters Centerline goodness : 0.791272 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.28, Z:-0.39 [[ 0.95122297 -0.23836615 -0.195848 2.62835683] [ 0.25149281 0.96682323 0.04476843 -0.27763901] [ 0.17867912 -0.09183912 0.97961184 -0.38890075] [ 0. 0. 0. 1. ]] SLAMing on 134.042414037 meters Centerline goodness : 0.839873 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.28, Z:-0.39 [[ 0.9507633 -0.23898859 -0.19731597 2.63191305] [ 0.25261196 0.96644226 0.04665364 -0.28141046] [ 0.17954481 -0.09420094 0.97922921 -0.38807787] [ 0. 0. 0. 1. ]] SLAMing on 134.072414037 meters Centerline goodness : 0.791172 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.29, Z:-0.39 [[ 0.94956322 -0.2429427 -0.19826381 2.63678547] [ 0.25692609 0.96525074 0.04774924 -0.29133526] [ 0.17977396 -0.09628007 0.97898492 -0.38687808] [ 0. 0. 0. 1. ]] SLAMing on 134.102414037 meters Centerline goodness : 0.838614 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.30, Z:-0.39 [[ 0.94877215 -0.24624452 -0.19797739 2.6387309 ] [ 0.25995786 0.96451722 0.04613503 -0.29548943] [ 0.17959211 -0.09523741 0.97912027 -0.38648914] [ 0. 0. 0. 1. ]] SLAMing on 134.132414037 meters Centerline goodness : 0.839878 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.30, Z:-0.39 [[ 0.94800891 -0.2494196 -0.19765874 2.6405157 ] [ 0.26288853 0.9637909 0.04468471 -0.29971517] [ 0.17935645 -0.09432371 0.97925191 -0.38599573] [ 0. 0. 0. 1. ]] SLAMing on 134.162414037 meters Centerline goodness : 0.849581 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.31, Z:-0.38 [[ 0.94684357 -0.25329913 -0.19830985 2.64402051] [ 0.26693056 0.96267072 0.04486833 -0.306524 ] [ 0.17954198 -0.09541825 0.97911186 -0.38447408] [ 0. 0. 0. 1. ]] SLAMing on 134.192414037 meters Centerline goodness : 0.855164 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.31, Z:-0.38 [[ 0.94650918 -0.25364351 -0.19946262 2.64588931] [ 0.26767971 0.96238948 0.04641196 -0.30896633] [ 0.18018863 -0.09732144 0.9788057 -0.3830531 ] [ 0. 0. 0. 1. ]] SLAMing on 134.222414037 meters Centerline goodness : 0.852859 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.31, Z:-0.38 [[ 0.9462122 -0.2540928 -0.20029807 2.64720289] [ 0.26839968 0.96214185 0.04737805 -0.31091407] [ 0.18067673 -0.09858963 0.97858878 -0.38179117] [ 0. 0. 0. 1. ]] SLAMing on 134.252414037 meters Centerline goodness : 0.848746 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.31, Z:-0.38 [[ 0.9452627 -0.25776507 -0.200089 2.6500701 ] [ 0.27175093 0.96129528 0.04541817 -0.31424324] [ 0.18063739 -0.09730647 0.97872447 -0.38212945] [ 0. 0. 0. 1. ]] SLAMing on 134.282414037 meters Centerline goodness : 0.853947 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94515357 -0.25751717 -0.20092196 2.65304253] [ 0.27185524 0.96119525 0.0468872 -0.31830693] [ 0.18105098 -0.0989373 0.97848452 -0.38211876] [ 0. 0. 0. 1. ]] SLAMing on 134.312414037 meters Centerline goodness : 0.847276 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94525111 -0.25696265 -0.20117288 2.65455652] [ 0.27157906 0.96120327 0.04830211 -0.32236021] [ 0.18095619 -0.10029196 0.97836413 -0.38209768] [ 0. 0. 0. 1. ]] SLAMing on 134.342414037 meters Centerline goodness : 0.853480 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.38 [[ 0.94562025 -0.25563588 -0.20112841 2.65404131] [ 0.27059535 0.96137795 0.05030492 -0.32650703] [ 0.18050067 -0.10199376 0.97827234 -0.38096743] [ 0. 0. 0. 1. ]] SLAMing on 134.372414037 meters Centerline goodness : 0.851269 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.38 [[ 0.94578383 -0.25510506 -0.20103322 2.65323213] [ 0.27004974 0.96153019 0.05032731 -0.32536897] [ 0.18046076 -0.10188772 0.97829076 -0.38086987] [ 0. 0. 0. 1. ]] SLAMing on 134.402414037 meters Centerline goodness : 0.848412 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.9459427 -0.25441406 -0.20116137 2.65277921] [ 0.26935735 0.96172535 0.05030869 -0.32329133] [ 0.18066275 -0.10177343 0.97826537 -0.38099489] [ 0. 0. 0. 1. ]] SLAMing on 134.432414037 meters Centerline goodness : 0.847062 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94647795 -0.25269609 -0.20080882 2.65213201] [ 0.26754703 0.96223805 0.05016497 -0.32133961] [ 0.1805494 -0.10120585 0.97834518 -0.38219298] [ 0. 0. 0. 1. ]] SLAMing on 134.462414037 meters Centerline goodness : 0.847062 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94647795 -0.25269609 -0.20080882 2.65213201] [ 0.26754703 0.96223805 0.05016497 -0.32133961] [ 0.1805494 -0.10120585 0.97834518 -0.38219298] [ 0. 0. 0. 1. ]] SLAMing on 134.492414037 meters Centerline goodness : 0.847864 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94687287 -0.2514451 -0.20051716 2.65194526] [ 0.26637483 0.96252612 0.05087161 -0.32305969] [ 0.18021159 -0.10158167 0.97836851 -0.38252632] [ 0. 0. 0. 1. ]] SLAMing on 134.52241403699998 meters Centerline goodness : 0.849499 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94722603 -0.25025704 -0.2003354 2.65162823] [ 0.26527123 0.96279524 0.05154123 -0.32448664] [ 0.17998341 -0.10196441 0.9783707 -0.38253791] [ 0. 0. 0. 1. ]] SLAMing on 134.55241403699998 meters Centerline goodness : 0.850300 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94801223 -0.24781727 -0.19964822 2.64986627] [ 0.26286096 0.96341435 0.05231549 -0.32447282] [ 0.17937928 -0.10207545 0.97847007 -0.38302872] [ 0. 0. 0. 1. ]] SLAMing on 134.58241403699998 meters Centerline goodness : 0.848575 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94834897 -0.24690809 -0.19917484 2.64864476] [ 0.26183196 0.96371078 0.05201498 -0.32263835] [ 0.17910402 -0.10147869 0.97858256 -0.3836454 ] [ 0. 0. 0. 1. ]] SLAMing on 134.61241403699998 meters Centerline goodness : 0.851215 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94873186 -0.24574981 -0.19878351 2.64727673] [ 0.26061869 0.96403815 0.05204185 -0.32135585] [ 0.17884561 -0.10118046 0.9786607 -0.3838588 ] [ 0. 0. 0. 1. ]] SLAMing on 134.64241403699998 meters Centerline goodness : 0.853488 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.38 [[ 0.94908639 -0.2447301 -0.19834867 2.64598515] [ 0.25958882 0.96430058 0.05232619 -0.32161721] [ 0.17846194 -0.10115117 0.97873376 -0.38370731] [ 0. 0. 0. 1. ]] SLAMing on 134.67241403699998 meters Centerline goodness : 0.853215 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.38 [[ 0.94992109 -0.24219926 -0.19745745 2.64503843] [ 0.25724242 0.96483253 0.05407887 -0.32634084] [ 0.17741551 -0.10216509 0.97881869 -0.38405856] [ 0. 0. 0. 1. ]] SLAMing on 134.70241403699998 meters Centerline goodness : 0.852714 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.38 [[ 0.95010584 -0.24161879 -0.19727963 2.64573327] [ 0.25670579 0.96495315 0.05447524 -0.3280845 ] [ 0.17720336 -0.10240007 0.97883257 -0.38473109] [ 0. 0. 0. 1. ]] SLAMing on 134.73241403699998 meters Centerline goodness : 0.853617 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.39 [[ 0.95017434 -0.24135921 -0.19726748 2.64688384] [ 0.25645683 0.96501437 0.05456344 -0.32885934] [ 0.17719656 -0.10243537 0.9788301 -0.38567595] [ 0. 0. 0. 1. ]] SLAMing on 134.76241403699999 meters Centerline goodness : 0.852930 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.39 [[ 0.95030961 -0.2405587 -0.19759343 2.64869687] [ 0.25584898 0.96512207 0.05550404 -0.33095064] [ 0.1773498 -0.10330009 0.97871147 -0.38637501] [ 0. 0. 0. 1. ]] SLAMing on 134.792414037 meters Centerline goodness : 0.853298 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.39 [[ 0.95039606 -0.24008131 -0.19775814 2.64938607] [ 0.25558048 0.96512955 0.05660002 -0.33370049] [ 0.17727362 -0.10433556 0.97861543 -0.38601167] [ 0. 0. 0. 1. ]] SLAMing on 134.822414037 meters Centerline goodness : 0.855273 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.34, Z:-0.38 [[ 0.95058467 -0.2387336 -0.19848185 2.65074586] [ 0.25476687 0.96518722 0.05922384 -0.33856221] [ 0.17743343 -0.10686388 0.9783136 -0.3848496 ] [ 0. 0. 0. 1. ]] SLAMing on 134.852414037 meters Centerline goodness : 0.855188 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.35, Z:-0.38 [[ 0.95010537 -0.24043029 -0.19872861 2.65361139] [ 0.25664039 0.96464876 0.05990396 -0.34747691] [ 0.17730059 -0.10791686 0.97822209 -0.38333564] [ 0. 0. 0. 1. ]] SLAMing on 134.882414037 meters Centerline goodness : 0.856103 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.35, Z:-0.38 [[ 0.9498774 -0.24150944 -0.19850975 2.6537864 ] [ 0.25773733 0.96434737 0.06004677 -0.35186953] [ 0.17693049 -0.10820044 0.97825777 -0.38209626] [ 0. 0. 0. 1. ]] SLAMing on 134.912414037 meters Centerline goodness : 0.853374 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.35, Z:-0.38 [[ 0.94918929 -0.24488581 -0.19766292 2.65320608] [ 0.26066078 0.96370018 0.05777474 -0.35444662] [ 0.17633958 -0.10636214 0.97856602 -0.38091548] [ 0. 0. 0. 1. ]] SLAMing on 134.942414037 meters Centerline goodness : 0.857925 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.36, Z:-0.38 [[ 0.94894227 -0.24609748 -0.19734387 2.65270505] [ 0.26188608 0.96335777 0.05794377 -0.35936838] [ 0.17585293 -0.10666691 0.97862042 -0.37902311] [ 0. 0. 0. 1. ]] SLAMing on 134.972414037 meters Centerline goodness : 0.859827 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.37, Z:-0.37 [[ 0.94889124 -0.24542921 -0.19841853 2.65347875] [ 0.26210815 0.96302685 0.0622785 -0.37136583] [ 0.1757974 -0.11110263 0.97813674 -0.37419656] [ 0. 0. 0. 1. ]] SLAMing on 135.002414037 meters Centerline goodness : 0.854620 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.37, Z:-0.37 [[ 0.94818917 -0.24861261 -0.19781069 2.65403053] [ 0.2648295 0.96243759 0.05982661 -0.37367031] [ 0.17550679 -0.10911305 0.97841285 -0.37362632] [ 0. 0. 0. 1. ]] SLAMing on 135.032414037 meters Centerline goodness : 0.867729 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.38, Z:-0.37 [[ 0.94764766 -0.25120076 -0.19713469 2.65450109] [ 0.26702468 0.96195241 0.05783932 -0.3758929 ] [ 0.17510491 -0.10745113 0.97866875 -0.37339357] [ 0. 0. 0. 1. ]] SLAMing on 135.062414037 meters Centerline goodness : 0.866420 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.38, Z:-0.37 [[ 0.94697487 -0.2539231 -0.19687979 2.65682845] [ 0.26955566 0.9613143 0.05669716 -0.38144611] [ 0.17486663 -0.10676085 0.97878689 -0.37296368] [ 0. 0. 0. 1. ]] SLAMing on 135.092414037 meters Centerline goodness : 0.862517 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.38, Z:-0.37 [[ 0.94632433 -0.25685067 -0.19620905 2.65760345] [ 0.27208138 0.96072347 0.0546089 -0.38410641] [ 0.1744763 -0.10506256 0.97904028 -0.37270684] [ 0. 0. 0. 1. ]] SLAMing on 135.122414037 meters Centerline goodness : 0.859194 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.37 [[ 0.94558201 -0.26000539 -0.19563196 2.65819723] [ 0.27484765 0.96005302 0.05250691 -0.38684541] [ 0.17416498 -0.10341857 0.97927073 -0.37197475] [ 0. 0. 0. 1. ]] SLAMing on 135.152414037 meters Centerline goodness : 0.863464 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.40, Z:-0.37 [[ 0.94435171 -0.26496399 -0.19492029 2.65858984] [ 0.27952234 0.95878865 0.05090763 -0.39710183] [ 0.17339867 -0.10255929 0.97949706 -0.36824103] [ 0. 0. 0. 1. ]] SLAMing on 135.182414037 meters Centerline goodness : 0.847908 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.40, Z:-0.36 [[ 0.94357833 -0.26733917 -0.19542186 2.65930146] [ 0.28207547 0.95801408 0.05140477 -0.40373687] [ 0.17347439 -0.10362814 0.97937115 -0.36471567] [ 0. 0. 0. 1. ]] SLAMing on 135.212414037 meters Centerline goodness : 0.816685 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.41, Z:-0.36 [[ 0.94154905 -0.27519338 -0.19430387 2.66218448] [ 0.28903903 0.9561946 0.0463501 -0.41043193] [ 0.17303707 -0.09980229 0.97984574 -0.36373533] [ 0. 0. 0. 1. ]] SLAMing on 135.242414037 meters Centerline goodness : 0.818077 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.41, Z:-0.36 [[ 0.94054622 -0.27903105 -0.19368654 2.66381901] [ 0.29233976 0.95533258 0.04332572 -0.41168316] [ 0.17294584 -0.09737212 0.98010632 -0.36409557] [ 0. 0. 0. 1. ]] SLAMing on 135.27241403699998 meters Centerline goodness : 0.819615 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.41, Z:-0.36 [[ 0.93960507 -0.28269714 -0.19293687 2.66505216] [ 0.29546094 0.95450315 0.04033074 -0.41250516] [ 0.17275747 -0.09490028 0.98038196 -0.36455708] [ 0. 0. 0. 1. ]] SLAMing on 135.30241403699998 meters Centerline goodness : 0.819006 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.41, Z:-0.36 [[ 0.93872694 -0.2861149 -0.19217182 2.66590736] [ 0.2983422 0.95372607 0.03739686 -0.41335681] [ 0.17257947 -0.0924384 0.98064849 -0.36468691] [ 0. 0. 0. 1. ]] SLAMing on 135.33241403699998 meters Centerline goodness : 0.818981 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.42, Z:-0.36 [[ 0.93800834 -0.28869017 -0.19182894 2.66685363] [ 0.30065777 0.95305725 0.03587173 -0.41935154] [ 0.17246815 -0.09132284 0.98077259 -0.36315454] [ 0. 0. 0. 1. ]] SLAMing on 135.36241403699998 meters Centerline goodness : 0.820862 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.42, Z:-0.36 [[ 0.93744985 -0.29096776 -0.19111654 2.66624198] [ 0.30260506 0.95250356 0.03416364 -0.42290845] [ 0.17209867 -0.08985953 0.98097264 -0.36181009] [ 0. 0. 0. 1. ]] SLAMing on 135.39241403699998 meters Centerline goodness : 0.820612 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.43, Z:-0.36 [[ 0.93666976 -0.29380393 -0.19060173 2.66695094] [ 0.30512079 0.95176414 0.03234685 -0.42891521] [ 0.17190426 -0.08845486 0.98113438 -0.36020319] [ 0. 0. 0. 1. ]] SLAMing on 135.42241403699998 meters Centerline goodness : 0.820367 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.43, Z:-0.36 [[ 0.93669087 -0.29354884 -0.1908908 2.66778062] [ 0.30500775 0.95177694 0.03302915 -0.43134073] [ 0.17198979 -0.08916128 0.98105544 -0.35988283] [ 0. 0. 0. 1. ]] SLAMing on 135.45241403699998 meters Centerline goodness : 0.820161 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.43, Z:-0.36 [[ 0.93672267 -0.29324031 -0.19120869 2.66890873] [ 0.3048382 0.95180838 0.03368188 -0.43306627] [ 0.17211715 -0.08983829 0.98097134 -0.35999842] [ 0. 0. 0. 1. ]] SLAMing on 135.48241403699998 meters Centerline goodness : 0.820961 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.44, Z:-0.36 [[ 0.93617737 -0.29513946 -0.19095716 2.67140543] [ 0.30650135 0.95132222 0.03229466 -0.43565045] [ 0.17213036 -0.08876216 0.98106698 -0.36073691] [ 0. 0. 0. 1. ]] SLAMing on 135.51241403699999 meters Centerline goodness : 0.820412 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.44, Z:-0.36 [[ 0.93535307 -0.29832747 -0.19004039 2.67156315] [ 0.30917497 0.9505463 0.02953939 -0.4369089 ] [ 0.17182978 -0.08638549 0.98133179 -0.3604335 ] [ 0. 0. 0. 1. ]] SLAMing on 135.542414037 meters Centerline goodness : 0.821314 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.44, Z:-0.36 [[ 0.93462928 -0.30112608 -0.18918561 2.67034073] [ 0.31155602 0.94983485 0.02732413 -0.4391997 ] [ 0.17146708 -0.08447985 0.9815611 -0.35895373] [ 0. 0. 0. 1. ]] SLAMing on 135.572414037 meters Centerline goodness : 0.822833 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.44, Z:-0.36 [[ 0.93296897 -0.30735748 -0.18735068 2.66860218] [ 0.31689868 0.94819153 0.02253993 -0.44343808] [ 0.17071651 -0.08040024 0.98203446 -0.35661129] [ 0. 0. 0. 1. ]] SLAMing on 135.602414037 meters Centerline goodness : 0.822914 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.44, Z:-0.36 [[ 0.93182552 -0.3114617 -0.18626007 2.66881275] [ 0.32040177 0.94708704 0.01920546 -0.4445772 ] [ 0.17042274 -0.0775742 0.98231275 -0.35634029] [ 0. 0. 0. 1. ]] SLAMing on 135.632414037 meters Centerline goodness : 0.823855 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92950238 -0.31949631 -0.18424828 2.66982804] [ 0.32728659 0.94483971 0.01270492 -0.44701727] [ 0.17002592 -0.07211124 0.98279762 -0.35597875] [ 0. 0. 0. 1. ]] SLAMing on 135.662414037 meters Centerline goodness : 0.822295 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92830226 -0.32351231 -0.18328855 2.67101518] [ 0.33073132 0.94367791 0.00942343 -0.44780145] [ 0.16991676 -0.06936706 0.98301399 -0.35637917] [ 0. 0. 0. 1. ]] SLAMing on 135.692414037 meters Centerline goodness : 0.821490 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92714906 -0.32736793 -0.18227685 2.67230766] [ 0.33403404 0.94254019 0.00626472 -0.44859768] [ 0.16975239 -0.066695 0.98322729 -0.35698667] [ 0. 0. 0. 1. ]] SLAMing on 135.722414037 meters Centerline goodness : 0.821692 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92601501 -0.33108639 -0.18132295 2.67441119] [ 0.33730156 0.94138951 0.00366776 -0.45152221] [ 0.16948117 -0.06455691 0.98341677 -0.3577636 ] [ 0. 0. 0. 1. ]] SLAMing on 135.752414037 meters Centerline goodness : 0.822459 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.9259881 -0.33109701 -0.1814409 2.67487465] [ 0.33739323 0.94135491 0.00409125 -0.45337024] [ 0.16944568 -0.06500538 0.98339334 -0.35752266] [ 0. 0. 0. 1. ]] SLAMing on 135.782414037 meters Centerline goodness : 0.820131 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92601083 -0.33100048 -0.18150102 2.67494229] [ 0.33735789 0.94136603 0.00443219 -0.45463522] [ 0.16939184 -0.06533505 0.98338077 -0.35721173] [ 0. 0. 0. 1. ]] SLAMing on 135.812414037 meters Centerline goodness : 0.822846 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.36 [[ 0.92609167 -0.33070484 -0.18162745 2.67495793] [ 0.33712752 0.94144681 0.00478986 -0.45546003] [ 0.16940856 -0.06566746 0.98335575 -0.3568938 ] [ 0. 0. 0. 1. ]] SLAMing on 135.842414037 meters Centerline goodness : 0.821015 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 0.92627486 -0.33002691 -0.18192614 2.6758164 ] [ 0.33655919 0.94164698 0.00537292 -0.45632788] [ 0.16953699 -0.06620571 0.98329752 -0.35710387] [ 0. 0. 0. 1. ]] SLAMing on 135.872414037 meters Centerline goodness : 0.821255 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 0.92636609 -0.32963754 -0.18216738 2.67653067] [ 0.33621224 0.94176983 0.00556041 -0.45631404] [ 0.16972683 -0.06639788 0.98325181 -0.35735376] [ 0. 0. 0. 1. ]] SLAMing on 135.902414037 meters Centerline goodness : 0.820808 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 0.92665731 -0.32870158 -0.18237734 2.67673226] [ 0.33536733 0.94206774 0.00609414 -0.45698567] [ 0.16980865 -0.06681058 0.98320973 -0.35714469] [ 0. 0. 0. 1. ]] SLAMing on 135.932414037 meters Centerline goodness : 0.819912 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 0.92675544 -0.32839909 -0.18242367 2.67676731] [ 0.33509525 0.94216332 0.00628086 -0.45730726] [ 0.16981026 -0.06695012 0.98319996 -0.35709008] [ 0. 0. 0. 1. ]] SLAMing on 135.962414037 meters Centerline goodness : 0.820962 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 0.92683999 -0.32813811 -0.18246372 2.67680116] [ 0.33484793 0.94225066 0.00636898 -0.45696876] [ 0.16983665 -0.06700062 0.98319196 -0.35717858] [ 0. 0. 0. 1. ]] SLAMing on 135.992414037 meters Centerline goodness : 0.821931 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.36 [[ 0.9275033 -0.32622145 -0.18252998 2.67435689] [ 0.33317296 0.9428324 0.00792676 -0.45710801] [ 0.1695093 -0.06816615 0.98316833 -0.35600316] [ 0. 0. 0. 1. ]] SLAMing on 136.02241403699998 meters Centerline goodness : 0.821663 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.36 [[ 0.92755572 -0.32601143 -0.1826388 2.67406354] [ 0.3329756 0.94290171 0.00797578 -0.45703107] [ 0.16961025 -0.06821224 0.98314773 -0.35556143] [ 0. 0. 0. 1. ]] SLAMing on 136.05241403699998 meters Centerline goodness : 0.823345 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.35 [[ 0.92769231 -0.32546332 -0.18292238 2.67367768] [ 0.33252209 0.94305752 0.00846015 -0.45887974] [ 0.16975285 -0.06867414 0.98309096 -0.35423701] [ 0. 0. 0. 1. ]] SLAMing on 136.08241403699998 meters Centerline goodness : 0.823151 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.35 [[ 0.92767413 -0.32546588 -0.18301005 2.67353623] [ 0.3325282 0.94305551 0.00844446 -0.4592212 ] [ 0.16984025 -0.06868971 0.98307477 -0.35375529] [ 0. 0. 0. 1. ]] SLAMing on 136.11241403699998 meters Centerline goodness : 0.823919 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.35 [[ 0.92762934 -0.32553393 -0.18311599 2.67352287] [ 0.33258858 0.94303505 0.00835003 -0.45895324] [ 0.16996658 -0.06864802 0.98305585 -0.35354234] [ 0. 0. 0. 1. ]] SLAMing on 136.14241403699998 meters Centerline goodness : 0.822063 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 0.92695961 -0.32762196 -0.18278329 2.67543522] [ 0.33442104 0.94239919 0.00680658 -0.45740413] [ 0.17002484 -0.067436 0.98312967 -0.3552062 ] [ 0. 0. 0. 1. ]] SLAMing on 136.17241403699998 meters Centerline goodness : 0.823171 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 0.92582041 -0.33150404 -0.18155339 2.67588108] [ 0.33765627 0.94126413 0.00317376 -0.45620222] [ 0.16983758 -0.06424097 0.98337597 -0.3559096 ] [ 0. 0. 0. 1. ]] SLAMing on 136.20241403699998 meters Centerline goodness : 0.821278 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.36 [[ 9.24658684e-01 -3.35459353e-01 -1.80203607e-01 2.67611499e+00] [ 3.40969835e-01 9.40074143e-01 -4.21440806e-04 -4.55675810e-01] [ 1.69546127e-01 -6.10543052e-02 9.83629240e-01 -3.56444352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23241403699998 meters Centerline goodness : 0.822021 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.35 [[ 0.92382639 -0.33860521 -0.1785814 2.67324534] [ 0.34362064 0.93910368 -0.00302148 -0.4572276 ] [ 0.16872955 -0.05857293 0.9839205 -0.35478058] [ 0. 0. 0. 1. ]] SLAMing on 136.26241403699999 meters Centerline goodness : 0.824294 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.35 [[ 0.92386165 -0.33858488 -0.17843747 2.6719467 ] [ 0.34358295 0.93911732 -0.00307008 -0.45681533] [ 0.1686132 -0.05847175 0.98394646 -0.35401745] [ 0. 0. 0. 1. ]] SLAMing on 136.292414037 meters Centerline goodness : 0.824100 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.46, Z:-0.35 [[ 9.24204426e-01 -3.37677549e-01 -1.78381759e-01 2.66899852e+00] [ 3.42791541e-01 9.39408715e-01 -2.28596195e-03 -4.56356791e-01] [ 1.68345297e-01 -5.90350618e-02 9.83958700e-01 -3.52447677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322414037 meters Centerline goodness : 0.823161 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.35 [[ 9.24294337e-01 -3.37445311e-01 -1.78355376e-01 2.66851793e+00] [ 3.42502895e-01 9.39513220e-01 -2.58385249e-03 -4.53413939e-01] [ 1.68439142e-01 -5.86989924e-02 9.83962745e-01 -3.52887230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.352414037 meters Centerline goodness : 0.823232 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.35 [[ 0.92426903 -0.33745307 -0.17847182 2.66919673] [ 0.34249109 0.93951708 -0.00274005 -0.45274907] [ 0.16860196 -0.05859247 0.98394121 -0.35337601] [ 0. 0. 0. 1. ]] SLAMing on 136.382414037 meters Centerline goodness : 0.823232 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.35 [[ 0.92426903 -0.33745307 -0.17847182 2.66919673] [ 0.34249109 0.93951708 -0.00274005 -0.45274907] [ 0.16860196 -0.05859247 0.98394121 -0.35337601] [ 0. 0. 0. 1. ]] SLAMing on 136.412414037 meters Centerline goodness : 0.822024 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.35 [[ 0.92408102 -0.3379463 -0.17851208 2.67008098] [ 0.34290901 0.93936303 -0.00324094 -0.45251552] [ 0.16878291 -0.05821851 0.98393238 -0.35376372] [ 0. 0. 0. 1. ]] SLAMing on 136.442414037 meters Centerline goodness : 0.822167 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.35 [[ 0.92394749 -0.33836085 -0.17841797 2.67035505] [ 0.34326724 0.93923097 -0.00357634 -0.45227044] [ 0.16878578 -0.05794069 0.98394829 -0.35401565] [ 0. 0. 0. 1. ]] SLAMing on 136.472414037 meters Centerline goodness : 0.822693 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.35 [[ 0.92384504 -0.33866309 -0.17837503 2.67083561] [ 0.34353199 0.93913325 -0.00380911 -0.45197112] [ 0.16880793 -0.0577585 0.9839552 -0.35443444] [ 0. 0. 0. 1. ]] SLAMing on 136.502414037 meters Centerline goodness : 0.820969 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92369002 -0.33921252 -0.1781337 2.67134564] [ 0.34397652 0.93896799 -0.00439007 -0.44984746] [ 0.16875101 -0.05721875 0.9839965 -0.35572349] [ 0. 0. 0. 1. ]] SLAMing on 136.532414037 meters Centerline goodness : 0.818911 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92360981 -0.33949601 -0.17800951 2.67102826] [ 0.34421045 0.93888094 -0.00466371 -0.44895 ] [ 0.16871305 -0.05696528 0.98401772 -0.3558019 ] [ 0. 0. 0. 1. ]] SLAMing on 136.562414037 meters Centerline goodness : 0.819531 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.36 [[ 0.92345152 -0.34004412 -0.17778439 2.67031017] [ 0.34468245 0.93870558 -0.0050836 -0.44833804] [ 0.16861584 -0.0565847 0.98405633 -0.3555163 ] [ 0. 0. 0. 1. ]] SLAMing on 136.592414037 meters Centerline goodness : 0.820207 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.45, Z:-0.35 [[ 0.92302568 -0.34153041 -0.17714562 2.66810977] [ 0.34594394 0.93823387 -0.00632398 -0.44750274] [ 0.16836386 -0.05544526 0.98416433 -0.35433877] [ 0. 0. 0. 1. ]] SLAMing on 136.622414037 meters Centerline goodness : 0.820473 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.45, Z:-0.35 [[ 0.92203648 -0.34491275 -0.17573821 2.66472626] [ 0.34882897 0.93714222 -0.00910025 -0.44615961] [ 0.16783049 -0.05291181 0.98439487 -0.35273366] [ 0. 0. 0. 1. ]] SLAMing on 136.652414037 meters Centerline goodness : 0.819155 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.45, Z:-0.35 [[ 0.92179889 -0.34559271 -0.17564876 2.66494434] [ 0.34940763 0.93692028 -0.00973113 -0.44501447] [ 0.1679319 -0.05240288 0.9844048 -0.35304546] [ 0. 0. 0. 1. ]] SLAMing on 136.682414037 meters Centerline goodness : 0.816656 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.44, Z:-0.35 [[ 0.92156517 -0.34627199 -0.17553728 2.66522841] [ 0.34996851 0.93670312 -0.01045514 -0.44322155] [ 0.16804664 -0.05179743 0.98441727 -0.35364206] [ 0. 0. 0. 1. ]] SLAMing on 136.712414037 meters Centerline goodness : 0.816030 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.44, Z:-0.36 [[ 0.92122887 -0.34733405 -0.17520398 2.66595078] [ 0.35079803 0.93637659 -0.01181593 -0.43775742] [ 0.16816098 -0.05057604 0.98446125 -0.3557891 ] [ 0. 0. 0. 1. ]] SLAMing on 136.742414037 meters Centerline goodness : 0.815170 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.43, Z:-0.36 [[ 0.92107531 -0.34789641 -0.17489531 2.66578322] [ 0.35121376 0.93621005 -0.01263498 -0.43493791] [ 0.16813441 -0.04978787 0.98450596 -0.35668691] [ 0. 0. 0. 1. ]] SLAMing on 136.77241403699998 meters Centerline goodness : 0.816316 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.43, Z:-0.36 [[ 0.92082172 -0.34887256 -0.17428508 2.66415583] [ 0.35189368 0.935931 -0.01428293 -0.42981928] [ 0.16810174 -0.04817779 0.98459164 -0.35707842] [ 0. 0. 0. 1. ]] SLAMing on 136.80241403699998 meters Centerline goodness : 0.815390 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.43, Z:-0.36 [[ 0.92070041 -0.34934266 -0.17398409 2.66287062] [ 0.35220214 0.93580072 -0.01518792 -0.42714612] [ 0.16812023 -0.04729405 0.98463133 -0.35680811] [ 0. 0. 0. 1. ]] SLAMing on 136.83241403699998 meters Centerline goodness : 0.814656 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.42, Z:-0.36 [[ 0.92053619 -0.34991949 -0.17369363 2.6613773 ] [ 0.35258539 0.93563776 -0.01629465 -0.42392412] [ 0.16821614 -0.04624202 0.98466492 -0.3564058 ] [ 0. 0. 0. 1. ]] SLAMing on 136.86241403699998 meters Centerline goodness : 0.814060 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.42, Z:-0.36 [[ 0.92114537 -0.34825004 -0.17381923 2.65824154] [ 0.35104708 0.93623113 -0.01540182 -0.41834576] [ 0.16809866 -0.04683141 0.98465713 -0.35611815] [ 0. 0. 0. 1. ]] SLAMing on 136.89241403699998 meters Centerline goodness : 0.813989 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.42, Z:-0.36 [[ 0.92152473 -0.34725616 -0.17379682 2.65554814] [ 0.35015518 0.93657631 -0.01470248 -0.41571696] [ 0.16787952 -0.04730716 0.98467177 -0.35537335] [ 0. 0. 0. 1. ]] SLAMing on 136.92241403699998 meters Centerline goodness : 0.812459 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.41, Z:-0.36 [[ 0.92136727 -0.34784978 -0.17344419 2.65447908] [ 0.3505488 0.93641063 -0.01583243 -0.41198297] [ 0.16792229 -0.04621317 0.98471643 -0.35563922] [ 0. 0. 0. 1. ]] SLAMing on 136.95241403699998 meters Centerline goodness : 0.810995 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.41, Z:-0.36 [[ 0.92169112 -0.3472855 -0.17285329 2.65038263] [ 0.34996395 0.93663102 -0.0157342 -0.40557944] [ 0.16736402 -0.04599035 0.9848219 -0.35555229] [ 0. 0. 0. 1. ]] SLAMing on 136.98241403699998 meters Centerline goodness : 0.811124 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.40, Z:-0.35 [[ 0.92198201 -0.34663359 -0.17261032 2.64689124] [ 0.34938573 0.93685617 -0.01516979 -0.40282851] [ 0.16696941 -0.04632131 0.98487337 -0.35448642] [ 0. 0. 0. 1. ]] SLAMing on 137.01241403699999 meters Centerline goodness : 0.807879 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.39, Z:-0.35 [[ 0.92111288 -0.34953687 -0.17139147 2.64308552] [ 0.35180179 0.93590167 -0.01798788 -0.39371496] [ 0.16669299 -0.04372696 0.98503878 -0.35483759] [ 0. 0. 0. 1. ]] SLAMing on 137.042414037 meters Centerline goodness : 0.806259 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.39, Z:-0.36 [[ 0.92077244 -0.35067428 -0.17089665 2.64223677] [ 0.35269274 0.9355376 -0.01942241 -0.38967788] [ 0.16669118 -0.04239039 0.98509751 -0.35548194] [ 0. 0. 0. 1. ]] SLAMing on 137.072414037 meters Centerline goodness : 0.862846 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.39, Z:-0.36 [[ 0.9204119 -0.35188839 -0.17034231 2.64158372] [ 0.35363473 0.93514773 -0.02100482 -0.38581277] [ 0.16668657 -0.04090587 0.98516105 -0.35620398] [ 0. 0. 0. 1. ]] SLAMing on 137.102414037 meters Centerline goodness : 0.863901 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.39, Z:-0.36 [[ 0.92015273 -0.35174887 -0.17202234 2.62526799] [ 0.35288314 0.93533402 -0.02497522 -0.38640359] [ 0.16968335 -0.03772277 0.9847764 -0.35835583] [ 0. 0. 0. 1. ]] SLAMing on 137.132414037 meters Centerline goodness : 0.853822 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.38, Z:-0.36 [[ 0.92016751 -0.3510142 -0.17343816 2.602704 ] [ 0.35205007 0.9356258 -0.02578962 -0.3824035 ] [ 0.17132574 -0.03732815 0.98450703 -0.36185066] [ 0. 0. 0. 1. ]] SLAMing on 137.162414037 meters Centerline goodness : 0.863171 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.38, Z:-0.36 [[ 0.92191597 -0.34635065 -0.17352858 2.583869 ] [ 0.3475856 0.93733552 -0.02421533 -0.38323619] [ 0.1710415 -0.03799154 0.98453108 -0.36448741] [ 0. 0. 0. 1. ]] SLAMing on 137.192414037 meters Centerline goodness : 0.861343 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.38, Z:-0.37 [[ 0.92503908 -0.33685688 -0.17558515 2.55882767] [ 0.33911023 0.94057566 -0.01793527 -0.37935682] [ 0.17119274 -0.04295189 0.98430086 -0.3657584 ] [ 0. 0. 0. 1. ]] SLAMing on 137.222414037 meters Centerline goodness : 0.860956 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.39, Z:-0.37 [[ 0.92762459 -0.329666 -0.17559316 2.53186448] [ 0.33393275 0.94258063 -0.00553868 -0.38534488] [ 0.16733663 -0.05349849 0.98444724 -0.37344663] [ 0. 0. 0. 1. ]] SLAMing on 137.252414037 meters Centerline goodness : 0.860815 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 9.29665588e-01 -3.22974876e-01 -1.77226193e-01 2.52859839e+00] [ 3.28171004e-01 9.44618332e-01 7.33950031e-06 -3.82891477e-01] [ 1.67408740e-01 -5.81673209e-02 9.84170146e-01 -3.72131016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282414037 meters Centerline goodness : 0.857401 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.38, Z:-0.37 [[ 0.93275753 -0.31321347 -0.17849569 2.51088413] [ 0.31887694 0.94779067 0.00321609 -0.37957368] [ 0.16816923 -0.05991799 0.98393544 -0.37123917] [ 0. 0. 0. 1. ]] SLAMing on 137.312414037 meters Centerline goodness : 0.858076 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.38, Z:-0.37 [[ 0.93377591 -0.30959473 -0.1794816 2.50977422] [ 0.3156995 0.94884166 0.00577336 -0.37694943] [ 0.16851222 -0.06205328 0.98374439 -0.37100653] [ 0. 0. 0. 1. ]] SLAMing on 137.342414037 meters Centerline goodness : 0.857275 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.37, Z:-0.37 [[ 0.93433762 -0.30732029 -0.18046454 2.5092916 ] [ 0.31366864 0.94950644 0.00703638 -0.37145105] [ 0.16918982 -0.06318042 0.98355632 -0.37165625] [ 0. 0. 0. 1. ]] SLAMing on 137.372414037 meters Centerline goodness : 0.856242 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.37, Z:-0.37 [[ 0.93402928 -0.3081025 -0.18072675 2.51062828] [ 0.314279 0.94931254 0.00586647 -0.36829929] [ 0.1697587 -0.06227807 0.98351585 -0.37280792] [ 0. 0. 0. 1. ]] SLAMing on 137.402414037 meters Centerline goodness : 0.856841 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.37, Z:-0.37 [[ 0.93364549 -0.30918999 -0.18085258 2.51159174] [ 0.31515767 0.94902862 0.00450858 -0.36515791] [ 0.17024027 -0.0612065 0.98349988 -0.37377866] [ 0. 0. 0. 1. ]] SLAMing on 137.432414037 meters Centerline goodness : 0.856452 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.36, Z:-0.37 [[ 9.32644301e-01 -3.12110482e-01 -1.81001811e-01 2.51134519e+00] [ 3.17652181e-01 9.48205742e-01 1.72122716e-03 -3.58602463e-01] [ 1.71089744e-01 -5.91009128e-02 9.83481256e-01 -3.73763628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462414037 meters Centerline goodness : 0.856571 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.36, Z:-0.37 [[ 0.93291791 -0.31032144 -0.18266025 2.51219801] [ 0.31633599 0.94863874 0.00401056 -0.35684195] [ 0.17203403 -0.06152353 0.98316791 -0.37328029] [ 0. 0. 0. 1. ]] SLAMing on 137.492414037 meters Centerline goodness : 0.853152 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.35, Z:-0.38 [[ 9.31940321e-01 -3.12895868e-01 -1.83257778e-01 2.51393424e+00] [ 3.18458302e-01 9.47936368e-01 9.75456119e-04 -3.47626214e-01] [ 1.73411496e-01 -5.92690276e-02 9.83064411e-01 -3.75053732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52241403699998 meters Centerline goodness : 0.852486 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.34, Z:-0.38 [[ 9.31497916e-01 -3.13860533e-01 -1.83856459e-01 2.51559455e+00] [ 3.19238739e-01 9.47674255e-01 -3.66188618e-04 -3.42967163e-01] [ 1.74350965e-01 -5.83530003e-02 9.82953035e-01 -3.76215056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55241403699998 meters Centerline goodness : 0.850160 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.34, Z:-0.38 [[ 9.31063745e-01 -3.15089389e-01 -1.83953745e-01 2.51587266e+00] [ 3.20173020e-01 9.47356584e-01 -2.17726196e-03 -3.38322355e-01] [ 1.74955824e-01 -5.68698565e-02 9.82932490e-01 -3.76859469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58241403699998 meters Centerline goodness : 0.850389 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.34, Z:-0.38 [[ 9.31384188e-01 -3.13308587e-01 -1.85367806e-01 2.51608005e+00] [ 3.18790937e-01 9.47825026e-01 -2.42122491e-04 -3.35792377e-01] [ 1.75772104e-01 -5.88680674e-02 9.82669180e-01 -3.76401065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61241403699998 meters Centerline goodness : 0.854414 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.33, Z:-0.37 [[ 9.31679034e-01 -3.11892673e-01 -1.86271676e-01 2.51133574e+00] [ 3.17508639e-01 9.48255320e-01 3.34219187e-04 -3.27605868e-01] [ 1.76528867e-01 -5.94542513e-02 9.82498219e-01 -3.73638670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64241403699998 meters Centerline goodness : 0.851555 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.32, Z:-0.37 [[ 0.9331888 -0.30567031 -0.1890088 2.50737003] [ 0.31223206 0.9499915 0.00522341 -0.32000872] [ 0.17796011 -0.06388904 0.9819615 -0.37037331] [ 0. 0. 0. 1. ]] SLAMing on 137.67241403699998 meters Centerline goodness : 0.848805 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.32, Z:-0.37 [[ 9.33965149e-01 -2.99604007e-01 -1.94798714e-01 2.49915880e+00] [ 3.05557613e-01 9.52173437e-01 5.39964590e-04 -3.16706802e-01] [ 1.85320386e-01 -6.00265382e-02 9.80843091e-01 -3.68744907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70241403699998 meters Centerline goodness : 0.847964 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.31, Z:-0.37 [[ 0.93448965 -0.29348342 -0.20148592 2.49133912] [ 0.29884131 0.95429445 -0.00399773 -0.31326233] [ 0.19345016 -0.05647648 0.97948325 -0.36701177] [ 0. 0. 0. 1. ]] SLAMing on 137.73241403699998 meters Centerline goodness : 0.851833 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.31, Z:-0.37 [[ 0.93509456 -0.28713612 -0.20772822 2.48393979] [ 0.29178888 0.95644438 -0.00856665 -0.31008487] [ 0.20114028 -0.05260216 0.97814907 -0.36576843] [ 0. 0. 0. 1. ]] SLAMing on 137.76241403699999 meters Centerline goodness : 0.843617 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.30, Z:-0.37 [[ 0.93583551 -0.28360964 -0.20923065 2.48502459] [ 0.28861244 0.95742127 -0.00688296 -0.30410211] [ 0.20227395 -0.05394525 0.97784209 -0.36708967] [ 0. 0. 0. 1. ]] SLAMing on 137.792414037 meters Centerline goodness : 0.843391 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.29, Z:-0.37 [[ 0.93743531 -0.27639675 -0.21170706 2.48571478] [ 0.28215823 0.95936282 -0.00311599 -0.29418905] [ 0.20396513 -0.05681385 0.9773282 -0.36889339] [ 0. 0. 0. 1. ]] SLAMing on 137.822414037 meters Centerline goodness : 0.840097 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.29, Z:-0.37 [[ 9.38154453e-01 -2.72955793e-01 -2.12982057e-01 2.48593472e+00] [ 2.79237972e-01 9.60221737e-01 -6.09151774e-04 -2.91209781e-01] [ 2.04676272e-01 -5.89011992e-02 9.77055921e-01 -3.69043774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.852414037 meters Centerline goodness : 0.850955 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.29, Z:-0.37 [[ 9.38670522e-01 -2.70173287e-01 -2.14252296e-01 2.48481364e+00] [ 2.76869485e-01 9.60906658e-01 1.29713457e-03 -2.86768388e-01] [ 2.05526007e-01 -6.05375050e-02 9.76777493e-01 -3.68041632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882414037 meters Centerline goodness : 0.848574 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.29, Z:-0.37 [[ 0.93891241 -0.26775544 -0.21621865 2.48557154] [ 0.27523304 0.96136622 0.0046651 -0.28582195] [ 0.2066162 -0.06389064 0.97633382 -0.36634607] [ 0. 0. 0. 1. ]] SLAMing on 137.912414037 meters Centerline goodness : 0.849024 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.28, Z:-0.36 [[ 0.93842611 -0.26729108 -0.2188879 2.48657008] [ 0.27540652 0.9613034 0.00685668 -0.28138904] [ 0.20858495 -0.06671764 0.97572592 -0.36358615] [ 0. 0. 0. 1. ]] SLAMing on 137.942414037 meters Centerline goodness : 0.843310 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.28, Z:-0.36 [[ 0.93775605 -0.26867148 -0.2200664 2.48905326] [ 0.2766734 0.96094659 0.00578558 -0.27739586] [ 0.20991764 -0.06631198 0.97546774 -0.36383641] [ 0. 0. 0. 1. ]] SLAMing on 137.972414037 meters Centerline goodness : 0.849319 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.37 [[ 0.93706576 -0.27015821 -0.22118387 2.49286999] [ 0.27789015 0.96060451 0.00400636 -0.27262053] [ 0.21138787 -0.06521904 0.97522389 -0.36550801] [ 0. 0. 0. 1. ]] SLAMing on 138.002414037 meters Centerline goodness : 0.844285 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.27, Z:-0.37 [[ 9.36551966e-01 -2.71244261e-01 -2.22029202e-01 2.49625172e+00] [ 2.78716169e-01 9.60370472e-01 2.41948670e-03 -2.68589351e-01] [ 2.12574018e-01 -6.41491036e-02 9.75037014e-01 -3.67344484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032414037 meters Centerline goodness : 0.843374 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.26, Z:-0.37 [[ 0.9371755 -0.26808497 -0.22323199 2.49796855] [ 0.27578316 0.96121368 0.00345058 -0.26270663] [ 0.2136486 -0.06479742 0.97475924 -0.36954426] [ 0. 0. 0. 1. ]] SLAMing on 138.062414037 meters Centerline goodness : 0.837406 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.26, Z:-0.37 [[ 0.93821367 -0.26375975 -0.22402209 2.49727304] [ 0.27200364 0.96227628 0.00619483 -0.26018614] [ 0.2139372 -0.06674689 0.97456438 -0.37003175] [ 0. 0. 0. 1. ]] SLAMing on 138.092414037 meters Centerline goodness : 0.834519 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.25, Z:-0.37 [[ 0.94023838 -0.25805817 -0.22216609 2.49064125] [ 0.26583009 0.96400541 0.00528517 -0.25107723] [ 0.21280543 -0.06402775 0.97499451 -0.37039436] [ 0. 0. 0. 1. ]] SLAMing on 138.122414037 meters Centerline goodness : 0.835337 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.25, Z:-0.37 [[ 0.94082313 -0.2567823 -0.22116664 2.48781727] [ 0.2640946 0.96448996 0.00362784 -0.24684707] [ 0.21238144 -0.06182208 0.97522928 -0.3712218 ] [ 0. 0. 0. 1. ]] SLAMing on 138.152414037 meters Centerline goodness : 0.839333 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.24, Z:-0.38 [[ 0.94316197 -0.25836735 -0.20902588 2.48681839] [ 0.26488333 0.96427481 0.00330466 -0.23643679] [ 0.20070457 -0.0584843 0.97790453 -0.37521865] [ 0. 0. 0. 1. ]] SLAMing on 138.182414037 meters Centerline goodness : 0.834264 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.24, Z:-0.37 [[ 0.94389926 -0.25498372 -0.20985112 2.48615736] [ 0.26203285 0.96504018 0.00601892 -0.23516606] [ 0.20098003 -0.06066914 0.97771483 -0.3748623 ] [ 0. 0. 0. 1. ]] SLAMing on 138.212414037 meters Centerline goodness : 0.837068 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.9449941 -0.2575408 -0.2016405 2.48934113] [ 0.26514413 0.96414404 0.0111744 -0.23052297] [ 0.19153262 -0.06402353 0.97939586 -0.3789121 ] [ 0. 0. 0. 1. ]] SLAMing on 138.242414037 meters Centerline goodness : 0.829930 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.94551895 -0.2560335 -0.2010989 2.4871191 ] [ 0.26358117 0.96457185 0.01122967 -0.22968818] [ 0.19109917 -0.06362375 0.97950657 -0.37866141] [ 0. 0. 0. 1. ]] SLAMing on 138.27241403699998 meters Centerline goodness : 0.829930 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.94551895 -0.2560335 -0.2010989 2.4871191 ] [ 0.26358117 0.96457185 0.01122967 -0.22968818] [ 0.19109917 -0.06362375 0.97950657 -0.37866141] [ 0. 0. 0. 1. ]] SLAMing on 138.30241403699998 meters Centerline goodness : 0.842482 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.94658469 -0.25157861 -0.20170678 2.48600142] [ 0.25969565 0.9655832 0.01439638 -0.22939313] [ 0.19114286 -0.06600976 0.97934015 -0.37846543] [ 0. 0. 0. 1. ]] SLAMing on 138.33241403699998 meters Centerline goodness : 0.840703 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.94669027 -0.25127993 -0.20158354 2.48646174] [ 0.25932931 0.96568568 0.01412372 -0.22891286] [ 0.19111733 -0.0656473 0.97936949 -0.37933617] [ 0. 0. 0. 1. ]] SLAMing on 138.36241403699998 meters Centerline goodness : 0.832884 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.94667908 -0.25101809 -0.20196199 2.48847496] [ 0.25909144 0.96574927 0.01414082 -0.22855167] [ 0.19149504 -0.06571344 0.97929127 -0.38061022] [ 0. 0. 0. 1. ]] SLAMing on 138.39241403699998 meters Centerline goodness : 0.838970 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.94674795 -0.25112049 -0.20151133 2.48916987] [ 0.25903853 0.96577275 0.01349238 -0.22867005] [ 0.19122594 -0.06497308 0.97939325 -0.38205639] [ 0. 0. 0. 1. ]] SLAMing on 138.42241403699998 meters Centerline goodness : 0.838991 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.38 [[ 0.94691203 -0.25077013 -0.20117642 2.48935389] [ 0.25862943 0.96588445 0.01334322 -0.22908364] [ 0.1909671 -0.06466499 0.97946414 -0.38290148] [ 0. 0. 0. 1. ]] SLAMing on 138.45241403699998 meters Centerline goodness : 0.839601 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.39 [[ 0.94821323 -0.24731777 -0.19931281 2.48756192] [ 0.25504077 0.96683415 0.0136357 -0.23100391] [ 0.18933008 -0.06376245 0.97984104 -0.38567543] [ 0. 0. 0. 1. ]] SLAMing on 138.48241403699998 meters Centerline goodness : 0.833835 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.23, Z:-0.39 [[ 0.94906611 -0.24509462 -0.1979953 2.48532219] [ 0.25268678 0.96745209 0.01363241 -0.23167753] [ 0.18820973 -0.06296885 0.98010817 -0.3868558 ] [ 0. 0. 0. 1. ]] SLAMing on 138.51241403699999 meters Centerline goodness : 0.837042 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.23, Z:-0.39 [[ 0.95040141 -0.24053416 -0.19718132 2.48381921] [ 0.24842826 0.968519 0.01594808 -0.23422742] [ 0.1871378 -0.06414249 0.98023731 -0.38813667] [ 0. 0. 0. 1. ]] SLAMing on 138.542414037 meters Centerline goodness : 0.837214 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.24, Z:-0.39 [[ 0.95239939 -0.23330854 -0.19622062 2.47973099] [ 0.24200768 0.97004169 0.02124629 -0.23968392] [ 0.18538524 -0.06772185 0.98032957 -0.3877031 ] [ 0. 0. 0. 1. ]] SLAMing on 138.572414037 meters Centerline goodness : 0.843642 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.24, Z:-0.39 [[ 0.95292987 -0.23159252 -0.1956772 2.47871694] [ 0.24041273 0.97041552 0.02225858 -0.24195946] [ 0.18473328 -0.06825415 0.98041572 -0.38781609] [ 0. 0. 0. 1. ]] SLAMing on 138.602414037 meters Centerline goodness : 0.839875 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.25, Z:-0.39 [[ 0.95340104 -0.22969761 -0.19561563 2.47929957] [ 0.2388205 0.97076527 0.024074 -0.24542075] [ 0.18436712 -0.0696692 0.98038511 -0.388294 ] [ 0. 0. 0. 1. ]] SLAMing on 138.632414037 meters Centerline goodness : 0.842514 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.25, Z:-0.39 [[ 0.95370569 -0.2297418 -0.19407256 2.47866241] [ 0.23869521 0.97080387 0.02375787 -0.25167733] [ 0.18294822 -0.06898221 0.98069945 -0.38873474] [ 0. 0. 0. 1. ]] SLAMing on 138.662414037 meters Centerline goodness : 0.841675 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.26, Z:-0.39 [[ 0.95374842 -0.22938258 -0.19428738 2.4796761 ] [ 0.23859564 0.97079455 0.02510122 -0.25520783] [ 0.18285534 -0.07029637 0.98062345 -0.38844493] [ 0. 0. 0. 1. ]] SLAMing on 138.692414037 meters Centerline goodness : 0.845151 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.26, Z:-0.39 [[ 0.95375506 -0.22884705 -0.19488539 2.48246162] [ 0.23846149 0.97077469 0.02706684 -0.2595059 ] [ 0.18299564 -0.07228779 0.98045248 -0.38901858] [ 0. 0. 0. 1. ]] SLAMing on 138.722414037 meters Centerline goodness : 0.843721 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.39 [[ 0.95268664 -0.23480141 -0.19301936 2.48831007] [ 0.24348805 0.96964886 0.02224074 -0.26723176] [ 0.18193884 -0.06818637 0.98094285 -0.39360883] [ 0. 0. 0. 1. ]] SLAMing on 138.752414037 meters Centerline goodness : 0.845620 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.27, Z:-0.39 [[ 0.95210346 -0.23751184 -0.19258019 2.49130174] [ 0.24590694 0.96907508 0.02057347 -0.27115646] [ 0.18173822 -0.06694488 0.98106554 -0.39499773] [ 0. 0. 0. 1. ]] SLAMing on 138.782414037 meters Centerline goodness : 0.849317 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.28, Z:-0.39 [[ 0.95178102 -0.23903085 -0.1922944 2.49349823] [ 0.24762421 0.96861517 0.0216081 -0.27971706] [ 0.18109427 -0.06818292 0.98109936 -0.39466351] [ 0. 0. 0. 1. ]] SLAMing on 138.812414037 meters Centerline goodness : 0.848833 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.29, Z:-0.39 [[ 0.95181355 -0.23833852 -0.19299148 2.49558722] [ 0.24742018 0.96860983 0.02404687 -0.2850569 ] [ 0.18120215 -0.07063812 0.98090572 -0.39409273] [ 0. 0. 0. 1. ]] SLAMing on 138.842414037 meters Centerline goodness : 0.849419 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.29, Z:-0.39 [[ 0.95169819 -0.23800635 -0.19396787 2.49851184] [ 0.24757395 0.96851164 0.02631243 -0.2903184 ] [ 0.18159761 -0.07306288 0.98065495 -0.39366348] [ 0. 0. 0. 1. ]] SLAMing on 138.872414037 meters Centerline goodness : 0.847940 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.30, Z:-0.39 [[ 0.95148791 -0.23793399 -0.19508505 2.50208141] [ 0.24800252 0.96833844 0.02855558 -0.29603808] [ 0.18211401 -0.07555187 0.98037054 -0.39328203] [ 0. 0. 0. 1. ]] SLAMing on 138.902414037 meters Centerline goodness : 0.849297 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.30, Z:-0.39 [[ 0.95119672 -0.23822919 -0.19614192 2.50551456] [ 0.24878423 0.96807259 0.03068998 -0.30205362] [ 0.18256837 -0.07798923 0.98009513 -0.39270785] [ 0. 0. 0. 1. ]] SLAMing on 138.932414037 meters Centerline goodness : 0.844385 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.31, Z:-0.39 [[ 0.95020393 -0.24156219 -0.19687608 2.50947154] [ 0.25251648 0.96705694 0.03219162 -0.31244108] [ 0.18261411 -0.08030306 0.97989974 -0.39137001] [ 0. 0. 0. 1. ]] SLAMing on 138.962414037 meters Centerline goodness : 0.849228 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.32, Z:-0.39 [[ 0.94992705 -0.24167001 -0.19807628 2.51165781] [ 0.25330202 0.96674423 0.03526596 -0.3186376 ] [ 0.18296638 -0.08367322 0.97955199 -0.38926573] [ 0. 0. 0. 1. ]] SLAMing on 138.99241403699997 meters Centerline goodness : 0.850031 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.33, Z:-0.39 [[ 0.94874818 -0.24590741 -0.19851055 2.51354507] [ 0.25795307 0.96545344 0.03687636 -0.3303563 ] [ 0.18258452 -0.08619279 0.97940477 -0.38520794] [ 0. 0. 0. 1. ]] SLAMing on 139.02241403699998 meters Centerline goodness : 0.851048 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.34, Z:-0.38 [[ 0.94791676 -0.24902637 -0.19859425 2.51591945] [ 0.26095856 0.96468103 0.03593246 -0.33534685] [ 0.18263197 -0.08588585 0.97942288 -0.38434156] [ 0. 0. 0. 1. ]] SLAMing on 139.05241403699998 meters Centerline goodness : 0.852001 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.34, Z:-0.38 [[ 0.94764315 -0.24930412 -0.19954929 2.51860431] [ 0.26174772 0.96438074 0.03818274 -0.34131533] [ 0.18292238 -0.08841518 0.97914358 -0.38324468] [ 0. 0. 0. 1. ]] SLAMing on 139.08241403699998 meters Centerline goodness : 0.851374 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.35, Z:-0.38 [[ 0.9467634 -0.25239844 -0.19983515 2.52294186] [ 0.26486825 0.96353994 0.03788918 -0.34866297] [ 0.18298598 -0.08880208 0.97909669 -0.38335033] [ 0. 0. 0. 1. ]] SLAMing on 139.11241403699998 meters Centerline goodness : 0.851517 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.35, Z:-0.38 [[ 0.94665855 -0.25173791 -0.20116067 2.52641751] [ 0.26471975 0.96349447 0.04002336 -0.35236715] [ 0.1837418 -0.09113966 0.97874027 -0.38319274] [ 0. 0. 0. 1. ]] SLAMing on 139.14241403699998 meters Centerline goodness : 0.849182 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.36, Z:-0.38 [[ 0.9459922 -0.25471748 -0.20054367 2.52916701] [ 0.26728476 0.96287438 0.03783895 -0.35542287] [ 0.18346012 -0.08939762 0.97895375 -0.38466085] [ 0. 0. 0. 1. ]] SLAMing on 139.17241403699998 meters Centerline goodness : 0.851088 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.36, Z:-0.38 [[ 0.94613547 -0.25368593 -0.20117437 2.53025775] [ 0.26666546 0.96296622 0.0398195 -0.35882386] [ 0.18362248 -0.09132089 0.97874577 -0.38383984] [ 0. 0. 0. 1. ]] SLAMing on 139.20241403699998 meters Centerline goodness : 0.851367 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.36, Z:-0.38 [[ 0.94628936 -0.2527427 -0.20163724 2.53030254] [ 0.26609932 0.96304402 0.04168182 -0.36192972] [ 0.18365076 -0.0930986 0.97857297 -0.38236434] [ 0. 0. 0. 1. ]] SLAMing on 139.23241403699998 meters Centerline goodness : 0.852762 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.94644485 -0.25179261 -0.20209557 2.53023217] [ 0.26553048 0.96311774 0.04356367 -0.36507862] [ 0.18367282 -0.09489315 0.97839644 -0.38080073] [ 0. 0. 0. 1. ]] SLAMing on 139.26241403699999 meters Centerline goodness : 0.851108 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.94616911 -0.2520377 -0.20307884 2.53244663] [ 0.26615827 0.9628758 0.04505508 -0.36917143] [ 0.18418412 -0.09668084 0.97812526 -0.37961941] [ 0. 0. 0. 1. ]] SLAMing on 139.292414037 meters Centerline goodness : 0.854418 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.94587094 -0.25268096 -0.20366761 2.53438385] [ 0.26693894 0.96264307 0.04540835 -0.37123294] [ 0.18458539 -0.09731725 0.9779865 -0.37942348] [ 0. 0. 0. 1. ]] SLAMing on 139.322414037 meters Centerline goodness : 0.848994 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.37, Z:-0.38 [[ 0.94574092 -0.25281556 -0.2041039 2.53642601] [ 0.26726466 0.96251633 0.04617262 -0.37408345] [ 0.18478018 -0.0982171 0.97785975 -0.37961873] [ 0. 0. 0. 1. ]] SLAMing on 139.352414037 meters Centerline goodness : 0.850591 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94560155 -0.25313779 -0.20435012 2.53736213] [ 0.26768904 0.96238025 0.04654929 -0.37590106] [ 0.18487914 -0.09871937 0.97779046 -0.37937188] [ 0. 0. 0. 1. ]] SLAMing on 139.382414037 meters Centerline goodness : 0.849659 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.37, Z:-0.38 [[ 0.94564836 -0.25286473 -0.20447155 2.53753593] [ 0.26740335 0.96246484 0.04644228 -0.3746727 ] [ 0.18505306 -0.09859444 0.97777017 -0.37966613] [ 0. 0. 0. 1. ]] SLAMing on 139.412414037 meters Centerline goodness : 0.848616 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.37, Z:-0.38 [[ 0.94653074 -0.24888376 -0.20527161 2.53902668] [ 0.26390184 0.96330883 0.04890728 -0.37274388] [ 0.18556773 -0.1004638 0.9774823 -0.38172359] [ 0. 0. 0. 1. ]] SLAMing on 139.442414037 meters Centerline goodness : 0.845695 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.37, Z:-0.38 [[ 0.94709319 -0.24655527 -0.20548721 2.54050756] [ 0.26172918 0.96385436 0.04982574 -0.37206236] [ 0.18577495 -0.10097162 0.97739061 -0.38363401] [ 0. 0. 0. 1. ]] SLAMing on 139.472414037 meters Centerline goodness : 0.848386 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.37, Z:-0.38 [[ 0.94749395 -0.24555455 -0.20483697 2.5393706 ] [ 0.26057802 0.96418376 0.04948514 -0.37077352] [ 0.18534918 -0.10026289 0.97754439 -0.38458794] [ 0. 0. 0. 1. ]] SLAMing on 139.502414037 meters Centerline goodness : 0.847817 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.37, Z:-0.38 [[ 0.94828517 -0.24279453 -0.20446529 2.5367938 ] [ 0.25807432 0.96476212 0.05130011 -0.37136023] [ 0.18480498 -0.10141438 0.97752864 -0.38396604] [ 0. 0. 0. 1. ]] SLAMing on 139.532414037 meters Centerline goodness : 0.842821 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.94971395 -0.23748371 -0.20407084 2.53131838] [ 0.2534554 0.96574354 0.05567562 -0.37273898] [ 0.18385804 -0.10459877 0.97737164 -0.38133504] [ 0. 0. 0. 1. ]] SLAMing on 139.562414037 meters Centerline goodness : 0.846244 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.95032801 -0.2344199 -0.20475346 2.52928634] [ 0.2510264 0.96618529 0.05892142 -0.37359411] [ 0.18401743 -0.1073932 0.97703853 -0.3792572 ] [ 0. 0. 0. 1. ]] SLAMing on 139.592414037 meters Centerline goodness : 0.848676 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.95042232 -0.23406073 -0.20472663 2.5282673 ] [ 0.25068126 0.96626744 0.05904361 -0.37295303] [ 0.18400088 -0.1074375 0.97703678 -0.37860517] [ 0. 0. 0. 1. ]] SLAMing on 139.622414037 meters Centerline goodness : 0.854381 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.95024124 -0.23453496 -0.20502423 2.52900003] [ 0.25118385 0.96614107 0.05897542 -0.37349693] [ 0.18425053 -0.10753965 0.97697849 -0.37826501] [ 0. 0. 0. 1. ]] SLAMing on 139.652414037 meters Centerline goodness : 0.846962 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.38 [[ 0.94947324 -0.23865529 -0.20382398 2.5294018 ] [ 0.25444935 0.96553405 0.05476802 -0.37248332] [ 0.18372831 -0.10386365 0.97747442 -0.37951061] [ 0. 0. 0. 1. ]] SLAMing on 139.682414037 meters Centerline goodness : 0.838037 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.38 [[ 0.94895848 -0.23953317 -0.20518692 2.53322694] [ 0.25584107 0.96505898 0.05662604 -0.37724653] [ 0.18445366 -0.106231 0.97708332 -0.37892327] [ 0. 0. 0. 1. ]] SLAMing on 139.712414037 meters Centerline goodness : 0.846801 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.38 [[ 0.94875719 -0.2397671 -0.20584348 2.53474327] [ 0.25644697 0.9648053 0.05818661 -0.38106553] [ 0.18464765 -0.1079929 0.97685351 -0.3778724 ] [ 0. 0. 0. 1. ]] SLAMing on 139.74241403699997 meters Centerline goodness : 0.850669 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94788577 -0.24381971 -0.20509635 2.5350927 ] [ 0.25991437 0.9640548 0.05516223 -0.38235738] [ 0.18427449 -0.10559498 0.97718607 -0.37743494] [ 0. 0. 0. 1. ]] SLAMing on 139.77241403699998 meters Centerline goodness : 0.845622 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.94723579 -0.24513562 -0.20652577 2.53762923] [ 0.26177308 0.9634404 0.05707411 -0.38694107] [ 0.18498437 -0.10812553 0.97677513 -0.37531944] [ 0. 0. 0. 1. ]] SLAMing on 139.80241403699998 meters Centerline goodness : 0.847788 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.94699482 -0.24535545 -0.20736805 2.5397834 ] [ 0.26225609 0.9632574 0.05793903 -0.38877034] [ 0.18553316 -0.10925149 0.97654573 -0.37502369] [ 0. 0. 0. 1. ]] SLAMing on 139.83241403699998 meters Centerline goodness : 0.846730 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.94614153 -0.24902725 -0.20688555 2.5419613 ] [ 0.26526178 0.96264146 0.05438386 -0.3878925 ] [ 0.18561355 -0.10633365 0.97685248 -0.37643904] [ 0. 0. 0. 1. ]] SLAMing on 139.86241403699998 meters Centerline goodness : 0.844584 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.94582304 -0.24996942 -0.20720538 2.54438666] [ 0.26620244 0.96239759 0.054103 -0.38908885] [ 0.18588986 -0.10633044 0.97680028 -0.37730942] [ 0. 0. 0. 1. ]] SLAMing on 139.89241403699998 meters Centerline goodness : 0.847462 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.94579433 -0.24977259 -0.20757344 2.54458592] [ 0.26610472 0.96240635 0.05442704 -0.3891587 ] [ 0.18617562 -0.10671306 0.97670413 -0.37674417] [ 0. 0. 0. 1. ]] SLAMing on 139.92241403699998 meters Centerline goodness : 0.847806 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.94584593 -0.2496106 -0.20753319 2.54346032] [ 0.26588211 0.96248364 0.05414741 -0.38727238] [ 0.18623154 -0.10639447 0.97672823 -0.37631991] [ 0. 0. 0. 1. ]] SLAMing on 139.95241403699998 meters Centerline goodness : 0.846095 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.9456983 -0.25018275 -0.20751704 2.54367475] [ 0.2662642 0.96243595 0.05310762 -0.38533825] [ 0.18643525 -0.10547814 0.97678875 -0.37681752] [ 0. 0. 0. 1. ]] SLAMing on 139.98241403699998 meters Centerline goodness : 0.847047 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94566345 -0.25028921 -0.20754746 2.54413832] [ 0.26631738 0.9624381 0.05280114 -0.3849022 ] [ 0.18653602 -0.1052056 0.9767989 -0.37723532] [ 0. 0. 0. 1. ]] SLAMing on 140.01241403699999 meters Centerline goodness : 0.844210 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.94573841 -0.25026147 -0.20723912 2.543667 ] [ 0.26628735 0.96243719 0.05296894 -0.38669539] [ 0.18619855 -0.10527991 0.97685528 -0.37692265] [ 0. 0. 0. 1. ]] SLAMing on 140.042414037 meters Centerline goodness : 0.843526 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.38 [[ 0.9458333 -0.24986761 -0.2072813 2.54297438] [ 0.26596545 0.96250467 0.05335858 -0.38679513] [ 0.18617664 -0.10559798 0.97682513 -0.37628488] [ 0. 0. 0. 1. ]] SLAMing on 140.072414037 meters Centerline goodness : 0.845807 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94644329 -0.24676706 -0.2082093 2.54239694] [ 0.26341566 0.9630563 0.05598889 -0.38476538] [ 0.18670107 -0.1078359 0.97648048 -0.37600079] [ 0. 0. 0. 1. ]] SLAMing on 140.102414037 meters Centerline goodness : 0.847213 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94638668 -0.24690514 -0.2083029 2.54267841] [ 0.26345586 0.9630788 0.05540976 -0.38281615] [ 0.18693115 -0.10731768 0.97649355 -0.37656789] [ 0. 0. 0. 1. ]] SLAMing on 140.132414037 meters Centerline goodness : 0.847855 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94635983 -0.24688802 -0.20844514 2.54309383] [ 0.2634423 0.96308612 0.05534688 -0.38217467] [ 0.18708614 -0.10729133 0.97646677 -0.37684992] [ 0. 0. 0. 1. ]] SLAMing on 140.162414037 meters Centerline goodness : 0.848808 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.37 [[ 0.94615384 -0.24771898 -0.20839436 2.54205383] [ 0.26432823 0.96282951 0.05558703 -0.38470732] [ 0.18687828 -0.10767839 0.97646396 -0.37496683] [ 0. 0. 0. 1. ]] SLAMing on 140.192414037 meters Centerline goodness : 0.848808 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.37 [[ 0.94615384 -0.24771898 -0.20839436 2.54205383] [ 0.26432823 0.96282951 0.05558703 -0.38470732] [ 0.18687828 -0.10767839 0.97646396 -0.37496683] [ 0. 0. 0. 1. ]] SLAMing on 140.222414037 meters Centerline goodness : 0.849881 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.37 [[ 0.9460362 -0.24801172 -0.20858018 2.54236195] [ 0.26472521 0.96269677 0.0559955 -0.38655902] [ 0.18691192 -0.1081902 0.97640095 -0.37417024] [ 0. 0. 0. 1. ]] SLAMing on 140.252414037 meters Centerline goodness : 0.845341 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.37 [[ 0.94579731 -0.24865227 -0.20890069 2.54341274] [ 0.26541011 0.96250912 0.05597916 -0.38735114] [ 0.18714947 -0.10838929 0.97633336 -0.37401523] [ 0. 0. 0. 1. ]] SLAMing on 140.282414037 meters Centerline goodness : 0.844521 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.37 [[ 0.94546122 -0.24975994 -0.20910059 2.54446015] [ 0.26641261 0.9622765 0.0552111 -0.38642166] [ 0.18742307 -0.10790699 0.97633431 -0.37443583] [ 0. 0. 0. 1. ]] SLAMing on 140.312414037 meters Centerline goodness : 0.848259 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.37 [[ 0.94513903 -0.25087777 -0.20921895 2.54469529] [ 0.2674634 0.96201478 0.054689 -0.38586618] [ 0.18755146 -0.10764712 0.97633834 -0.37417798] [ 0. 0. 0. 1. ]] SLAMing on 140.342414037 meters Centerline goodness : 0.846519 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.37 [[ 0.9452144 -0.25048968 -0.20934339 2.54360343] [ 0.26716926 0.9620707 0.05514122 -0.38600778] [ 0.18759083 -0.10805039 0.97628622 -0.37298642] [ 0. 0. 0. 1. ]] SLAMing on 140.372414037 meters Centerline goodness : 0.851917 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.37 [[ 0.94599642 -0.24732002 -0.20957953 2.53919324] [ 0.26454901 0.96261722 0.0581541 -0.38629636] [ 0.18736219 -0.11045763 0.97606072 -0.36971855] [ 0. 0. 0. 1. ]] SLAMing on 140.402414037 meters Centerline goodness : 0.850541 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.39, Z:-0.37 [[ 0.9460804 -0.24672947 -0.20989627 2.53971425] [ 0.2639788 0.96277555 0.05812428 -0.38529616] [ 0.18774202 -0.11039841 0.97599443 -0.37002689] [ 0. 0. 0. 1. ]] SLAMing on 140.432414037 meters Centerline goodness : 0.848403 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.37 [[ 0.94618679 -0.24095541 -0.21603483 2.53769875] [ 0.25749841 0.96490097 0.0515819 -0.38434988] [ 0.19602327 -0.10443474 0.97502218 -0.37305305] [ 0. 0. 0. 1. ]] SLAMing on 140.462414037 meters Centerline goodness : 0.848454 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94624459 -0.24112749 -0.21558922 2.53877876] [ 0.25730623 0.96503585 0.04999303 -0.38099517] [ 0.19599663 -0.10277809 0.97520356 -0.37581589] [ 0. 0. 0. 1. ]] SLAMing on 140.49241403699997 meters Centerline goodness : 0.850324 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.9464206 -0.2408715 -0.21510224 2.53806749] [ 0.25676878 0.9652362 0.04887612 -0.37809257] [ 0.19585161 -0.10148891 0.9753677 -0.37701359] [ 0. 0. 0. 1. ]] SLAMing on 140.52241403699998 meters Centerline goodness : 0.850653 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.38, Z:-0.38 [[ 0.94700643 -0.23875819 -0.21487984 2.53568043] [ 0.2547979 0.96570532 0.04991253 -0.3769279 ] [ 0.19559358 -0.10201842 0.97536424 -0.37648389] [ 0. 0. 0. 1. ]] SLAMing on 140.55241403699998 meters Centerline goodness : 0.849349 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 0.94792294 -0.23474605 -0.21525888 2.53254771] [ 0.25147297 0.96638299 0.05352815 -0.37811692] [ 0.195457 -0.10487235 0.97508889 -0.37430427] [ 0. 0. 0. 1. ]] SLAMing on 140.58241403699998 meters Centerline goodness : 0.850901 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 0.94925789 -0.2291787 -0.21537545 2.52736149] [ 0.24673378 0.96733802 0.05813436 -0.380021 ] [ 0.19501771 -0.1083249 0.97479937 -0.37080672] [ 0. 0. 0. 1. ]] SLAMing on 140.61241403699998 meters Centerline goodness : 0.838422 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 0.94944581 -0.22866064 -0.21509757 2.52620381] [ 0.24611779 0.96751191 0.05785103 -0.37891915] [ 0.19488121 -0.10786575 0.97487758 -0.3707345 ] [ 0. 0. 0. 1. ]] SLAMing on 140.64241403699998 meters Centerline goodness : 0.833934 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 0.94975922 -0.22738249 -0.21506888 2.52682759] [ 0.24477694 0.96786249 0.05767535 -0.37726663] [ 0.19504273 -0.1074216 0.97489432 -0.3721934 ] [ 0. 0. 0. 1. ]] SLAMing on 140.67241403699998 meters Centerline goodness : 0.856969 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 0.9498498 -0.2270074 -0.2150651 2.52768853] [ 0.24443154 0.96793867 0.05786157 -0.37779935] [ 0.19503482 -0.10752849 0.97488412 -0.37297257] [ 0. 0. 0. 1. ]] SLAMing on 140.70241403699998 meters Centerline goodness : 0.850176 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 0.94994315 -0.22655837 -0.2151263 2.52853975] [ 0.24406932 0.96800353 0.0583038 -0.37921407] [ 0.19503381 -0.10789103 0.97484426 -0.37339994] [ 0. 0. 0. 1. ]] SLAMing on 140.73241403699998 meters Centerline goodness : 0.848566 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.38, Z:-0.37 [[ 0.95006569 -0.2259766 -0.21519702 2.52924258] [ 0.24365226 0.96805773 0.05914232 -0.38148402] [ 0.19495835 -0.10862233 0.97477814 -0.37348165] [ 0. 0. 0. 1. ]] SLAMing on 140.76241403699999 meters Centerline goodness : 0.850957 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.39, Z:-0.37 [[ 0.94982375 -0.22810862 -0.2140124 2.52953964] [ 0.24538505 0.96771246 0.05760879 -0.38527841] [ 0.1939614 -0.10723364 0.97513072 -0.37400027] [ 0. 0. 0. 1. ]] SLAMing on 140.792414037 meters Centerline goodness : 0.852456 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.39, Z:-0.37 [[ 0.9492412 -0.23130778 -0.21316157 2.52954816] [ 0.24799988 0.96720675 0.05483753 -0.38605888] [ 0.19348696 -0.10491809 0.9754768 -0.37405174] [ 0. 0. 0. 1. ]] SLAMing on 140.822414037 meters Centerline goodness : 0.855560 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.39, Z:-0.37 [[ 0.94841269 -0.23483722 -0.21299026 2.53120676] [ 0.25132258 0.96642082 0.0535515 -0.39127148] [ 0.19326234 -0.10431818 0.97558566 -0.37290166] [ 0. 0. 0. 1. ]] SLAMing on 140.852414037 meters Centerline goodness : 0.848234 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.39, Z:-0.37 [[ 0.94753525 -0.23885972 -0.21242171 2.5319014 ] [ 0.25484763 0.96563744 0.05096101 -0.39415674] [ 0.19294982 -0.10242252 0.97584835 -0.37208663] [ 0. 0. 0. 1. ]] SLAMing on 140.882414037 meters Centerline goodness : 0.856902 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.40, Z:-0.37 [[ 0.94722126 -0.23901054 -0.21364888 2.53411054] [ 0.2556496 0.9652846 0.0535624 -0.400441 ] [ 0.19342999 -0.10535469 0.97544104 -0.36987004] [ 0. 0. 0. 1. ]] SLAMing on 140.912414037 meters Centerline goodness : 0.854370 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.41, Z:-0.37 [[ 0.94527646 -0.24659207 -0.21364636 2.5367665 ] [ 0.26270726 0.96356946 0.0501876 -0.40849421] [ 0.19348724 -0.1035676 0.97562105 -0.36661099] [ 0. 0. 0. 1. ]] SLAMing on 140.942414037 meters Centerline goodness : 0.859204 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.41, Z:-0.37 [[ 0.94428385 -0.25046725 -0.2135279 2.53810272] [ 0.26625697 0.96269465 0.04823103 -0.41212159] [ 0.19348187 -0.10239707 0.97574567 -0.36531489] [ 0. 0. 0. 1. ]] SLAMing on 140.972414037 meters Centerline goodness : 0.859970 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.41, Z:-0.36 [[ 0.94332372 -0.25456869 -0.2129205 2.53884317] [ 0.26986729 0.96181375 0.04567224 -0.41483622] [ 0.19316315 -0.10054398 0.97600149 -0.36457601] [ 0. 0. 0. 1. ]] SLAMing on 141.002414037 meters Centerline goodness : 0.858908 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.94230489 -0.2587122 -0.21243704 2.53959421] [ 0.27347717 0.96092506 0.04281665 -0.41668633] [ 0.19305889 -0.09844302 0.97623626 -0.3637406 ] [ 0. 0. 0. 1. ]] SLAMing on 141.032414037 meters Centerline goodness : 0.858322 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.94117653 -0.26303476 -0.21213073 2.54143096] [ 0.27737535 0.95991208 0.04039455 -0.42060935] [ 0.19300168 -0.09685824 0.97640608 -0.36294535] [ 0. 0. 0. 1. ]] SLAMing on 141.062414037 meters Centerline goodness : 0.850790 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.94018762 -0.26729567 -0.21118773 2.54203548] [ 0.28086676 0.95905084 0.03654242 -0.42013977] [ 0.19277214 -0.09367235 0.9767622 -0.36334854] [ 0. 0. 0. 1. ]] SLAMing on 141.092414037 meters Centerline goodness : 0.856047 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.94007479 -0.26755596 -0.21136035 2.54273876] [ 0.28123364 0.95892692 0.03697023 -0.4221407 ] [ 0.19278752 -0.09419642 0.97670876 -0.36309782] [ 0. 0. 0. 1. ]] SLAMing on 141.122414037 meters Centerline goodness : 0.860951 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.93884955 -0.27274815 -0.21016655 2.54215727] [ 0.28567121 0.95775251 0.03319779 -0.42394293] [ 0.1922329 -0.09120626 0.9771018 -0.36210329] [ 0. 0. 0. 1. ]] SLAMing on 141.152414037 meters Centerline goodness : 0.861792 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.93768111 -0.27764917 -0.20896189 2.54141905] [ 0.28972791 0.95667052 0.02896994 -0.42346508] [ 0.1918642 -0.08770666 0.97749459 -0.36155932] [ 0. 0. 0. 1. ]] SLAMing on 141.182414037 meters Centerline goodness : 0.859410 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.93650957 -0.28244168 -0.20778962 2.54087606] [ 0.29371474 0.95556872 0.02490131 -0.42305303] [ 0.1915241 -0.08435119 0.97785653 -0.36110984] [ 0. 0. 0. 1. ]] SLAMing on 141.212414037 meters Centerline goodness : 0.861962 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.93476957 -0.28966109 -0.20567522 2.53790623] [ 0.29982131 0.95379856 0.01937767 -0.42178114] [ 0.19055978 -0.07977947 0.97842844 -0.35988468] [ 0. 0. 0. 1. ]] SLAMing on 141.24241403699997 meters Centerline goodness : 0.863175 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.42, Z:-0.36 [[ 0.93414438 -0.29235707 -0.20469885 2.53501843] [ 0.30212213 0.953109 0.01747707 -0.42119726] [ 0.18999078 -0.07817016 0.97866896 -0.35849276] [ 0. 0. 0. 1. ]] SLAMing on 141.27241403699998 meters Centerline goodness : 0.861855 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.42, Z:-0.36 [[ 0.93361337 -0.29464238 -0.20384295 2.53233362] [ 0.3040725 0.95251675 0.01586688 -0.42082364] [ 0.18948877 -0.07679656 0.97887502 -0.35713464] [ 0. 0. 0. 1. ]] SLAMing on 141.30241403699998 meters Centerline goodness : 0.862662 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.42, Z:-0.36 [[ 0.9331829 -0.29651667 -0.20309491 2.53006118] [ 0.305651 0.95203399 0.01444814 -0.42032925] [ 0.18906914 -0.07555891 0.97905246 -0.3560057 ] [ 0. 0. 0. 1. ]] SLAMing on 141.33241403699998 meters Centerline goodness : 0.862928 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.42, Z:-0.36 [[ 0.93434606 -0.29658965 -0.19756522 2.52008924] [ 0.30466786 0.95239385 0.01111055 -0.41985489] [ 0.18486463 -0.07057287 0.98022678 -0.35826767] [ 0. 0. 0. 1. ]] SLAMing on 141.36241403699998 meters Centerline goodness : 0.861206 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.42, Z:-0.36 [[ 0.93467109 -0.29566553 -0.19741287 2.51831444] [ 0.30381518 0.95265984 0.01164355 -0.41745479] [ 0.18462471 -0.07085991 0.98025129 -0.35816998] [ 0. 0. 0. 1. ]] SLAMing on 141.39241403699998 meters Centerline goodness : 0.862477 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.41, Z:-0.36 [[ 0.93558904 -0.29230058 -0.19807452 2.51797376] [ 0.30093792 0.95353632 0.01431282 -0.41477832] [ 0.1846876 -0.07299905 0.98008246 -0.3590836 ] [ 0. 0. 0. 1. ]] SLAMing on 141.42241403699998 meters Centerline goodness : 0.861999 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.41, Z:-0.36 [[ 0.93734321 -0.28600403 -0.19897085 2.51702547] [ 0.29542399 0.95518254 0.01873449 -0.4068283 ] [ 0.18469534 -0.07634141 0.97982632 -0.36165733] [ 0. 0. 0. 1. ]] SLAMing on 141.45241403699998 meters Centerline goodness : 0.860373 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.40, Z:-0.36 [[ 0.93828616 -0.28247453 -0.19956759 2.51604531] [ 0.29234858 0.95607584 0.0212437 -0.40343046] [ 0.18480095 -0.07827597 0.97965376 -0.36228882] [ 0. 0. 0. 1. ]] SLAMing on 141.48241403699998 meters Centerline goodness : 0.861170 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.40, Z:-0.36 [[ 0.93923185 -0.27899526 -0.20001294 2.51474512] [ 0.28930035 0.95694536 0.0236829 -0.40053329] [ 0.18479404 -0.08010755 0.97950699 -0.36279565] [ 0. 0. 0. 1. ]] SLAMing on 141.51241403699999 meters Centerline goodness : 0.856694 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.40, Z:-0.36 [[ 0.94014113 -0.27565363 -0.20037396 2.51329971] [ 0.28636111 0.95776926 0.02598783 -0.39766309] [ 0.18474838 -0.08181153 0.97937475 -0.36326504] [ 0. 0. 0. 1. ]] SLAMing on 141.542414037 meters Centerline goodness : 0.854490 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.39, Z:-0.36 [[ 0.94006803 -0.27208194 -0.2055323 2.50018838] [ 0.28225895 0.95910059 0.02135269 -0.3891307 ] [ 0.19131647 -0.07808632 0.97841736 -0.3623371 ] [ 0. 0. 0. 1. ]] SLAMing on 141.572414037 meters Centerline goodness : 0.854052 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.39, Z:-0.36 [[ 0.94074825 -0.26916382 -0.2062609 2.49915191] [ 0.27977443 0.95977656 0.02356328 -0.38622054] [ 0.19162199 -0.07987364 0.97821328 -0.3622931 ] [ 0. 0. 0. 1. ]] SLAMing on 141.602414037 meters Centerline goodness : 0.852628 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.38, Z:-0.36 [[ 0.94142139 -0.26623789 -0.20698589 2.49784602] [ 0.2773544 0.96041219 0.02613339 -0.38441159] [ 0.19183408 -0.08201098 0.97799483 -0.36178238] [ 0. 0. 0. 1. ]] SLAMing on 141.632414037 meters Centerline goodness : 0.855108 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.38, Z:-0.36 [[ 0.94169806 -0.26454514 -0.20789573 2.49638815] [ 0.27585573 0.96082264 0.02689736 -0.3778638 ] [ 0.19263536 -0.08267842 0.97778111 -0.3614688 ] [ 0. 0. 0. 1. ]] SLAMing on 141.662414037 meters Centerline goodness : 0.854268 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.38, Z:-0.36 [[ 0.94209053 -0.2620152 -0.20931665 2.49692476] [ 0.27389044 0.96131182 0.02938742 -0.37546506] [ 0.19351861 -0.08501544 0.97740622 -0.36120307] [ 0. 0. 0. 1. ]] SLAMing on 141.692414037 meters Centerline goodness : 0.855819 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.37, Z:-0.36 [[ 0.94236344 -0.2598744 -0.21075209 2.49733318] [ 0.27229423 0.96169168 0.03170115 -0.37315822] [ 0.19444022 -0.08726058 0.97702538 -0.36059274] [ 0. 0. 0. 1. ]] SLAMing on 141.722414037 meters Centerline goodness : 0.856516 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.37, Z:-0.36 [[ 0.94234331 -0.25895791 -0.2119667 2.49716552] [ 0.27154457 0.96189123 0.03207517 -0.36595883] [ 0.19558279 -0.08778423 0.97675038 -0.36071115] [ 0. 0. 0. 1. ]] SLAMing on 141.752414037 meters Centerline goodness : 0.854550 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.36, Z:-0.36 [[ 0.94267415 -0.25655283 -0.21341529 2.49798278] [ 0.26970312 0.96232669 0.03446113 -0.36378501] [ 0.19653413 -0.09004438 0.9763536 -0.36048915] [ 0. 0. 0. 1. ]] SLAMing on 141.782414037 meters Centerline goodness : 0.853623 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.36, Z:-0.36 [[ 0.94242453 -0.2574599 -0.21342542 2.49830779] [ 0.27032721 0.96220424 0.03295763 -0.36017595] [ 0.19687357 -0.08875477 0.97640329 -0.36133245] [ 0. 0. 0. 1. ]] SLAMing on 141.812414037 meters Centerline goodness : 0.853022 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.36, Z:-0.36 [[ 0.94254074 -0.25603974 -0.21461734 2.49823178] [ 0.26921848 0.96247541 0.03409526 -0.35629391] [ 0.19783418 -0.08991513 0.97610292 -0.3608635 ] [ 0. 0. 0. 1. ]] SLAMing on 141.842414037 meters Centerline goodness : 0.852035 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.35, Z:-0.36 [[ 0.94299648 -0.2532707 -0.21589719 2.49836204] [ 0.26702139 0.96299536 0.03659944 -0.35384236] [ 0.19863842 -0.09216231 0.97572992 -0.36051279] [ 0. 0. 0. 1. ]] SLAMing on 141.872414037 meters Centerline goodness : 0.851337 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.35, Z:-0.36 [[ 0.9434483 -0.25035857 -0.2173152 2.49865002] [ 0.26464114 0.96356486 0.03883078 -0.3498156 ] [ 0.19967567 -0.09414538 0.9753288 -0.36043955] [ 0. 0. 0. 1. ]] SLAMing on 141.902414037 meters Centerline goodness : 0.851496 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.35, Z:-0.36 [[ 0.94388719 -0.24769609 -0.21845736 2.49814263] [ 0.26240645 0.96410129 0.04063935 -0.34524767] [ 0.20054881 -0.09568358 0.97499991 -0.36023101] [ 0. 0. 0. 1. ]] SLAMing on 141.932414037 meters Centerline goodness : 0.852465 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.34, Z:-0.36 [[ 0.94494749 -0.2423284 -0.21988905 2.49437494] [ 0.25795251 0.96511281 0.04491964 -0.33961068] [ 0.20133244 -0.09916763 0.97449014 -0.35808567] [ 0. 0. 0. 1. ]] SLAMing on 141.962414037 meters Centerline goodness : 0.851105 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.34, Z:-0.36 [[ 0.94570503 -0.23854877 -0.22076342 2.49375391] [ 0.25479282 0.96581052 0.0478609 -0.33810703] [ 0.20179847 -0.10151123 0.97415237 -0.35781998] [ 0. 0. 0. 1. ]] SLAMing on 141.99241403699997 meters Centerline goodness : 0.849597 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.33, Z:-0.36 [[ 0.9465332 -0.2347016 -0.22133697 2.49285456] [ 0.25104496 0.96676262 0.04844041 -0.3303391 ] [ 0.20261127 -0.10141599 0.97399357 -0.3594603 ] [ 0. 0. 0. 1. ]] SLAMing on 142.02241403699998 meters Centerline goodness : 0.850545 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.33, Z:-0.36 [[ 0.94727906 -0.23118696 -0.22184449 2.49225205] [ 0.24788232 0.96748709 0.05023037 -0.32644503] [ 0.20301907 -0.1025735 0.97378742 -0.36053854] [ 0. 0. 0. 1. ]] SLAMing on 142.05241403699998 meters Centerline goodness : 0.850559 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.32, Z:-0.36 [[ 0.9479915 -0.22787992 -0.22222254 2.49086716] [ 0.24480802 0.9682035 0.05148796 -0.32139656] [ 0.20342357 -0.10321201 0.97363552 -0.36136906] [ 0. 0. 0. 1. ]] SLAMing on 142.08241403699998 meters Centerline goodness : 0.850559 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.32, Z:-0.36 [[ 0.9479915 -0.22787992 -0.22222254 2.49086716] [ 0.24480802 0.9682035 0.05148796 -0.32139656] [ 0.20342357 -0.10321201 0.97363552 -0.36136906] [ 0. 0. 0. 1. ]] SLAMing on 142.11241403699998 meters Centerline goodness : 0.848623 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.32, Z:-0.36 [[ 0.94873849 -0.22455067 -0.22242363 2.4886392 ] [ 0.24168584 0.96892171 0.05271312 -0.31624053] [ 0.20367431 -0.10376761 0.97352404 -0.36178386] [ 0. 0. 0. 1. ]] SLAMing on 142.14241403699998 meters Centerline goodness : 0.849588 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.31, Z:-0.36 [[ 0.95023487 -0.22006415 -0.2205118 2.48325253] [ 0.23645935 0.97032276 0.05060352 -0.30594472] [ 0.2028316 -0.10022731 0.97407075 -0.36362172] [ 0. 0. 0. 1. ]] SLAMing on 142.17241403699998 meters Centerline goodness : 0.848008 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.36 [[ 0.95053503 -0.21960308 -0.21967624 2.48140087] [ 0.23549264 0.97065835 0.04863722 -0.30200595] [ 0.20254969 -0.09796352 0.97435967 -0.36481243] [ 0. 0. 0. 1. ]] SLAMing on 142.20241403699998 meters Centerline goodness : 0.845926 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.37 [[ 0.95079099 -0.21937769 -0.21879196 2.47965408] [ 0.23481837 0.97090566 0.0469311 -0.29902727] [ 0.20213071 -0.09599804 0.97464227 -0.36585641] [ 0. 0. 0. 1. ]] SLAMing on 142.23241403699998 meters Centerline goodness : 0.851404 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.37 [[ 0.95092247 -0.21936912 -0.21822844 2.47819058] [ 0.2344603 0.97105951 0.04551697 -0.29634671] [ 0.20192778 -0.09444902 0.97483565 -0.36629743] [ 0. 0. 0. 1. ]] SLAMing on 142.26241403699999 meters Centerline goodness : 0.850544 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.29, Z:-0.37 [[ 0.95159078 -0.2161147 -0.21856216 2.476837 ] [ 0.23145467 0.97171505 0.0468893 -0.29200223] [ 0.20224668 -0.09520665 0.97469584 -0.36688215] [ 0. 0. 0. 1. ]] SLAMing on 142.292414037 meters Centerline goodness : 0.848288 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.29, Z:-0.37 [[ 0.95172576 -0.21611233 -0.217976 2.47517678] [ 0.23106455 0.97188331 0.0452991 -0.28830745] [ 0.20205754 -0.09347885 0.97490228 -0.36748319] [ 0. 0. 0. 1. ]] SLAMing on 142.322414037 meters Centerline goodness : 0.849311 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.28, Z:-0.37 [[ 0.95194164 -0.21595209 -0.21719071 2.47308826] [ 0.23050178 0.97208838 0.04373906 -0.28480371] [ 0.20168303 -0.09169988 0.97514875 -0.36806349] [ 0. 0. 0. 1. ]] SLAMing on 142.352414037 meters Centerline goodness : 0.848278 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.28, Z:-0.37 [[ 0.95239557 -0.21492795 -0.21621435 2.47017607] [ 0.22912964 0.97246291 0.04260862 -0.28138051] [ 0.20110265 -0.09012137 0.97541574 -0.36848232] [ 0. 0. 0. 1. ]] SLAMing on 142.382414037 meters Centerline goodness : 0.846078 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.28, Z:-0.37 [[ 0.95378035 -0.22215005 -0.20236699 2.47007776] [ 0.23449512 0.9713383 0.0389094 -0.27621984] [ 0.18792308 -0.08456509 0.97853649 -0.37285325] [ 0. 0. 0. 1. ]] SLAMing on 142.412414037 meters Centerline goodness : 0.844774 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.28, Z:-0.37 [[ 0.95316155 -0.22383551 -0.20342254 2.47238711] [ 0.23645629 0.970831 0.03969366 -0.27814085] [ 0.18860406 -0.08593501 0.97828609 -0.37175819] [ 0. 0. 0. 1. ]] SLAMing on 142.442414037 meters Centerline goodness : 0.851272 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.95245739 -0.22580169 -0.20454467 2.47574062] [ 0.23864893 0.97027543 0.04015312 -0.27922633] [ 0.18939802 -0.0870585 0.97803334 -0.37168755] [ 0. 0. 0. 1. ]] SLAMing on 142.472414037 meters Centerline goodness : 0.849519 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.95122398 -0.23088232 -0.20461255 2.47871206] [ 0.24310873 0.96931486 0.03642588 -0.27811543] [ 0.18992389 -0.08439227 0.97816505 -0.37243264] [ 0. 0. 0. 1. ]] SLAMing on 142.502414037 meters Centerline goodness : 0.848673 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.95008131 -0.2342051 -0.20613948 2.48205266] [ 0.24665679 0.96841297 0.03656143 -0.27860882] [ 0.19106527 -0.08558203 0.97783934 -0.37115983] [ 0. 0. 0. 1. ]] SLAMing on 142.532414037 meters Centerline goodness : 0.840071 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.94989379 -0.23448435 -0.20668546 2.48227438] [ 0.24715991 0.96825158 0.03742802 -0.27897074] [ 0.19134724 -0.086637 0.97769129 -0.37001305] [ 0. 0. 0. 1. ]] SLAMing on 142.562414037 meters Centerline goodness : 0.849703 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.94975082 -0.2346745 -0.2071262 2.48225185] [ 0.24752967 0.96813004 0.03812206 -0.27967962] [ 0.19157882 -0.08747634 0.9775712 -0.36877016] [ 0. 0. 0. 1. ]] SLAMing on 142.592414037 meters Centerline goodness : 0.798082 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.94961607 -0.23471622 -0.20769599 2.48310194] [ 0.24775211 0.96804729 0.03877292 -0.28034811] [ 0.1919589 -0.08827651 0.9774247 -0.36812842] [ 0. 0. 0. 1. ]] SLAMing on 142.622414037 meters Centerline goodness : 0.849748 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.94960544 -0.23451645 -0.20797006 2.4845067 ] [ 0.24764919 0.96805817 0.03915686 -0.28120309] [ 0.19214419 -0.08868718 0.97735111 -0.36868913] [ 0. 0. 0. 1. ]] SLAMing on 142.652414037 meters Centerline goodness : 0.794885 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.94977121 -0.23405888 -0.2077284 2.48462557] [ 0.24717583 0.96817596 0.0392354 -0.28175768] [ 0.19193425 -0.08861009 0.97739935 -0.36929437] [ 0. 0. 0. 1. ]] SLAMing on 142.682414037 meters Centerline goodness : 0.794181 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.94994969 -0.23363383 -0.2073905 2.48485077] [ 0.24668502 0.96830657 0.03910104 -0.28207755] [ 0.19168226 -0.08830416 0.97747649 -0.37027773] [ 0. 0. 0. 1. ]] SLAMing on 142.712414037 meters Centerline goodness : 0.790110 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.95050221 -0.2322891 -0.20636699 2.4844897 ] [ 0.24509933 0.968734 0.03848053 -0.28184551] [ 0.19097611 -0.08715624 0.97771771 -0.3725421 ] [ 0. 0. 0. 1. ]] SLAMing on 142.74241403699997 meters Centerline goodness : 0.797262 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.37 [[ 0.95073826 -0.23173782 -0.20589888 2.48426495] [ 0.24434416 0.96895517 0.03770676 -0.28036634] [ 0.19076871 -0.08615945 0.97784654 -0.37381481] [ 0. 0. 0. 1. ]] SLAMing on 142.77241403699998 meters Centerline goodness : 0.834543 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.38 [[ 0.95116551 -0.2306532 -0.2051421 2.4840473 ] [ 0.24302548 0.96931558 0.03695831 -0.27886977] [ 0.19032288 -0.08500823 0.97803415 -0.37591288] [ 0. 0. 0. 1. ]] SLAMing on 142.80241403699998 meters Centerline goodness : 0.848949 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.38 [[ 0.95285063 -0.22427645 -0.20439115 2.4820283 ] [ 0.23705452 0.97067191 0.04001493 -0.27923795] [ 0.18942234 -0.0865801 0.97807109 -0.37800505] [ 0. 0. 0. 1. ]] SLAMing on 142.83241403699998 meters Centerline goodness : 0.850223 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.28, Z:-0.38 [[ 0.95369068 -0.22175806 -0.20321774 2.47904727] [ 0.23450004 0.97126719 0.04061737 -0.2800708 ] [ 0.1883715 -0.08639098 0.97829074 -0.37822856] [ 0. 0. 0. 1. ]] SLAMing on 142.86241403699998 meters Centerline goodness : 0.852541 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.28, Z:-0.38 [[ 0.95562589 -0.21449998 -0.20191316 2.47330513] [ 0.22792889 0.9726136 0.04551042 -0.28493747] [ 0.1866215 -0.08951277 0.97834548 -0.37677549] [ 0. 0. 0. 1. ]] SLAMing on 142.89241403699998 meters Centerline goodness : 0.855220 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.29, Z:-0.38 [[ 0.95593828 -0.21363019 -0.20135578 2.47173575] [ 0.22703931 0.97280995 0.04575979 -0.28562045] [ 0.18610524 -0.08945921 0.97844872 -0.37646769] [ 0. 0. 0. 1. ]] SLAMing on 142.92241403699998 meters Centerline goodness : 0.856165 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.29, Z:-0.38 [[ 0.95591846 -0.2137342 -0.20133947 2.47148849] [ 0.2271273 0.97279344 0.04567387 -0.28578226] [ 0.18609965 -0.08939019 0.97845609 -0.37615441] [ 0. 0. 0. 1. ]] SLAMing on 142.95241403699998 meters Centerline goodness : 0.855778 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.29, Z:-0.38 [[ 0.95521066 -0.21699691 -0.2012087 2.47367588] [ 0.23006691 0.9721916 0.04373461 -0.28779694] [ 0.18612313 -0.08806723 0.97857158 -0.37647051] [ 0. 0. 0. 1. ]] SLAMing on 142.98241403699998 meters Centerline goodness : 0.857336 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.29, Z:-0.38 [[ 0.9546341 -0.22037303 -0.20027347 2.47430914] [ 0.23287848 0.97164583 0.04089011 -0.28952396] [ 0.18558381 -0.08567447 0.97888638 -0.37699464] [ 0. 0. 0. 1. ]] SLAMing on 143.01241403699999 meters Centerline goodness : 0.839422 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.29, Z:-0.38 [[ 0.95410061 -0.22322684 -0.1996542 2.47582498] [ 0.23530146 0.97115425 0.03863465 -0.29190628] [ 0.18527073 -0.08384027 0.97910447 -0.37770234] [ 0. 0. 0. 1. ]] SLAMing on 143.042414037 meters Centerline goodness : 0.860158 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.38 [[ 0.95393848 -0.2233648 -0.20027367 2.47829495] [ 0.23579218 0.97097183 0.04019649 -0.29579869] [ 0.18548161 -0.08556794 0.97891506 -0.37768564] [ 0. 0. 0. 1. ]] SLAMing on 143.072414037 meters Centerline goodness : 0.860344 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.38 [[ 0.95315756 -0.22700094 -0.19990307 2.48069631] [ 0.23916415 0.97021037 0.03863101 -0.30025472] [ 0.18517876 -0.08463109 0.97905383 -0.37795895] [ 0. 0. 0. 1. ]] SLAMing on 143.102414037 meters Centerline goodness : 0.859481 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.38 [[ 0.9530401 -0.22685142 -0.2006315 2.48238183] [ 0.23941246 0.97007689 0.04040416 -0.30325429] [ 0.18546224 -0.08654047 0.97883324 -0.37729724] [ 0. 0. 0. 1. ]] SLAMing on 143.132414037 meters Centerline goodness : 0.862559 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.31, Z:-0.38 [[ 0.9530537 -0.22630127 -0.20118744 2.48380807] [ 0.23924919 0.9700394 0.04223018 -0.30678754] [ 0.185603 -0.08838157 0.97864203 -0.37670585] [ 0. 0. 0. 1. ]] SLAMing on 143.162414037 meters Centerline goodness : 0.862129 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.32, Z:-0.37 [[ 0.95323812 -0.22545184 -0.20126736 2.48409211] [ 0.23901291 0.96994939 0.04550837 -0.31514085] [ 0.18495921 -0.09148581 0.97847863 -0.37476399] [ 0. 0. 0. 1. ]] SLAMing on 143.192414037 meters Centerline goodness : 0.862877 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.32, Z:-0.37 [[ 0.95332588 -0.22481964 -0.20155868 2.48533792] [ 0.2386892 0.9699555 0.04705104 -0.31888412] [ 0.18492495 -0.09296486 0.97834569 -0.37448114] [ 0. 0. 0. 1. ]] SLAMing on 143.222414037 meters Centerline goodness : 0.863733 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.32, Z:-0.38 [[ 0.9533839 -0.22458916 -0.20154121 2.4867749 ] [ 0.2385853 0.96994684 0.0477512 -0.3218982 ] [ 0.18475986 -0.09361 0.97831537 -0.37507423] [ 0. 0. 0. 1. ]] SLAMing on 143.252414037 meters Centerline goodness : 0.862991 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.32, Z:-0.38 [[ 0.95332501 -0.22459429 -0.20181386 2.48886014] [ 0.2386955 0.96989922 0.04816601 -0.3237797 ] [ 0.18492129 -0.09408992 0.97823883 -0.37590735] [ 0. 0. 0. 1. ]] SLAMing on 143.282414037 meters Centerline goodness : 0.842869 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.33, Z:-0.38 [[ 0.95349669 -0.22393758 -0.20173256 2.49147526] [ 0.23812571 0.97001118 0.04872848 -0.32639837] [ 0.1847707 -0.09450015 0.97822774 -0.37790169] [ 0. 0. 0. 1. ]] SLAMing on 143.312414037 meters Centerline goodness : 0.841968 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.33, Z:-0.38 [[ 0.95371525 -0.22308216 -0.20164713 2.49261893] [ 0.23740276 0.9701466 0.04955305 -0.32871603] [ 0.18457287 -0.09513108 0.97820393 -0.37881694] [ 0. 0. 0. 1. ]] SLAMing on 143.342414037 meters Centerline goodness : 0.841858 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.33, Z:-0.38 [[ 0.95391176 -0.22245778 -0.20140729 2.49376865] [ 0.23684527 0.97025524 0.05009082 -0.33154586] [ 0.18427339 -0.09548459 0.97822595 -0.37978274] [ 0. 0. 0. 1. ]] SLAMing on 143.372414037 meters Centerline goodness : 0.805142 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.34, Z:-0.38 [[ 0.95450383 -0.22057157 -0.20067542 2.49338384] [ 0.23530501 0.97050295 0.05249359 -0.33951827] [ 0.18317749 -0.09732527 0.97825038 -0.37918272] [ 0. 0. 0. 1. ]] SLAMing on 143.402414037 meters Centerline goodness : 0.801822 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.34, Z:-0.38 [[ 0.95470316 -0.21926363 -0.20115997 2.49399208] [ 0.23440441 0.97060913 0.05452055 -0.34249169] [ 0.18329333 -0.09920373 0.97803997 -0.37832786] [ 0. 0. 0. 1. ]] SLAMing on 143.432414037 meters Centerline goodness : 0.804039 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.34, Z:-0.38 [[ 0.95476882 -0.21889749 -0.20124709 2.49417419] [ 0.23418389 0.97061929 0.05528204 -0.34424211] [ 0.18323321 -0.09991039 0.9779793 -0.37792011] [ 0. 0. 0. 1. ]] SLAMing on 143.462414037 meters Centerline goodness : 0.804482 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.35, Z:-0.38 [[ 0.95493496 -0.21811644 -0.20130684 2.49533264] [ 0.23357861 0.97070916 0.0562562 -0.34658516] [ 0.18313999 -0.10074199 0.97791145 -0.37848989] [ 0. 0. 0. 1. ]] SLAMing on 143.49241403699997 meters Centerline goodness : 0.801570 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.35, Z:-0.38 [[ 0.95515488 -0.21878112 -0.19953439 2.49686494] [ 0.23372047 0.97078199 0.05437895 -0.35106592] [ 0.1818073 -0.09857559 0.97838078 -0.38172378] [ 0. 0. 0. 1. ]] SLAMing on 143.52241403699998 meters Centerline goodness : 0.802861 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.36, Z:-0.38 [[ 0.95554778 -0.21736817 -0.1991972 2.49669233] [ 0.23256214 0.97096439 0.05606243 -0.35504365] [ 0.1812272 -0.09989606 0.97835447 -0.38164433] [ 0. 0. 0. 1. ]] SLAMing on 143.55241403699998 meters Centerline goodness : 0.841302 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.36, Z:-0.38 [[ 0.95646195 -0.21448731 -0.19792859 2.49206968] [ 0.23016888 0.97131906 0.05967891 -0.36304455] [ 0.17945144 -0.10263761 0.97839803 -0.37834222] [ 0. 0. 0. 1. ]] SLAMing on 143.58241403699998 meters Centerline goodness : 0.858768 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.37, Z:-0.38 [[ 0.95667559 -0.21361639 -0.19783794 2.49114313] [ 0.22955014 0.97137199 0.06118155 -0.3662821 ] [ 0.17910485 -0.10394462 0.97832355 -0.37694268] [ 0. 0. 0. 1. ]] SLAMing on 143.61241403699998 meters Centerline goodness : 0.861180 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.37, Z:-0.38 [[ 0.95666339 -0.21325795 -0.19828314 2.49194768] [ 0.22947365 0.97130697 0.06248692 -0.36923291] [ 0.17926796 -0.1052797 0.9781509 -0.37605224] [ 0. 0. 0. 1. ]] SLAMing on 143.64241403699998 meters Centerline goodness : 0.836296 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.38, Z:-0.38 [[ 0.95570742 -0.21843069 -0.19725963 2.49670743] [ 0.23381929 0.97054072 0.05813124 -0.3750886 ] [ 0.17875086 -0.10167957 0.97862628 -0.37852757] [ 0. 0. 0. 1. ]] SLAMing on 143.67241403699998 meters Centerline goodness : 0.861082 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.38, Z:-0.38 [[ 0.95519289 -0.22101979 -0.19686744 2.49948066] [ 0.23617605 0.97004508 0.05686323 -0.38034026] [ 0.17840239 -0.10081073 0.97877974 -0.37929142] [ 0. 0. 0. 1. ]] SLAMing on 143.70241403699998 meters Centerline goodness : 0.861994 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.39, Z:-0.38 [[ 0.95470143 -0.22375809 -0.19615679 2.50088162] [ 0.23860436 0.96953926 0.05533159 -0.38511104] [ 0.17780082 -0.09962902 0.97901018 -0.37944432] [ 0. 0. 0. 1. ]] SLAMing on 143.73241403699998 meters Centerline goodness : 0.852455 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.39, Z:-0.38 [[ 0.95473966 -0.22365087 -0.196093 2.50082792] [ 0.23880122 0.96939096 0.05705386 -0.39093324] [ 0.17733063 -0.10129883 0.9789241 -0.37794875] [ 0. 0. 0. 1. ]] SLAMing on 143.76241403699999 meters Centerline goodness : 0.861177 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.40, Z:-0.38 [[ 0.95456613 -0.2246268 -0.1958221 2.50119294] [ 0.24000796 0.9690123 0.05840676 -0.4005395 ] [ 0.1766343 -0.10275198 0.97889854 -0.37555202] [ 0. 0. 0. 1. ]] SLAMing on 143.792414037 meters Centerline goodness : 0.870797 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.41, Z:-0.37 [[ 0.95418899 -0.22661212 -0.19537226 2.50135989] [ 0.24184572 0.96859842 0.05768671 -0.40565762] [ 0.17616475 -0.10229396 0.97903112 -0.37424255] [ 0. 0. 0. 1. ]] SLAMing on 143.822414037 meters Centerline goodness : 0.852819 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.41, Z:-0.37 [[ 0.95367746 -0.22896371 -0.19512798 2.50269522] [ 0.24402903 0.96810914 0.05669675 -0.41117201] [ 0.17592368 -0.10168731 0.97913766 -0.37327205] [ 0. 0. 0. 1. ]] SLAMing on 143.852414037 meters Centerline goodness : 0.849347 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.43, Z:-0.37 [[ 0.95289617 -0.22559087 -0.20272553 2.51172923] [ 0.24453295 0.96685071 0.07350736 -0.43180573] [ 0.17942274 -0.11961796 0.97647275 -0.36566431] [ 0. 0. 0. 1. ]] SLAMing on 143.882414037 meters Centerline goodness : 0.809981 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.44, Z:-0.36 [[ 0.95217007 -0.22874504 -0.20260275 2.51398302] [ 0.24745349 0.96621598 0.07206562 -0.437278 ] [ 0.17927336 -0.11875349 0.97660569 -0.36499602] [ 0. 0. 0. 1. ]] SLAMing on 143.912414037 meters Centerline goodness : 0.810777 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.44, Z:-0.36 [[ 0.95139204 -0.23205754 -0.20249071 2.51633332] [ 0.25048429 0.96556211 0.07033801 -0.44212095] [ 0.17919489 -0.11763976 0.97675487 -0.36448033] [ 0. 0. 0. 1. ]] SLAMing on 143.942414037 meters Centerline goodness : 0.811645 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.45, Z:-0.36 [[ 0.95058143 -0.23554689 -0.20226867 2.5182859 ] [ 0.25361205 0.96489679 0.06822843 -0.44620379] [ 0.17909739 -0.11615445 0.97695049 -0.36399006] [ 0. 0. 0. 1. ]] SLAMing on 143.972414037 meters Centerline goodness : 0.812774 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.46, Z:-0.36 [[ 0.94899105 -0.24234024 -0.20171066 2.52126568] [ 0.25982447 0.96347542 0.06485642 -0.45594584] [ 0.17862594 -0.11395752 0.97729548 -0.36203482] [ 0. 0. 0. 1. ]] SLAMing on 144.002414037 meters Centerline goodness : 0.812774 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.46, Z:-0.36 [[ 0.94899105 -0.24234024 -0.20171066 2.52126568] [ 0.25982447 0.96347542 0.06485642 -0.45594584] [ 0.17862594 -0.11395752 0.97729548 -0.36203482] [ 0. 0. 0. 1. ]] SLAMing on 144.032414037 meters Centerline goodness : 0.812803 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.46, Z:-0.36 [[ 0.94733367 -0.24979811 -0.20039916 2.52289718] [ 0.26617694 0.9621169 0.05899923 -0.45949393] [ 0.17806952 -0.10923359 0.97793623 -0.36173022] [ 0. 0. 0. 1. ]] SLAMing on 144.062414037 meters Centerline goodness : 0.813022 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.46, Z:-0.36 [[ 0.94560261 -0.25731325 -0.1990618 2.52513382] [ 0.27259288 0.96066216 0.05311634 -0.46320302] [ 0.1775636 -0.10448977 0.9785464 -0.36180809] [ 0. 0. 0. 1. ]] SLAMing on 144.092414037 meters Centerline goodness : 0.813209 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.47, Z:-0.36 [[ 0.94264274 -0.26978938 -0.1965664 2.52791748] [ 0.28342196 0.95796974 0.0443392 -0.47190477] [ 0.17634241 -0.09750726 0.97948746 -0.36149171] [ 0. 0. 0. 1. ]] SLAMing on 144.122414037 meters Centerline goodness : 0.815576 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.36 [[ 0.9410444 -0.27663265 -0.19470442 2.52595743] [ 0.2892534 0.95645346 0.0391056 -0.47523441] [ 0.17540783 -0.09311902 0.98008211 -0.35953809] [ 0. 0. 0. 1. ]] SLAMing on 144.152414037 meters Centerline goodness : 0.816619 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.48, Z:-0.36 [[ 0.93959082 -0.28267994 -0.19303145 2.52352509] [ 0.29443402 0.95504596 0.03458075 -0.47795704] [ 0.17457863 -0.08932678 0.980583 -0.35729681] [ 0. 0. 0. 1. ]] SLAMing on 144.182414037 meters Centerline goodness : 0.818959 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.48, Z:-0.36 [[ 0.93746615 -0.2907828 -0.191318 2.52337405] [ 0.30147702 0.95304047 0.02873086 -0.48251707] [ 0.17397936 -0.08461219 0.98110752 -0.35546942] [ 0. 0. 0. 1. ]] SLAMing on 144.212414037 meters Centerline goodness : 0.819575 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.48, Z:-0.36 [[ 0.93637159 -0.29476545 -0.1905822 2.52481045] [ 0.30487723 0.95205212 0.02542893 -0.48323026] [ 0.17394862 -0.0819151 0.98134183 -0.35587422] [ 0. 0. 0. 1. ]] SLAMing on 144.24241403699997 meters Centerline goodness : 0.818208 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.36 [[ 0.93535658 -0.29849392 -0.18976155 2.52650688] [ 0.30802226 0.95112082 0.02216924 -0.48345744] [ 0.17386878 -0.07918692 0.98157989 -0.35679065] [ 0. 0. 0. 1. ]] SLAMing on 144.27241403699998 meters Centerline goodness : 0.817963 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.36 [[ 0.93431991 -0.30234797 -0.18876444 2.52732237] [ 0.31126104 0.95013889 0.01877905 -0.48365411] [ 0.17367463 -0.07630066 0.98184283 -0.35724614] [ 0. 0. 0. 1. ]] SLAMing on 144.30241403699998 meters Centerline goodness : 0.819802 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.36 [[ 0.93324303 -0.30632113 -0.18768274 2.52761958] [ 0.3145948 0.94910348 0.01525424 -0.48365992] [ 0.17345765 -0.07327993 0.98211124 -0.35740353] [ 0. 0. 0. 1. ]] SLAMing on 144.33241403699998 meters Centerline goodness : 0.818762 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.36 [[ 0.93211706 -0.3104416 -0.18650413 2.52805731] [ 0.31811523 0.94797671 0.01195267 -0.48501142] [ 0.17309096 -0.0704711 0.98238147 -0.35751454] [ 0. 0. 0. 1. ]] SLAMing on 144.36241403699998 meters Centerline goodness : 0.821306 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.36 [[ 0.93204304 -0.31062035 -0.18657645 2.52863834] [ 0.3183319 0.94790184 0.01212064 -0.48630256] [ 0.17309124 -0.0706902 0.98236567 -0.35756333] [ 0. 0. 0. 1. ]] SLAMing on 144.39241403699998 meters Centerline goodness : 0.820916 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.36 [[ 0.9319678 -0.3108365 -0.18659234 2.52905333] [ 0.31856549 0.94782244 0.01219222 -0.48707819] [ 0.17306662 -0.07080463 0.98236177 -0.35765974] [ 0. 0. 0. 1. ]] SLAMing on 144.42241403699998 meters Centerline goodness : 0.822279 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.36 [[ 0.93173314 -0.31173582 -0.18626364 2.52712878] [ 0.3193478 0.94756686 0.01157715 -0.4868253 ] [ 0.17288824 -0.0702697 0.98243159 -0.35635039] [ 0. 0. 0. 1. ]] SLAMing on 144.45241403699998 meters Centerline goodness : 0.824297 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.36 [[ 0.93168476 -0.31184096 -0.18632963 2.52603741] [ 0.31943889 0.94753758 0.01145988 -0.48659075] [ 0.17298067 -0.07019793 0.98242045 -0.35524139] [ 0. 0. 0. 1. ]] SLAMing on 144.48241403699998 meters Centerline goodness : 0.824568 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.35 [[ 0.93158204 -0.31214965 -0.18632631 2.52523937] [ 0.31968934 0.94745739 0.01110071 -0.48590638] [ 0.17307115 -0.06990776 0.9824252 -0.35452391] [ 0. 0. 0. 1. ]] SLAMing on 144.51241403699999 meters Centerline goodness : 0.826799 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.36 [[ 0.93129715 -0.31299776 -0.18632772 2.52546227] [ 0.32035061 0.9472467 0.00995832 -0.48247741] [ 0.17338139 -0.06896435 0.98243718 -0.35513699] [ 0. 0. 0. 1. ]] SLAMing on 144.542414037 meters Centerline goodness : 0.826189 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.36 [[ 0.93106692 -0.3136941 -0.18630729 2.52607213] [ 0.3209201 0.94706177 0.00918055 -0.48071448] [ 0.17356462 -0.06833746 0.98244863 -0.35581203] [ 0. 0. 0. 1. ]] SLAMing on 144.572414037 meters Centerline goodness : 0.825488 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.36 [[ 0.92979485 -0.31826354 -0.184905 2.52603277] [ 0.32467924 0.94581255 0.00469122 -0.47758107] [ 0.17339243 -0.06439669 0.9827452 -0.35669061] [ 0. 0. 0. 1. ]] SLAMing on 144.602414037 meters Centerline goodness : 0.827442 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.47, Z:-0.36 [[ 9.28395183e-01 -3.23270887e-01 -1.83243874e-01 2.52541961e+00] [ 3.28834979e-01 9.44387397e-01 -2.25992253e-05 -4.74831925e-01] [ 1.73060511e-01 -6.02360144e-02 9.83067486e-01 -3.57230003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.632414037 meters Centerline goodness : 0.827770 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.47, Z:-0.36 [[ 0.92616531 -0.33107688 -0.18057109 2.52393744] [ 0.33544236 0.94203684 -0.00670953 -0.46948157] [ 0.17232599 -0.05435706 0.98353905 -0.35845212] [ 0. 0. 0. 1. ]] SLAMing on 144.662414037 meters Centerline goodness : 0.827181 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.47, Z:-0.36 [[ 0.92556989 -0.3331152 -0.17987399 2.52330974] [ 0.33719619 0.9413977 -0.00831271 -0.46662512] [ 0.17210205 -0.05295883 0.98365454 -0.35916597] [ 0. 0. 0. 1. ]] SLAMing on 144.692414037 meters Centerline goodness : 0.827724 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.46, Z:-0.36 [[ 0.92503494 -0.33496031 -0.17919807 2.52219062] [ 0.33874375 0.94082568 -0.00998587 -0.46316946] [ 0.17193902 -0.05146494 0.98376234 -0.35958113] [ 0. 0. 0. 1. ]] SLAMing on 144.722414037 meters Centerline goodness : 0.827692 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.45, Z:-0.36 [[ 0.92399501 -0.33865979 -0.17760287 2.51868013] [ 0.34174378 0.9396906 -0.01388416 -0.4536934 ] [ 0.17159375 -0.04786578 0.98400429 -0.36020344] [ 0. 0. 0. 1. ]] SLAMing on 144.752414037 meters Centerline goodness : 0.825080 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.45, Z:-0.36 [[ 0.92364312 -0.3399668 -0.17693493 2.51681818] [ 0.34271882 0.93930634 -0.01572947 -0.44853359] [ 0.1715436 -0.04611052 0.98409685 -0.36039031] [ 0. 0. 0. 1. ]] SLAMing on 144.782414037 meters Centerline goodness : 0.827083 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.44, Z:-0.36 [[ 0.92379987 -0.34000054 -0.1760495 2.51055053] [ 0.34250354 0.93936408 -0.01692456 -0.43844739] [ 0.17112894 -0.04466267 0.98423581 -0.35931729] [ 0. 0. 0. 1. ]] SLAMing on 144.812414037 meters Centerline goodness : 0.823438 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.43, Z:-0.36 [[ 0.92438609 -0.33847302 -0.17591582 2.50640975] [ 0.34108077 0.93989546 -0.01613806 -0.43340113] [ 0.17080478 -0.04508371 0.98427292 -0.35832616] [ 0. 0. 0. 1. ]] SLAMing on 144.842414037 meters Centerline goodness : 0.886096 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.43, Z:-0.36 [[ 0.92513336 -0.33622788 -0.17629259 2.50341814] [ 0.33901547 0.94066142 -0.01498688 -0.42790346] [ 0.17087064 -0.04590106 0.98422371 -0.35772324] [ 0. 0. 0. 1. ]] SLAMing on 144.872414037 meters Centerline goodness : 0.883615 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.42, Z:-0.36 [[ 0.92593809 -0.33372272 -0.17682701 2.50116522] [ 0.33672503 0.94150399 -0.01365596 -0.42183946] [ 0.17104064 -0.04689751 0.98414721 -0.35773282] [ 0. 0. 0. 1. ]] SLAMing on 144.902414037 meters Centerline goodness : 0.878063 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.41, Z:-0.36 [[ 0.92751584 -0.3288671 -0.17765358 2.49750604] [ 0.33239712 0.94308233 -0.01038627 -0.40873574] [ 0.17095766 -0.04941811 0.98403828 -0.35958923] [ 0. 0. 0. 1. ]] SLAMing on 144.932414037 meters Centerline goodness : 0.875780 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.41, Z:-0.36 [[ 0.92842574 -0.32493822 -0.18011329 2.47995848] [ 0.32825513 0.94451381 -0.01192652 -0.40657324] [ 0.17399487 -0.04805023 0.98357357 -0.36112265] [ 0. 0. 0. 1. ]] SLAMing on 144.962414037 meters Centerline goodness : 0.873645 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.40, Z:-0.36 [[ 0.92933854 -0.32168359 -0.18124446 2.46228275] [ 0.32454942 0.94575838 -0.01444824 -0.40462482] [ 0.17606123 -0.04539547 0.98333194 -0.3625302 ] [ 0. 0. 0. 1. ]] SLAMing on 144.99241403699997 meters Centerline goodness : 0.869289 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.40, Z:-0.36 [[ 0.93001085 -0.3188102 -0.18286573 2.4446116 ] [ 0.32129908 0.94683109 -0.01666673 -0.40347032] [ 0.17845649 -0.04325435 0.98299661 -0.36431871] [ 0. 0. 0. 1. ]] SLAMing on 145.02241403699998 meters Centerline goodness : 0.867300 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.39, Z:-0.37 [[ 0.93057876 -0.3171864 -0.1828003 2.44198663] [ 0.31971562 0.9473739 -0.01626668 -0.39277345] [ 0.17833981 -0.04330669 0.98301549 -0.36583569] [ 0. 0. 0. 1. ]] SLAMing on 145.05241403699998 meters Centerline goodness : 0.861694 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.40, Z:-0.38 [[ 0.93175959 -0.31343953 -0.18324774 2.415995 ] [ 0.31801635 0.94807391 -0.00463342 -0.39755506] [ 0.1751847 -0.05395855 0.98305585 -0.37597044] [ 0. 0. 0. 1. ]] SLAMing on 145.08241403699998 meters Centerline goodness : 0.863808 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.39, Z:-0.38 [[ 0.93258681 -0.3107062 -0.18369404 2.41452599] [ 0.31562295 0.94888113 -0.00259912 -0.39362431] [ 0.17511137 -0.05555415 0.98298003 -0.37653594] [ 0. 0. 0. 1. ]] SLAMing on 145.11241403699998 meters Centerline goodness : 0.863089 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.39, Z:-0.39 [[ 0.93357822 -0.3064356 -0.1858196 2.38516957] [ 0.31445652 0.94915955 0.01460277 -0.39459716] [ 0.17189764 -0.07206501 0.98247536 -0.38500251] [ 0. 0. 0. 1. ]] SLAMing on 145.14241403699998 meters Centerline goodness : 0.863671 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.39, Z:-0.39 [[ 0.93448151 -0.30326665 -0.18647693 2.38376198] [ 0.31167443 0.95003988 0.01683093 -0.39068908] [ 0.17205626 -0.07384828 0.98231516 -0.38539542] [ 0. 0. 0. 1. ]] SLAMing on 145.17241403699998 meters Centerline goodness : 0.864874 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.39, Z:-0.39 [[ 0.9352844 -0.30031139 -0.18723292 2.38265748] [ 0.30905197 0.95086175 0.01867659 -0.38593943] [ 0.17242383 -0.07533263 0.98213798 -0.38591769] [ 0. 0. 0. 1. ]] SLAMing on 145.20241403699998 meters Centerline goodness : 0.867353 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.38, Z:-0.39 [[ 0.93599685 -0.29739859 -0.18831883 2.38198172] [ 0.30650337 0.95164801 0.02053649 -0.38098321] [ 0.17310572 -0.07694244 0.98189321 -0.38619859] [ 0. 0. 0. 1. ]] SLAMing on 145.23241403699998 meters Centerline goodness : 0.865526 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.37, Z:-0.38 [[ 0.93550223 -0.29491484 -0.19457856 2.37036455] [ 0.30330247 0.95278964 0.01412454 -0.36936172] [ 0.1812269 -0.0722297 0.98078524 -0.38480786] [ 0. 0. 0. 1. ]] SLAMing on 145.26241403699999 meters Centerline goodness : 0.867246 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.37, Z:-0.38 [[ 0.93602059 -0.29237865 -0.1959086 2.37003642] [ 0.3011864 0.95342935 0.01610077 -0.36553923] [ 0.18207749 -0.07407566 0.98048997 -0.38450255] [ 0. 0. 0. 1. ]] SLAMing on 145.292414037 meters Centerline goodness : 0.868219 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.36, Z:-0.38 [[ 0.93614522 -0.28923137 -0.19994334 2.3601733 ] [ 0.29705296 0.95481257 0.00961751 -0.36229937] [ 0.18812673 -0.06839714 0.97976026 -0.38306244] [ 0. 0. 0. 1. ]] SLAMing on 145.322414037 meters Centerline goodness : 0.868887 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.35, Z:-0.38 [[ 0.93640775 -0.28782092 -0.20074772 2.35837014] [ 0.29551936 0.95529595 0.00882931 -0.35111493] [ 0.18923223 -0.06759267 0.97960318 -0.38357312] [ 0. 0. 0. 1. ]] SLAMing on 145.352414037 meters Centerline goodness : 0.866819 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.35, Z:-0.38 [[ 0.93713009 -0.28480091 -0.201682 2.35738591] [ 0.29282595 0.95610822 0.01048936 -0.34627266] [ 0.18984244 -0.06888762 0.97939489 -0.38375114] [ 0. 0. 0. 1. ]] SLAMing on 145.382414037 meters Centerline goodness : 0.868872 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.34, Z:-0.38 [[ 0.93780643 -0.28217563 -0.20222765 2.35441621] [ 0.29035275 0.95685243 0.01134486 -0.33998295] [ 0.19030078 -0.06935664 0.97927283 -0.38294128] [ 0. 0. 0. 1. ]] SLAMing on 145.412414037 meters Centerline goodness : 0.866399 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.33, Z:-0.38 [[ 0.94010072 -0.26924586 -0.20908681 2.34166342] [ 0.27813314 0.96044393 0.01376277 -0.33181793] [ 0.19711059 -0.07109236 0.97780023 -0.37996993] [ 0. 0. 0. 1. ]] SLAMing on 145.442414037 meters Centerline goodness : 0.864178 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.33, Z:-0.38 [[ 0.94172811 -0.26178325 -0.21122902 2.34210486] [ 0.27173624 0.96218375 0.01902232 -0.32750463] [ 0.19826141 -0.07531244 0.97725148 -0.38086747] [ 0. 0. 0. 1. ]] SLAMing on 145.472414037 meters Centerline goodness : 0.865260 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.32, Z:-0.38 [[ 0.94293026 -0.25678305 -0.21200233 2.34234396] [ 0.266985 0.96348301 0.02048148 -0.32127947] [ 0.19900135 -0.07591405 0.97705451 -0.38337769] [ 0. 0. 0. 1. ]] SLAMing on 145.502414037 meters Centerline goodness : 0.864444 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.32, Z:-0.39 [[ 0.94426575 -0.25152887 -0.21235682 2.34163626] [ 0.26193831 0.9648356 0.02192239 -0.3153072 ] [ 0.19937531 -0.07632495 0.97694626 -0.38585987] [ 0. 0. 0. 1. ]] SLAMing on 145.532414037 meters Centerline goodness : 0.864038 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.30, Z:-0.39 [[ 0.94782642 -0.24162979 -0.20794259 2.33068462] [ 0.25125601 0.96769743 0.02078724 -0.30245141] [ 0.1962027 -0.07194952 0.97792012 -0.38710264] [ 0. 0. 0. 1. ]] SLAMing on 145.562414037 meters Centerline goodness : 0.859831 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.30, Z:-0.39 [[ 0.94920512 -0.23654589 -0.20749864 2.32605526] [ 0.24627264 0.96895121 0.02198482 -0.29654911] [ 0.19585564 -0.07196934 0.97798823 -0.38698747] [ 0. 0. 0. 1. ]] SLAMing on 145.592414037 meters Centerline goodness : 0.858337 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.29, Z:-0.39 [[ 0.95049963 -0.23151935 -0.207242 2.3220394 ] [ 0.24145081 0.97012544 0.02362498 -0.29156284] [ 0.1955811 -0.07249428 0.9780044 -0.38689621] [ 0. 0. 0. 1. ]] SLAMing on 145.622414037 meters Centerline goodness : 0.858328 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.39 [[ 0.95307977 -0.22505488 -0.20245804 2.3124747 ] [ 0.23402441 0.97199971 0.02119279 -0.28349354] [ 0.19201961 -0.06757855 0.9790616 -0.3878251 ] [ 0. 0. 0. 1. ]] SLAMing on 145.652414037 meters Centerline goodness : 0.858267 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.39 [[ 0.95368293 -0.22355945 -0.20127108 2.31052201] [ 0.23217703 0.97246859 0.01996673 -0.28127528] [ 0.19126605 -0.06577245 0.97933206 -0.38935562] [ 0. 0. 0. 1. ]] SLAMing on 145.682414037 meters Centerline goodness : 0.858225 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.39 [[ 0.95420659 -0.22227958 -0.20020381 2.30910338] [ 0.23059342 0.97286647 0.01890778 -0.27971007] [ 0.19056876 -0.06420761 0.97957181 -0.39092877] [ 0. 0. 0. 1. ]] SLAMing on 145.712414037 meters Centerline goodness : 0.858506 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.39 [[ 0.9546843 -0.22105047 -0.19928516 2.30757084] [ 0.22915322 0.97321913 0.01825745 -0.27875201] [ 0.18991231 -0.06309694 0.97977145 -0.39193778] [ 0. 0. 0. 1. ]] SLAMing on 145.74241403699997 meters Centerline goodness : 0.805997 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:-0.39 [[ 0.9559183 -0.21579222 -0.19913293 2.30486036] [ 0.22441677 0.97425539 0.02153014 -0.27842006] [ 0.18936029 -0.06526983 0.97973595 -0.39180781] [ 0. 0. 0. 1. ]] SLAMing on 145.77241403699998 meters Centerline goodness : 0.805380 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:-0.39 [[ 0.95622664 -0.21493787 -0.19857576 2.3040497 ] [ 0.223453 0.97448319 0.02124315 -0.27800263] [ 0.18894278 -0.06468561 0.97985529 -0.39249977] [ 0. 0. 0. 1. ]] SLAMing on 145.80241403699998 meters Centerline goodness : 0.841057 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:-0.39 [[ 0.95640102 -0.21459803 -0.19810293 2.30481313] [ 0.22299488 0.9745971 0.02082711 -0.27854428] [ 0.18860109 -0.06409501 0.97995993 -0.39418152] [ 0. 0. 0. 1. ]] SLAMing on 145.83241403699998 meters Centerline goodness : 0.856624 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.40 [[ 0.95657144 -0.21646188 -0.19523147 2.30548153] [ 0.22383905 0.97449017 0.01627845 -0.28149567] [ 0.18672748 -0.05927193 0.98062209 -0.39874878] [ 0. 0. 0. 1. ]] SLAMing on 145.86241403699998 meters Centerline goodness : 0.837437 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.40 [[ 0.95703364 -0.22082703 -0.18794157 2.31120542] [ 0.22845919 0.9733544 0.01968792 -0.28063381] [ 0.17858613 -0.06177898 0.98198287 -0.40261954] [ 0. 0. 0. 1. ]] SLAMing on 145.89241403699998 meters Centerline goodness : 0.837437 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.40 [[ 0.95703364 -0.22082703 -0.18794157 2.31120542] [ 0.22845919 0.9733544 0.01968792 -0.28063381] [ 0.17858613 -0.06177898 0.98198287 -0.40261954] [ 0. 0. 0. 1. ]] SLAMing on 145.92241403699998 meters Centerline goodness : 0.858243 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.40 [[ 0.95739906 -0.21950076 -0.18763384 2.31032073] [ 0.22736124 0.97358016 0.02117873 -0.28364303] [ 0.17802784 -0.06293716 0.98201069 -0.40207427] [ 0. 0. 0. 1. ]] SLAMing on 145.95241403699998 meters Centerline goodness : 0.860342 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.29, Z:-0.40 [[ 0.95778714 -0.21776937 -0.18767071 2.30971136] [ 0.22600173 0.9738463 0.02337955 -0.28733395] [ 0.17767108 -0.06480654 0.98195372 -0.40091362] [ 0. 0. 0. 1. ]] SLAMing on 145.98241403699998 meters Centerline goodness : 0.837871 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.29, Z:-0.40 [[ 0.95781685 -0.21704284 -0.18835946 2.31181805] [ 0.2255547 0.97391653 0.02473187 -0.28982576] [ 0.17807851 -0.06617397 0.9817887 -0.40112478] [ 0. 0. 0. 1. ]] SLAMing on 146.01241403699999 meters Centerline goodness : 0.858072 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.29, Z:-0.40 [[ 0.95781751 -0.2166315 -0.18882904 2.31419895] [ 0.22539387 0.9739215 0.02597125 -0.29333516] [ 0.17827848 -0.06743663 0.98166648 -0.40172409] [ 0. 0. 0. 1. ]] SLAMing on 146.042414037 meters Centerline goodness : 0.840496 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.30, Z:-0.40 [[ 0.95750969 -0.21864637 -0.18806638 2.31577874] [ 0.22706982 0.97357761 0.02420603 -0.29730754] [ 0.17780466 -0.06588171 0.98185799 -0.40268396] [ 0. 0. 0. 1. ]] SLAMing on 146.072414037 meters Centerline goodness : 0.859864 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.31, Z:-0.40 [[ 0.95678328 -0.22295967 -0.18669422 2.31888518] [ 0.23113681 0.97265036 0.02295748 -0.30968455] [ 0.17646961 -0.06511724 0.9821498 -0.40323623] [ 0. 0. 0. 1. ]] SLAMing on 146.102414037 meters Centerline goodness : 0.859575 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.31, Z:-0.40 [[ 0.95617666 -0.22585724 -0.18631879 2.32108609] [ 0.23380885 0.97204321 0.02157362 -0.31446841] [ 0.17623736 -0.06419118 0.98225246 -0.40358119] [ 0. 0. 0. 1. ]] SLAMing on 146.132414037 meters Centerline goodness : 0.859784 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.32, Z:-0.40 [[ 0.95586285 -0.2260732 -0.18766227 2.32484414] [ 0.23459585 0.97179118 0.02422183 -0.32009103] [ 0.17689264 -0.06717753 0.98193491 -0.4031187 ] [ 0. 0. 0. 1. ]] SLAMing on 146.162414037 meters Centerline goodness : 0.857054 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.33, Z:-0.40 [[ 0.95541714 -0.22661236 -0.18927476 2.32890692] [ 0.23573534 0.97144603 0.02685995 -0.32508789] [ 0.17778342 -0.07028121 0.98155673 -0.40247387] [ 0. 0. 0. 1. ]] SLAMing on 146.192414037 meters Centerline goodness : 0.807970 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.34, Z:-0.40 [[ 0.95386514 -0.23037386 -0.19253357 2.33667127] [ 0.24046595 0.97017893 0.03047898 -0.33634123] [ 0.17977046 -0.07537061 0.98081693 -0.40214574] [ 0. 0. 0. 1. ]] SLAMing on 146.222414037 meters Centerline goodness : 0.839788 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.34, Z:-0.40 [[ 0.95320522 -0.23318747 -0.19241471 2.33986008] [ 0.24322033 0.96950877 0.02994362 -0.34324933] [ 0.17956527 -0.07534159 0.98085675 -0.40232792] [ 0. 0. 0. 1. ]] SLAMing on 146.252414037 meters Centerline goodness : 0.807115 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.35, Z:-0.40 [[ 0.95250839 -0.23596507 -0.19247922 2.34308483] [ 0.24606379 0.96878875 0.03001633 -0.35163081] [ 0.17938889 -0.07595298 0.98084187 -0.40175825] [ 0. 0. 0. 1. ]] SLAMing on 146.282414037 meters Centerline goodness : 0.844738 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.37, Z:-0.40 [[ 0.95143669 -0.23869798 -0.19440036 2.34803878] [ 0.25010758 0.9675463 0.03606053 -0.36993277] [ 0.17948377 -0.08293031 0.98025922 -0.39859319] [ 0. 0. 0. 1. ]] SLAMing on 146.312414037 meters Centerline goodness : 0.863406 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.38, Z:-0.40 [[ 0.9513415 -0.23809655 -0.19560008 2.34969319] [ 0.25023513 0.96737828 0.03951752 -0.37667578] [ 0.17981029 -0.08654067 0.97988722 -0.39610342] [ 0. 0. 0. 1. ]] SLAMing on 146.342414037 meters Centerline goodness : 0.861852 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.38, Z:-0.39 [[ 0.95124108 -0.23814067 -0.19603423 2.34973455] [ 0.25067309 0.96718422 0.04144502 -0.38159104] [ 0.17973147 -0.08856471 0.97972082 -0.39387343] [ 0. 0. 0. 1. ]] SLAMing on 146.372414037 meters Centerline goodness : 0.862565 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.39, Z:-0.39 [[ 0.9512884 -0.23709476 -0.19706968 2.35112292] [ 0.25026187 0.9671564 0.04446903 -0.38654583] [ 0.18005382 -0.09162189 0.97938044 -0.39210433] [ 0. 0. 0. 1. ]] SLAMing on 146.402414037 meters Centerline goodness : 0.862670 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.40, Z:-0.39 [[ 0.95102284 -0.23806226 -0.19718501 2.35338102] [ 0.2515597 0.9667423 0.04611994 -0.39738431] [ 0.17964767 -0.09346492 0.97928087 -0.39018404] [ 0. 0. 0. 1. ]] SLAMing on 146.432414037 meters Centerline goodness : 0.861964 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.40, Z:-0.39 [[ 0.95116868 -0.23680131 -0.19799816 2.35558842] [ 0.25095985 0.96673625 0.04939812 -0.40499659] [ 0.17971446 -0.09667553 0.97895687 -0.38897556] [ 0. 0. 0. 1. ]] SLAMing on 146.462414037 meters Centerline goodness : 0.862706 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.41, Z:-0.39 [[ 0.95075335 -0.23933701 -0.19694127 2.35589157] [ 0.2531181 0.96625945 0.04768548 -0.40933756] [ 0.17888347 -0.09518654 0.97925494 -0.38890826] [ 0. 0. 0. 1. ]] SLAMing on 146.49241403699997 meters Centerline goodness : 0.864151 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.41, Z:-0.39 [[ 0.95109331 -0.23768588 -0.19729912 2.35644811] [ 0.25200283 0.96640425 0.05057072 -0.41478737] [ 0.17865076 -0.09781741 0.97903813 -0.38781696] [ 0. 0. 0. 1. ]] SLAMing on 146.52241403699998 meters Centerline goodness : 0.861142 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.42, Z:-0.39 [[ 0.95165226 -0.2352589 -0.19751259 2.35608321] [ 0.25011948 0.96672774 0.0536445 -0.41985241] [ 0.17832056 -0.10045265 0.97883147 -0.38646969] [ 0. 0. 0. 1. ]] SLAMing on 146.55241403699998 meters Centerline goodness : 0.860954 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.42, Z:-0.39 [[ 0.95173425 -0.23476929 -0.19770001 2.35766367] [ 0.24969046 0.96682374 0.05391218 -0.42072288] [ 0.17848414 -0.10067387 0.97877892 -0.38746124] [ 0. 0. 0. 1. ]] SLAMing on 146.58241403699998 meters Centerline goodness : 0.861689 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.42, Z:-0.39 [[ 0.9517907 -0.2346836 -0.19752993 2.36117187] [ 0.24950016 0.96689891 0.05344309 -0.4221401 ] [ 0.17844926 -0.10015039 0.97883899 -0.39034642] [ 0. 0. 0. 1. ]] SLAMing on 146.61241403699998 meters Centerline goodness : 0.864508 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.43, Z:-0.39 [[ 0.95172807 -0.23539103 -0.19698918 2.36665994] [ 0.24991688 0.96686503 0.05209199 -0.42770873] [ 0.17819996 -0.09880833 0.97902078 -0.39405617] [ 0. 0. 0. 1. ]] SLAMing on 146.64241403699998 meters Centerline goodness : 0.857421 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.43, Z:-0.39 [[ 0.95196602 -0.23450095 -0.196901 2.36635599] [ 0.24927746 0.96694778 0.05359795 -0.43150454] [ 0.17782422 -0.10010641 0.97895723 -0.39322187] [ 0. 0. 0. 1. ]] SLAMing on 146.67241403699998 meters Centerline goodness : 0.857794 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.43, Z:-0.39 [[ 0.95207875 -0.2344583 -0.1964061 2.36360791] [ 0.24934502 0.96688026 0.05449419 -0.43447629] [ 0.17712457 -0.10085564 0.97900716 -0.39093217] [ 0. 0. 0. 1. ]] SLAMing on 146.70241403699998 meters Centerline goodness : 0.860861 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.44, Z:-0.39 [[ 0.95212942 -0.23425305 -0.19640539 2.36115002] [ 0.2493752 0.96679716 0.05581456 -0.43786498] [ 0.17680945 -0.10212132 0.97893292 -0.38788512] [ 0. 0. 0. 1. ]] SLAMing on 146.73241403699998 meters Centerline goodness : 0.868771 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.45, Z:-0.38 [[ 0.95153777 -0.23628299 -0.19684058 2.36160808] [ 0.25154227 0.9662165 0.05614416 -0.44530671] [ 0.17692471 -0.10293701 0.97882665 -0.3843798 ] [ 0. 0. 0. 1. ]] SLAMing on 146.76241403699999 meters Centerline goodness : 0.865864 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.45, Z:-0.38 [[ 0.9506901 -0.23986016 -0.19660987 2.36337028] [ 0.25469047 0.96553608 0.05359885 -0.44832363] [ 0.1769777 -0.10103056 0.97901569 -0.38394709] [ 0. 0. 0. 1. ]] SLAMing on 146.792414037 meters Centerline goodness : 0.865500 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.45, Z:-0.38 [[ 0.94999362 -0.24289787 -0.19624667 2.36551791] [ 0.25738275 0.96492911 0.05163269 -0.45223364] [ 0.17682265 -0.09956123 0.97919421 -0.38409418] [ 0. 0. 0. 1. ]] SLAMing on 146.822414037 meters Centerline goodness : 0.865692 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.46, Z:-0.38 [[ 0.9501006 -0.24104863 -0.19800101 2.36828958] [ 0.25649862 0.9649151 0.05610088 -0.45990831] [ 0.17753113 -0.10408846 0.97859506 -0.38169607] [ 0. 0. 0. 1. ]] SLAMing on 146.852414037 meters Centerline goodness : 0.846282 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.46, Z:-0.38 [[ 0.94943581 -0.24407999 -0.19747559 2.36951581] [ 0.25914863 0.96432413 0.05404599 -0.46358983] [ 0.17723893 -0.10248873 0.97881685 -0.38138872] [ 0. 0. 0. 1. ]] SLAMing on 146.882414037 meters Centerline goodness : 0.813023 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.47, Z:-0.38 [[ 0.94944644 -0.24413023 -0.19736236 2.36898935] [ 0.25955035 0.96410146 0.0560535 -0.47430516] [ 0.17659298 -0.10444527 0.97872678 -0.377936 ] [ 0. 0. 0. 1. ]] SLAMing on 146.912414037 meters Centerline goodness : 0.813936 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.48, Z:-0.38 [[ 0.94943429 -0.24420347 -0.19733017 2.36792253] [ 0.25977659 0.96399003 0.05691521 -0.47936165] [ 0.17632542 -0.10529901 0.97868354 -0.37565002] [ 0. 0. 0. 1. ]] SLAMing on 146.942414037 meters Centerline goodness : 0.815379 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.48, Z:-0.37 [[ 0.94945949 -0.24394882 -0.19752381 2.36747903] [ 0.25973237 0.96393807 0.05798695 -0.48438274] [ 0.17625487 -0.10635958 0.97858155 -0.37364198] [ 0. 0. 0. 1. ]] SLAMing on 146.972414037 meters Centerline goodness : 0.816597 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.49, Z:-0.37 [[ 0.94968741 -0.24257006 -0.19812517 2.36891674] [ 0.25877518 0.9640679 0.06007071 -0.48966661] [ 0.17643476 -0.10831828 0.97833426 -0.37280637] [ 0. 0. 0. 1. ]] SLAMing on 147.002414037 meters Centerline goodness : 0.816638 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.38 [[ 0.95117675 -0.2395854 -0.19458065 2.35673941] [ 0.25287947 0.9663916 0.04625204 -0.50441127] [ 0.1769598 -0.09319931 0.97979545 -0.37967572] [ 0. 0. 0. 1. ]] SLAMing on 147.032414037 meters Centerline goodness : 0.816451 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.51, Z:-0.39 [[ 0.95211044 -0.23908922 -0.19058345 2.34929315] [ 0.25036366 0.96744107 0.03709203 -0.51132062] [ 0.17550996 -0.08303088 0.98096999 -0.38552068] [ 0. 0. 0. 1. ]] SLAMing on 147.062414037 meters Centerline goodness : 0.816094 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.52, Z:-0.39 [[ 0.95255778 -0.23965272 -0.1876173 2.3474171 ] [ 0.25049594 0.96744681 0.03603395 -0.51755115] [ 0.17287412 -0.08132179 0.98158102 -0.38758216] [ 0. 0. 0. 1. ]] SLAMing on 147.092414037 meters Centerline goodness : 0.817483 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.53, Z:-0.39 [[ 0.95385665 -0.23793898 -0.18314618 2.34164849] [ 0.24815168 0.96810005 0.03468483 -0.53118575] [ 0.16905096 -0.07853239 0.98247363 -0.38978085] [ 0. 0. 0. 1. ]] SLAMing on 147.122414037 meters Centerline goodness : 0.817663 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.39 [[ 0.95498454 -0.23703804 -0.17837457 2.33181084] [ 0.24596968 0.96883099 0.02941814 -0.53956096] [ 0.16584159 -0.0719686 0.98352279 -0.39243518] [ 0. 0. 0. 1. ]] SLAMing on 147.152414037 meters Centerline goodness : 0.818861 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.55, Z:-0.39 [[ 0.95573517 -0.23705677 -0.17428247 2.32677364] [ 0.24540822 0.96902333 0.02772357 -0.54645895] [ 0.16231172 -0.06926674 0.98430535 -0.39460711] [ 0. 0. 0. 1. ]] SLAMing on 147.182414037 meters Centerline goodness : 0.822433 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.55, Z:-0.39 [[ 0.95552689 -0.23832505 -0.17369379 2.32624614] [ 0.24659117 0.96873351 0.02735289 -0.55232331] [ 0.16174411 -0.06896778 0.98441977 -0.39339182] [ 0. 0. 0. 1. ]] SLAMing on 147.212414037 meters Centerline goodness : 0.822951 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.57, Z:-0.39 [[ 0.95579697 -0.23896635 -0.17131034 2.32401582] [ 0.2470276 0.96863012 0.02707497 -0.56645926] [ 0.15946635 -0.06819656 0.98484502 -0.39269846] [ 0. 0. 0. 1. ]] SLAMing on 147.24241403699997 meters Centerline goodness : 0.824154 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.57, Z:-0.39 [[ 0.95523353 -0.24143695 -0.17098858 2.32492917] [ 0.24929305 0.96808594 0.0257407 -0.57281248] [ 0.15931689 -0.06721464 0.98493671 -0.39162281] [ 0. 0. 0. 1. ]] SLAMing on 147.27241403699998 meters Centerline goodness : 0.825855 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.58, Z:-0.39 [[ 0.95459798 -0.24417751 -0.17064594 2.32596767] [ 0.25183261 0.9674628 0.02441458 -0.57952009] [ 0.1591321 -0.06628032 0.98502989 -0.39062853] [ 0. 0. 0. 1. ]] SLAMing on 147.30241403699998 meters Centerline goodness : 0.827273 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.59, Z:-0.39 [[ 0.95391761 -0.24708814 -0.17026051 2.32703868] [ 0.25452758 0.96679204 0.02299706 -0.5861696 ] [ 0.1589242 -0.06527329 0.9851307 -0.38967718] [ 0. 0. 0. 1. ]] SLAMing on 147.33241403699998 meters Centerline goodness : 0.829637 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.60, Z:-0.39 [[ 0.95253006 -0.25298557 -0.16936583 2.33040433] [ 0.25996816 0.96540937 0.02003266 -0.59919321] [ 0.15843939 -0.06311144 0.98534964 -0.38896517] [ 0. 0. 0. 1. ]] SLAMing on 147.36241403699998 meters Centerline goodness : 0.826770 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.61, Z:-0.39 [[ 0.95143204 -0.25732009 -0.16900722 2.33463851] [ 0.26389763 0.9643957 0.01729082 -0.60549068] [ 0.15854056 -0.06105165 0.98546313 -0.39003116] [ 0. 0. 0. 1. ]] SLAMing on 147.39241403699998 meters Centerline goodness : 0.825548 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.61, Z:-0.39 [[ 0.94984667 -0.26389316 -0.1677847 2.33777572] [ 0.26972285 0.96285633 0.01254079 -0.61139453] [ 0.15824313 -0.05716719 0.98574389 -0.39082321] [ 0. 0. 0. 1. ]] SLAMing on 147.42241403699998 meters Centerline goodness : 0.829290 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.63, Z:-0.39 [[ 0.94733122 -0.27403855 -0.16573001 2.34161969] [ 0.27890126 0.96029876 0.00635365 -0.62529982] [ 0.15740918 -0.05224132 0.9861507 -0.39057184] [ 0. 0. 0. 1. ]] SLAMing on 147.45241403699998 meters Centerline goodness : 0.830846 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.63, Z:-0.39 [[ 0.94620712 -0.2785735 -0.16458701 2.34057252] [ 0.28297664 0.95912057 0.00345678 -0.63236694] [ 0.15689582 -0.04984511 0.98635651 -0.38811535] [ 0. 0. 0. 1. ]] SLAMing on 147.48241403699998 meters Centerline goodness : 0.830289 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.64, Z:-0.39 [[ 9.45342463e-01 -2.81758055e-01 -1.64134172e-01 2.34120907e+00] [ 2.85930779e-01 9.58248434e-01 1.87829123e-03 -6.39130472e-01] [ 1.56752089e-01 -4.87066400e-02 9.86436235e-01 -3.86454426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51241403699999 meters Centerline goodness : 0.832929 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.65, Z:-0.39 [[ 9.43781688e-01 -2.87565510e-01 -1.63040495e-01 2.34407159e+00] [ 2.91244559e-01 9.56647615e-01 -1.39583661e-03 -6.50468655e-01] [ 1.56373695e-01 -4.61672921e-02 9.86618391e-01 -3.85581569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542414037 meters Centerline goodness : 0.833562 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.65, Z:-0.39 [[ 9.43262825e-01 -2.89213946e-01 -1.63127362e-01 2.34760361e+00] [ 2.92771162e-01 9.56179696e-01 -2.33161086e-03 -6.54316586e-01] [ 1.56653406e-01 -4.55596655e-02 9.86602264e-01 -3.86690598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.572414037 meters Centerline goodness : 0.833303 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.66, Z:-0.39 [[ 9.43416799e-01 -2.88376390e-01 -1.63718664e-01 2.34982350e+00] [ 2.92193988e-01 9.56358739e-01 -7.97488960e-04 -6.58727940e-01] [ 1.56803752e-01 -4.70852450e-02 9.86506748e-01 -3.86971943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602414037 meters Centerline goodness : 0.836112 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.66, Z:-0.39 [[ 9.43687282e-01 -2.87197143e-01 -1.64231895e-01 2.35108838e+00] [ 2.91291176e-01 9.56634031e-01 8.84224747e-04 -6.63093723e-01] [ 1.56855873e-01 -4.86737335e-02 9.86421362e-01 -3.86687772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632414037 meters Centerline goodness : 0.838636 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.67, Z:-0.38 [[ 9.43938350e-01 -2.86566038e-01 -1.63891114e-01 2.34922233e+00] [ 2.90820958e-01 9.56775273e-01 2.06085631e-03 -6.71228446e-01] [ 1.56216394e-01 -4.96082920e-02 9.86476282e-01 -3.84111089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662414037 meters Centerline goodness : 0.841361 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.67, Z:-0.38 [[ 0.94413523 -0.28575513 -0.16417271 2.34912213] [ 0.29021084 0.95695702 0.00330689 -0.67484398] [ 0.15616127 -0.05076685 0.98642607 -0.38298854] [ 0. 0. 0. 1. ]] SLAMing on 147.692414037 meters Centerline goodness : 0.840682 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.68, Z:-0.38 [[ 0.94428813 -0.28509026 -0.164449 2.34921766] [ 0.28972233 0.95710069 0.00438601 -0.6779671 ] [ 0.15614385 -0.0517862 0.98637584 -0.38205726] [ 0. 0. 0. 1. ]] SLAMing on 147.722414037 meters Centerline goodness : 0.843796 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.68, Z:-0.38 [[ 0.94435085 -0.28464041 -0.16486754 2.34991547] [ 0.28942118 0.95718761 0.00522158 -0.68067558] [ 0.15632289 -0.05264716 0.9863019 -0.38143957] [ 0. 0. 0. 1. ]] SLAMing on 147.752414037 meters Centerline goodness : 0.845176 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.68, Z:-0.38 [[ 0.94359142 -0.28738082 -0.1644612 2.35172956] [ 0.2918508 0.95645863 0.00316213 -0.68433158] [ 0.1563916 -0.05098189 0.98637848 -0.38145938] [ 0. 0. 0. 1. ]] SLAMing on 147.782414037 meters Centerline goodness : 0.844926 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.69, Z:-0.38 [[ 9.42733147e-01 -2.90603657e-01 -1.63718439e-01 2.35256368e+00] [ 2.94610346e-01 9.55617446e-01 2.01651873e-04 -6.85125621e-01] [ 1.56393596e-01 -4.84232500e-02 9.86507087e-01 -3.81750500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812414037 meters Centerline goodness : 0.844926 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.69, Z:-0.38 [[ 9.42733147e-01 -2.90603657e-01 -1.63718439e-01 2.35256368e+00] [ 2.94610346e-01 9.55617446e-01 2.01651873e-04 -6.85125621e-01] [ 1.56393596e-01 -4.84232500e-02 9.86507087e-01 -3.81750500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842414037 meters Centerline goodness : 0.845097 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.69, Z:-0.38 [[ 9.42182153e-01 -2.92427262e-01 -1.63643171e-01 2.35625974e+00] [ 2.96266242e-01 9.55104882e-01 -9.89592251e-04 -6.87617396e-01] [ 1.56585776e-01 -4.75495712e-02 9.86519099e-01 -3.83581293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872414037 meters Centerline goodness : 0.844229 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.69, Z:-0.38 [[ 9.42197619e-01 -2.92275642e-01 -1.63824892e-01 2.35719177e+00] [ 2.96204449e-01 9.55124445e-01 -4.66857535e-04 -6.89213609e-01] [ 1.56609610e-01 -4.80857899e-02 9.86489324e-01 -3.83832040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902414037 meters Centerline goodness : 0.846623 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.69, Z:-0.38 [[ 0.94157047 -0.2947896 -0.16292373 2.35605129] [ 0.29837298 0.95444584 -0.00258721 -0.69031625] [ 0.15626456 -0.046176 0.98663527 -0.38310042] [ 0. 0. 0. 1. ]] SLAMing on 147.932414037 meters Centerline goodness : 0.845465 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.69, Z:-0.38 [[ 0.94055492 -0.29856522 -0.16191122 2.35640609] [ 0.30163666 0.95340498 -0.00585339 -0.69102377] [ 0.15611458 -0.04333293 0.98678797 -0.38324874] [ 0. 0. 0. 1. ]] SLAMing on 147.962414037 meters Centerline goodness : 0.844588 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.69, Z:-0.38 [[ 0.93949237 -0.3024973 -0.16077774 2.35680175] [ 0.30505741 0.9522903 -0.009119 -0.69188089] [ 0.15586555 -0.04047921 0.98694851 -0.38358749] [ 0. 0. 0. 1. ]] SLAMing on 147.99241403699997 meters Centerline goodness : 0.845335 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.70, Z:-0.38 [[ 0.9380913 -0.30749945 -0.15946408 2.35768455] [ 0.30957958 0.95079451 -0.01225906 -0.69547646] [ 0.15538723 -0.0378667 0.98712761 -0.3835795 ] [ 0. 0. 0. 1. ]] SLAMing on 148.02241403699998 meters Centerline goodness : 0.847570 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.70, Z:-0.38 [[ 0.93698885 -0.31142976 -0.15831423 2.35699733] [ 0.31305293 0.94961359 -0.01522809 -0.69740577] [ 0.15507983 -0.03529218 0.98727135 -0.38267108] [ 0. 0. 0. 1. ]] SLAMing on 148.05241403699998 meters Centerline goodness : 0.846282 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.70, Z:-0.38 [[ 0.93592888 -0.31518561 -0.15714695 2.35566727] [ 0.31638461 0.94846035 -0.01799314 -0.69952235] [ 0.15471883 -0.03287858 0.9874113 -0.38126603] [ 0. 0. 0. 1. ]] SLAMing on 148.08241403699998 meters Centerline goodness : 0.848713 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.70, Z:-0.38 [[ 0.93469075 -0.31943513 -0.15593077 2.35513304] [ 0.32013554 0.94713251 -0.02128937 -0.70087998] [ 0.15448768 -0.03002001 0.98753853 -0.38047621] [ 0. 0. 0. 1. ]] SLAMing on 148.11241403699998 meters Centerline goodness : 0.850861 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.71, Z:-0.38 [[ 0.93265267 -0.32777143 -0.15074775 2.34405744] [ 0.32911321 0.9441431 -0.0166823 -0.70587199] [ 0.14779544 -0.03405428 0.98843149 -0.38318643] [ 0. 0. 0. 1. ]] SLAMing on 148.14241403699998 meters Centerline goodness : 0.849257 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.71, Z:-0.39 [[ 0.9316698 -0.33057404 -0.15070563 2.32643509] [ 0.33231361 0.94306154 -0.01423376 -0.71117653] [ 0.14683 -0.03682036 0.98847621 -0.38549274] [ 0. 0. 0. 1. ]] SLAMing on 148.17241403699998 meters Centerline goodness : 0.847234 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.71, Z:-0.39 [[ 0.92997495 -0.3333138 -0.15507584 2.31262353] [ 0.33534843 0.9419955 -0.01363497 -0.71487858] [ 0.15062546 -0.03932425 0.98780847 -0.38807978] [ 0. 0. 0. 1. ]] SLAMing on 148.20241403699998 meters Centerline goodness : 0.846585 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.72, Z:-0.39 [[ 0.92893307 -0.33433436 -0.15907197 2.29733319] [ 0.33667514 0.94153367 -0.01281422 -0.71790823] [ 0.15405585 -0.04165202 0.98718383 -0.39090455] [ 0. 0. 0. 1. ]] SLAMing on 148.23241403699998 meters Centerline goodness : 0.844694 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.72, Z:-0.39 [[ 0.9288417 -0.3346844 -0.15886926 2.29739994] [ 0.3369182 0.94143749 -0.01347502 -0.71552906] [ 0.15407535 -0.04100978 0.98720767 -0.39180123] [ 0. 0. 0. 1. ]] SLAMing on 148.26241403699999 meters Centerline goodness : 0.843685 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.71, Z:-0.39 [[ 0.92938178 -0.33354224 -0.15811099 2.29448352] [ 0.33594974 0.94180281 -0.01205133 -0.71387795] [ 0.152929 -0.04191706 0.9873478 -0.3920318 ] [ 0. 0. 0. 1. ]] SLAMing on 148.292414037 meters Centerline goodness : 0.843887 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.71, Z:-0.40 [[ 0.93060614 -0.33269619 -0.15259569 2.28231886] [ 0.33540386 0.94203691 -0.00840914 -0.7111966 ] [ 0.14654847 -0.04335559 0.98825292 -0.39637252] [ 0. 0. 0. 1. ]] SLAMing on 148.322414037 meters Centerline goodness : 0.843005 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.71, Z:-0.40 [[ 0.93094137 -0.33186111 -0.1523692 2.27957008] [ 0.33461034 0.94232269 -0.00799148 -0.70932026] [ 0.14623302 -0.04354471 0.98829133 -0.39541563] [ 0. 0. 0. 1. ]] SLAMing on 148.352414037 meters Centerline goodness : 0.839482 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.71, Z:-0.40 [[ 0.93166906 -0.33214226 -0.14722187 2.26183738] [ 0.335114 0.94216498 -0.00487333 -0.71069332] [ 0.14032593 -0.04479578 0.98909149 -0.39967207] [ 0. 0. 0. 1. ]] SLAMing on 148.382414037 meters Centerline goodness : 0.839984 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.71, Z:-0.40 [[ 0.93195978 -0.33142928 -0.14698847 2.25906923] [ 0.33441991 0.94241291 -0.00460802 -0.70800438] [ 0.14005106 -0.04486138 0.98912747 -0.39884564] [ 0. 0. 0. 1. ]] SLAMing on 148.412414037 meters Centerline goodness : 0.840656 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.70, Z:-0.40 [[ 0.93182947 -0.33191705 -0.1467137 2.25829357] [ 0.33475414 0.94228861 -0.00564282 -0.70427846] [ 0.1401196 -0.04385487 0.9891629 -0.39937274] [ 0. 0. 0. 1. ]] SLAMing on 148.442414037 meters Centerline goodness : 0.837191 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.70, Z:-0.40 [[ 0.93160123 -0.33287769 -0.14598493 2.25669505] [ 0.33549625 0.94201527 -0.00703599 -0.69788651] [ 0.13986216 -0.04242265 0.98926179 -0.4005994 ] [ 0. 0. 0. 1. ]] SLAMing on 148.472414037 meters Centerline goodness : 0.838084 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.69, Z:-0.40 [[ 0.93137556 -0.33370653 -0.14553186 2.25579347] [ 0.33614447 0.94177437 -0.00824228 -0.69415871] [ 0.13980868 -0.04124307 0.98931923 -0.40118669] [ 0. 0. 0. 1. ]] SLAMing on 148.502414037 meters Centerline goodness : 0.835794 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.69, Z:-0.40 [[ 0.93163019 -0.3333911 -0.14462214 2.25157798] [ 0.33579665 0.94189902 -0.00817617 -0.68555087] [ 0.13894532 -0.04094646 0.98945318 -0.40202734] [ 0. 0. 0. 1. ]] SLAMing on 148.532414037 meters Centerline goodness : 0.832650 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.68, Z:-0.40 [[ 0.93200548 -0.33248143 -0.14429792 2.24871786] [ 0.33495097 0.9422053 -0.00755123 -0.68137705] [ 0.13846891 -0.04129494 0.98950548 -0.40189325] [ 0. 0. 0. 1. ]] SLAMing on 148.562414037 meters Centerline goodness : 0.833735 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.68, Z:-0.40 [[ 0.93221557 -0.33261037 -0.14263406 2.24353362] [ 0.33500058 0.94218702 -0.00763085 -0.67728102] [ 0.13692606 -0.0406689 0.98974608 -0.40167805] [ 0. 0. 0. 1. ]] SLAMing on 148.592414037 meters Centerline goodness : 0.832492 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.67, Z:-0.40 [[ 0.9319752 -0.33353775 -0.142038 2.24174668] [ 0.33569708 0.9419251 -0.00919629 -0.67267063] [ 0.13685647 -0.03911103 0.98981849 -0.40179499] [ 0. 0. 0. 1. ]] SLAMing on 148.622414037 meters Centerline goodness : 0.832223 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.66, Z:-0.40 [[ 0.9317833 -0.33467955 -0.140604 2.23413233] [ 0.33653796 0.94160492 -0.0110627 -0.66387912] [ 0.13609587 -0.03701054 0.99000411 -0.39952629] [ 0. 0. 0. 1. ]] SLAMing on 148.652414037 meters Centerline goodness : 0.831178 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.66, Z:-0.40 [[ 0.9319741 -0.33429481 -0.14025426 2.23004265] [ 0.33612638 0.94175109 -0.01113283 -0.6596103 ] [ 0.13580625 -0.03676765 0.99005293 -0.3980154 ] [ 0. 0. 0. 1. ]] SLAMing on 148.682414037 meters Centerline goodness : 0.833554 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.66, Z:-0.40 [[ 0.9324507 -0.33302345 -0.14011094 2.22671077] [ 0.33494988 0.94217961 -0.01030361 -0.65538233] [ 0.13544101 -0.03732253 0.9900822 -0.39731553] [ 0. 0. 0. 1. ]] SLAMing on 148.712414037 meters Centerline goodness : 0.831788 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.65, Z:-0.40 [[ 0.93322306 -0.33056319 -0.14079308 2.22619578] [ 0.3327232 0.94298529 -0.00860311 -0.65101362] [ 0.13560968 -0.03881651 0.99000166 -0.39812505] [ 0. 0. 0. 1. ]] SLAMing on 148.74241403699997 meters Centerline goodness : 0.830492 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.64, Z:-0.40 [[ 0.9343155 -0.32710582 -0.14162037 2.22692553] [ 0.32951793 0.94412523 -0.00674443 -0.64006371] [ 0.13591351 -0.04036502 0.98989807 -0.40212813] [ 0. 0. 0. 1. ]] SLAMing on 148.77241403699998 meters Centerline goodness : 0.827377 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.64, Z:-0.40 [[ 0.93522812 -0.32415139 -0.14238763 2.22632125] [ 0.32684157 0.94506731 -0.00472978 -0.6354412 ] [ 0.13609906 -0.04211477 0.98979967 -0.40301323] [ 0. 0. 0. 1. ]] SLAMing on 148.80241403699998 meters Centerline goodness : 0.828402 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.63, Z:-0.40 [[ 0.93614061 -0.32118246 -0.14311738 2.22532471] [ 0.32416615 0.94599658 -0.00260211 -0.63176207] [ 0.13622431 -0.04395787 0.9897023 -0.40335633] [ 0. 0. 0. 1. ]] SLAMing on 148.83241403699998 meters Centerline goodness : 0.826452 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.40 [[ 9.36757607e-01 -3.19353232e-01 -1.43173669e-01 2.22209591e+00] [ 3.22380258e-01 9.46607774e-01 -2.16585520e-03 -6.24200652e-01] [ 1.36220981e-01 -4.41274829e-02 9.89695210e-01 -4.03249913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86241403699998 meters Centerline goodness : 0.827797 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.40 [[ 9.37680891e-01 -3.16294564e-01 -1.43917666e-01 2.22114658e+00] [ 3.19658158e-01 9.47532898e-01 2.62934251e-04 -6.21402648e-01] [ 1.36283558e-01 -4.62510043e-02 9.89589630e-01 -4.03450522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89241403699998 meters Centerline goodness : 0.825929 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.40 [[ 0.93858343 -0.31322697 -0.14474116 2.22037757] [ 0.31690801 0.94845295 0.00251177 -0.61763122] [ 0.13649343 -0.04822714 0.98946637 -0.40387534] [ 0. 0. 0. 1. ]] SLAMing on 148.92241403699998 meters Centerline goodness : 0.826036 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.61, Z:-0.40 [[ 0.93950671 -0.31007486 -0.14553596 2.22000365] [ 0.31407171 0.94938738 0.00475019 -0.6134233 ] [ 0.13669709 -0.05017156 0.98934156 -0.40479966] [ 0. 0. 0. 1. ]] SLAMing on 148.95241403699998 meters Centerline goodness : 0.823785 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.61, Z:-0.41 [[ 0.9411223 -0.30438198 -0.14710684 2.22071922] [ 0.3089457 0.95104011 0.00867544 -0.60548255] [ 0.13726386 -0.05361268 0.98908256 -0.40745717] [ 0. 0. 0. 1. ]] SLAMing on 148.98241403699998 meters Centerline goodness : 0.823704 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.60, Z:-0.41 [[ 0.94149677 -0.30327163 -0.1470039 2.21855394] [ 0.30786264 0.95138827 0.0089971 -0.60209361] [ 0.13712922 -0.05372775 0.98909499 -0.40708441] [ 0. 0. 0. 1. ]] SLAMing on 149.01241403699999 meters Centerline goodness : 0.823422 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.60, Z:-0.41 [[ 0.94251032 -0.29970137 -0.14782891 2.21761396] [ 0.30468233 0.95238162 0.01174441 -0.59991409] [ 0.13726972 -0.05611009 0.98894321 -0.4070274 ] [ 0. 0. 0. 1. ]] SLAMing on 149.042414037 meters Centerline goodness : 0.823332 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.60, Z:-0.41 [[ 0.943497 -0.2961849 -0.14862002 2.2163537 ] [ 0.30154075 0.95334492 0.01437506 -0.59739612] [ 0.13742846 -0.05837782 0.98878989 -0.40674856] [ 0. 0. 0. 1. ]] SLAMing on 149.072414037 meters Centerline goodness : 0.822578 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.41 [[ 0.94519441 -0.29028928 -0.14946458 2.21179549] [ 0.29620677 0.95494497 0.01848402 -0.59177866] [ 0.13736474 -0.06174341 0.98859429 -0.40517512] [ 0. 0. 0. 1. ]] SLAMing on 149.102414037 meters Centerline goodness : 0.823153 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.40 [[ 0.94614014 -0.28680168 -0.15021195 2.21049674] [ 0.29310333 0.95584659 0.02115956 -0.58950974] [ 0.13751099 -0.06404753 0.98842736 -0.40487116] [ 0. 0. 0. 1. ]] SLAMing on 149.132414037 meters Centerline goodness : 0.823076 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.40 [[ 0.94634303 -0.28624773 -0.14999039 2.20893354] [ 0.29247696 0.95604669 0.02078359 -0.58632202] [ 0.13744856 -0.06353714 0.98846898 -0.40468511] [ 0. 0. 0. 1. ]] SLAMing on 149.162414037 meters Centerline goodness : 0.823780 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.40 [[ 0.94734277 -0.28263292 -0.15053344 2.2071783 ] [ 0.28914643 0.95701247 0.02283579 -0.58110965] [ 0.13760823 -0.06515953 0.98834114 -0.40487264] [ 0. 0. 0. 1. ]] SLAMing on 149.192414037 meters Centerline goodness : 0.823155 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.41 [[ 0.94744347 -0.28242802 -0.150284 2.20615647] [ 0.28883843 0.95711976 0.02222884 -0.57786335] [ 0.13756174 -0.06446836 0.98839294 -0.4051074 ] [ 0. 0. 0. 1. ]] SLAMing on 149.222414037 meters Centerline goodness : 0.822770 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.41 [[ 0.9474557 -0.28253316 -0.15000903 2.20512163] [ 0.28880846 0.95714815 0.02137959 -0.57453924] [ 0.13754042 -0.0635801 0.98845344 -0.40525692] [ 0. 0. 0. 1. ]] SLAMing on 149.252414037 meters Centerline goodness : 0.825669 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.57, Z:-0.40 [[ 0.94816335 -0.28004937 -0.15019523 2.20089615] [ 0.28648601 0.95781704 0.02263376 -0.56948913] [ 0.13752098 -0.06448933 0.98839724 -0.40336976] [ 0. 0. 0. 1. ]] SLAMing on 149.282414037 meters Centerline goodness : 0.825523 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.57, Z:-0.40 [[ 0.94852155 -0.2788237 -0.15021388 2.19736175] [ 0.28533893 0.95814392 0.02327942 -0.56730619] [ 0.13743566 -0.0649429 0.98837941 -0.40123091] [ 0. 0. 0. 1. ]] SLAMing on 149.312414037 meters Centerline goodness : 0.823752 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.56, Z:-0.40 [[ 0.94852835 -0.27888559 -0.15005598 2.19614152] [ 0.28528189 0.95817965 0.02249467 -0.56453247] [ 0.13750714 -0.06414508 0.98842157 -0.40075277] [ 0. 0. 0. 1. ]] SLAMing on 149.342414037 meters Centerline goodness : 0.823124 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.56, Z:-0.40 [[ 0.94846716 -0.27896811 -0.15028918 2.19734212] [ 0.28522315 0.95822295 0.02136648 -0.56123355] [ 0.13804998 -0.06313136 0.98841117 -0.40181057] [ 0. 0. 0. 1. ]] SLAMing on 149.372414037 meters Centerline goodness : 0.822966 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.56, Z:-0.40 [[ 0.94844707 -0.27893804 -0.15047171 2.19873483] [ 0.28514117 0.95825735 0.02091342 -0.55996733] [ 0.13835707 -0.06274095 0.98839309 -0.40286082] [ 0. 0. 0. 1. ]] SLAMing on 149.402414037 meters Centerline goodness : 0.821901 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.56, Z:-0.40 [[ 0.94857259 -0.27856264 -0.15037584 2.19941532] [ 0.28473331 0.9583821 0.0207531 -0.55837726] [ 0.13833647 -0.06250283 0.98841106 -0.40408856] [ 0. 0. 0. 1. ]] SLAMing on 149.432414037 meters Centerline goodness : 0.821505 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.56, Z:-0.41 [[ 0.94872566 -0.27801239 -0.15042852 2.20011798] [ 0.28414129 0.95856384 0.02047156 -0.55574137] [ 0.13850399 -0.06216485 0.98840891 -0.40526285] [ 0. 0. 0. 1. ]] SLAMing on 149.462414037 meters Centerline goodness : 0.819751 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.55, Z:-0.41 [[ 0.95056663 -0.2705667 -0.1523704 2.20151414] [ 0.27759704 0.96033151 0.02651933 -0.55300631] [ 0.13915085 -0.06750596 0.9879676 -0.40675109] [ 0. 0. 0. 1. ]] SLAMing on 149.49241403699997 meters Centerline goodness : 0.820424 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.55, Z:-0.41 [[ 0.9508446 -0.26955732 -0.15242509 2.20161704] [ 0.27661487 0.96060822 0.02675926 -0.55221581] [ 0.13920764 -0.06760694 0.9879527 -0.40689218] [ 0. 0. 0. 1. ]] SLAMing on 149.52241403699998 meters Centerline goodness : 0.819176 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.55, Z:-0.41 [[ 0.95102958 -0.26870323 -0.15277867 2.20266565] [ 0.27584141 0.96081769 0.02721928 -0.55276649] [ 0.13947854 -0.06802902 0.98788551 -0.40719856] [ 0. 0. 0. 1. ]] SLAMing on 149.55241403699998 meters Centerline goodness : 0.819540 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.55, Z:-0.40 [[ 0.95156701 -0.26527464 -0.15540139 2.21931081] [ 0.27121267 0.96235206 0.01794984 -0.54932602] [ 0.14478921 -0.0592273 0.98768832 -0.40494334] [ 0. 0. 0. 1. ]] SLAMing on 149.58241403699998 meters Centerline goodness : 0.819082 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.55, Z:-0.41 [[ 0.95190714 -0.2637245 -0.15595575 2.22149722] [ 0.26986716 0.96270547 0.01923276 -0.55013773] [ 0.1450673 -0.06039513 0.98757678 -0.40616154] [ 0. 0. 0. 1. ]] SLAMing on 149.61241403699998 meters Centerline goodness : 0.818619 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.55, Z:-0.41 [[ 0.95214272 -0.26286 -0.1559771 2.221195 ] [ 0.26909634 0.96290707 0.01992838 -0.55091599] [ 0.14495307 -0.06094753 0.98755962 -0.40594507] [ 0. 0. 0. 1. ]] SLAMing on 149.64241403699998 meters Centerline goodness : 0.819489 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.55, Z:-0.40 [[ 0.9525638 -0.26113784 -0.15629855 2.21943414] [ 0.26762126 0.96328192 0.02160587 -0.55318423] [ 0.14491746 -0.06240978 0.98747352 -0.40394761] [ 0. 0. 0. 1. ]] SLAMing on 149.67241403699998 meters Centerline goodness : 0.819178 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.56, Z:-0.40 [[ 0.95315331 -0.25872976 -0.15670891 2.21678836] [ 0.26560838 0.96377467 0.02430188 -0.55885045] [ 0.14474445 -0.06478662 0.9873458 -0.40035118] [ 0. 0. 0. 1. ]] SLAMing on 149.70241403699998 meters Centerline goodness : 0.819178 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.56, Z:-0.40 [[ 0.95314975 -0.25875987 -0.15668083 2.21676526] [ 0.26565813 0.9637573 0.02444623 -0.55916393] [ 0.14467659 -0.06492446 0.9873467 -0.40032517] [ 0. 0. 0. 1. ]] SLAMing on 149.73241403699998 meters Centerline goodness : 0.819841 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.56, Z:-0.40 [[ 0.95266456 -0.2608931 -0.15609302 2.21638674] [ 0.26748913 0.96329854 0.02248321 -0.56123083] [ 0.14449847 -0.06317215 0.98748644 -0.3994835 ] [ 0. 0. 0. 1. ]] SLAMing on 149.76241403699999 meters Centerline goodness : 0.819782 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.56, Z:-0.40 [[ 0.95209803 -0.26389972 -0.15448716 2.21607167] [ 0.27005617 0.96263814 0.01993703 -0.56365921] [ 0.14345386 -0.06070222 0.98779362 -0.40012052] [ 0. 0. 0. 1. ]] SLAMing on 149.792414037 meters Centerline goodness : 0.819771 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.57, Z:-0.40 [[ 0.95120335 -0.26749542 -0.15381285 2.21740268] [ 0.27322613 0.96179939 0.01701214 -0.56574301] [ 0.14338643 -0.0582077 0.98795354 -0.40044755] [ 0. 0. 0. 1. ]] SLAMing on 149.822414037 meters Centerline goodness : 0.818964 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.57, Z:-0.40 [[ 0.95024175 -0.27137147 -0.15296449 2.21806146] [ 0.27665871 0.96086631 0.01399637 -0.56803545] [ 0.14318021 -0.05561889 0.98813257 -0.40032133] [ 0. 0. 0. 1. ]] SLAMing on 149.852414037 meters Centerline goodness : 0.819784 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.57, Z:-0.40 [[ 0.94842582 -0.27854003 -0.15134038 2.21767029] [ 0.28305269 0.95906491 0.008699 -0.57342376] [ 0.14272223 -0.05108765 0.98844343 -0.39849989] [ 0. 0. 0. 1. ]] SLAMing on 149.882414037 meters Centerline goodness : 0.820914 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.58, Z:-0.40 [[ 0.94733018 -0.28268989 -0.15050568 2.21816779] [ 0.28678274 0.95797832 0.00576163 -0.57667106] [ 0.14255243 -0.0486206 0.98859235 -0.39777305] [ 0. 0. 0. 1. ]] SLAMing on 149.912414037 meters Centerline goodness : 0.821545 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.58, Z:-0.40 [[ 9.44952630e-01 -2.91403597e-01 -1.48823619e-01 2.22031425e+00] [ 2.94650381e-01 9.55605093e-01 -2.42634510e-04 -5.83456721e-01] [ 1.42287313e-01 -4.36216580e-02 9.88863727e-01 -3.97291618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942414037 meters Centerline goodness : 0.820026 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:-0.40 [[ 0.94381163 -0.295442 -0.14810006 2.22246457] [ 0.29829973 0.95446739 -0.00304519 -0.58630217] [ 0.14225636 -0.04130412 0.98896769 -0.39808655] [ 0. 0. 0. 1. ]] SLAMing on 149.972414037 meters Centerline goodness : 0.819168 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.59, Z:-0.40 [[ 0.94278847 -0.2989592 -0.14755777 2.22543588] [ 0.30147773 0.95345722 -0.00552377 -0.58840082] [ 0.1423414 -0.03927764 0.98903801 -0.39961228] [ 0. 0. 0. 1. ]] SLAMing on 150.002414037 meters Centerline goodness : 0.816549 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.59, Z:-0.40 [[ 0.94190101 -0.30188434 -0.1472696 2.22915491] [ 0.30413181 0.95259998 -0.00755728 -0.590097 ] [ 0.14257044 -0.03767116 0.98906752 -0.40166137] [ 0. 0. 0. 1. ]] SLAMing on 150.032414037 meters Centerline goodness : 0.816519 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.94058904 -0.30635085 -0.14642885 2.23164468] [ 0.30823938 0.95125433 -0.01018231 -0.59509134] [ 0.14241044 -0.03555778 0.9891688 -0.40229807] [ 0. 0. 0. 1. ]] SLAMing on 150.062414037 meters Centerline goodness : 0.816248 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93978591 -0.30923329 -0.14552395 2.2302997 ] [ 0.31080196 0.95039366 -0.01241069 -0.59782959] [ 0.14214284 -0.03356574 0.98927688 -0.40061844] [ 0. 0. 0. 1. ]] SLAMing on 150.092414037 meters Centerline goodness : 0.819079 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93908477 -0.31175915 -0.14465829 2.22827248] [ 0.31305641 0.9496269 -0.01429826 -0.60050043] [ 0.14182902 -0.03185892 0.98937836 -0.39845536] [ 0. 0. 0. 1. ]] SLAMing on 150.122414037 meters Centerline goodness : 0.819342 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93855285 -0.31365355 -0.1440139 2.2262107 ] [ 0.31476589 0.94904124 -0.01559387 -0.60271533] [ 0.1415662 -0.030695 0.98945279 -0.39637204] [ 0. 0. 0. 1. ]] SLAMing on 150.152414037 meters Centerline goodness : 0.821675 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93718589 -0.31822696 -0.14287827 2.2257761 ] [ 0.31884437 0.94761311 -0.01917436 -0.60339675] [ 0.14149512 -0.02758599 0.98955452 -0.39557543] [ 0. 0. 0. 1. ]] SLAMing on 150.182414037 meters Centerline goodness : 0.819361 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93686667 -0.3192233 -0.14274915 2.22596107] [ 0.31981749 0.94728076 -0.0193889 -0.60471099] [ 0.14141291 -0.02748886 0.98956897 -0.39532367] [ 0. 0. 0. 1. ]] SLAMing on 150.212414037 meters Centerline goodness : 0.820977 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.61, Z:-0.39 [[ 0.93511922 -0.32512601 -0.14087269 2.22503294] [ 0.32510901 0.94537731 -0.02378795 -0.60583849] [ 0.14091193 -0.02355441 0.98974189 -0.394707 ] [ 0. 0. 0. 1. ]] SLAMing on 150.24241403699997 meters Centerline goodness : 0.820434 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.61, Z:-0.39 [[ 0.9347453 -0.32631367 -0.140608 2.22504589] [ 0.32624687 0.94497517 -0.02418491 -0.60674984] [ 0.14076294 -0.02326619 0.98976991 -0.39456681] [ 0. 0. 0. 1. ]] SLAMing on 150.27241403699998 meters Centerline goodness : 0.822217 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.61, Z:-0.39 [[ 0.93449358 -0.32715406 -0.14032809 2.2250682 ] [ 0.32703077 0.94469344 -0.02460051 -0.60664233] [ 0.14061518 -0.02290258 0.98979939 -0.39484062] [ 0. 0. 0. 1. ]] SLAMing on 150.30241403699998 meters Centerline goodness : 0.820197 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93413342 -0.32833887 -0.13995833 2.22676216] [ 0.32805564 0.94430717 -0.02575769 -0.60356473] [ 0.14062091 -0.021853 0.98982231 -0.397256 ] [ 0. 0. 0. 1. ]] SLAMing on 150.33241403699998 meters Centerline goodness : 0.818393 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93453517 -0.32688909 -0.14066819 2.22927297] [ 0.32678415 0.9447812 -0.02450723 -0.60170636] [ 0.14091181 -0.02306527 0.98975343 -0.39946699] [ 0. 0. 0. 1. ]] SLAMing on 150.36241403699998 meters Centerline goodness : 0.818974 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.9356195 -0.32332176 -0.14170106 2.22973478] [ 0.32365925 0.9459338 -0.02130594 -0.60085073] [ 0.1409285 -0.02592861 0.98968018 -0.40026486] [ 0. 0. 0. 1. ]] SLAMing on 150.39241403699998 meters Centerline goodness : 0.818798 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:-0.40 [[ 0.93672883 -0.3196509 -0.14269687 2.22923901] [ 0.32041123 0.94710278 -0.01824725 -0.59946871] [ 0.14098136 -0.02862896 0.98959822 -0.40038165] [ 0. 0. 0. 1. ]] SLAMing on 150.42241403699998 meters Centerline goodness : 0.820706 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:-0.40 [[ 0.93832421 -0.31481614 -0.14296316 2.22304665] [ 0.31595228 0.94865194 -0.01528557 -0.59493447] [ 0.14043442 -0.03082672 0.98960997 -0.39743287] [ 0. 0. 0. 1. ]] SLAMing on 150.45241403699998 meters Centerline goodness : 0.821467 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:-0.40 [[ 0.93937455 -0.31125441 -0.14386153 2.22105566] [ 0.31273636 0.94975399 -0.0127799 -0.59200892] [ 0.14061086 -0.03298561 0.9895153 -0.39643274] [ 0. 0. 0. 1. ]] SLAMing on 150.48241403699998 meters Centerline goodness : 0.819641 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:-0.40 [[ 0.94047961 -0.3074065 -0.1449115 2.21989212] [ 0.30926467 0.95092244 -0.01009322 -0.58843328] [ 0.14090232 -0.03532354 0.98939314 -0.3961496 ] [ 0. 0. 0. 1. ]] SLAMing on 150.51241403699999 meters Centerline goodness : 0.819528 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.58, Z:-0.40 [[ 0.94256675 -0.29997103 -0.14691938 2.21927893] [ 0.30256669 0.95311569 -0.00488563 -0.581697 ] [ 0.14149672 -0.03984788 0.9891364 -0.39695556] [ 0. 0. 0. 1. ]] SLAMing on 150.542414037 meters Centerline goodness : 0.817680 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.58, Z:-0.40 [[ 9.43593873e-01 -2.96156212e-01 -1.48061139e-01 2.21916305e+00] [ 2.99181494e-01 9.54194286e-01 -1.92312838e-03 -5.80075984e-01] [ 1.41848639e-01 -4.24825005e-02 9.88976340e-01 -3.96920128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.572414037 meters Centerline goodness : 0.819222 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.58, Z:-0.40 [[ 9.44010788e-01 -2.94951842e-01 -1.47807454e-01 2.21700075e+00] [ 2.98009862e-01 9.54561575e-01 -1.52340070e-03 -5.78382653e-01] [ 1.41540646e-01 -4.26099724e-02 9.89014983e-01 -3.96189925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602414037 meters Centerline goodness : 0.818249 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.58, Z:-0.40 [[ 9.44071581e-01 -2.94840217e-01 -1.47641783e-01 2.21626658e+00] [ 2.97812756e-01 9.54622078e-01 -2.06189277e-03 -5.76142694e-01] [ 1.41550034e-01 -4.20230318e-02 9.89038752e-01 -3.96236586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.632414037 meters Centerline goodness : 0.818334 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.40 [[ 9.44916542e-01 -2.91865157e-01 -1.48146751e-01 2.21433240e+00] [ 2.95142723e-01 9.55453166e-01 1.46832548e-04 -5.73021002e-01] [ 1.41504426e-01 -4.38631798e-02 9.88965378e-01 -3.95860243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662414037 meters Centerline goodness : 0.815419 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.40 [[ 9.44917864e-01 -2.91928180e-01 -1.48014077e-01 2.21370949e+00] [ 2.95133244e-01 9.55456050e-01 -3.23423398e-04 -5.71028767e-01] [ 1.41515362e-01 -4.33782663e-02 9.88985201e-01 -3.95912339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692414037 meters Centerline goodness : 0.816454 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.40 [[ 9.44910084e-01 -2.92002192e-01 -1.47917727e-01 2.21327027e+00] [ 2.95163007e-01 9.55446717e-01 -6.08679639e-04 -5.69875309e-01] [ 1.41505242e-01 -4.30846933e-02 9.88999482e-01 -3.95901149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722414037 meters Centerline goodness : 0.818293 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.40 [[ 9.44903298e-01 -2.92186502e-01 -1.47596764e-01 2.21169617e+00] [ 2.95281209e-01 9.55409877e-01 -9.87023768e-04 -5.68805018e-01] [ 1.41303801e-01 -4.26499090e-02 9.89047128e-01 -3.95145467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752414037 meters Centerline goodness : 0.817520 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44908231e-01 -2.92213446e-01 -1.47511818e-01 2.21100540e+00] [ 2.95287530e-01 9.55407791e-01 -1.10761053e-03 -5.68320995e-01] [ 1.41257599e-01 -4.25118101e-02 9.89059673e-01 -3.94745749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782414037 meters Centerline goodness : 0.817530 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44915915e-01 -2.92168901e-01 -1.47550827e-01 2.21072312e+00] [ 2.95227260e-01 9.55426272e-01 -1.22606777e-03 -5.67787188e-01] [ 1.41332156e-01 -4.24024956e-02 9.89053714e-01 -3.94508865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812414037 meters Centerline goodness : 0.817923 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.40 [[ 9.45060333e-01 -2.91513103e-01 -1.47922540e-01 2.21193437e+00] [ 2.94621871e-01 9.55613456e-01 -9.35629119e-04 -5.67036714e-01] [ 1.41629518e-01 -4.26969896e-02 9.88998507e-01 -3.95291434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842414037 meters Centerline goodness : 0.817739 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.40 [[ 9.45108956e-01 -2.91272091e-01 -1.48086561e-01 2.21226756e+00] [ 2.94404529e-01 9.55680559e-01 -8.01678955e-04 -5.66911609e-01] [ 1.41756954e-01 -4.28396803e-02 9.88974078e-01 -3.95364201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872414037 meters Centerline goodness : 0.818450 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.40 [[ 9.45105210e-01 -2.91237414e-01 -1.48178647e-01 2.21213328e+00] [ 2.94378984e-01 9.55688459e-01 -7.63428932e-04 -5.66961821e-01] [ 1.41834962e-01 -4.28991588e-02 9.88960316e-01 -3.95029750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902414037 meters Centerline goodness : 0.817457 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44880933e-01 -2.92126864e-01 -1.47857760e-01 2.21002517e+00] [ 2.95178804e-01 9.55441062e-01 -1.36061190e-03 -5.67745074e-01] [ 1.41666847e-01 -4.23588607e-02 9.89007700e-01 -3.93180744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932414037 meters Centerline goodness : 0.819795 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44876127e-01 -2.92099434e-01 -1.47942644e-01 2.21017621e+00] [ 2.95175566e-01 9.55442258e-01 -1.21531968e-03 -5.68434748e-01] [ 1.41705648e-01 -4.25207271e-02 9.88995196e-01 -3.92995973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962414037 meters Centerline goodness : 0.820143 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44870139e-01 -2.92039166e-01 -1.48099786e-01 2.21086352e+00] [ 2.95132100e-01 9.55455777e-01 -1.14112687e-03 -5.68597268e-01] [ 1.41836050e-01 -4.26307842e-02 9.88971765e-01 -3.93299108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99241403699997 meters Centerline goodness : 0.818360 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44876169e-01 -2.91985886e-01 -1.48166353e-01 2.21148196e+00] [ 2.95092705e-01 9.55468038e-01 -1.06040469e-03 -5.68551417e-01] [ 1.41877838e-01 -4.27208589e-02 9.88961884e-01 -3.93797759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02241403699998 meters Centerline goodness : 0.818738 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44884417e-01 -2.91916121e-01 -1.48251196e-01 2.21193417e+00] [ 2.95026899e-01 9.55488367e-01 -1.05319596e-03 -5.68181039e-01] [ 1.41959738e-01 -4.27429422e-02 9.88949177e-01 -3.94168108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05241403699998 meters Centerline goodness : 0.816997 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44856706e-01 -2.92023369e-01 -1.48216591e-01 2.21177222e+00] [ 2.95115109e-01 9.55460973e-01 -1.18369390e-03 -5.67812577e-01] [ 1.41960834e-01 -4.26225341e-02 9.88954216e-01 -3.94104825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08241403699998 meters Centerline goodness : 0.819622 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44840098e-01 -2.92061846e-01 -1.48246642e-01 2.21191453e+00] [ 2.95160021e-01 9.55447140e-01 -1.15100408e-03 -5.68201991e-01] [ 1.41977994e-01 -4.26689672e-02 9.88949750e-01 -3.94053793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11241403699998 meters Centerline goodness : 0.817374 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.57, Z:-0.39 [[ 9.44822382e-01 -2.92068884e-01 -1.48345657e-01 2.21260129e+00] [ 2.95197966e-01 9.55435622e-01 -9.66464770e-04 -5.69291766e-01] [ 1.42017000e-01 -4.28781987e-02 9.88935100e-01 -3.94244258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14241403699998 meters Centerline goodness : 0.816047 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.57, Z:-0.40 [[ 0.9439347 -0.29522978 -0.14773851 2.21556405] [ 0.29799849 0.95455977 -0.00354241 -0.57125635] [ 0.14207106 -0.04068205 0.98902011 -0.39592854] [ 0. 0. 0. 1. ]] SLAMing on 151.17241403699998 meters Centerline goodness : 0.815495 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.57, Z:-0.40 [[ 0.9438855 -0.29531195 -0.14788851 2.21657807] [ 0.29814165 0.95451638 -0.00316798 -0.57298249] [ 0.14209755 -0.04110151 0.98899896 -0.39623522] [ 0. 0. 0. 1. ]] SLAMing on 151.20241403699998 meters Centerline goodness : 0.816796 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.57, Z:-0.40 [[ 0.94387279 -0.29531753 -0.14795849 2.21686931] [ 0.29820094 0.95449897 -0.00281513 -0.57407356] [ 0.14205758 -0.04146424 0.98898957 -0.39619859] [ 0. 0. 0. 1. ]] SLAMing on 151.23241403699998 meters Centerline goodness : 0.815834 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 9.44117948e-01 -2.94415435e-01 -1.48191945e-01 2.21466625e+00] [ 2.97473643e-01 9.54728695e-01 -1.59697338e-03 -5.75553379e-01] [ 1.41953276e-01 -4.25754665e-02 9.88957328e-01 -3.94009587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26241403699999 meters Centerline goodness : 0.815311 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 9.44167286e-01 -2.94168437e-01 -1.48368010e-01 2.21423860e+00] [ 2.97281346e-01 9.54789107e-01 -1.25024960e-03 -5.76577779e-01] [ 1.42027944e-01 -4.29265969e-02 9.88931429e-01 -3.93094075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.292414037 meters Centerline goodness : 0.814847 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 9.44252746e-01 -2.93750795e-01 -1.48651343e-01 2.21400340e+00] [ 2.96935368e-01 9.54897239e-01 -8.05821062e-04 -5.78185362e-01] [ 1.42183468e-01 -4.33789425e-02 9.88889341e-01 -3.91974955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322414037 meters Centerline goodness : 0.815512 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 9.44419364e-01 -2.93052412e-01 -1.48970969e-01 2.21407446e+00] [ 2.96321483e-01 9.55088221e-01 -2.62871242e-04 -5.79453806e-01] [ 1.42357453e-01 -4.38950377e-02 9.88841535e-01 -3.91242389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.352414037 meters Centerline goodness : 0.816426 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 9.44665168e-01 -2.92182121e-01 -1.49121858e-01 2.21412042e+00] [ 2.95505651e-01 9.55340982e-01 1.36410007e-04 -5.79397132e-01] [ 1.42422366e-01 -4.41952136e-02 9.88818817e-01 -3.91208954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382414037 meters Centerline goodness : 0.815154 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 0.94620059 -0.28648352 -0.15043813 2.21496772] [ 0.29042964 0.9568859 0.00447134 -0.57893793] [ 0.14267116 -0.04792247 0.98860931 -0.39206862] [ 0. 0. 0. 1. ]] SLAMing on 151.412414037 meters Centerline goodness : 0.814426 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 0.94741867 -0.28181736 -0.1515811 2.21489084] [ 0.28635932 0.95808407 0.00855935 -0.57947093] [ 0.14281527 -0.05151595 0.98840776 -0.39197431] [ 0. 0. 0. 1. ]] SLAMing on 151.442414037 meters Centerline goodness : 0.813079 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 0.94926927 -0.27503138 -0.15246506 2.21195511] [ 0.2803581 0.95979066 0.0141854 -0.58089058] [ 0.14243311 -0.05621057 0.98820705 -0.3900386 ] [ 0. 0. 0. 1. ]] SLAMing on 151.472414037 meters Centerline goodness : 0.814212 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 0.94948524 -0.2741925 -0.15263108 2.21201595] [ 0.27960803 0.96000017 0.01479942 -0.58204096] [ 0.14246798 -0.05672871 0.98817242 -0.3896762 ] [ 0. 0. 0. 1. ]] SLAMing on 151.502414037 meters Centerline goodness : 0.814760 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.39 [[ 0.94965747 -0.27343121 -0.15292502 2.21247716] [ 0.27896539 0.96017506 0.01556144 -0.58421004] [ 0.14257981 -0.05743883 0.98811527 -0.3892079 ] [ 0. 0. 0. 1. ]] SLAMing on 151.532414037 meters Centerline goodness : 0.814700 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.39 [[ 0.94980052 -0.27276539 -0.15322539 2.2128351 ] [ 0.27841835 0.96032137 0.01631232 -0.58627762] [ 0.14269618 -0.05815421 0.98805662 -0.38866015] [ 0. 0. 0. 1. ]] SLAMing on 151.562414037 meters Centerline goodness : 0.815161 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.39 [[ 0.95013498 -0.27135363 -0.15365781 2.21218341] [ 0.27724864 0.96063116 0.01791565 -0.58892197] [ 0.142747 -0.05962371 0.98796169 -0.38717399] [ 0. 0. 0. 1. ]] SLAMing on 151.592414037 meters Centerline goodness : 0.815461 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.39 [[ 0.95011621 -0.27119059 -0.15406117 2.21273026] [ 0.27716736 0.96064694 0.01832255 -0.59006446] [ 0.14302949 -0.06010928 0.98789141 -0.38670015] [ 0. 0. 0. 1. ]] SLAMing on 151.622414037 meters Centerline goodness : 0.815461 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.39 [[ 0.95010745 -0.27123286 -0.15404079 2.21270015] [ 0.27721528 0.96063226 0.01836698 -0.59012837] [ 0.14299482 -0.06015307 0.98789376 -0.38671859] [ 0. 0. 0. 1. ]] SLAMing on 151.652414037 meters Centerline goodness : 0.814931 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.39 [[ 0.94966733 -0.27307525 -0.15349876 2.21165647] [ 0.27881869 0.96019677 0.01680161 -0.59172096] [ 0.14280091 -0.05875427 0.98800599 -0.38541937] [ 0. 0. 0. 1. ]] SLAMing on 151.682414037 meters Centerline goodness : 0.813734 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.60, Z:-0.39 [[ 0.94844355 -0.27757469 -0.15299387 2.21604032] [ 0.28281923 0.95908225 0.01321046 -0.596478 ] [ 0.14306682 -0.05579899 0.98813884 -0.38675322] [ 0. 0. 0. 1. ]] SLAMing on 151.712414037 meters Centerline goodness : 0.812064 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.60, Z:-0.39 [[ 0.94751442 -0.28115273 -0.15221552 2.21762694] [ 0.28598141 0.95817917 0.01035915 -0.59902977] [ 0.14293724 -0.05334625 0.98829303 -0.38729441] [ 0. 0. 0. 1. ]] SLAMing on 151.74241403699997 meters Centerline goodness : 0.812243 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.60, Z:-0.39 [[ 0.94654088 -0.28487889 -0.15134194 2.21861559] [ 0.28927042 0.95721908 0.00736587 -0.60090042] [ 0.14276901 -0.05075084 0.98845403 -0.38761329] [ 0. 0. 0. 1. ]] SLAMing on 151.77241403699998 meters Centerline goodness : 0.813299 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.60, Z:-0.39 [[ 0.94555888 -0.28864148 -0.15034793 2.21846246] [ 0.29267058 0.95620073 0.00490911 -0.60435168] [ 0.14234582 -0.04864427 0.98862096 -0.38686634] [ 0. 0. 0. 1. ]] SLAMing on 151.80241403699998 meters Centerline goodness : 0.814488 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.61, Z:-0.38 [[ 0.94517808 -0.29024095 -0.14966157 2.21628917] [ 0.29410381 0.95576568 0.00386293 -0.60644238] [ 0.14192021 -0.0476672 0.98872974 -0.38499399] [ 0. 0. 0. 1. ]] SLAMing on 151.83241403699998 meters Centerline goodness : 0.812966 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.61, Z:-0.38 [[ 9.44589548e-01 -2.92615493e-01 -1.48750661e-01 2.21486058e+00] [ 2.96206201e-01 9.55121745e-01 2.08309334e-03 -6.09140115e-01] [ 1.41465445e-01 -4.60285363e-02 9.88872541e-01 -3.83570154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86241403699998 meters Centerline goodness : 0.812492 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.61, Z:-0.38 [[ 9.43209967e-01 -2.97689925e-01 -1.47430213e-01 2.21503821e+00] [ 3.00735789e-01 9.53705967e-01 -1.70700382e-03 -6.14677211e-01] [ 1.41113232e-01 -4.27274784e-02 9.89070988e-01 -3.82257419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89241403699998 meters Centerline goodness : 0.812744 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.94215638 -0.30150019 -0.14642056 2.21549605] [ 0.30409499 0.95262927 -0.00486868 -0.61586319] [ 0.14095242 -0.03993871 0.98921045 -0.38232544] [ 0. 0. 0. 1. ]] SLAMing on 151.92241403699998 meters Centerline goodness : 0.812474 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.94194092 -0.30210349 -0.14656327 2.21645614] [ 0.30473507 0.95242557 -0.00469868 -0.61785392] [ 0.14101009 -0.04023709 0.98919014 -0.38230497] [ 0. 0. 0. 1. ]] SLAMing on 151.95241403699998 meters Centerline goodness : 0.811713 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.94084095 -0.30580187 -0.14595726 2.21863131] [ 0.30806065 0.95133769 -0.00743206 -0.6184718 ] [ 0.14112738 -0.0379713 0.98926298 -0.38336548] [ 0. 0. 0. 1. ]] SLAMing on 151.98241403699998 meters Centerline goodness : 0.812153 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.94068986 -0.30620418 -0.14608763 2.21928557] [ 0.30848187 0.9512017 -0.00736664 -0.61960078] [ 0.14121449 -0.03813566 0.98924423 -0.38331499] [ 0. 0. 0. 1. ]] SLAMing on 152.01241403699999 meters Centerline goodness : 0.812696 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.9401485 -0.30827278 -0.14521947 2.21750474] [ 0.31030494 0.9505943 -0.00901823 -0.62088143] [ 0.14082488 -0.03658384 0.98935837 -0.38201926] [ 0. 0. 0. 1. ]] SLAMing on 152.042414037 meters Centerline goodness : 0.810851 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.93949396 -0.31068081 -0.14432097 2.21604029] [ 0.3124138 0.94988149 -0.01107997 -0.62242091] [ 0.14053015 -0.0346783 0.98946889 -0.3806969 ] [ 0. 0. 0. 1. ]] SLAMing on 152.072414037 meters Centerline goodness : 0.812787 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.93832885 -0.31465944 -0.1432774 2.21708964] [ 0.31594608 0.94866962 -0.01428372 -0.62435539] [ 0.14041742 -0.03186511 0.98957949 -0.38096482] [ 0. 0. 0. 1. ]] SLAMing on 152.102414037 meters Centerline goodness : 0.813469 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.63, Z:-0.38 [[ 0.93830802 -0.31466987 -0.14339084 2.21819056] [ 0.31599723 0.94865646 -0.01402375 -0.62525541] [ 0.1404415 -0.03215251 0.98956678 -0.38166189] [ 0. 0. 0. 1. ]] SLAMing on 152.132414037 meters Centerline goodness : 0.813321 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.63, Z:-0.38 [[ 0.93829509 -0.31467723 -0.14345926 2.21884977] [ 0.31601651 0.94865104 -0.01395617 -0.62502101] [ 0.14048447 -0.03224049 0.98955781 -0.38227342] [ 0. 0. 0. 1. ]] SLAMing on 152.162414037 meters Centerline goodness : 0.814111 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.93876515 -0.3132037 -0.14360863 2.21641649] [ 0.31476303 0.94909026 -0.01232525 -0.62484695] [ 0.14015786 -0.03363217 0.98955781 -0.38092934] [ 0. 0. 0. 1. ]] SLAMing on 152.192414037 meters Centerline goodness : 0.814374 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.62, Z:-0.38 [[ 0.93878082 -0.31308848 -0.14375736 2.21570476] [ 0.31466194 0.94912472 -0.01225273 -0.62485828] [ 0.14027985 -0.03373235 0.98953711 -0.37997846] [ 0. 0. 0. 1. ]] SLAMing on 152.222414037 meters Centerline goodness : 0.815354 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.63, Z:-0.38 [[ 0.93879741 -0.3129709 -0.14390498 2.21542806] [ 0.31458091 0.94915453 -0.01202185 -0.62587447] [ 0.14035055 -0.03398368 0.98951848 -0.37917594] [ 0. 0. 0. 1. ]] SLAMing on 152.252414037 meters Centerline goodness : 0.814758 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.63, Z:-0.38 [[ 0.93876374 -0.3129776 -0.1441099 2.21597063] [ 0.31461957 0.94914391 -0.0118475 -0.62720986] [ 0.14048904 -0.03421779 0.98949076 -0.378852 ] [ 0. 0. 0. 1. ]] SLAMing on 152.282414037 meters Centerline goodness : 0.815302 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.63, Z:-0.38 [[ 0.9386333 -0.31335791 -0.14413308 2.21644279] [ 0.31497842 0.94902254 -0.01203391 -0.62792032] [ 0.14055646 -0.03410338 0.98948514 -0.37880915] [ 0. 0. 0. 1. ]] SLAMing on 152.312414037 meters Centerline goodness : 0.815593 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.63, Z:-0.38 [[ 0.93862792 -0.31343143 -0.1440082 2.2158684 ] [ 0.31502271 0.94900553 -0.01221486 -0.62700982] [ 0.1404931 -0.03390064 0.9895011 -0.37865913] [ 0. 0. 0. 1. ]] SLAMing on 152.342414037 meters Centerline goodness : 0.816802 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.63, Z:-0.38 [[ 0.93915685 -0.31168539 -0.14434897 2.21373968] [ 0.31350378 0.94952819 -0.01056357 -0.62648933] [ 0.14035593 -0.0353331 0.98947046 -0.37731502] [ 0. 0. 0. 1. ]] SLAMing on 152.372414037 meters Centerline goodness : 0.815380 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.62, Z:-0.37 [[ 0.940523 -0.3072812 -0.14489564 2.20884157] [ 0.30955891 0.95085358 -0.00712345 -0.62357488] [ 0.13996344 -0.03815397 0.9894213 -0.37488615] [ 0. 0. 0. 1. ]] SLAMing on 152.402414037 meters Centerline goodness : 0.813521 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.62, Z:-0.37 [[ 0.94160828 -0.30346346 -0.1458896 2.20805471] [ 0.3061899 0.9519623 -0.00394019 -0.6224222 ] [ 0.1400771 -0.04095981 0.98929303 -0.37450302] [ 0. 0. 0. 1. ]] SLAMing on 152.432414037 meters Centerline goodness : 0.813253 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.62, Z:-0.37 [[ 9.42672902e-01 -2.99635874e-01 -1.46922231e-01 2.20756537e+00] [ 3.02811710e-01 9.53050077e-01 -7.86807827e-04 -6.21364529e-01] [ 1.40260000e-01 -4.37480696e-02 9.89147734e-01 -3.74216379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462414037 meters Centerline goodness : 0.811722 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.62, Z:-0.37 [[ 9.43152948e-01 -2.98151317e-01 -1.46861529e-01 2.20539511e+00] [ 3.01394087e-01 9.53499644e-01 -1.80120514e-04 -6.19482680e-01] [ 1.40086119e-01 -4.40933153e-02 9.89157045e-01 -3.73390664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49241403699997 meters Centerline goodness : 0.812689 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.62, Z:-0.37 [[ 9.44132573e-01 -2.94763015e-01 -1.47405733e-01 2.20462166e+00] [ 2.98287043e-01 9.54474339e-01 1.89123903e-03 -6.15442395e-01] [ 1.40137522e-01 -4.57548005e-02 9.89074301e-01 -3.74077984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52241403699998 meters Centerline goodness : 0.810606 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.61, Z:-0.37 [[ 9.44137127e-01 -2.94855841e-01 -1.47190753e-01 2.20443642e+00] [ 2.98277237e-01 9.54478484e-01 1.23008601e-03 -6.12689116e-01] [ 1.40127709e-01 -4.50650209e-02 9.89107360e-01 -3.74816405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55241403699998 meters Centerline goodness : 0.810560 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.61, Z:-0.38 [[ 9.44077441e-01 -2.95140804e-01 -1.47002354e-01 2.20436282e+00] [ 2.98464371e-01 9.54420601e-01 5.78333196e-04 -6.10085050e-01] [ 1.40131385e-01 -4.44209564e-02 9.89135973e-01 -3.75523803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58241403699998 meters Centerline goodness : 0.855254 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.61, Z:-0.38 [[ 9.43972232e-01 -2.95517326e-01 -1.46921527e-01 2.20428082e+00] [ 2.98756413e-01 9.54329401e-01 -2.11979185e-05 -6.08077305e-01] [ 1.40217797e-01 -4.38737380e-02 9.89148151e-01 -3.75807377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61241403699998 meters Centerline goodness : 0.809968 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.61, Z:-0.38 [[ 9.43755194e-01 -2.96359682e-01 -1.46618797e-01 2.20311072e+00] [ 2.99472078e-01 9.54104654e-01 -8.85447204e-04 -6.06616518e-01] [ 1.40152088e-01 -4.30725905e-02 9.89192673e-01 -3.75081061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64241403699998 meters Centerline goodness : 0.880902 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.61, Z:-0.37 [[ 9.43647926e-01 -2.96710160e-01 -1.46600386e-01 2.20277528e+00] [ 2.99797386e-01 9.54002281e-01 -1.08450037e-03 -6.06503905e-01] [ 1.40178885e-01 -4.29270259e-02 9.89195204e-01 -3.74585286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67241403699998 meters Centerline goodness : 0.879860 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.61, Z:-0.37 [[ 9.43501401e-01 -2.97229517e-01 -1.46491366e-01 2.20241090e+00] [ 3.00267198e-01 9.53854042e-01 -1.44072805e-03 -6.05777540e-01] [ 1.40159609e-01 -4.26272232e-02 9.89210900e-01 -3.74354434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70241403699998 meters Centerline goodness : 0.812171 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.60, Z:-0.37 [[ 9.43346740e-01 -2.97772600e-01 -1.46384448e-01 2.20216353e+00] [ 3.00753438e-01 9.53700132e-01 -1.85124492e-03 -6.04558823e-01] [ 1.40158118e-01 -4.22792602e-02 9.89226044e-01 -3.74362887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73241403699998 meters Centerline goodness : 0.810565 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.60, Z:-0.38 [[ 0.94291627 -0.29926854 -0.14610699 2.20241666] [ 0.30209015 0.95327462 -0.00300734 -0.60127349] [ 0.14018008 -0.04130181 0.98926422 -0.37529751] [ 0. 0. 0. 1. ]] SLAMing on 152.76241403699999 meters Centerline goodness : 0.810472 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.60, Z:-0.38 [[ 0.94275814 -0.29982828 -0.14597976 2.2027526 ] [ 0.30259794 0.95311231 -0.00337964 -0.60049367] [ 0.14014842 -0.04098699 0.9892818 -0.37575091] [ 0. 0. 0. 1. ]] SLAMing on 152.792414037 meters Centerline goodness : 0.811310 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.60, Z:-0.38 [[ 0.94257832 -0.30044165 -0.14587983 2.20284181] [ 0.30315275 0.95293436 -0.00381109 -0.60020717] [ 0.14015891 -0.04063162 0.98929498 -0.37577598] [ 0. 0. 0. 1. ]] SLAMing on 152.822414037 meters Centerline goodness : 0.810857 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.60, Z:-0.38 [[ 0.94243715 -0.30096757 -0.14570771 2.2027002 ] [ 0.3036308 0.95278077 -0.00413957 -0.60001448] [ 0.14007338 -0.04034007 0.98931902 -0.37572648] [ 0. 0. 0. 1. ]] SLAMing on 152.852414037 meters Centerline goodness : 0.811467 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.60, Z:-0.38 [[ 0.94231583 -0.30147567 -0.14544171 2.20219251] [ 0.30407768 0.95263645 -0.00453445 -0.59942946] [ 0.1399201 -0.03995269 0.98935643 -0.37564076] [ 0. 0. 0. 1. ]] SLAMing on 152.882414037 meters Centerline goodness : 0.811288 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.60, Z:-0.38 [[ 0.94226151 -0.30186875 -0.14497758 2.20091636] [ 0.30435137 0.95254522 -0.00527702 -0.59679794] [ 0.13969067 -0.03915179 0.98942087 -0.37563014] [ 0. 0. 0. 1. ]] SLAMing on 152.912414037 meters Centerline goodness : 0.810952 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.59, Z:-0.38 [[ 0.94231004 -0.30175896 -0.14489072 2.20061946] [ 0.30418537 0.95259615 -0.00564218 -0.59449616] [ 0.13972491 -0.03875696 0.98943158 -0.37597847] [ 0. 0. 0. 1. ]] SLAMing on 152.942414037 meters Centerline goodness : 0.809844 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.59, Z:-0.38 [[ 0.94337922 -0.29790365 -0.1459077 2.20073653] [ 0.30081433 0.95368016 -0.00221243 -0.59396798] [ 0.13980837 -0.04180397 0.98929573 -0.37629274] [ 0. 0. 0. 1. ]] SLAMing on 152.972414037 meters Centerline goodness : 0.810165 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.59, Z:-0.38 [[ 0.94550745 -0.29031304 -0.14742457 2.19827414] [ 0.29406537 0.95577759 0.00384131 -0.59232865] [ 0.13978992 -0.04698445 0.98906584 -0.37510529] [ 0. 0. 0. 1. ]] SLAMing on 153.002414037 meters Centerline goodness : 0.810366 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.59, Z:-0.37 [[ 0.94671943 -0.28578388 -0.14849208 2.197453 ] [ 0.29003971 0.9569862 0.00737411 -0.59123205] [ 0.13999747 -0.05004981 0.9888861 -0.37452517] [ 0. 0. 0. 1. ]] SLAMing on 153.032414037 meters Centerline goodness : 0.809824 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.59, Z:-0.37 [[ 0.94789333 -0.28131762 -0.14952804 2.19674513] [ 0.28606555 0.95814915 0.01080324 -0.5897179 ] [ 0.14023103 -0.05301514 0.98869846 -0.37412116] [ 0. 0. 0. 1. ]] SLAMing on 153.062414037 meters Centerline goodness : 0.810378 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.58, Z:-0.37 [[ 0.95073754 -0.27287209 -0.14710181 2.20035755] [ 0.2770862 0.96080695 0.0085577 -0.58326921] [ 0.13900129 -0.04889601 0.98908434 -0.3706072 ] [ 0. 0. 0. 1. ]] SLAMing on 153.092414037 meters Centerline goodness : 0.810301 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.58, Z:-0.37 [[ 9.51894880e-01 -2.70489324e-01 -1.43984943e-01 2.20463326e+00] [ 2.73509780e-01 9.61868433e-01 1.23219249e-03 -5.78239196e-01] [ 1.38161277e-01 -4.05542079e-02 9.89579111e-01 -3.66897689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122414037 meters Centerline goodness : 0.809433 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.58, Z:-0.37 [[ 9.52319887e-01 -2.69123671e-01 -1.43733376e-01 2.20284003e+00] [ 2.72214679e-01 9.62234638e-01 1.91558982e-03 -5.77530445e-01] [ 1.37789702e-01 -4.09505890e-02 9.89614595e-01 -3.65946532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152414037 meters Centerline goodness : 0.809114 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.58, Z:-0.37 [[ 9.52438727e-01 -2.68788201e-01 -1.43573582e-01 2.20289980e+00] [ 2.71870569e-01 9.62331898e-01 1.92653149e-03 -5.77334676e-01] [ 1.37647609e-01 -4.08683348e-02 9.89637770e-01 -3.65888659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182414037 meters Centerline goodness : 0.808658 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.58, Z:-0.37 [[ 9.51650380e-01 -2.72038913e-01 -1.42675804e-01 2.20364318e+00] [ 2.74681810e-01 9.61534409e-01 -1.21763002e-03 -5.77141957e-01] [ 1.37518938e-01 -3.80316901e-02 9.89768727e-01 -3.66464635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212414037 meters Centerline goodness : 0.809888 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.58, Z:-0.37 [[ 9.51591603e-01 -2.72100567e-01 -1.42950002e-01 2.20491384e+00] [ 2.74818246e-01 9.61495893e-01 -7.61407941e-04 -5.79245828e-01] [ 1.37653019e-01 -3.85607194e-02 9.89729618e-01 -3.66667051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24241403699997 meters Centerline goodness : 0.808202 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.58, Z:-0.37 [[ 0.95074453 -0.27538667 -0.14229202 2.20644007] [ 0.27778736 0.96063757 -0.00310606 -0.58269796] [ 0.13754643 -0.03657386 0.98981985 -0.36699161] [ 0. 0. 0. 1. ]] SLAMing on 153.27241403699998 meters Centerline goodness : 0.807597 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.37 [[ 9.50790998e-01 -2.75104955e-01 -1.42526285e-01 2.20762514e+00] [ 2.77643523e-01 9.60681749e-01 -2.15642074e-03 -5.85664168e-01] [ 1.37515643e-01 -3.75211946e-02 9.89788668e-01 -3.67218389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30241403699998 meters Centerline goodness : 0.807192 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.37 [[ 9.50853948e-01 -2.74687507e-01 -1.42910961e-01 2.20901983e+00] [ 2.77396829e-01 9.60754907e-01 -1.00412648e-03 -5.88872953e-01] [ 1.37578228e-01 -3.86882696e-02 9.89735040e-01 -3.67352612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33241403699998 meters Centerline goodness : 0.805250 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:-0.37 [[ 9.50997598e-01 -2.73876448e-01 -1.43510489e-01 2.21118993e+00] [ 2.76857416e-01 9.60910648e-01 8.35778253e-04 -5.94858329e-01] [ 1.37671857e-01 -4.05267663e-02 9.89648443e-01 -3.67295983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36241403699998 meters Centerline goodness : 0.802802 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.60, Z:-0.37 [[ 9.51103827e-01 -2.73331393e-01 -1.43845264e-01 2.21225801e+00] [ 2.76476402e-01 9.61018719e-01 1.95473057e-03 -5.98099150e-01] [ 1.37703702e-01 -4.16289729e-02 9.89598261e-01 -3.67215933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39241403699998 meters Centerline goodness : 0.804554 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.60, Z:-0.37 [[ 9.50870213e-01 -2.74343475e-01 -1.43462521e-01 2.21157417e+00] [ 2.77411028e-01 9.60750255e-01 1.43814321e-03 -6.01649173e-01] [ 1.37437108e-01 -4.11655729e-02 9.89654706e-01 -3.66002672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42241403699998 meters Centerline goodness : 0.802706 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.60, Z:-0.37 [[ 9.50047179e-01 -2.77554644e-01 -1.42736740e-01 2.21235408e+00] [ 2.80275477e-01 9.59918995e-01 -1.08625607e-03 -6.04467361e-01] [ 1.37317204e-01 -3.89736134e-02 9.89760094e-01 -3.65838406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45241403699998 meters Centerline goodness : 0.803169 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.61, Z:-0.36 [[ 0.94864947 -0.28303447 -0.14126457 2.21288048] [ 0.28522467 0.95844804 -0.00492405 -0.61220474] [ 0.13678842 -0.03562094 0.98995963 -0.36454171] [ 0. 0. 0. 1. ]] SLAMing on 153.48241403699998 meters Centerline goodness : 0.803079 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.62, Z:-0.36 [[ 0.94779563 -0.28623228 -0.14055079 2.21303734] [ 0.28812057 0.95756732 -0.00716651 -0.61610372] [ 0.13663813 -0.03370319 0.99004753 -0.36354176] [ 0. 0. 0. 1. ]] SLAMing on 153.51241403699999 meters Centerline goodness : 0.803079 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.62, Z:-0.36 [[ 0.94779563 -0.28623228 -0.14055079 2.21303734] [ 0.28812057 0.95756732 -0.00716651 -0.61610372] [ 0.13663813 -0.03370319 0.99004753 -0.36354176] [ 0. 0. 0. 1. ]] SLAMing on 153.542414037 meters Centerline goodness : 0.802665 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.62, Z:-0.36 [[ 0.94698575 -0.28922606 -0.13987949 2.21272362] [ 0.29085053 0.95672485 -0.00913963 -0.62010795] [ 0.13646961 -0.03202892 0.99012635 -0.3620838 ] [ 0. 0. 0. 1. ]] SLAMing on 153.572414037 meters Centerline goodness : 0.806035 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.63, Z:-0.36 [[ 0.94536294 -0.29518844 -0.13839325 2.21192798] [ 0.29628706 0.95500949 -0.01307109 -0.62718487] [ 0.1360253 -0.0286472 0.9902911 -0.3595225 ] [ 0. 0. 0. 1. ]] SLAMing on 153.602414037 meters Centerline goodness : 0.804183 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.63, Z:-0.36 [[ 0.94430739 -0.29892128 -0.13758499 2.21240609] [ 0.29964051 0.95391891 -0.01594587 -0.62917679] [ 0.13601148 -0.02616823 0.9903616 -0.359068 ] [ 0. 0. 0. 1. ]] SLAMing on 153.632414037 meters Centerline goodness : 0.805896 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.63, Z:-0.36 [[ 0.94415472 -0.29925419 -0.13790867 2.21355609] [ 0.30009281 0.95378945 -0.01516544 -0.63246871] [ 0.13607415 -0.02706688 0.99032884 -0.35868721] [ 0. 0. 0. 1. ]] SLAMing on 153.662414037 meters Centerline goodness : 0.805692 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.64, Z:-0.36 [[ 0.94407353 -0.29934569 -0.1382654 2.21499111] [ 0.30030691 0.95373463 -0.01435312 -0.63573548] [ 0.13616505 -0.02797165 0.9902912 -0.35867678] [ 0. 0. 0. 1. ]] SLAMing on 153.692414037 meters Centerline goodness : 0.805341 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.64, Z:-0.36 [[ 0.94322237 -0.3022127 -0.13783705 2.2182278 ] [ 0.30296011 0.95286833 -0.0160346 -0.64155641] [ 0.13618642 -0.02663494 0.99032512 -0.35951443] [ 0. 0. 0. 1. ]] SLAMing on 153.722414037 meters Centerline goodness : 0.804777 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.64, Z:-0.36 [[ 0.94327913 -0.30196684 -0.13798737 2.21952794] [ 0.30284067 0.95292115 -0.01512674 -0.64492088] [ 0.13605885 -0.02751945 0.99031847 -0.3598552 ] [ 0. 0. 0. 1. ]] SLAMing on 153.752414037 meters Centerline goodness : 0.806149 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.65, Z:-0.36 [[ 0.9433269 -0.30176511 -0.13810207 2.2201941 ] [ 0.30273788 0.95296484 -0.01441508 -0.64729282] [ 0.13595639 -0.02821059 0.99031309 -0.3599027 ] [ 0. 0. 0. 1. ]] SLAMing on 153.782414037 meters Centerline goodness : 0.806656 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.65, Z:-0.36 [[ 0.94338707 -0.30153139 -0.13820154 2.22073447] [ 0.3025934 0.95302028 -0.01376851 -0.64893201] [ 0.13586051 -0.02882984 0.99030842 -0.36005562] [ 0. 0. 0. 1. ]] SLAMing on 153.812414037 meters Centerline goodness : 0.807956 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.65, Z:-0.36 [[ 0.94336633 -0.30153486 -0.13833548 2.22142634] [ 0.3027233 0.95299151 -0.01287585 -0.65181057] [ 0.13571505 -0.02973073 0.99030173 -0.35993462] [ 0. 0. 0. 1. ]] SLAMing on 153.842414037 meters Centerline goodness : 0.806191 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.65, Z:-0.36 [[ 0.94338022 -0.30139285 -0.13855002 2.222134 ] [ 0.30266392 0.95301784 -0.01231038 -0.65361537] [ 0.13575091 -0.03032072 0.99027892 -0.3598536 ] [ 0. 0. 0. 1. ]] SLAMing on 153.872414037 meters Centerline goodness : 0.808741 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.66, Z:-0.36 [[ 0.94285055 -0.3033498 -0.13788308 2.22095556] [ 0.3044185 0.95243861 -0.01378643 -0.65705788] [ 0.13550728 -0.02897562 0.99035256 -0.35805613] [ 0. 0. 0. 1. ]] SLAMing on 153.902414037 meters Centerline goodness : 0.808754 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.66, Z:-0.36 [[ 0.94301325 -0.30270764 -0.13818138 2.22138754] [ 0.30389018 0.95261875 -0.01297212 -0.6593385 ] [ 0.13556093 -0.02975908 0.99032198 -0.35758521] [ 0. 0. 0. 1. ]] SLAMing on 153.932414037 meters Centerline goodness : 0.809296 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.66, Z:-0.36 [[ 0.94319322 -0.30199918 -0.13850285 2.22177059] [ 0.30327906 0.95282265 -0.0122806 -0.66075932] [ 0.13567738 -0.03042204 0.99028589 -0.35727756] [ 0. 0. 0. 1. ]] SLAMing on 153.962414037 meters Centerline goodness : 0.810072 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.66, Z:-0.36 [[ 0.94380979 -0.29996495 -0.13872312 2.22043738] [ 0.30148458 0.95341402 -0.01042866 -0.66238085] [ 0.1353888 -0.03198021 0.99027629 -0.35630586] [ 0. 0. 0. 1. ]] SLAMing on 153.99241403699997 meters Centerline goodness : 0.809917 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.66, Z:-0.36 [[ 9.46397519e-01 -2.90450286e-01 -1.41316548e-01 2.22068190e+00] [ 2.93136215e-01 9.56068819e-01 -1.88990716e-03 -6.63965224e-01] [ 1.35657270e-01 -3.96363947e-02 9.89962657e-01 -3.56067455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02241403699998 meters Centerline goodness : 0.809846 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.66, Z:-0.36 [[ 0.94778662 -0.285234 -0.14262567 2.22094593] [ 0.2885301 0.95746745 0.00254303 -0.66419735] [ 0.13583408 -0.04356205 0.98977343 -0.35631379] [ 0. 0. 0. 1. ]] SLAMing on 154.05241403699998 meters Centerline goodness : 0.810841 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.66, Z:-0.36 [[ 0.94917924 -0.27991426 -0.14389848 2.22130557] [ 0.28383639 0.95884669 0.00706577 -0.66472736] [ 0.13599877 -0.04755031 0.98956723 -0.35662847] [ 0. 0. 0. 1. ]] SLAMing on 154.08241403699998 meters Centerline goodness : 0.810744 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.67, Z:-0.36 [[ 0.95043898 -0.27492026 -0.14520537 2.22200249] [ 0.27945391 0.96009143 0.01139967 -0.66567344] [ 0.13627643 -0.0514129 0.98933586 -0.35689259] [ 0. 0. 0. 1. ]] SLAMing on 154.11241403699998 meters Centerline goodness : 0.813722 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.67, Z:-0.36 [[ 0.95204633 -0.26857607 -0.14654239 2.22171929] [ 0.273897 0.96160799 0.01704449 -0.66926723] [ 0.13633859 -0.05636467 0.98905754 -0.35598985] [ 0. 0. 0. 1. ]] SLAMing on 154.14241403699998 meters Centerline goodness : 0.817310 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.67, Z:-0.36 [[ 0.95223345 -0.26782363 -0.14670367 2.22138713] [ 0.2732559 0.96177595 0.0178393 -0.67096134] [ 0.13631827 -0.05707482 0.98901961 -0.35519422] [ 0. 0. 0. 1. ]] SLAMing on 154.17241403699998 meters Centerline goodness : 0.815482 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.67, Z:-0.35 [[ 0.95233926 -0.26733083 -0.1469155 2.22135991] [ 0.2728701 0.96187182 0.01856112 -0.67309167] [ 0.13635192 -0.05776533 0.98897488 -0.3543854 ] [ 0. 0. 0. 1. ]] SLAMing on 154.20241403699998 meters Centerline goodness : 0.816861 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.68, Z:-0.35 [[ 0.95167481 -0.26985133 -0.14661284 2.22241393] [ 0.27515268 0.96125409 0.01678014 -0.67764414] [ 0.13640405 -0.05631016 0.98905162 -0.3535395 ] [ 0. 0. 0. 1. ]] SLAMing on 154.23241403699998 meters Centerline goodness : 0.819655 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.68, Z:-0.35 [[ 0.95086749 -0.27301729 -0.14598827 2.22337078] [ 0.27794604 0.96049318 0.01410116 -0.67986316] [ 0.13637088 -0.0539852 0.98918582 -0.3535031 ] [ 0. 0. 0. 1. ]] SLAMing on 154.26241403699999 meters Centerline goodness : 0.820362 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.68, Z:-0.35 [[ 0.95011248 -0.27592824 -0.14542997 2.22409677] [ 0.28052632 0.95977494 0.01170699 -0.68255405] [ 0.13634975 -0.05191989 0.98929928 -0.35312414] [ 0. 0. 0. 1. ]] SLAMing on 154.292414037 meters Centerline goodness : 0.823056 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.69, Z:-0.35 [[ 0.94967913 -0.27776821 -0.14475622 2.22315549] [ 0.28218309 0.95930314 0.01049681 -0.68641605] [ 0.13594942 -0.05081636 0.98941167 -0.35171888] [ 0. 0. 0. 1. ]] SLAMing on 154.322414037 meters Centerline goodness : 0.825551 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.70, Z:-0.35 [[ 0.94926633 -0.27935937 -0.14440143 2.22313141] [ 0.28378468 0.95882955 0.01059008 -0.69564199] [ 0.13549792 -0.05103172 0.98946252 -0.34926885] [ 0. 0. 0. 1. ]] SLAMing on 154.352414037 meters Centerline goodness : 0.828279 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.70, Z:-0.35 [[ 0.94878195 -0.2812971 -0.14382193 2.22258143] [ 0.28555259 0.9583167 0.00942441 -0.70005448] [ 0.1351759 -0.05001044 0.98955871 -0.34785948] [ 0. 0. 0. 1. ]] SLAMing on 154.382414037 meters Centerline goodness : 0.827598 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.70, Z:-0.35 [[ 0.94807009 -0.28394042 -0.14332111 2.22361659] [ 0.28793454 0.95762072 0.00749997 -0.70382903] [ 0.13511772 -0.04837759 0.98964782 -0.34751955] [ 0. 0. 0. 1. ]] SLAMing on 154.412414037 meters Centerline goodness : 0.829405 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.71, Z:-0.35 [[ 0.94772287 -0.2851657 -0.14318479 2.22699198] [ 0.28920378 0.95723593 0.00778142 -0.71487122] [ 0.13484263 -0.04878421 0.98966538 -0.34737678] [ 0. 0. 0. 1. ]] SLAMing on 154.442414037 meters Centerline goodness : 0.828962 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.72, Z:-0.35 [[ 0.94711864 -0.28745343 -0.1426072 2.22797734] [ 0.29128262 0.95661639 0.00628676 -0.71971105] [ 0.13461324 -0.0474933 0.9897594 -0.34701144] [ 0. 0. 0. 1. ]] SLAMing on 154.472414037 meters Centerline goodness : 0.830633 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.72, Z:-0.35 [[ 0.94656789 -0.28956204 -0.14199667 2.22824253] [ 0.29318843 0.95604236 0.00485344 -0.72407109] [ 0.13434946 -0.04622589 0.98985524 -0.34623775] [ 0. 0. 0. 1. ]] SLAMing on 154.502414037 meters Centerline goodness : 0.832052 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.73, Z:-0.35 [[ 0.94640269 -0.29021658 -0.14176137 2.23050496] [ 0.29390987 0.95581799 0.00538134 -0.73312109] [ 0.13393632 -0.04675799 0.98988623 -0.34614021] [ 0. 0. 0. 1. ]] SLAMing on 154.532414037 meters Centerline goodness : 0.834003 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.74, Z:-0.35 [[ 0.94576012 -0.29260564 -0.14113729 2.23165276] [ 0.29606214 0.95516163 0.00367079 -0.73702089] [ 0.13373483 -0.0452571 0.98998323 -0.34618487] [ 0. 0. 0. 1. ]] SLAMing on 154.562414037 meters Centerline goodness : 0.834342 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.74, Z:-0.35 [[ 9.45097872e-01 -2.95028698e-01 -1.40527863e-01 2.23237526e+00] [ 2.98264996e-01 9.54480866e-01 2.06624917e-03 -7.41462652e-01] [ 1.33521553e-01 -4.38673501e-02 9.90074568e-01 -3.45682138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592414037 meters Centerline goodness : 0.835957 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.75, Z:-0.35 [[ 9.43679617e-01 -3.00135079e-01 -1.39239774e-01 2.23504947e+00] [ 3.02944715e-01 9.53007537e-01 -1.06463758e-03 -7.51614865e-01] [ 1.33016089e-01 -4.11772768e-02 9.90258124e-01 -3.45275913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622414037 meters Centerline goodness : 0.833939 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.76, Z:-0.34 [[ 0.94274144 -0.30331927 -0.13869388 2.23678448] [ 0.30588718 0.95206325 -0.00293176 -0.757088 ] [ 0.13293461 -0.03966079 0.99033096 -0.34488587] [ 0. 0. 0. 1. ]] SLAMing on 154.652414037 meters Centerline goodness : 0.837171 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.76, Z:-0.34 [[ 0.94180966 -0.30644486 -0.13815248 2.23860533] [ 0.30880383 0.95111482 -0.00455884 -0.76323392] [ 0.13279591 -0.03836846 0.99040048 -0.34441018] [ 0. 0. 0. 1. ]] SLAMing on 154.682414037 meters Centerline goodness : 0.838420 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.77, Z:-0.34 [[ 0.93955073 -0.31387947 -0.13683604 2.24342 ] [ 0.31570023 0.94881857 -0.00875712 -0.77432586] [ 0.13258126 -0.03497141 0.990555 -0.34443115] [ 0. 0. 0. 1. ]] SLAMing on 154.712414037 meters Centerline goodness : 0.839861 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.78, Z:-0.34 [[ 0.93852093 -0.31724675 -0.13613582 2.24471621] [ 0.31881742 0.94775584 -0.01069254 -0.77940941] [ 0.13241569 -0.0333673 0.99063248 -0.34386323] [ 0. 0. 0. 1. ]] SLAMing on 154.74241403699997 meters Centerline goodness : 0.839835 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.78, Z:-0.34 [[ 0.9374862 -0.32057545 -0.13546589 2.24601615] [ 0.32188551 0.94669313 -0.01272167 -0.78394987] [ 0.13232288 -0.03167812 0.99070033 -0.34338497] [ 0. 0. 0. 1. ]] SLAMing on 154.77241403699998 meters Centerline goodness : 0.841645 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.79, Z:-0.34 [[ 0.93606741 -0.32480545 -0.13520067 2.25153103] [ 0.32590436 0.94529077 -0.01454977 -0.79183525] [ 0.13252979 -0.03044292 0.9907114 -0.34464582] [ 0. 0. 0. 1. ]] SLAMing on 154.80241403699998 meters Centerline goodness : 0.840315 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.80, Z:-0.34 [[ 0.93499644 -0.32816355 -0.13450035 2.25315489] [ 0.32894952 0.94419485 -0.01697917 -0.79512175] [ 0.13256649 -0.02836836 0.99076807 -0.34474305] [ 0. 0. 0. 1. ]] SLAMing on 154.83241403699998 meters Centerline goodness : 0.840730 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.80, Z:-0.34 [[ 0.93392166 -0.33150691 -0.13376663 2.25429677] [ 0.33196321 0.94309002 -0.01953569 -0.79802128] [ 0.13263019 -0.02616079 0.99082029 -0.3445011 ] [ 0. 0. 0. 1. ]] SLAMing on 154.86241403699998 meters Centerline goodness : 0.841456 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.80, Z:-0.34 [[ 0.93286288 -0.33484812 -0.13282914 2.25477497] [ 0.33495225 0.94197274 -0.0222337 -0.80032057] [ 0.13256634 -0.02375042 0.99088954 -0.34414774] [ 0. 0. 0. 1. ]] SLAMing on 154.89241403699998 meters Centerline goodness : 0.841908 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.81, Z:-0.34 [[ 0.93194946 -0.33764123 -0.13216885 2.25593472] [ 0.33753129 0.94101029 -0.02392219 -0.80579667] [ 0.13244936 -0.02231685 0.99093851 -0.34334057] [ 0. 0. 0. 1. ]] SLAMing on 154.92241403699998 meters Centerline goodness : 0.841078 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.81, Z:-0.34 [[ 0.93211147 -0.33704045 -0.13255919 2.25685689] [ 0.33706183 0.94120241 -0.022964 -0.80841286] [ 0.13250483 -0.02327564 0.99090903 -0.34311397] [ 0. 0. 0. 1. ]] SLAMing on 154.95241403699998 meters Centerline goodness : 0.842329 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.81, Z:-0.34 [[ 0.93230016 -0.33644694 -0.13273985 2.25693147] [ 0.33655204 0.94140014 -0.02232698 -0.80937961] [ 0.13247316 -0.02385842 0.99089941 -0.34297349] [ 0. 0. 0. 1. ]] SLAMing on 154.98241403699998 meters Centerline goodness : 0.843666 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.81, Z:-0.34 [[ 0.93284482 -0.33487124 -0.13289764 2.2548035 ] [ 0.33514462 0.94193305 -0.02098132 -0.80980844] [ 0.13220672 -0.02496762 0.99090766 -0.34160482] [ 0. 0. 0. 1. ]] SLAMing on 155.01241403699999 meters Centerline goodness : 0.843417 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.81, Z:-0.34 [[ 0.93489127 -0.3285351 -0.13432422 2.25134905] [ 0.32952275 0.94402112 -0.0154561 -0.81124395] [ 0.13188277 -0.02981311 0.99081689 -0.33890296] [ 0. 0. 0. 1. ]] SLAMing on 155.042414037 meters Centerline goodness : 0.843731 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.81, Z:-0.34 [[ 0.93550232 -0.32667648 -0.13460266 2.24951831] [ 0.32783954 0.9446287 -0.01406605 -0.81248388] [ 0.13174459 -0.03096925 0.99079981 -0.33732061] [ 0. 0. 0. 1. ]] SLAMing on 155.072414037 meters Centerline goodness : 0.842222 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.81, Z:-0.34 [[ 0.93585519 -0.3254924 -0.13501762 2.24951659] [ 0.32674577 0.94501727 -0.01339985 -0.81340868] [ 0.13195553 -0.03157612 0.99075259 -0.33680325] [ 0. 0. 0. 1. ]] SLAMing on 155.102414037 meters Centerline goodness : 0.842073 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.82, Z:-0.34 [[ 0.93674592 -0.32266544 -0.13562483 2.24829544] [ 0.3241763 0.94592788 -0.01140951 -0.815354 ] [ 0.13197277 -0.03327855 0.99069457 -0.33556689] [ 0. 0. 0. 1. ]] SLAMing on 155.132414037 meters Centerline goodness : 0.840970 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.82, Z:-0.33 [[ 0.93719575 -0.32126498 -0.1358416 2.24697664] [ 0.32293133 0.94636749 -0.01019465 -0.81635868] [ 0.13183125 -0.03431313 0.99067812 -0.33451215] [ 0. 0. 0. 1. ]] SLAMing on 155.162414037 meters Centerline goodness : 0.842626 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.82, Z:-0.33 [[ 0.93737407 -0.32070664 -0.1359305 2.24648645] [ 0.32245197 0.94653731 -0.00958351 -0.81707068] [ 0.13173678 -0.03484772 0.99067202 -0.33405128] [ 0. 0. 0. 1. ]] SLAMing on 155.192414037 meters Centerline goodness : 0.841861 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.82, Z:-0.33 [[ 0.93745477 -0.32027321 -0.13639513 2.24770988] [ 0.32221651 0.94663058 -0.00818948 -0.82122178] [ 0.13173867 -0.0362715 0.99062066 -0.3334872 ] [ 0. 0. 0. 1. ]] SLAMing on 155.222414037 meters Centerline goodness : 0.841885 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.82, Z:-0.33 [[ 0.93632843 -0.32397124 -0.13539463 2.24843913] [ 0.32551404 0.94547079 -0.01120644 -0.82281809] [ 0.13164223 -0.03357995 0.99072837 -0.33361182] [ 0. 0. 0. 1. ]] SLAMing on 155.252414037 meters Centerline goodness : 0.842196 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.83, Z:-0.33 [[ 0.93519276 -0.32762264 -0.13445408 2.24940977] [ 0.32879305 0.94429756 -0.01404478 -0.82517285] [ 0.13156605 -0.03107299 0.99082029 -0.33363948] [ 0. 0. 0. 1. ]] SLAMing on 155.282414037 meters Centerline goodness : 0.842186 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.83, Z:-0.33 [[ 0.93339895 -0.33313987 -0.13335756 2.25298377] [ 0.33382219 0.94246655 -0.017876 -0.83099132] [ 0.13164025 -0.02783228 0.99090676 -0.33414742] [ 0. 0. 0. 1. ]] SLAMing on 155.312414037 meters Centerline goodness : 0.842256 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.83, Z:-0.33 [[ 0.93289737 -0.33455469 -0.1333254 2.25564296] [ 0.33518445 0.94197346 -0.01836815 -0.83387346] [ 0.13173414 -0.027553 0.99090209 -0.33494903] [ 0. 0. 0. 1. ]] SLAMing on 155.342414037 meters Centerline goodness : 0.841802 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.93245968 -0.33569899 -0.13351078 2.25861134] [ 0.33631328 0.94156632 -0.01860744 -0.83629702] [ 0.13195575 -0.02755076 0.99087266 -0.33596083] [ 0. 0. 0. 1. ]] SLAMing on 155.372414037 meters Centerline goodness : 0.840479 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.93113804 -0.3396051 -0.13285457 2.26305491] [ 0.33990416 0.94022276 -0.02112648 -0.83922279] [ 0.13208755 -0.02548615 0.99091036 -0.33820122] [ 0. 0. 0. 1. ]] SLAMing on 155.402414037 meters Centerline goodness : 0.843411 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.93107912 -0.33968598 -0.13306054 2.26416379] [ 0.34005866 0.94017812 -0.02062075 -0.84118882] [ 0.13210518 -0.02604884 0.99089337 -0.33829761] [ 0. 0. 0. 1. ]] SLAMing on 155.432414037 meters Centerline goodness : 0.843411 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.93107912 -0.33968598 -0.13306054 2.26416379] [ 0.34005866 0.94017812 -0.02062075 -0.84118882] [ 0.13210518 -0.02604884 0.99089337 -0.33829761] [ 0. 0. 0. 1. ]] SLAMing on 155.462414037 meters Centerline goodness : 0.842803 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.93104703 -0.3396906 -0.13327315 2.26481096] [ 0.34014686 0.94015883 -0.02003704 -0.84333902] [ 0.13210432 -0.02667702 0.99087678 -0.33789782] [ 0. 0. 0. 1. ]] SLAMing on 155.49241403699997 meters Centerline goodness : 0.840593 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.92982663 -0.34352865 -0.13194885 2.26445901] [ 0.34353658 0.93884701 -0.0234286 -0.84385836] [ 0.13192818 -0.02354472 0.99097962 -0.33762884] [ 0. 0. 0. 1. ]] SLAMing on 155.52241403699998 meters Centerline goodness : 0.843650 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.85, Z:-0.34 [[ 0.92836171 -0.34796743 -0.13062619 2.26511619] [ 0.34753147 0.93728341 -0.02686433 -0.84584999] [ 0.13178167 -0.02045689 0.99106766 -0.33745495] [ 0. 0. 0. 1. ]] SLAMing on 155.55241403699998 meters Centerline goodness : 0.840558 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.85, Z:-0.34 [[ 0.92815767 -0.34854721 -0.13053037 2.26572413] [ 0.34810321 0.93706871 -0.02695169 -0.84649361] [ 0.13170986 -0.02042263 0.99107791 -0.33770693] [ 0. 0. 0. 1. ]] SLAMing on 155.58241403699998 meters Centerline goodness : 0.843026 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.85, Z:-0.34 [[ 0.92796205 -0.34909749 -0.13045067 2.26589019] [ 0.34862801 0.93686726 -0.02717073 -0.8463742 ] [ 0.1317002 -0.02026535 0.99108243 -0.33773314] [ 0. 0. 0. 1. ]] SLAMing on 155.61241403699998 meters Centerline goodness : 0.843158 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.85, Z:-0.34 [[ 0.92767531 -0.35091223 -0.12758967 2.26074726] [ 0.35048908 0.93619184 -0.02649982 -0.84682788] [ 0.12874752 -0.02013555 0.99147296 -0.33771606] [ 0. 0. 0. 1. ]] SLAMing on 155.64241403699998 meters Centerline goodness : 0.843594 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.92624325 -0.35534564 -0.12570965 2.25887404] [ 0.35439745 0.93459432 -0.03059244 -0.84443999] [ 0.12835842 -0.01621514 0.99159527 -0.33752607] [ 0. 0. 0. 1. ]] SLAMing on 155.67241403699998 meters Centerline goodness : 0.843862 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.92597926 -0.35610074 -0.1255176 2.25914765] [ 0.35508946 0.93431459 -0.0311083 -0.84386303] [ 0.12835061 -0.01576433 0.99160355 -0.3378245 ] [ 0. 0. 0. 1. ]] SLAMing on 155.70241403699998 meters Centerline goodness : 0.841996 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.92573 -0.35680841 -0.12534638 2.25956464] [ 0.35573633 0.93405177 -0.03160633 -0.84340899] [ 0.12835741 -0.01533133 0.99160946 -0.33823384] [ 0. 0. 0. 1. ]] SLAMing on 155.73241403699998 meters Centerline goodness : 0.840589 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.84, Z:-0.34 [[ 0.92431395 -0.36108683 -0.12353144 2.25787178] [ 0.35950989 0.93246139 -0.03561463 -0.84117021] [ 0.12804827 -0.01149167 0.99170136 -0.33802852] [ 0. 0. 0. 1. ]] SLAMing on 155.76241403699999 meters Centerline goodness : 0.840616 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.84, Z:-0.34 [[ 0.92344113 -0.36465559 -0.11951055 2.24811295] [ 0.36367895 0.93101934 -0.03066933 -0.84171773] [ 0.12245037 -0.01514215 0.99235912 -0.34011223] [ 0. 0. 0. 1. ]] SLAMing on 155.792414037 meters Centerline goodness : 0.841617 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.84, Z:-0.34 [[ 0.92326085 -0.3651911 -0.11926806 2.24747794] [ 0.3641372 0.93081917 -0.0313014 -0.83961108] [ 0.12244799 -0.01453058 0.99236856 -0.34025107] [ 0. 0. 0. 1. ]] SLAMing on 155.822414037 meters Centerline goodness : 0.841625 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.84, Z:-0.34 [[ 0.92182077 -0.3685293 -0.12013585 2.23517597] [ 0.36836178 0.9293618 -0.02441826 -0.83754936] [ 0.12064851 -0.0217442 0.99245712 -0.34075953] [ 0. 0. 0. 1. ]] SLAMing on 155.852414037 meters Centerline goodness : 0.842166 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.84, Z:-0.34 [[ 0.92100879 -0.36946505 -0.12344384 2.21860074] [ 0.36981945 0.92886896 -0.02088119 -0.83991438] [ 0.12237802 -0.02642018 0.99213184 -0.34183908] [ 0. 0. 0. 1. ]] SLAMing on 155.882414037 meters Centerline goodness : 0.841628 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.84, Z:-0.34 [[ 0.92083266 -0.37003895 -0.1230382 2.2179678 ] [ 0.3702491 0.92867187 -0.02200367 -0.83608967] [ 0.12240433 -0.02529308 0.99215797 -0.34279758] [ 0. 0. 0. 1. ]] SLAMing on 155.912414037 meters Centerline goodness : 0.840010 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.83, Z:-0.34 [[ 0.92128599 -0.36903736 -0.12265212 2.21515187] [ 0.36927107 0.92906921 -0.0216628 -0.82938044] [ 0.1219467 -0.02533424 0.99221327 -0.34365098] [ 0. 0. 0. 1. ]] SLAMing on 155.942414037 meters Centerline goodness : 0.839812 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.83, Z:-0.35 [[ 0.92147094 -0.37049027 -0.11674019 2.20282601] [ 0.37092787 0.92847208 -0.01876489 -0.82871136] [ 0.11534222 -0.02601089 0.9929852 -0.34629363] [ 0. 0. 0. 1. ]] SLAMing on 155.972414037 meters Centerline goodness : 0.841249 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.83, Z:-0.35 [[ 0.9216465 -0.37076782 -0.11445062 2.19685319] [ 0.37119066 0.92837453 -0.01839072 -0.82629799] [ 0.11307173 -0.02553326 0.9932587 -0.34593168] [ 0. 0. 0. 1. ]] SLAMing on 156.002414037 meters Centerline goodness : 0.840114 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.83, Z:-0.35 [[ 0.92120708 -0.37237112 -0.11277084 2.1776904 ] [ 0.37305556 0.92767504 -0.0157662 -0.82734797] [ 0.11048558 -0.02754585 0.99349593 -0.34803224] [ 0. 0. 0. 1. ]] SLAMing on 156.032414037 meters Centerline goodness : 0.839673 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.82, Z:-0.35 [[ 0.92171844 -0.37131794 -0.11206299 2.17340851] [ 0.37201838 0.92809798 -0.01537737 -0.81871621] [ 0.10971532 -0.02751589 0.99358212 -0.34886233] [ 0. 0. 0. 1. ]] SLAMing on 156.062414037 meters Centerline goodness : 0.839435 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.81, Z:-0.35 [[ 0.92185838 -0.37110832 -0.11160527 2.17025267] [ 0.37176294 0.92819552 -0.01566502 -0.81451327] [ 0.10940493 -0.02704977 0.99362914 -0.34825207] [ 0. 0. 0. 1. ]] SLAMing on 156.092414037 meters Centerline goodness : 0.838906 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.81, Z:-0.35 [[ 0.92192043 -0.37136264 -0.11023844 2.16486355] [ 0.37193982 0.92811806 -0.01605119 -0.8110143 ] [ 0.1082751 -0.02620415 0.99377555 -0.34672416] [ 0. 0. 0. 1. ]] SLAMing on 156.122414037 meters Centerline goodness : 0.838263 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.81, Z:-0.35 [[ 0.92182537 -0.37298205 -0.10546264 2.14617191] [ 0.37367463 0.92745628 -0.01386076 -0.81155619] [ 0.10298181 -0.02663152 0.99432666 -0.34864613] [ 0. 0. 0. 1. ]] SLAMing on 156.152414037 meters Centerline goodness : 0.837099 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.80, Z:-0.35 [[ 0.92270684 -0.37080512 -0.10543075 2.14012969] [ 0.37153126 0.92832374 -0.01339987 -0.80262623] [ 0.10284261 -0.02680667 0.99433636 -0.34706568] [ 0. 0. 0. 1. ]] SLAMing on 156.182414037 meters Centerline goodness : 0.836688 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.80, Z:-0.35 [[ 0.92395872 -0.3679876 -0.10433315 2.13486724] [ 0.36889238 0.92940469 -0.01119558 -0.79725551] [ 0.10108755 -0.02814345 0.99447939 -0.34793638] [ 0. 0. 0. 1. ]] SLAMing on 156.212414037 meters Centerline goodness : 0.834203 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.78, Z:-0.35 [[ 0.92645656 -0.36128643 -0.10559526 2.13270348] [ 0.36221304 0.9320311 -0.01094314 -0.78203875] [ 0.10237167 -0.02810964 0.99434898 -0.3544372 ] [ 0. 0. 0. 1. ]] SLAMing on 156.24241403699997 meters Centerline goodness : 0.832690 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.78, Z:-0.36 [[ 0.92781774 -0.35759829 -0.10619655 2.1306039 ] [ 0.35873419 0.93339766 -0.00886526 -0.77569744] [ 0.10229381 -0.02987099 0.99430564 -0.35551444] [ 0. 0. 0. 1. ]] SLAMing on 156.27241403699998 meters Centerline goodness : 0.830660 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.77, Z:-0.36 [[ 0.92939584 -0.35325535 -0.10692998 2.12719043] [ 0.35468157 0.93496783 -0.00601153 -0.77047681] [ 0.1020997 -0.03233901 0.99424838 -0.3551086 ] [ 0. 0. 0. 1. ]] SLAMing on 156.30241403699998 meters Centerline goodness : 0.829072 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.77, Z:-0.35 [[ 0.93085624 -0.34917087 -0.10763998 2.12259 ] [ 0.35086582 0.93641961 -0.00338927 -0.76563822] [ 0.10197962 -0.03461227 0.99418416 -0.35334203] [ 0. 0. 0. 1. ]] SLAMing on 156.33241403699998 meters Centerline goodness : 0.830284 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.76, Z:-0.35 [[ 0.93345405 -0.34309842 -0.10462795 2.11038758] [ 0.34474578 0.93869281 -0.00248191 -0.7551839 ] [ 0.09906504 -0.03375329 0.99450834 -0.34896668] [ 0. 0. 0. 1. ]] SLAMing on 156.36241403699998 meters Centerline goodness : 0.829882 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.75, Z:-0.35 [[ 9.34833386e-01 -3.39047748e-01 -1.05513817e-01 2.10663506e+00] [ 3.40994903e-01 9.40065042e-01 4.40546288e-04 -7.51694337e-01] [ 9.90404842e-02 -3.63915110e-02 9.94417739e-01 -3.47121302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39241403699998 meters Centerline goodness : 0.828646 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.75, Z:-0.35 [[ 0.9359513 -0.33564685 -0.10647237 2.10541159] [ 0.33784572 0.94119736 0.00279146 -0.74796783] [ 0.09927457 -0.0385839 0.99431174 -0.3470928 ] [ 0. 0. 0. 1. ]] SLAMing on 156.42241403699998 meters Centerline goodness : 0.828049 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.74, Z:-0.35 [[ 0.9369876 -0.33241215 -0.10750072 2.10509933] [ 0.33488074 0.94224585 0.00525699 -0.74483943] [ 0.09954463 -0.04092565 0.99419111 -0.34766958] [ 0. 0. 0. 1. ]] SLAMing on 156.45241403699998 meters Centerline goodness : 0.825781 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.74, Z:-0.35 [[ 0.93776104 -0.33006646 -0.10798319 2.10354518] [ 0.33268651 0.94301369 0.00669789 -0.7388377 ] [ 0.09961887 -0.04220557 0.99413016 -0.34851889] [ 0. 0. 0. 1. ]] SLAMing on 156.48241403699998 meters Centerline goodness : 0.825782 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.74, Z:-0.35 [[ 0.93765342 -0.33047014 -0.10768267 2.10247735] [ 0.3329996 0.94290852 0.00589789 -0.73576864] [ 0.09958583 -0.04138847 0.99416782 -0.3487402 ] [ 0. 0. 0. 1. ]] SLAMing on 156.51241403699999 meters Centerline goodness : 0.823810 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.73, Z:-0.35 [[ 0.93751033 -0.33098305 -0.10735266 2.10137542] [ 0.33342254 0.94276366 0.00510729 -0.73295045] [ 0.09951776 -0.04058193 0.99420789 -0.34886943] [ 0. 0. 0. 1. ]] SLAMing on 156.542414037 meters Centerline goodness : 0.822191 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.73, Z:-0.35 [[ 0.93725578 -0.33181494 -0.10700682 2.10023014] [ 0.33410691 0.94252781 0.00372713 -0.72866391] [ 0.09962018 -0.039245 0.9942513 -0.34912564] [ 0. 0. 0. 1. ]] SLAMing on 156.572414037 meters Centerline goodness : 0.821084 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.73, Z:-0.35 [[ 0.93719983 -0.33198761 -0.10696127 2.10003328] [ 0.33422113 0.94248941 0.00315238 -0.72685171] [ 0.09976331 -0.03870312 0.99425819 -0.3493236 ] [ 0. 0. 0. 1. ]] SLAMing on 156.602414037 meters Centerline goodness : 0.822045 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.72, Z:-0.35 [[ 0.93714987 -0.33217111 -0.10682915 2.09981788] [ 0.33433559 0.94245076 0.00250527 -0.72473825] [ 0.09984904 -0.0380646 0.99427424 -0.34979768] [ 0. 0. 0. 1. ]] SLAMing on 156.632414037 meters Centerline goodness : 0.818699 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.72, Z:-0.35 [[ 0.93785494 -0.33011275 -0.10702185 2.09695323] [ 0.33240474 0.94312911 0.00381681 -0.72170371] [ 0.09967545 -0.03915418 0.99424934 -0.34872539] [ 0. 0. 0. 1. ]] SLAMing on 156.662414037 meters Centerline goodness : 0.818889 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.35 [[ 0.93840496 -0.32854028 -0.10703934 2.09418507] [ 0.33092394 0.94364515 0.00481345 -0.72049592] [ 0.09942574 -0.03993884 0.99424313 -0.34725373] [ 0. 0. 0. 1. ]] SLAMing on 156.692414037 meters Centerline goodness : 0.818005 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.35 [[ 0.93964997 -0.32456848 -0.10822775 2.09365042] [ 0.32731312 0.94488085 0.0081423 -0.7193339 ] [ 0.09961959 -0.04307527 0.99409278 -0.34707219] [ 0. 0. 0. 1. ]] SLAMing on 156.722414037 meters Centerline goodness : 0.814860 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.35 [[ 0.94235608 -0.31582718 -0.11053599 2.09240001] [ 0.31930557 0.94753536 0.01485605 -0.71549234] [ 0.10004481 -0.04929445 0.99376108 -0.34726237] [ 0. 0. 0. 1. ]] SLAMing on 156.752414037 meters Centerline goodness : 0.815402 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.71, Z:-0.35 [[ 0.94362623 -0.31160081 -0.11168915 2.09200328] [ 0.31544904 0.94876863 0.01816573 -0.71392577] [ 0.1003067 -0.05237389 0.99357714 -0.34736539] [ 0. 0. 0. 1. ]] SLAMing on 156.782414037 meters Centerline goodness : 0.814566 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.71, Z:-0.35 [[ 0.94487435 -0.30733166 -0.11295891 2.09204821] [ 0.31158959 0.94996762 0.02175909 -0.71352345] [ 0.10062005 -0.05575642 0.99336138 -0.34733458] [ 0. 0. 0. 1. ]] SLAMing on 156.812414037 meters Centerline goodness : 0.812609 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.71, Z:-0.35 [[ 0.94642849 -0.30205511 -0.11417454 2.09182415] [ 0.30677572 0.95142936 0.02590052 -0.71356141] [ 0.10080562 -0.05953897 0.99312302 -0.34733631] [ 0. 0. 0. 1. ]] SLAMing on 156.842414037 meters Centerline goodness : 0.810570 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.71, Z:-0.35 [[ 0.94674901 -0.30100693 -0.11428534 2.09162849] [ 0.30577877 0.95173668 0.02639371 -0.71345549] [ 0.10082486 -0.05993425 0.99309729 -0.34733998] [ 0. 0. 0. 1. ]] SLAMing on 156.872414037 meters Centerline goodness : 0.812220 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.71, Z:-0.35 [[ 0.94703254 -0.3000408 -0.11447657 2.09185021] [ 0.30488262 0.95200662 0.02701807 -0.71401177] [ 0.10087593 -0.0604889 0.99305848 -0.3474449 ] [ 0. 0. 0. 1. ]] SLAMing on 156.902414037 meters Centerline goodness : 0.813250 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.35 [[ 0.94726804 -0.29921726 -0.11468347 2.09203021] [ 0.30414642 0.95221973 0.0277948 -0.71538193] [ 0.10088718 -0.06120969 0.99301317 -0.34720577] [ 0. 0. 0. 1. ]] SLAMing on 156.932414037 meters Centerline goodness : 0.812364 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.34 [[ 0.94731518 -0.29906612 -0.11468831 2.09093418] [ 0.30406887 0.95222291 0.02852461 -0.72118654] [ 0.10067809 -0.06189494 0.99299191 -0.34457249] [ 0. 0. 0. 1. ]] SLAMing on 156.962414037 meters Centerline goodness : 0.814632 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.34 [[ 0.94664315 -0.30145018 -0.11399358 2.09041693] [ 0.30624845 0.95157411 0.02680687 -0.72459314] [ 0.10039241 -0.0602869 0.99311976 -0.34316299] [ 0. 0. 0. 1. ]] SLAMing on 156.99241403699997 meters Centerline goodness : 0.812849 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.73, Z:-0.34 [[ 0.94575202 -0.30447201 -0.11335745 2.09129522] [ 0.30903055 0.95073248 0.02465506 -0.72827117] [ 0.10026584 -0.05834849 0.99324832 -0.34255624] [ 0. 0. 0. 1. ]] SLAMing on 157.02241403699998 meters Centerline goodness : 0.816908 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.74, Z:-0.34 [[ 0.94388648 -0.3107022 -0.11199313 2.09488597] [ 0.31480864 0.9489313 0.02061353 -0.73736129] [ 0.09986911 -0.05471323 0.99349515 -0.34261547] [ 0. 0. 0. 1. ]] SLAMing on 157.05241403699998 meters Centerline goodness : 0.813877 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.74, Z:-0.34 [[ 0.94284939 -0.3140778 -0.11131115 2.09677532] [ 0.31794761 0.94792881 0.01844663 -0.74260141] [ 0.09972137 -0.0527835 0.99361439 -0.34234793] [ 0. 0. 0. 1. ]] SLAMing on 157.08241403699998 meters Centerline goodness : 0.815511 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.75, Z:-0.34 [[ 0.94185123 -0.31728378 -0.11066733 2.0983662 ] [ 0.32093306 0.94695967 0.01641184 -0.74784767] [ 0.09959029 -0.05097432 0.99372199 -0.34176686] [ 0. 0. 0. 1. ]] SLAMing on 157.11241403699998 meters Centerline goodness : 0.818390 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.76, Z:-0.34 [[ 0.94009667 -0.3229466 -0.10919589 2.10038628] [ 0.32619627 0.94521485 0.0128403 -0.75727779] [ 0.09906685 -0.04769042 0.99393731 -0.34055471] [ 0. 0. 0. 1. ]] SLAMing on 157.14241403699998 meters Centerline goodness : 0.818387 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.76, Z:-0.34 [[ 0.93921353 -0.32573312 -0.10851675 2.10090162] [ 0.32878404 0.94434089 0.01101508 -0.76154385] [ 0.09888883 -0.04602409 0.99403359 -0.33951318] [ 0. 0. 0. 1. ]] SLAMing on 157.17241403699998 meters Centerline goodness : 0.820119 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.77, Z:-0.34 [[ 0.9382514 -0.32871905 -0.10783366 2.10166795] [ 0.33155209 0.94339425 0.0089726 -0.76554652] [ 0.09878019 -0.04417103 0.99412846 -0.33865476] [ 0. 0. 0. 1. ]] SLAMing on 157.20241403699998 meters Centerline goodness : 0.822126 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.77, Z:-0.34 [[ 0.93723705 -0.33182651 -0.1071349 2.10279988] [ 0.3344212 0.94239984 0.0067083 -0.76897823] [ 0.09873792 -0.04211545 0.99422186 -0.33825645] [ 0. 0. 0. 1. ]] SLAMing on 157.23241403699998 meters Centerline goodness : 0.823395 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.34 [[ 0.93545141 -0.33715466 -0.10610083 2.10738729] [ 0.33935077 0.94065566 0.00282475 -0.77552402] [ 0.09885197 -0.03864781 0.99435136 -0.33949242] [ 0. 0. 0. 1. ]] SLAMing on 157.26241403699999 meters Centerline goodness : 0.824321 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.34 [[ 9.34379076e-01 -3.40384054e-01 -1.05235156e-01 2.10852565e+00] [ 3.42316925e-01 9.39584492e-01 3.24928808e-04 -7.78866596e-01] [ 9.87667203e-02 -3.63273818e-02 9.94447312e-01 -3.39253162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.292414037 meters Centerline goodness : 0.827017 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.34 [[ 0.9333355 -0.34352733 -0.1042776 2.1090256 ] [ 0.34519281 0.93852921 -0.00220302 -0.78192643] [ 0.09862437 -0.03393972 0.99454579 -0.33865893] [ 0. 0. 0. 1. ]] SLAMing on 157.322414037 meters Centerline goodness : 0.827017 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.34 [[ 0.9333355 -0.34352733 -0.1042776 2.1090256 ] [ 0.34519281 0.93852921 -0.00220302 -0.78192643] [ 0.09862437 -0.03393972 0.99454579 -0.33865893] [ 0. 0. 0. 1. ]] SLAMing on 157.352414037 meters Centerline goodness : 0.827527 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.34 [[ 0.93245643 -0.34621353 -0.10325304 2.10839099] [ 0.34764709 0.93761536 -0.00435199 -0.78468782] [ 0.09831835 -0.03183758 0.9946456 -0.33754371] [ 0. 0. 0. 1. ]] SLAMing on 157.382414037 meters Centerline goodness : 0.826912 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.80, Z:-0.34 [[ 0.93094309 -0.34972929 -0.10504467 2.09265861] [ 0.35137377 0.93623037 -0.00302919 -0.7962786 ] [ 0.0994054 -0.03408994 0.99446289 -0.33772042] [ 0. 0. 0. 1. ]] SLAMing on 157.412414037 meters Centerline goodness : 0.829494 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.80, Z:-0.34 [[ 0.92989344 -0.35280555 -0.10405011 2.0928309 ] [ 0.35416982 0.93516389 -0.00567822 -0.79820228] [ 0.09930722 -0.03157127 0.99455585 -0.33721615] [ 0. 0. 0. 1. ]] SLAMing on 157.442414037 meters Centerline goodness : 0.828482 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.80, Z:-0.34 [[ 0.92876008 -0.35606705 -0.10305809 2.09333129] [ 0.35714536 0.93401083 -0.00842367 -0.80035446] [ 0.09925676 -0.02898315 0.99463967 -0.33681382] [ 0. 0. 0. 1. ]] SLAMing on 157.472414037 meters Centerline goodness : 0.830989 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.81, Z:-0.34 [[ 0.92749228 -0.35953291 -0.10244099 2.0963504 ] [ 0.36041453 0.9327341 -0.01041493 -0.80655064] [ 0.09929471 -0.02726146 0.99468456 -0.3368407 ] [ 0. 0. 0. 1. ]] SLAMing on 157.502414037 meters Centerline goodness : 0.829872 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.81, Z:-0.34 [[ 0.92709355 -0.36047059 -0.1027546 2.09969825] [ 0.36135019 0.93237021 -0.01057478 -0.80858756] [ 0.09961722 -0.02732659 0.99465052 -0.33834257] [ 0. 0. 0. 1. ]] SLAMing on 157.532414037 meters Centerline goodness : 0.830615 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.81, Z:-0.34 [[ 0.92692147 -0.36084354 -0.10299771 2.10156038] [ 0.36177926 0.93220904 -0.0101036 -0.81089458] [ 0.09966121 -0.02789719 0.99463028 -0.33891571] [ 0. 0. 0. 1. ]] SLAMing on 157.562414037 meters Centerline goodness : 0.832102 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.82, Z:-0.34 [[ 0.92564216 -0.36439583 -0.1019915 2.101934 ] [ 0.36513303 0.93087781 -0.01201538 -0.81606725] [ 0.09931998 -0.02611853 0.9947127 -0.33735138] [ 0. 0. 0. 1. ]] SLAMing on 157.592414037 meters Centerline goodness : 0.834051 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.82, Z:-0.34 [[ 0.92450861 -0.36755728 -0.1009231 2.10120606] [ 0.3680446 0.92969618 -0.01442877 -0.81908733] [ 0.09913122 -0.02380468 0.99478959 -0.33561571] [ 0. 0. 0. 1. ]] SLAMing on 157.622414037 meters Centerline goodness : 0.834804 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.82, Z:-0.33 [[ 0.92322958 -0.37103706 -0.09989316 2.10152385] [ 0.37123388 0.92837814 -0.01730449 -0.82138903] [ 0.09915923 -0.02110771 0.99484768 -0.33471488] [ 0. 0. 0. 1. ]] SLAMing on 157.652414037 meters Centerline goodness : 0.834691 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.83, Z:-0.33 [[ 0.92164956 -0.37366618 -0.10457375 2.08734233] [ 0.37414913 0.92723558 -0.01570369 -0.82953196] [ 0.10283244 -0.02465288 0.99439314 -0.33398964] [ 0. 0. 0. 1. ]] SLAMing on 157.682414037 meters Centerline goodness : 0.834061 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.84, Z:-0.34 [[ 0.9206567 -0.37431755 -0.11080438 2.0763983 ] [ 0.37522717 0.92683716 -0.01332086 -0.83659786] [ 0.10768385 -0.02931288 0.99375296 -0.33603507] [ 0. 0. 0. 1. ]] SLAMing on 157.712414037 meters Centerline goodness : 0.833760 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.84, Z:-0.34 [[ 0.92040629 -0.37367516 -0.11497448 2.06152522] [ 0.37513006 0.92692317 -0.00953346 -0.84189518] [ 0.11013492 -0.03435573 0.9933227 -0.33739195] [ 0. 0. 0. 1. ]] SLAMing on 157.74241403699997 meters Centerline goodness : 0.836911 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.85, Z:-0.34 [[ 0.92190066 -0.37079543 -0.1122939 2.03736811] [ 0.37238889 0.92804871 -0.00721902 -0.85014248] [ 0.10689099 -0.03516178 0.99364881 -0.34221544] [ 0. 0. 0. 1. ]] SLAMing on 157.77241403699998 meters Centerline goodness : 0.835719 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.85, Z:-0.34 [[ 9.24100802e-01 -3.64745599e-01 -1.14010330e-01 2.03550735e+00] [ 3.66928327e-01 9.30247126e-01 -1.97160786e-03 -8.51610195e-01] [ 1.06776917e-01 -4.00116552e-02 9.93477608e-01 -3.40668086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80241403699998 meters Centerline goodness : 0.835751 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.85, Z:-0.34 [[ 9.24578750e-01 -3.63504687e-01 -1.14098546e-01 2.03400228e+00] [ 3.65786580e-01 9.30698215e-01 -1.00495739e-03 -8.52099187e-01] [ 1.06556620e-01 -4.08065548e-02 9.93468928e-01 -3.39712311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83241403699998 meters Centerline goodness : 0.834993 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.86, Z:-0.35 [[ 9.25391349e-01 -3.63140436e-01 -1.08535129e-01 2.01179275e+00] [ 3.65419681e-01 9.30842106e-01 1.19595387e-03 -8.59453458e-01] [ 1.00594769e-01 -4.07675977e-02 9.94091895e-01 -3.45176721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86241403699998 meters Centerline goodness : 0.833860 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.86, Z:-0.34 [[ 9.25485466e-01 -3.62907142e-01 -1.08512941e-01 2.01092463e+00] [ 3.65199540e-01 9.30928288e-01 1.34861683e-03 -8.59236340e-01] [ 1.00528343e-01 -4.08770012e-02 9.94094122e-01 -3.44560115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89241403699998 meters Centerline goodness : 0.837581 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.86, Z:-0.34 [[ 9.25496701e-01 -3.62962935e-01 -1.08230144e-01 2.00924853e+00] [ 3.65234194e-01 9.30914828e-01 1.25162749e-03 -8.58384503e-01] [ 1.00298751e-01 -4.06877265e-02 9.94125077e-01 -3.43681498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92241403699998 meters Centerline goodness : 0.834857 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.86, Z:-0.34 [[ 9.25430984e-01 -3.63150011e-01 -1.08164519e-01 2.00892840e+00] [ 3.65400490e-01 9.30849803e-01 1.06152073e-03 -8.57736108e-01] [ 1.00299430e-01 -4.05057325e-02 9.94132441e-01 -3.43564545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95241403699998 meters Centerline goodness : 0.834804 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.86, Z:-0.34 [[ 9.25301383e-01 -3.63504315e-01 -1.08083133e-01 2.00889999e+00] [ 3.65714334e-01 9.30726906e-01 6.72932947e-04 -8.56750854e-01] [ 1.00351266e-01 -4.01502168e-02 9.94141632e-01 -3.43782767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98241403699998 meters Centerline goodness : 0.834005 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.85, Z:-0.34 [[ 9.25034381e-01 -3.64240062e-01 -1.07891478e-01 2.00952332e+00] [ 3.66357117e-01 9.30474297e-01 -2.13985769e-04 -8.54896233e-01] [ 1.00468189e-01 -3.93288666e-02 9.94162654e-01 -3.44845531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01241403699999 meters Centerline goodness : 0.832166 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.85, Z:-0.35 [[ 9.24971211e-01 -3.64408359e-01 -1.07864756e-01 2.00961029e+00] [ 3.66498959e-01 9.30418340e-01 -4.74991632e-04 -8.54212812e-01] [ 1.00532438e-01 -3.90929672e-02 9.94165463e-01 -3.45048530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042414037 meters Centerline goodness : 0.832821 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.85, Z:-0.35 [[ 9.24926021e-01 -3.64549787e-01 -1.07774344e-01 2.00945226e+00] [ 3.66604825e-01 9.30376409e-01 -7.99626395e-04 -8.52965067e-01] [ 1.00562211e-01 -3.87709993e-02 9.94175061e-01 -3.45346118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.072414037 meters Centerline goodness : 0.832335 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.86, Z:-0.35 [[ 9.24398048e-01 -3.65921959e-01 -1.07653936e-01 1.99082758e+00] [ 3.68126406e-01 9.29775524e-01 6.50697984e-04 -8.55483981e-01] [ 9.98558898e-02 -4.02317604e-02 9.94188215e-01 -3.47233441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102414037 meters Centerline goodness : 0.831246 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.85, Z:-0.35 [[ 9.24429821e-01 -3.65848769e-01 -1.07629853e-01 1.99024159e+00] [ 3.68047487e-01 9.29806796e-01 6.07642822e-04 -8.54952476e-01] [ 9.98526631e-02 -4.01746199e-02 9.94190850e-01 -3.46878824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.132414037 meters Centerline goodness : 0.831219 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.85, Z:-0.35 [[ 9.24428771e-01 -3.65849925e-01 -1.07634939e-01 1.98979159e+00] [ 3.68036810e-01 9.29811093e-01 4.87732257e-04 -8.54563619e-01] [ 9.99017239e-02 -4.00644935e-02 9.94190365e-01 -3.46440869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162414037 meters Centerline goodness : 0.832814 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.85, Z:-0.35 [[ 9.24605724e-01 -3.65403386e-01 -1.07631875e-01 1.98924933e+00] [ 3.67590145e-01 9.29987753e-01 5.13586427e-04 -8.53500652e-01] [ 9.99086598e-02 -4.00392816e-02 9.94190684e-01 -3.46449797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.192414037 meters Centerline goodness : 0.829676 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.85, Z:-0.35 [[ 9.24684888e-01 -3.65184215e-01 -1.07695626e-01 1.98923432e+00] [ 3.67359123e-01 9.30079098e-01 3.82786313e-04 -8.52262350e-01] [ 1.00025663e-01 -3.99169274e-02 9.94183839e-01 -3.46804321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222414037 meters Centerline goodness : 0.830723 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.85, Z:-0.35 [[ 9.24835619e-01 -3.64758855e-01 -1.07842730e-01 1.98907877e+00] [ 3.66936087e-01 9.30246080e-01 3.71542611e-04 -8.51291126e-01] [ 1.00184754e-01 -3.99150054e-02 9.94167897e-01 -3.46851588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252414037 meters Centerline goodness : 0.832119 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.85, Z:-0.35 [[ 9.25701972e-01 -3.62424971e-01 -1.08277421e-01 1.98686911e+00] [ 3.64765337e-01 9.31097444e-01 1.94895268e-03 -8.51577830e-01] [ 1.00110481e-01 -4.12999992e-02 9.94118807e-01 -3.45229172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282414037 meters Centerline goodness : 0.833470 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.85, Z:-0.34 [[ 0.92616516 -0.36118526 -0.1084588 1.98530034] [ 0.36363737 0.93153558 0.00305502 -0.85262934] [ 0.0999298 -0.04226913 0.99409625 -0.34380699] [ 0. 0. 0. 1. ]] SLAMing on 158.312414037 meters Centerline goodness : 0.831390 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92638491 -0.36059663 -0.10854064 1.98467616] [ 0.3630984 0.93174404 0.00354812 -0.85311567] [ 0.09985265 -0.04269786 0.99408568 -0.34322386] [ 0. 0. 0. 1. ]] SLAMing on 158.342414037 meters Centerline goodness : 0.830644 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92655061 -0.36015171 -0.10860342 1.98436645] [ 0.36269292 0.93190038 0.00393936 -0.85328523] [ 0.0997888 -0.04303971 0.99407735 -0.34305955] [ 0. 0. 0. 1. ]] SLAMing on 158.372414037 meters Centerline goodness : 0.829774 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92668629 -0.35980077 -0.10860903 1.98411126] [ 0.36236743 0.93202581 0.00421074 -0.85270318] [ 0.0997114 -0.04325841 0.99407562 -0.3433114 ] [ 0. 0. 0. 1. ]] SLAMing on 158.402414037 meters Centerline goodness : 0.831827 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92672727 -0.35969532 -0.10860868 1.98371514] [ 0.36227696 0.93206027 0.00436629 -0.85258435] [ 0.0996593 -0.04339278 0.99407499 -0.34306682] [ 0. 0. 0. 1. ]] SLAMing on 158.432414037 meters Centerline goodness : 0.831475 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92668875 -0.35979054 -0.10862192 1.98353517] [ 0.36237652 0.93202141 0.00439842 -0.85294059] [ 0.09965545 -0.043438 0.9940734 -0.34266512] [ 0. 0. 0. 1. ]] SLAMing on 158.462414037 meters Centerline goodness : 0.832618 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 9.25813527e-01 -3.62398372e-01 -1.07409184e-01 1.98154551e+00] [ 3.64690169e-01 9.31127137e-01 1.82604158e-03 -8.53530046e-01] [ 9.93498513e-02 -4.08616474e-02 9.94213223e-01 -3.41090724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49241403699997 meters Centerline goodness : 0.831178 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 9.25781699e-01 -3.62416825e-01 -1.07621051e-01 1.98212411e+00] [ 3.64714912e-01 9.31117497e-01 1.80023779e-03 -8.53966207e-01] [ 9.95554072e-02 -4.09176293e-02 9.94190358e-01 -3.40969990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52241403699998 meters Centerline goodness : 0.830553 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 9.25822344e-01 -3.62286215e-01 -1.07711120e-01 1.98229954e+00] [ 3.64583601e-01 9.31168990e-01 1.76356550e-03 -8.53871554e-01] [ 9.96583392e-02 -4.09024563e-02 9.94180670e-01 -3.40985882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55241403699998 meters Centerline goodness : 0.830993 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 9.25901506e-01 -3.62070323e-01 -1.07756586e-01 1.98212171e+00] [ 3.64363783e-01 9.31255111e-01 1.71809841e-03 -8.53214955e-01] [ 9.97267989e-02 -4.08533872e-02 9.94175823e-01 -3.40981535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58241403699998 meters Centerline goodness : 0.830103 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92651337 -0.36045947 -0.10789785 1.97997132] [ 0.36285365 0.93184206 0.00275692 -0.85243552] [ 0.09954999 -0.04170545 0.99415816 -0.33996926] [ 0. 0. 0. 1. ]] SLAMing on 158.61241403699998 meters Centerline goodness : 0.829229 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92662532 -0.360165 -0.10791982 1.97956688] [ 0.36257506 0.93194999 0.00292315 -0.85223724] [ 0.09952306 -0.0418377 0.9941553 -0.33978793] [ 0. 0. 0. 1. ]] SLAMing on 158.64241403699998 meters Centerline goodness : 0.830029 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92668013 -0.35999019 -0.10803237 1.97917605] [ 0.3624341 0.93200382 0.00322354 -0.85289618] [ 0.09952614 -0.04214181 0.99414215 -0.33903649] [ 0. 0. 0. 1. ]] SLAMing on 158.67241403699998 meters Centerline goodness : 0.831090 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 9.25673824e-01 -3.62914667e-01 -1.06868683e-01 1.97764168e+00] [ 3.65081350e-01 9.30975308e-01 7.64065767e-04 -8.54588173e-01] [ 9.92148144e-02 -3.97230387e-02 9.94272850e-01 -3.37294829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70241403699998 meters Centerline goodness : 0.830843 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.85, Z:-0.34 [[ 0.92437176 -0.36657417 -0.10564202 1.97794036] [ 0.36837086 0.92967506 -0.00268115 -0.85465486] [ 0.09919559 -0.03643706 0.99440061 -0.3374429 ] [ 0. 0. 0. 1. ]] SLAMing on 158.73241403699998 meters Centerline goodness : 0.828922 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.86, Z:-0.34 [[ 0.92301962 -0.37032914 -0.10436048 1.97854092] [ 0.37176379 0.92830748 -0.00607545 -0.85500154] [ 0.09912853 -0.03318969 0.99452098 -0.33783409] [ 0. 0. 0. 1. ]] SLAMing on 158.76241403699999 meters Centerline goodness : 0.829297 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.86, Z:-0.34 [[ 0.9216878 -0.37399109 -0.10306432 1.97908422] [ 0.37506907 0.9269487 -0.00945014 -0.85503941] [ 0.0990696 -0.02994615 0.9946298 -0.33839158] [ 0. 0. 0. 1. ]] SLAMing on 158.792414037 meters Centerline goodness : 0.830352 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.86, Z:-0.34 [[ 0.91927495 -0.37732235 -0.1120777 1.97334392] [ 0.37905103 0.9253544 -0.00628826 -0.8599748 ] [ 0.1060843 -0.03670253 0.99367955 -0.33721082] [ 0. 0. 0. 1. ]] SLAMing on 158.822414037 meters Centerline goodness : 0.828529 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.86, Z:-0.34 [[ 0.91929046 -0.37726256 -0.11215171 1.97348519] [ 0.37902137 0.92536828 -0.00602822 -0.86056312] [ 0.10605586 -0.03696621 0.99367281 -0.33708727] [ 0. 0. 0. 1. ]] SLAMing on 158.852414037 meters Centerline goodness : 0.830409 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.86, Z:-0.34 [[ 0.9197754 -0.37743379 -0.10750323 1.96489642] [ 0.37920163 0.92530414 -0.00428559 -0.86410381] [ 0.10109071 -0.03682362 0.9941955 -0.33798633] [ 0. 0. 0. 1. ]] SLAMing on 158.882414037 meters Centerline goodness : 0.830848 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.87, Z:-0.34 [[ 0.92009757 -0.37811486 -0.10222333 1.93994701] [ 0.37980048 0.92506291 -0.00319432 -0.87401759] [ 0.09577083 -0.03588538 0.99475635 -0.34083243] [ 0. 0. 0. 1. ]] SLAMing on 158.912414037 meters Centerline goodness : 0.833087 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.88, Z:-0.34 [[ 0.9192798 -0.38041613 -0.10103572 1.93746237] [ 0.38186574 0.92420235 -0.00534489 -0.87560753] [ 0.09541074 -0.03366863 0.99486844 -0.33840898] [ 0. 0. 0. 1. ]] SLAMing on 158.942414037 meters Centerline goodness : 0.831445 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.88, Z:-0.34 [[ 0.91961384 -0.38098383 -0.09571681 1.91656024] [ 0.38236171 0.92400304 -0.00423228 -0.88363785] [ 0.09005505 -0.03270638 0.99539961 -0.34390952] [ 0. 0. 0. 1. ]] SLAMing on 158.972414037 meters Centerline goodness : 0.831508 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.88, Z:-0.34 [[ 0.91974643 -0.38062482 -0.09587101 1.91669927] [ 0.3820266 0.92414265 -0.00400564 -0.88382212] [ 0.09012314 -0.03294111 0.99538571 -0.34387986] [ 0. 0. 0. 1. ]] SLAMing on 159.002414037 meters Centerline goodness : 0.830152 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.89, Z:-0.35 [[ 0.92073452 -0.37910449 -0.09234566 1.89079619] [ 0.38048095 0.92478421 -0.00290111 -0.89211165] [ 0.08649964 -0.03246461 0.99572278 -0.34704473] [ 0. 0. 0. 1. ]] SLAMing on 159.032414037 meters Centerline goodness : 0.831273 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.89, Z:-0.35 [[ 0.92082852 -0.37888701 -0.09230103 1.88985862] [ 0.38026584 0.92487285 -0.00284584 -0.89132263] [ 0.08644497 -0.0324784 0.99572708 -0.34661815] [ 0. 0. 0. 1. ]] SLAMing on 159.062414037 meters Centerline goodness : 0.832251 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.89, Z:-0.35 [[ 0.92090238 -0.37867442 -0.09243642 1.88934226] [ 0.38006686 0.92495499 -0.00272971 -0.89122162] [ 0.0865332 -0.03261823 0.99571485 -0.34594501] [ 0. 0. 0. 1. ]] SLAMing on 159.092414037 meters Centerline goodness : 0.831232 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.90, Z:-0.35 [[ 0.92103351 -0.37888931 -0.09022285 1.8656158 ] [ 0.38020887 0.92489656 -0.00275212 -0.9001323 ] [ 0.08448955 -0.03176873 0.9959178 -0.34821181] [ 0. 0. 0. 1. ]] SLAMing on 159.122414037 meters Centerline goodness : 0.831325 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.90, Z:-0.35 [[ 0.92018863 -0.3812136 -0.08904534 1.86378016] [ 0.3822953 0.92402531 -0.00524702 -0.89967768] [ 0.08428038 -0.02921336 0.99601375 -0.34709223] [ 0. 0. 0. 1. ]] SLAMing on 159.152414037 meters Centerline goodness : 0.829678 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.90, Z:-0.35 [[ 0.92009612 -0.38140065 -0.0892002 1.86468909] [ 0.3824631 0.92395417 -0.0055371 -0.89894327] [ 0.08452875 -0.02902112 0.99599833 -0.3478316 ] [ 0. 0. 0. 1. ]] SLAMing on 159.182414037 meters Centerline goodness : 0.830135 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.90, Z:-0.35 [[ 0.91862599 -0.38362351 -0.09465356 1.85201237] [ 0.38478585 0.92298382 -0.0063812 -0.90281828] [ 0.08981168 -0.03055942 0.99548982 -0.34996335] [ 0. 0. 0. 1. ]] SLAMing on 159.212414037 meters Centerline goodness : 0.829167 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.90, Z:-0.35 [[ 0.91858767 -0.38369725 -0.09472649 1.85272383] [ 0.38485435 0.92295466 -0.00646812 -0.90263114] [ 0.08991005 -0.03051437 0.99548232 -0.35055992] [ 0. 0. 0. 1. ]] SLAMing on 159.24241403699997 meters Centerline goodness : 0.829167 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.90, Z:-0.35 [[ 0.91858767 -0.38369725 -0.09472649 1.85272383] [ 0.38485435 0.92295466 -0.00646812 -0.90263114] [ 0.08991005 -0.03051437 0.99548232 -0.35055992] [ 0. 0. 0. 1. ]] SLAMing on 159.27241403699998 meters Centerline goodness : 0.829768 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.91, Z:-0.35 [[ 0.91892051 -0.38424797 -0.08909878 1.8280905 ] [ 0.38534288 0.92275848 -0.00525931 -0.90972402] [ 0.08423753 -0.0295007 0.99600891 -0.35429626] [ 0. 0. 0. 1. ]] SLAMing on 159.30241403699998 meters Centerline goodness : 0.828746 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.91, Z:-0.35 [[ 0.91927454 -0.38339906 -0.08910374 1.82605042] [ 0.38454799 0.92309364 -0.00457958 -0.90959938] [ 0.08400691 -0.03005478 0.99601182 -0.352914 ] [ 0. 0. 0. 1. ]] SLAMing on 159.33241403699998 meters Centerline goodness : 0.828098 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.91, Z:-0.35 [[ 0.91982995 -0.38202013 -0.08929441 1.82415296] [ 0.38323298 0.9236438 -0.00382279 -0.90916036] [ 0.08393661 -0.03070425 0.99599794 -0.35162438] [ 0. 0. 0. 1. ]] SLAMing on 159.36241403699998 meters Centerline goodness : 0.828096 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.91, Z:-0.35 [[ 0.92001104 -0.38154864 -0.08944454 1.82400455] [ 0.38277406 0.92383456 -0.00370577 -0.9088552 ] [ 0.08404589 -0.0308277 0.99598491 -0.35147806] [ 0. 0. 0. 1. ]] SLAMing on 159.39241403699998 meters Centerline goodness : 0.827676 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.91, Z:-0.35 [[ 0.92023667 -0.38095833 -0.08963942 1.8236038 ] [ 0.38220816 0.92406978 -0.00345968 -0.90874287] [ 0.08415108 -0.03107719 0.99596827 -0.35100305] [ 0. 0. 0. 1. ]] SLAMing on 159.42241403699998 meters Centerline goodness : 0.826829 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.91, Z:-0.35 [[ 0.92077113 -0.37963658 -0.08975851 1.8216059 ] [ 0.38097724 0.9245814 -0.00236274 -0.90926638] [ 0.08388603 -0.0320204 0.99596076 -0.34954044] [ 0. 0. 0. 1. ]] SLAMing on 159.45241403699998 meters Centerline goodness : 0.827023 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.91, Z:-0.35 [[ 9.21567550e-01 -3.77598016e-01 -9.01830821e-02 1.81902569e+00] [ 3.79089942e-01 9.25359615e-01 -6.31664000e-04 -9.10155215e-01] [ 8.36902972e-02 -3.36053784e-02 9.95925004e-01 -3.47269206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48241403699998 meters Centerline goodness : 0.827204 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.91, Z:-0.35 [[ 9.21731570e-01 -3.77143652e-01 -9.04078448e-02 1.81928777e+00] [ 3.78686331e-01 9.25525069e-01 -9.68755428e-05 -9.11177851e-01] [ 8.37112628e-02 -3.41469218e-02 9.95904821e-01 -3.47060001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51241403699999 meters Centerline goodness : 0.825606 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.91, Z:-0.35 [[ 9.21063061e-01 -3.78994963e-01 -8.94743325e-02 1.81840551e+00] [ 3.80386615e-01 9.24826156e-01 -1.61381691e-03 -9.14108781e-01] [ 8.33598315e-02 -3.25484113e-02 9.95987821e-01 -3.45686747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542414037 meters Centerline goodness : 0.826241 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.92, Z:-0.35 [[ 9.21146108e-01 -3.78739602e-01 -8.97003970e-02 1.81869453e+00] [ 3.80185020e-01 9.24909861e-01 -1.04840166e-03 -9.15857045e-01] [ 8.33618530e-02 -3.31370161e-02 9.95968242e-01 -3.45151720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.572414037 meters Centerline goodness : 0.827575 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.92, Z:-0.34 [[ 9.21357291e-01 -3.78144009e-01 -9.00436099e-02 1.81845998e+00] [ 3.79679517e-01 9.25118078e-01 -8.18176708e-05 -9.18097467e-01] [ 8.33319101e-02 -3.41123310e-02 9.95937820e-01 -3.43924291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602414037 meters Centerline goodness : 0.827274 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.92, Z:-0.34 [[ 9.21468609e-01 -3.77811139e-01 -9.03014118e-02 1.81834749e+00] [ 3.79407694e-01 9.25229427e-01 5.56977662e-04 -9.19973169e-01] [ 8.33390911e-02 -3.47742878e-02 9.95914326e-01 -3.42850087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.632414037 meters Centerline goodness : 0.827372 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.92, Z:-0.34 [[ 9.21026328e-01 -3.78986271e-01 -8.98883144e-02 1.81724137e+00] [ 3.80486530e-01 9.24786337e-01 -4.80745233e-04 -9.22946391e-01] [ 8.33096809e-02 -3.37585139e-02 9.95951736e-01 -3.40643994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662414037 meters Centerline goodness : 0.826455 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.92, Z:-0.34 [[ 9.21118661e-01 -3.78707697e-01 -9.01159942e-02 1.81839291e+00] [ 3.80239641e-01 9.24887984e-01 -1.81655669e-04 -9.23745895e-01] [ 8.34159946e-02 -3.40983468e-02 9.95931260e-01 -3.41285199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.692414037 meters Centerline goodness : 0.825456 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.92, Z:-0.34 [[ 9.21284637e-01 -3.78218233e-01 -9.04742309e-02 1.81957224e+00] [ 3.79798967e-01 9.25069007e-01 2.76187648e-04 -9.24423497e-01] [ 8.35904478e-02 -3.46164669e-02 9.95898759e-01 -3.41862651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722414037 meters Centerline goodness : 0.826046 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.93, Z:-0.34 [[ 9.21493569e-01 -3.77627144e-01 -9.08148827e-02 1.82037682e+00] [ 3.79261683e-01 9.25289107e-01 8.02935294e-04 -9.25546080e-01] [ 8.37268115e-02 -3.51825049e-02 9.95867467e-01 -3.41988482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752414037 meters Centerline goodness : 0.826500 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.93, Z:-0.34 [[ 0.92254678 -0.37510995 -0.09055365 1.81765972] [ 0.37692355 0.9262389 0.00318248 -0.93090047] [ 0.08268054 -0.03706779 0.99588649 -0.33971502] [ 0. 0. 0. 1. ]] SLAMing on 159.782414037 meters Centerline goodness : 0.825210 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.93, Z:-0.34 [[ 0.92308526 -0.37370953 -0.09085587 1.81637843] [ 0.37565308 0.92674855 0.00467845 -0.93326975] [ 0.08245217 -0.0384489 0.99585306 -0.33799979] [ 0. 0. 0. 1. ]] SLAMing on 159.812414037 meters Centerline goodness : 0.825484 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.94, Z:-0.34 [[ 0.92358765 -0.37236469 -0.09127101 1.81568528] [ 0.37443522 0.92723315 0.00607929 -0.93548998] [ 0.08236579 -0.03978984 0.99580753 -0.33667595] [ 0. 0. 0. 1. ]] SLAMing on 159.842414037 meters Centerline goodness : 0.824683 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.94, Z:-0.34 [[ 0.92394105 -0.37139959 -0.0916258 1.81595517] [ 0.37356282 0.92757793 0.00707185 -0.93712971] [ 0.08236359 -0.04076196 0.9957684 -0.33634788] [ 0. 0. 0. 1. ]] SLAMing on 159.872414037 meters Centerline goodness : 0.823049 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.94, Z:-0.34 [[ 0.92481597 -0.36909505 -0.09211011 1.81639391] [ 0.37146344 0.92839981 0.00941859 -0.94147841] [ 0.08203866 -0.042926 0.99570428 -0.33594993] [ 0. 0. 0. 1. ]] SLAMing on 159.902414037 meters Centerline goodness : 0.824059 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.94, Z:-0.34 [[ 0.92516189 -0.36811052 -0.09257496 1.81667998] [ 0.37058835 0.92873735 0.01054523 -0.94391295] [ 0.08209602 -0.04406324 0.99564988 -0.33511693] [ 0. 0. 0. 1. ]] SLAMing on 159.932414037 meters Centerline goodness : 0.824936 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.95, Z:-0.33 [[ 0.92555009 -0.36702478 -0.09300453 1.81637871] [ 0.3696255 0.92910523 0.01185188 -0.94653864] [ 0.08206106 -0.04534636 0.99559514 -0.33379852] [ 0. 0. 0. 1. ]] SLAMing on 159.962414037 meters Centerline goodness : 0.823386 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.95, Z:-0.33 [[ 0.92587854 -0.36607269 -0.09348644 1.81639807] [ 0.36879903 0.92941615 0.01314889 -0.94949521] [ 0.08207436 -0.04665199 0.99553372 -0.33247912] [ 0. 0. 0. 1. ]] SLAMing on 159.99241403699997 meters Centerline goodness : 0.824232 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.96, Z:-0.33 [[ 0.92534291 -0.36756142 -0.09294679 1.8163674 ] [ 0.37021508 0.92886193 0.01250272 -0.95611522] [ 0.08173922 -0.0459796 0.99559258 -0.33012587] [ 0. 0. 0. 1. ]] SLAMing on 160.02241403699998 meters Centerline goodness : 0.826487 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.96, Z:-0.33 [[ 0.92433858 -0.37034134 -0.09189934 1.81664553] [ 0.37277139 0.9278669 0.01022312 -0.95885983] [ 0.08148431 -0.04370707 0.99571582 -0.32958735] [ 0. 0. 0. 1. ]] SLAMing on 160.05241403699998 meters Centerline goodness : 0.824009 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.96, Z:-0.33 [[ 0.92322562 -0.37336644 -0.09084033 1.81741399] [ 0.37556127 0.92676509 0.00775866 -0.96115154] [ 0.08129082 -0.0412791 0.99583525 -0.32958633] [ 0. 0. 0. 1. ]] SLAMing on 160.08241403699998 meters Centerline goodness : 0.824955 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.96, Z:-0.33 [[ 0.92200225 -0.37664956 -0.08970487 1.81807626] [ 0.3785933 0.92554916 0.00508547 -0.96307241] [ 0.08111083 -0.03865048 0.99595541 -0.3295653 ] [ 0. 0. 0. 1. ]] SLAMing on 160.11241403699998 meters Centerline goodness : 0.824741 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.97, Z:-0.33 [[ 9.19611913e-01 -3.82984910e-01 -8.73870011e-02 1.81966848e+00] [ 3.84476711e-01 9.23134655e-01 2.60004546e-04 -9.67886864e-01] [ 8.05703913e-02 -3.38373701e-02 9.96174405e-01 -3.29568426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14241403699998 meters Centerline goodness : 0.826553 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.97, Z:-0.33 [[ 0.91829897 -0.38637473 -0.0862646 1.82074536] [ 0.38763977 0.92180819 -0.0022511 -0.97106984] [ 0.08038918 -0.03137241 0.99626972 -0.32932058] [ 0. 0. 0. 1. ]] SLAMing on 160.17241403699998 meters Centerline goodness : 0.827161 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.97, Z:-0.33 [[ 0.91681555 -0.3901367 -0.08510348 1.82237043] [ 0.39115092 0.92031239 -0.00510426 -0.97445449] [ 0.08031315 -0.02860865 0.99635904 -0.3292557 ] [ 0. 0. 0. 1. ]] SLAMing on 160.20241403699998 meters Centerline goodness : 0.828133 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.99, Z:-0.33 [[ 0.91374375 -0.39730694 -0.08496797 1.80437224] [ 0.39811127 0.91730233 -0.00799002 -0.99108964] [ 0.0811158 -0.02652588 0.99635165 -0.329404 ] [ 0. 0. 0. 1. ]] SLAMing on 160.23241403699998 meters Centerline goodness : 0.830728 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.99, Z:-0.33 [[ 0.91228851 -0.40091009 -0.08367066 1.80520158] [ 0.40147442 0.91580763 -0.01070886 -0.99329387] [ 0.08091951 -0.02382206 0.99643592 -0.3293916 ] [ 0. 0. 0. 1. ]] SLAMing on 160.26241403699999 meters Centerline goodness : 0.832294 Centerline is valid? [False, False] Translation: X:1.80, Y:-1.00, Z:-0.33 [[ 0.90963918 -0.40536898 -0.09073336 1.7963076 ] [ 0.40644099 0.91364892 -0.00716691 -1.00026257] [ 0.08580368 -0.03035845 0.99584943 -0.32591139] [ 0. 0. 0. 1. ]] SLAMing on 160.292414037 meters Centerline goodness : 0.829753 Centerline is valid? [False, False] Translation: X:1.78, Y:-1.01, Z:-0.32 [[ 0.90742714 -0.40939118 -0.09473565 1.783333 ] [ 0.41087774 0.91168104 -0.00414373 -1.00899808] [ 0.0880651 -0.03516464 0.99549384 -0.32424586] [ 0. 0. 0. 1. ]] SLAMing on 160.322414037 meters Centerline goodness : 0.834464 Centerline is valid? [False, False] Translation: X:1.78, Y:-1.01, Z:-0.32 [[ 0.90539578 -0.41430192 -0.09280302 1.7821414 ] [ 0.41539958 0.90960321 -0.00807442 -1.01408576] [ 0.08775917 -0.03123979 0.99565175 -0.32111032] [ 0. 0. 0. 1. ]] SLAMing on 160.352414037 meters Centerline goodness : 0.835503 Centerline is valid? [False, False] Translation: X:1.76, Y:-1.03, Z:-0.33 [[ 0.90584764 -0.41445074 -0.0875822 1.75669887] [ 0.41544441 0.90958827 -0.00742382 -1.02841398] [ 0.08274055 -0.02966068 0.99612963 -0.326043 ] [ 0. 0. 0. 1. ]] SLAMing on 160.382414037 meters Centerline goodness : 0.835884 Centerline is valid? [False, False] Translation: X:1.76, Y:-1.03, Z:-0.33 [[ 0.9048615 -0.41686613 -0.08630351 1.7559523 ] [ 0.4176386 0.90856071 -0.00976894 -1.02948486] [ 0.08248432 -0.02720414 0.996221 -0.32546618] [ 0. 0. 0. 1. ]] SLAMing on 160.412414037 meters Centerline goodness : 0.835733 Centerline is valid? [False, False] Translation: X:1.75, Y:-1.04, Z:-0.33 [[ 0.90410498 -0.41686507 -0.09390257 1.74659567] [ 0.41807423 0.90838313 -0.00735022 -1.03534498] [ 0.08836356 -0.03261288 0.99555426 -0.32771193] [ 0. 0. 0. 1. ]] SLAMing on 160.442414037 meters Centerline goodness : 0.836564 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.05, Z:-0.33 [[ 0.90548835 -0.41423281 -0.09220647 1.72141926] [ 0.41544683 0.90959408 -0.00652288 -1.04732253] [ 0.08657245 -0.0324005 0.99571854 -0.33422397] [ 0. 0. 0. 1. ]] SLAMing on 160.472414037 meters Centerline goodness : 0.836758 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.06, Z:-0.34 [[ 0.90666782 -0.41232781 -0.08910238 1.69553984] [ 0.4135301 0.91047454 -0.00538194 -1.05887835] [ 0.08334457 -0.03196688 0.99600793 -0.33985466] [ 0. 0. 0. 1. ]] SLAMing on 160.502414037 meters Centerline goodness : 0.840024 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.06, Z:-0.34 [[ 0.90547312 -0.41537281 -0.0870853 1.69287963] [ 0.41628979 0.90919486 -0.0082173 -1.05864663] [ 0.08259074 -0.02881218 0.99616697 -0.33895508] [ 0. 0. 0. 1. ]] SLAMing on 160.532414037 meters Centerline goodness : 0.840550 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.06, Z:-0.34 [[ 0.90423044 -0.41841596 -0.08541307 1.69071283] [ 0.41907638 0.9078854 -0.01091308 -1.05975824] [ 0.08211149 -0.02592666 0.99628586 -0.3371608 ] [ 0. 0. 0. 1. ]] SLAMing on 160.562414037 meters Centerline goodness : 0.839255 Centerline is valid? [False, False] Translation: X:1.67, Y:-1.07, Z:-0.34 [[ 0.90240731 -0.42327477 -0.08061966 1.67114925] [ 0.42390311 0.90565229 -0.01000371 -1.06786239] [ 0.0772477 -0.0251475 0.99669474 -0.33824352] [ 0. 0. 0. 1. ]] SLAMing on 160.592414037 meters Centerline goodness : 0.843903 Centerline is valid? [False, False] Translation: X:1.65, Y:-1.07, Z:-0.34 [[ 0.89995937 -0.42893469 -0.07802669 1.65421555] [ 0.42961443 0.90297039 -0.00871226 -1.07435362] [ 0.07419278 -0.02568071 0.9969132 -0.33874215] [ 0. 0. 0. 1. ]] SLAMing on 160.622414037 meters Centerline goodness : 0.844055 Centerline is valid? [False, False] Translation: X:1.64, Y:-1.08, Z:-0.34 [[ 0.89785532 -0.43276262 -0.08106994 1.63809512] [ 0.43358049 0.90107803 -0.00814531 -1.08108306] [ 0.07657533 -0.02783703 0.99667513 -0.33831126] [ 0. 0. 0. 1. ]] SLAMing on 160.652414037 meters Centerline goodness : 0.844839 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.09, Z:-0.34 [[ 0.89507227 -0.43807331 -0.08329114 1.60749543] [ 0.43945079 0.89826447 -0.00198667 -1.09317687] [ 0.07568778 -0.03482414 0.99652328 -0.34265689] [ 0. 0. 0. 1. ]] SLAMing on 160.682414037 meters Centerline goodness : 0.845790 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.10, Z:-0.34 [[ 8.93139319e-01 -4.41523902e-01 -8.57834518e-02 1.59243271e+00] [ 4.43210514e-01 8.96417295e-01 6.88651799e-04 -1.09826329e+00] [ 7.65937136e-02 -3.86351898e-02 9.96313568e-01 -3.42942132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712414037 meters Centerline goodness : 0.846776 Centerline is valid? [False, False] Translation: X:1.56, Y:-1.11, Z:-0.35 [[ 8.93259626e-01 -4.42411216e-01 -7.97468295e-02 1.56434886e+00] [ 4.43840526e-01 8.96105763e-01 2.20468527e-04 -1.11003582e+00] [ 7.13640557e-02 -3.55918104e-02 9.96815126e-01 -3.47698795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74241403699997 meters Centerline goodness : 0.845908 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.12, Z:-0.35 [[ 0.89221141 -0.44596332 -0.07124261 1.5349594 ] [ 0.446946 0.89455777 -0.00238094 -1.12139699] [ 0.06479245 -0.0297173 0.99745618 -0.35121904] [ 0. 0. 0. 1. ]] SLAMing on 160.77241403699998 meters Centerline goodness : 0.846301 Centerline is valid? [False, False] Translation: X:1.51, Y:-1.13, Z:-0.36 [[ 0.89258654 -0.44568567 -0.06821699 1.50713917] [ 0.44641902 0.89481044 -0.004934 -1.1335159 ] [ 0.06324028 -0.02604934 0.99765831 -0.3556395 ] [ 0. 0. 0. 1. ]] SLAMing on 160.80241403699998 meters Centerline goodness : 0.846443 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.14, Z:-0.36 [[ 0.89159054 -0.4471581 -0.07152585 1.49018555] [ 0.44789939 0.89406238 -0.00621274 -1.13867476] [ 0.06672665 -0.02649716 0.9974194 -0.3588256 ] [ 0. 0. 0. 1. ]] SLAMing on 160.83241403699998 meters Centerline goodness : 0.844170 Centerline is valid? [False, False] Translation: X:1.46, Y:-1.15, Z:-0.37 [[ 0.89063382 -0.4488041 -0.07311829 1.45920128] [ 0.44986414 0.89309432 -0.00219061 -1.14555047] [ 0.06628468 -0.03094226 0.99732087 -0.36937118] [ 0. 0. 0. 1. ]] SLAMing on 160.86241403699998 meters Centerline goodness : 0.843221 Centerline is valid? [False, False] Translation: X:1.43, Y:-1.15, Z:-0.38 [[ 0.89193226 -0.44669942 -0.07011756 1.43057182] [ 0.44749202 0.89427482 -0.00484146 -1.15396101] [ 0.06486705 -0.02705879 0.99752699 -0.37578059] [ 0. 0. 0. 1. ]] SLAMing on 160.89241403699998 meters Centerline goodness : 0.843824 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.16, Z:-0.38 [[ 0.89212301 -0.44682839 -0.06679015 1.40712057] [ 0.44758638 0.89423183 -0.00398361 -1.15914774] [ 0.06150587 -0.02634049 0.99775909 -0.37960648] [ 0. 0. 0. 1. ]] SLAMing on 160.92241403699998 meters Centerline goodness : 0.843620 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.17, Z:-0.38 [[ 0.89377975 -0.44432904 -0.06106934 1.37731421] [ 0.44492474 0.89555802 -0.0042199 -1.16884682] [ 0.05656616 -0.0233996 0.99812461 -0.38485345] [ 0. 0. 0. 1. ]] SLAMing on 160.95241403699998 meters Centerline goodness : 0.843602 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.18, Z:-0.39 [[ 0.89680716 -0.43914442 -0.05375022 1.34160452] [ 0.43950213 0.89822404 -0.00560786 -1.17802735] [ 0.05074241 -0.01859416 0.99853866 -0.39005771] [ 0. 0. 0. 1. ]] SLAMing on 160.98241403699998 meters Centerline goodness : 0.843338 Centerline is valid? [False, False] Translation: X:1.32, Y:-1.18, Z:-0.39 [[ 0.89813013 -0.43685164 -0.05022856 1.31678651] [ 0.43730101 0.89931239 -0.00224739 -1.18420416] [ 0.04615294 -0.01994655 0.99873522 -0.39169983] [ 0. 0. 0. 1. ]] SLAMing on 161.01241403699999 meters Centerline goodness : 0.843989 Centerline is valid? [False, False] Translation: X:1.29, Y:-1.19, Z:-0.39 [[ 0.89966634 -0.43405651 -0.04685522 1.29313734] [ 0.43462312 0.90060989 0.00213866 -1.18864214] [ 0.04126997 -0.02228844 0.9988994 -0.39343907] [ 0. 0. 0. 1. ]] SLAMing on 161.042414037 meters Centerline goodness : 0.843319 Centerline is valid? [False, False] Translation: X:1.29, Y:-1.18, Z:-0.39 [[ 0.90378342 -0.42507445 -0.04987221 1.28701943] [ 0.426008 0.90467105 0.00935242 -1.18121625] [ 0.04114246 -0.02969852 0.99871182 -0.39183455] [ 0. 0. 0. 1. ]] SLAMing on 161.072414037 meters Centerline goodness : 0.842508 Centerline is valid? [False, False] Translation: X:1.29, Y:-1.18, Z:-0.39 [[ 0.90534296 -0.42158488 -0.05118901 1.28562345] [ 0.42266053 0.90621019 0.01188183 -1.17757953] [ 0.0413788 -0.0323927 0.9986183 -0.39208737] [ 0. 0. 0. 1. ]] SLAMing on 161.102414037 meters Centerline goodness : 0.841395 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.18, Z:-0.40 [[ 0.90705296 -0.41818529 -0.04874415 1.27393817] [ 0.41888887 0.90802507 0.00475251 -1.1781674 ] [ 0.04227348 -0.02472916 0.99879999 -0.39515141] [ 0. 0. 0. 1. ]] SLAMing on 161.132414037 meters Centerline goodness : 0.841395 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.18, Z:-0.40 [[ 0.90705296 -0.41818529 -0.04874415 1.27393817] [ 0.41888887 0.90802507 0.00475251 -1.1781674 ] [ 0.04227348 -0.02472916 0.99879999 -0.39515141] [ 0. 0. 0. 1. ]] SLAMing on 161.162414037 meters Centerline goodness : 0.839309 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.18, Z:-0.40 [[ 0.90708665 -0.41831725 -0.04695195 1.27113127] [ 0.41893268 0.9080099 0.00366419 -1.17612262] [ 0.04110004 -0.02299345 0.99889043 -0.39644041] [ 0. 0. 0. 1. ]] SLAMing on 161.192414037 meters Centerline goodness : 0.839193 Centerline is valid? [False, False] Translation: X:1.27, Y:-1.17, Z:-0.40 [[ 0.90674476 -0.41913213 -0.04628384 1.26996268] [ 0.4196766 0.90767084 0.00228044 -1.17305867] [ 0.04105469 -0.02149202 0.99892573 -0.39686658] [ 0. 0. 0. 1. ]] SLAMing on 161.222414037 meters Centerline goodness : 0.840465 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.18, Z:-0.40 [[ 0.90632534 -0.42049046 -0.04197788 1.24721598] [ 0.42099781 0.9070543 0.00365204 -1.18032708] [ 0.03654057 -0.02098253 0.99911187 -0.39984451] [ 0. 0. 0. 1. ]] SLAMing on 161.252414037 meters Centerline goodness : 0.837571 Centerline is valid? [False, False] Translation: X:1.25, Y:-1.18, Z:-0.40 [[ 0.90613538 -0.42093565 -0.04161553 1.24639901] [ 0.42141636 0.90686191 0.00311801 -1.1784977 ] [ 0.03642706 -0.02036281 0.99912883 -0.40014755] [ 0. 0. 0. 1. ]] SLAMing on 161.282414037 meters Centerline goodness : 0.841125 Centerline is valid? [False, False] Translation: X:1.23, Y:-1.18, Z:-0.40 [[ 0.90433383 -0.42484064 -0.04111881 1.22814829] [ 0.42536282 0.90501183 0.00447925 -1.18093139] [ 0.03531004 -0.02154115 0.99914422 -0.40092724] [ 0. 0. 0. 1. ]] SLAMing on 161.312414037 meters Centerline goodness : 0.840574 Centerline is valid? [False, False] Translation: X:1.23, Y:-1.18, Z:-0.40 [[ 0.90413114 -0.42528675 -0.04096417 1.22785511] [ 0.42578627 0.90481527 0.00392246 -1.17971198] [ 0.03539683 -0.0209884 0.99915292 -0.40098998] [ 0. 0. 0. 1. ]] SLAMing on 161.342414037 meters Centerline goodness : 0.838720 Centerline is valid? [False, False] Translation: X:1.23, Y:-1.18, Z:-0.40 [[ 0.90401786 -0.4255433 -0.04079956 1.22730563] [ 0.42602675 0.90470356 0.00356037 -1.1790303 ] [ 0.03539642 -0.02060034 0.99916101 -0.4006873 ] [ 0. 0. 0. 1. ]] SLAMing on 161.372414037 meters Centerline goodness : 0.839511 Centerline is valid? [False, False] Translation: X:1.20, Y:-1.19, Z:-0.40 [[ 0.90479447 -0.42437221 -0.03542872 1.1985029 ] [ 0.42469834 0.90533297 0.00187839 -1.19086302] [ 0.03127765 -0.01674607 0.99937044 -0.40407314] [ 0. 0. 0. 1. ]] SLAMing on 161.402414037 meters Centerline goodness : 0.840366 Centerline is valid? [False, False] Translation: X:1.17, Y:-1.20, Z:-0.41 [[ 9.04663402e-01 -4.24939552e-01 -3.17884617e-02 1.17347063e+00] [ 4.25165947e-01 9.05115328e-01 4.01719591e-04 -1.19743075e+00] [ 2.86015174e-02 -1.38787924e-02 9.99494538e-01 -4.05260889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432414037 meters Centerline goodness : 0.841541 Centerline is valid? [False, False] Translation: X:1.15, Y:-1.20, Z:-0.41 [[ 9.04972790e-01 -4.24352234e-01 -3.08128290e-02 1.15091690e+00] [ 4.24574828e-01 9.05392535e-01 7.56881711e-04 -1.20462914e+00] [ 2.75765209e-02 -1.37673089e-02 9.99524885e-01 -4.06975127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462414037 meters Centerline goodness : 0.838856 Centerline is valid? [False, False] Translation: X:1.14, Y:-1.21, Z:-0.41 [[ 0.90452343 -0.42495045 -0.03541861 1.1355568 ] [ 0.42528883 0.90505485 0.0022656 -1.20810794] [ 0.03109301 -0.01711243 0.99937 -0.40692411] [ 0. 0. 0. 1. ]] SLAMing on 161.49241403699997 meters Centerline goodness : 0.840605 Centerline is valid? [False, False] Translation: X:1.12, Y:-1.21, Z:-0.41 [[ 0.90406077 -0.42567825 -0.03836871 1.11808817] [ 0.42606803 0.9046884 0.00222104 -1.2124416 ] [ 0.03376627 -0.01835564 0.99926118 -0.40803769] [ 0. 0. 0. 1. ]] SLAMing on 161.52241403699998 meters Centerline goodness : 0.841072 Centerline is valid? [False, False] Translation: X:1.10, Y:-1.22, Z:-0.41 [[ 9.03352537e-01 -4.27001457e-01 -4.02982637e-02 1.10002113e+00] [ 4.27352056e-01 9.04085290e-01 9.49918320e-05 -1.21553433e+00] [ 3.63925057e-02 -1.73073570e-02 9.99187691e-01 -4.10270440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55241403699998 meters Centerline goodness : 0.841750 Centerline is valid? [False, False] Translation: X:1.08, Y:-1.22, Z:-0.41 [[ 0.90302191 -0.42797433 -0.03727474 1.07700406] [ 0.42820931 0.90367771 -0.00183685 -1.22370565] [ 0.03447048 -0.01430267 0.99930337 -0.41286602] [ 0. 0. 0. 1. ]] SLAMing on 161.58241403699998 meters Centerline goodness : 0.841245 Centerline is valid? [False, False] Translation: X:1.05, Y:-1.23, Z:-0.42 [[ 0.90250863 -0.42940838 -0.03296395 1.05360477] [ 0.42955663 0.90303557 -0.00280524 -1.23239527] [ 0.03097222 -0.01162813 0.9994526 -0.41510011] [ 0. 0. 0. 1. ]] SLAMing on 161.61241403699998 meters Centerline goodness : 0.839431 Centerline is valid? [False, False] Translation: X:1.02, Y:-1.24, Z:-0.42 [[ 0.90322504 -0.42823332 -0.02829767 1.02488907] [ 0.42827569 0.90363509 -0.00485303 -1.2446323 ] [ 0.02764899 -0.00773583 0.99958776 -0.4178267 ] [ 0. 0. 0. 1. ]] SLAMing on 161.64241403699998 meters Centerline goodness : 0.842275 Centerline is valid? [False, False] Translation: X:1.01, Y:-1.25, Z:-0.42 [[ 0.90205499 -0.43051806 -0.03083804 1.00790487] [ 0.43061784 0.9025269 -0.00366962 -1.24787629] [ 0.029412 -0.00996921 0.99951766 -0.41766977] [ 0. 0. 0. 1. ]] SLAMing on 161.67241403699998 meters Centerline goodness : 0.840264 Centerline is valid? [False, False] Translation: X:0.99, Y:-1.25, Z:-0.42 [[ 0.90110464 -0.43224103 -0.03432383 0.9920187 ] [ 0.43244717 0.90165793 -0.00155582 -1.25261078] [ 0.03162084 -0.01344129 0.99940955 -0.41730412] [ 0. 0. 0. 1. ]] SLAMing on 161.70241403699998 meters Centerline goodness : 0.840461 Centerline is valid? [False, False] Translation: X:0.99, Y:-1.25, Z:-0.42 [[ 0.90097063 -0.43252854 -0.03421983 0.99181746] [ 0.43272168 0.9015255 -0.00192824 -1.25138365] [ 0.03168407 -0.01307037 0.99941247 -0.41754403] [ 0. 0. 0. 1. ]] SLAMing on 161.73241403699998 meters Centerline goodness : 0.840728 Centerline is valid? [False, False] Translation: X:0.97, Y:-1.26, Z:-0.42 [[ 8.99593905e-01 -4.35442280e-01 -3.34787447e-02 9.72943946e-01] [ 4.35654589e-01 9.00113312e-01 -1.05083878e-03 -1.25774639e+00] [ 3.05922434e-02 -1.36398406e-02 9.99438877e-01 -4.16845084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76241403699999 meters Centerline goodness : 0.839114 Centerline is valid? [False, False] Translation: X:0.95, Y:-1.27, Z:-0.42 [[ 0.8979294 -0.43929435 -0.02726282 0.94790757] [ 0.43936273 0.89830191 -0.00375033 -1.26683207] [ 0.02613774 -0.00861074 0.99962127 -0.41751866] [ 0. 0. 0. 1. ]] SLAMing on 161.792414037 meters Centerline goodness : 0.838461 Centerline is valid? [False, False] Translation: X:0.92, Y:-1.28, Z:-0.42 [[ 0.89727227 -0.44083081 -0.02388862 0.92497429] [ 0.44085661 0.89756646 -0.00446005 -1.27609056] [ 0.02340775 -0.00652958 0.99970468 -0.41926365] [ 0. 0. 0. 1. ]] SLAMing on 161.822414037 meters Centerline goodness : 0.840468 Centerline is valid? [False, False] Translation: X:0.90, Y:-1.28, Z:-0.42 [[ 0.89701628 -0.44148428 -0.02129368 0.90178328] [ 0.44147632 0.89725708 -0.0053281 -1.28482215] [ 0.02145818 -0.00462126 0.99975907 -0.42156375] [ 0. 0. 0. 1. ]] SLAMing on 161.852414037 meters Centerline goodness : 0.839281 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.29, Z:-0.42 [[ 0.89777942 -0.44002315 -0.01928051 0.8780585 ] [ 0.44004855 0.89796852 -0.00313299 -1.29154505] [ 0.01869188 -0.00567163 0.9998092 -0.42349335] [ 0. 0. 0. 1. ]] SLAMing on 161.882414037 meters Centerline goodness : 0.838251 Centerline is valid? [False, False] Translation: X:0.85, Y:-1.30, Z:-0.43 [[ 8.98498543e-01 -4.38683229e-01 -1.60434639e-02 8.54822213e-01] [ 4.38736583e-01 8.98615693e-01 -2.15236011e-04 -1.29939661e+00] [ 1.45113288e-02 -6.84546528e-03 9.99871272e-01 -4.25340612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.912414037 meters Centerline goodness : 0.839411 Centerline is valid? [False, False] Translation: X:0.83, Y:-1.31, Z:-0.43 [[ 8.99205364e-01 -4.37346236e-01 -1.25691534e-02 8.30198177e-01] [ 4.37379761e-01 8.99276896e-01 -9.05714935e-05 -1.30726406e+00] [ 1.13427603e-02 -5.41605093e-03 9.99921001e-01 -4.27233380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942414037 meters Centerline goodness : 0.839920 Centerline is valid? [False, False] Translation: X:0.80, Y:-1.32, Z:-0.43 [[ 9.02657414e-01 -4.30240853e-01 -1.01193563e-02 7.99150344e-01] [ 4.30258638e-01 9.02705541e-01 -4.59807081e-04 -1.31700958e+00] [ 9.33262683e-03 -3.93889220e-03 9.99948692e-01 -4.29433130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.972414037 meters Centerline goodness : 0.838705 Centerline is valid? [False, False] Translation: X:0.80, Y:-1.32, Z:-0.43 [[ 9.03188952e-01 -4.29124990e-01 -1.00727844e-02 7.96683620e-01] [ 4.29146243e-01 9.03235019e-01 -5.68457108e-05 -1.31526850e+00] [ 9.12248550e-03 -4.27135515e-03 9.99949267e-01 -4.28253228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002414037 meters Centerline goodness : 0.836156 Centerline is valid? [False, False] Translation: X:0.77, Y:-1.33, Z:-0.43 [[ 9.05109879e-01 -4.25123017e-01 -6.82104385e-03 7.67633815e-01] [ 4.25115654e-01 9.05135398e-01 -2.56751408e-03 -1.32612897e+00] [ 7.26547757e-03 -5.75850157e-04 9.99973440e-01 -4.31151946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.032414037 meters Centerline goodness : 0.837657 Centerline is valid? [False, False] Translation: X:0.74, Y:-1.34, Z:-0.43 [[ 0.90685138 -0.4214326 -0.00389081 0.73997385] [ 0.42141674 0.90685692 -0.00429652 -1.33671431] [ 0.0053391 0.00225665 0.9999832 -0.43388546] [ 0. 0. 0. 1. ]] SLAMing on 162.062414037 meters Centerline goodness : 0.836837 Centerline is valid? [False, False] Translation: X:0.73, Y:-1.33, Z:-0.44 [[ 0.90788538 -0.41921447 -0.00183333 0.73485792] [ 0.41920372 0.90788143 -0.0044212 -1.3341213 ] [ 0.00351787 0.0032454 0.99998855 -0.4352815 ] [ 0. 0. 0. 1. ]] SLAMing on 162.092414037 meters Centerline goodness : 0.837157 Centerline is valid? [False, False] Translation: X:0.73, Y:-1.33, Z:-0.43 [[ 0.90846656 -0.41795338 -0.00186783 0.73241882] [ 0.41794586 0.9084655 -0.00342061 -1.33326875] [ 0.00312651 0.00232686 0.99999241 -0.43394451] [ 0. 0. 0. 1. ]] SLAMing on 162.122414037 meters Centerline goodness : 0.837124 Centerline is valid? [False, False] Translation: X:0.73, Y:-1.33, Z:-0.43 [[ 0.90893651 -0.41693029 -0.00188321 0.73008536] [ 0.41692521 0.90893712 -0.00258597 -1.33253434] [ 0.00278989 0.00156532 0.99999488 -0.43248359] [ 0. 0. 0. 1. ]] SLAMing on 162.152414037 meters Centerline goodness : 0.836559 Centerline is valid? [False, False] Translation: X:0.73, Y:-1.33, Z:-0.43 [[ 9.10569440e-01 -4.13342357e-01 -3.37492577e-03 7.28617531e-01] [ 4.13347034e-01 9.10573221e-01 7.98746062e-04 -1.33134814e+00] [ 2.74296145e-03 -2.12232931e-03 9.99993986e-01 -4.31388895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182414037 meters Centerline goodness : 0.836902 Centerline is valid? [False, False] Translation: X:0.73, Y:-1.33, Z:-0.43 [[ 0.91095345 -0.41249538 -0.00337187 0.7267968 ] [ 0.41250205 0.91095531 0.00157316 -1.33111656] [ 0.0024227 -0.00282398 0.99999308 -0.43020316] [ 0. 0. 0. 1. ]] SLAMing on 162.212414037 meters Centerline goodness : 0.835433 Centerline is valid? [False, False] Translation: X:0.73, Y:-1.33, Z:-0.43 [[ 0.91097224 -0.41245302 -0.00347745 0.72678949] [ 0.41245949 0.9109749 0.00138056 -1.33030562] [ 0.00259845 -0.00269196 0.999993 -0.43021756] [ 0. 0. 0. 1. ]] SLAMing on 162.24241403699997 meters Centerline goodness : 0.834468 Centerline is valid? [False, False] Translation: X:0.72, Y:-1.33, Z:-0.43 [[ 9.09658051e-01 -4.15253476e-01 -9.31562781e-03 7.15426317e-01] [ 4.15263718e-01 9.09700631e-01 -8.97902373e-04 -1.33419669e+00] [ 8.84728958e-03 -3.05165812e-03 9.99956205e-01 -4.32114930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27241403699998 meters Centerline goodness : 0.835020 Centerline is valid? [False, False] Translation: X:0.70, Y:-1.34, Z:-0.43 [[ 9.08255175e-01 -4.18238494e-01 -1.22106218e-02 6.99900005e-01] [ 4.18256520e-01 9.08328210e-01 -1.16078184e-03 -1.34025731e+00] [ 1.15767359e-02 -4.05288605e-03 9.99924774e-01 -4.31669461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30241403699998 meters Centerline goodness : 0.834583 Centerline is valid? [False, False] Translation: X:0.70, Y:-1.34, Z:-0.43 [[ 0.90800617 -0.41878272 -0.01207612 0.69992411] [ 0.41879675 0.90807882 -0.00146472 -1.34016462] [ 0.01157947 -0.00372747 0.99992601 -0.43157911] [ 0. 0. 0. 1. ]] SLAMing on 162.33241403699998 meters Centerline goodness : 0.833798 Centerline is valid? [False, False] Translation: X:0.70, Y:-1.34, Z:-0.43 [[ 0.90744113 -0.42002626 -0.01133786 0.69860072] [ 0.42002784 0.90750816 -0.00235679 -1.33983943] [ 0.01127911 -0.00262357 0.99993295 -0.43078604] [ 0. 0. 0. 1. ]] SLAMing on 162.36241403699998 meters Centerline goodness : 0.833538 Centerline is valid? [False, False] Translation: X:0.68, Y:-1.35, Z:-0.43 [[ 0.90531529 -0.42453939 -0.01305903 0.68191838] [ 0.42454713 0.90540289 -0.00231103 -1.34713041] [ 0.0128048 -0.00345196 0.99991206 -0.4289712 ] [ 0. 0. 0. 1. ]] SLAMing on 162.39241403699998 meters Centerline goodness : 0.834201 Centerline is valid? [False, False] Translation: X:0.66, Y:-1.36, Z:-0.43 [[ 0.90465182 -0.4259871 -0.01183495 0.66089925] [ 0.42598345 0.90472613 -0.00295373 -1.35681301] [ 0.01196564 -0.0023694 0.9999256 -0.43021819] [ 0. 0. 0. 1. ]] SLAMing on 162.42241403699998 meters Centerline goodness : 0.835103 Centerline is valid? [False, False] Translation: X:0.65, Y:-1.36, Z:-0.43 [[ 0.90317687 -0.42897113 -0.01597831 0.64670411] [ 0.42896321 0.90331268 -0.00409382 -1.36218517] [ 0.01618954 -0.00315666 0.99986396 -0.43076107] [ 0. 0. 0. 1. ]] SLAMing on 162.45241403699998 meters Centerline goodness : 0.833436 Centerline is valid? [False, False] Translation: X:0.65, Y:-1.36, Z:-0.43 [[ 0.90325962 -0.4288002 -0.01588866 0.64590662] [ 0.42879469 0.90339344 -0.00392506 -1.36150658] [ 0.01603678 -0.00326762 0.99986606 -0.43060457] [ 0. 0. 0. 1. ]] SLAMing on 162.48241403699998 meters Centerline goodness : 0.832799 Centerline is valid? [False, False] Translation: X:0.63, Y:-1.37, Z:-0.43 [[ 9.02749566e-01 -4.29954292e-01 -1.35103215e-02 6.27566901e-01] [ 4.29985564e-01 9.02835532e-01 -6.46229432e-04 -1.36685259e+00] [ 1.24754474e-02 -5.22585988e-03 9.99908523e-01 -4.31122297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51241403699999 meters Centerline goodness : 0.833733 Centerline is valid? [False, False] Translation: X:0.60, Y:-1.38, Z:-0.43 [[ 0.90330237 -0.42890512 -0.00923153 0.60463083] [ 0.42894128 0.90332951 0.00227669 -1.3755368 ] [ 0.00736263 -0.00601633 0.9999548 -0.43302705] [ 0. 0. 0. 1. ]] SLAMing on 162.542414037 meters Centerline goodness : 0.834791 Centerline is valid? [False, False] Translation: X:0.58, Y:-1.38, Z:-0.43 [[ 9.03877001e-01 -4.27777052e-01 -3.62778550e-03 5.79460421e-01] [ 4.27790486e-01 9.03865980e-01 4.64653910e-03 -1.38424110e+00] [ 1.29134909e-03 -5.75183195e-03 9.99982624e-01 -4.33492910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.572414037 meters Centerline goodness : 0.835479 Centerline is valid? [False, False] Translation: X:0.58, Y:-1.38, Z:-0.43 [[ 9.04182832e-01 -4.27129276e-01 -3.74019004e-03 5.77860443e-01] [ 4.27144126e-01 9.04168339e-01 5.24512010e-03 -1.38447795e+00] [ 1.14141707e-03 -6.34014775e-03 9.99979250e-01 -4.31882292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602414037 meters Centerline goodness : 0.834737 Centerline is valid? [False, False] Translation: X:0.58, Y:-1.38, Z:-0.43 [[ 9.04211872e-01 -4.27067989e-01 -3.71798317e-03 5.77172542e-01] [ 4.27082656e-01 9.04197602e-01 5.20595287e-03 -1.38404307e+00] [ 1.13849564e-03 -6.29517052e-03 9.99979537e-01 -4.31293574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.632414037 meters Centerline goodness : 0.834825 Centerline is valid? [False, False] Translation: X:0.58, Y:-1.38, Z:-0.43 [[ 9.04165125e-01 -4.27167382e-01 -3.66820619e-03 5.76737857e-01] [ 4.27181473e-01 9.04152204e-01 4.97806968e-03 -1.38319715e+00] [ 1.19014772e-03 -6.06798672e-03 9.99980881e-01 -4.31061934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662414037 meters Centerline goodness : 0.833964 Centerline is valid? [False, False] Translation: X:0.56, Y:-1.39, Z:-0.43 [[ 0.90351424 -0.42847123 -0.00862713 0.56264786] [ 0.42852141 0.90351718 0.00510955 -1.38618384] [ 0.00560547 -0.00831346 0.99994973 -0.43194577] [ 0. 0. 0. 1. ]] SLAMing on 162.692414037 meters Centerline goodness : 0.832518 Centerline is valid? [False, False] Translation: X:0.56, Y:-1.38, Z:-0.43 [[ 0.90350879 -0.42848459 -0.00853416 0.5629589 ] [ 0.42853203 0.90351406 0.00475793 -1.38495113] [ 0.00567204 -0.00795599 0.99995226 -0.43292032] [ 0. 0. 0. 1. ]] SLAMing on 162.722414037 meters Centerline goodness : 0.830918 Centerline is valid? [False, False] Translation: X:0.56, Y:-1.39, Z:-0.44 [[ 9.05306903e-01 -4.24711484e-01 -6.29015297e-03 5.55464423e-01] [ 4.24702776e-01 9.05328733e-01 -2.72725214e-03 -1.38579325e+00] [ 6.85295152e-03 -2.02445236e-04 9.99976498e-01 -4.38796417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752414037 meters Centerline goodness : 0.831393 Centerline is valid? [False, False] Translation: X:0.55, Y:-1.39, Z:-0.44 [[ 0.90619104 -0.42285985 -0.00270903 0.55008114] [ 0.42284938 0.90619238 -0.00371124 -1.38618274] [ 0.00402424 0.00221758 0.99998944 -0.44223694] [ 0. 0. 0. 1. ]] SLAMing on 162.782414037 meters Centerline goodness : 0.829985 Centerline is valid? [False, False] Translation: X:0.55, Y:-1.39, Z:-0.44 [[ 0.90671216 -0.42174106 -0.00274545 0.54833012] [ 0.42173385 0.9067152 -0.00284602 -1.38592272] [ 0.00368963 0.00142268 0.99999218 -0.44123166] [ 0. 0. 0. 1. ]] SLAMing on 162.812414037 meters Centerline goodness : 0.832563 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.39, Z:-0.44 [[ 9.07843948e-01 -4.19296161e-01 -3.17715896e-03 5.44195056e-01] [ 4.19297104e-01 9.07848986e-01 -3.95398596e-04 -1.38715599e+00] [ 3.05016966e-03 -9.73213331e-04 9.99994875e-01 -4.37362102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842414037 meters Centerline goodness : 0.832733 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.39, Z:-0.44 [[ 9.08203178e-01 -4.18516089e-01 -3.35705689e-03 5.42429576e-01] [ 4.18519951e-01 9.08207460e-01 5.11003628e-04 -1.38842393e+00] [ 2.83504087e-03 -1.86909040e-03 9.99994235e-01 -4.35102760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.872414037 meters Centerline goodness : 0.834620 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.39, Z:-0.43 [[ 9.08488213e-01 -4.17895033e-01 -3.59285920e-03 5.41308438e-01] [ 4.17901821e-01 9.08491156e-01 1.37410455e-03 -1.38986430e+00] [ 2.68984934e-03 -2.74982019e-03 9.99992602e-01 -4.33325854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902414037 meters Centerline goodness : 0.833573 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.39, Z:-0.43 [[ 0.90863335 -0.41757715 -0.00384212 0.54111855] [ 0.41758615 0.90863532 0.00191474 -1.39113235] [ 0.00269154 -0.00334421 0.99999079 -0.43233635] [ 0. 0. 0. 1. ]] SLAMing on 162.932414037 meters Centerline goodness : 0.835049 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.39, Z:-0.43 [[ 9.08305985e-01 -4.18290404e-01 -3.65739458e-03 5.40841338e-01] [ 4.18297028e-01 9.08309437e-01 1.25019547e-03 -1.39266998e+00] [ 2.79910124e-03 -2.66543731e-03 9.99992530e-01 -4.31133892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962414037 meters Centerline goodness : 0.832913 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.39, Z:-0.43 [[ 0.90843954 -0.4179979 -0.00391953 0.54140502] [ 0.41800645 0.90844254 0.00166163 -1.39317289] [ 0.00286611 -0.00314787 0.99999094 -0.43139422] [ 0. 0. 0. 1. ]] SLAMing on 162.99241403699997 meters Centerline goodness : 0.835092 Centerline is valid? [False, False] Translation: X:0.53, Y:-1.40, Z:-0.43 [[ 0.90814418 -0.41856142 -0.0089715 0.52720429] [ 0.41860727 0.90815871 0.00396384 -1.40041355] [ 0.00648843 -0.00735528 0.9999519 -0.4307127 ] [ 0. 0. 0. 1. ]] SLAMing on 163.02241403699998 meters Centerline goodness : 0.833689 Centerline is valid? [False, False] Translation: X:0.53, Y:-1.40, Z:-0.43 [[ 0.90818871 -0.41846447 -0.00898588 0.5277415 ] [ 0.4185115 0.90820211 0.00412913 -1.40034096] [ 0.0064331 -0.00751072 0.9999511 -0.43154586] [ 0. 0. 0. 1. ]] SLAMing on 163.05241403699998 meters Centerline goodness : 0.833689 Centerline is valid? [False, False] Translation: X:0.53, Y:-1.40, Z:-0.43 [[ 0.90818871 -0.41846447 -0.00898588 0.5277415 ] [ 0.4185115 0.90820211 0.00412913 -1.40034096] [ 0.0064331 -0.00751072 0.9999511 -0.43154586] [ 0. 0. 0. 1. ]] SLAMing on 163.08241403699998 meters Centerline goodness : 0.832997 Centerline is valid? [False, False] Translation: X:0.51, Y:-1.41, Z:-0.43 [[ 0.90773626 -0.41931151 -0.0138829 0.51493488] [ 0.41942192 0.9077703 0.00619157 -1.40745725] [ 0.01000629 -0.01144311 0.99988446 -0.43280488] [ 0. 0. 0. 1. ]] SLAMing on 163.11241403699998 meters Centerline goodness : 0.834202 Centerline is valid? [False, False] Translation: X:0.51, Y:-1.41, Z:-0.43 [[ 0.90689973 -0.42115897 -0.01256965 0.51321948] [ 0.42123673 0.90694085 0.00423285 -1.40787551] [ 0.00961723 -0.00913357 0.99991204 -0.43171856] [ 0. 0. 0. 1. ]] SLAMing on 163.14241403699998 meters Centerline goodness : 0.831966 Centerline is valid? [False, False] Translation: X:0.51, Y:-1.41, Z:-0.43 [[ 0.90633662 -0.42239759 -0.0115847 0.51183159] [ 0.42245459 0.90637946 0.00289806 -1.4102968 ] [ 0.009276 -0.00752063 0.9999287 -0.42990221] [ 0. 0. 0. 1. ]] SLAMing on 163.17241403699998 meters Centerline goodness : 0.831215 Centerline is valid? [False, False] Translation: X:0.51, Y:-1.41, Z:-0.43 [[ 0.90651524 -0.42200841 -0.01179084 0.51191204] [ 0.42207073 0.90655689 0.00330054 -1.41118716] [ 0.00929622 -0.00796856 0.99992504 -0.42945701] [ 0. 0. 0. 1. ]] SLAMing on 163.20241403699998 meters Centerline goodness : 0.832912 Centerline is valid? [False, False] Translation: X:0.51, Y:-1.41, Z:-0.43 [[ 0.90706473 -0.42081737 -0.01209632 0.51076579] [ 0.42089301 0.90709927 0.00447069 -1.4124027 ] [ 0.00909122 -0.00914646 0.99991684 -0.42806987] [ 0. 0. 0. 1. ]] SLAMing on 163.23241403699998 meters Centerline goodness : 0.831348 Centerline is valid? [False, False] Translation: X:0.51, Y:-1.41, Z:-0.43 [[ 0.90908559 -0.41636416 -0.01429252 0.51105594] [ 0.41650613 0.90908906 0.00892906 -1.4142713 ] [ 0.00927544 -0.01407021 0.99985799 -0.42701735] [ 0. 0. 0. 1. ]] SLAMing on 163.26241403699999 meters Centerline goodness : 0.831233 Centerline is valid? [False, False] Translation: X:0.51, Y:-1.42, Z:-0.43 [[ 0.90970151 -0.41500072 -0.01475035 0.51029173] [ 0.41516169 0.90968982 0.01025645 -1.41599791] [ 0.00916181 -0.01545409 0.9998386 -0.4256216 ] [ 0. 0. 0. 1. ]] SLAMing on 163.292414037 meters Centerline goodness : 0.829657 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.42, Z:-0.43 [[ 0.91213166 -0.40970517 -0.01255021 0.50071175] [ 0.40978951 0.91216644 0.00499422 -1.4231161 ] [ 0.00940172 -0.00969833 0.99990877 -0.42829085] [ 0. 0. 0. 1. ]] SLAMing on 163.322414037 meters Centerline goodness : 0.830454 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.42, Z:-0.43 [[ 0.91227526 -0.40937139 -0.01299692 0.50195144] [ 0.40946421 0.91231009 0.00541818 -1.4241827 ] [ 0.00963917 -0.01026464 0.99990086 -0.42865525] [ 0. 0. 0. 1. ]] SLAMing on 163.352414037 meters Centerline goodness : 0.831819 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.43, Z:-0.43 [[ 0.91237354 -0.40914127 -0.01333938 0.50320494] [ 0.40924244 0.91240656 0.00590748 -1.42580634] [ 0.00975394 -0.01084887 0.99989358 -0.42895317] [ 0. 0. 0. 1. ]] SLAMing on 163.382414037 meters Centerline goodness : 0.831244 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.43, Z:-0.43 [[ 0.91162339 -0.41084272 -0.01229039 0.50213547] [ 0.41091704 0.91166314 0.00418401 -1.42730585] [ 0.00948573 -0.00886458 0.99991572 -0.42775236] [ 0. 0. 0. 1. ]] SLAMing on 163.412414037 meters Centerline goodness : 0.831822 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.43, Z:-0.43 [[ 0.91073072 -0.41285538 -0.01095413 0.50074744] [ 0.41290127 0.91077309 0.00221866 -1.42875313] [ 0.00906074 -0.00654357 0.99993754 -0.42651063] [ 0. 0. 0. 1. ]] SLAMing on 163.442414037 meters Centerline goodness : 0.830437 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.43, Z:-0.43 [[ 9.09984737e-01 -4.14525628e-01 -9.81230917e-03 4.99245579e-01] [ 4.14551447e-01 9.10025633e-01 6.66708437e-04 -1.43037841e+00] [ 8.65308514e-03 -4.67440146e-03 9.99951636e-01 -4.25072354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.472414037 meters Centerline goodness : 0.832455 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.43, Z:-0.42 [[ 0.9088001 -0.4171406 -0.00872329 0.49985547] [ 0.41714349 0.90883928 -0.00157224 -1.43300053] [ 0.00858391 -0.00221001 0.99996072 -0.42462263] [ 0. 0. 0. 1. ]] SLAMing on 163.502414037 meters Centerline goodness : 0.831759 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.43, Z:-0.42 [[ 9.07868873e-01 -4.19186809e-01 -7.51857445e-03 4.98715187e-01] [ 4.19172389e-01 9.07900005e-01 -3.47696715e-03 -1.43466779e+00] [ 8.28361255e-03 5.05142940e-06 9.99965690e-01 -4.23324584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532414037 meters Centerline goodness : 0.831750 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.44, Z:-0.42 [[ 0.90693345 -0.4212272 -0.00627363 0.49745927] [ 0.42119854 0.90695233 -0.00540997 -1.43637236] [ 0.00796871 0.00226404 0.99996569 -0.42190708] [ 0. 0. 0. 1. ]] SLAMing on 163.562414037 meters Centerline goodness : 0.833613 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.44, Z:-0.42 [[ 0.9059861 -0.42327478 -0.00525796 0.49684904] [ 0.42323657 0.90599182 -0.00704547 -1.43945649] [ 0.00774584 0.00415773 0.99996136 -0.42020977] [ 0. 0. 0. 1. ]] SLAMing on 163.592414037 meters Centerline goodness : 0.833490 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.44, Z:-0.42 [[ 0.90536628 -0.424608 -0.00446488 0.49524585] [ 0.42456552 0.90536094 -0.00810509 -1.44125741] [ 0.00748382 0.00544244 0.99995719 -0.41818407] [ 0. 0. 0. 1. ]] SLAMing on 163.622414037 meters Centerline goodness : 0.832375 Centerline is valid? [False, False] Translation: X:0.49, Y:-1.45, Z:-0.41 [[ 0.90226551 -0.43107081 -0.00974142 0.48504104] [ 0.43102177 0.90231606 -0.00677943 -1.45077893] [ 0.01171226 0.00191808 0.99992957 -0.41308627] [ 0. 0. 0. 1. ]] SLAMing on 163.652414037 meters Centerline goodness : 0.833152 Centerline is valid? [False, False] Translation: X:0.48, Y:-1.46, Z:-0.41 [[ 0.8995654 -0.43645464 -0.01701295 0.47691289] [ 0.43644234 0.89972034 -0.00462528 -1.45819257] [ 0.01732562 -0.00326443 0.99984457 -0.40882926] [ 0. 0. 0. 1. ]] SLAMing on 163.682414037 meters Centerline goodness : 0.835743 Centerline is valid? [False, False] Translation: X:0.47, Y:-1.47, Z:-0.40 [[ 0.89624449 -0.4429176 -0.02387099 0.46889482] [ 0.44294699 0.89653735 -0.00433047 -1.465494 ] [ 0.02331928 -0.00669242 0.99970567 -0.40487135] [ 0. 0. 0. 1. ]] SLAMing on 163.712414037 meters Centerline goodness : 0.833826 Centerline is valid? [False, False] Translation: X:0.46, Y:-1.47, Z:-0.40 [[ 0.89279852 -0.44947244 -0.02975442 0.45929548] [ 0.44953898 0.89324786 -0.00479119 -1.47369537] [ 0.02873158 -0.00909821 0.99954576 -0.4014075 ] [ 0. 0. 0. 1. ]] SLAMing on 163.74241403699997 meters Centerline goodness : 0.835610 Centerline is valid? [False, False] Translation: X:0.44, Y:-1.49, Z:-0.40 [[ 0.88611296 -0.46244788 -0.03075351 0.4385889 ] [ 0.46261908 0.88655548 -0.0017213 -1.48803351] [ 0.02806071 -0.01270189 0.99952552 -0.40283588] [ 0. 0. 0. 1. ]] SLAMing on 163.77241403699998 meters Centerline goodness : 0.835608 Centerline is valid? [False, False] Translation: X:0.40, Y:-1.51, Z:-0.41 [[ 0.8843518 -0.46578842 -0.03103274 0.40469329] [ 0.46606462 0.88474861 0.00191515 -1.50663007] [ 0.02656412 -0.01615693 0.99951653 -0.40644957] [ 0. 0. 0. 1. ]] SLAMing on 163.80241403699998 meters Centerline goodness : 0.834635 Centerline is valid? [False, False] Translation: X:0.37, Y:-1.53, Z:-0.41 [[ 0.88349005 -0.46738513 -0.03156693 0.36597552] [ 0.46770961 0.88387576 0.00337028 -1.52684716] [ 0.02632602 -0.01774177 0.99949596 -0.40883039] [ 0. 0. 0. 1. ]] SLAMing on 163.83241403699998 meters Centerline goodness : 0.834259 Centerline is valid? [False, False] Translation: X:0.33, Y:-1.54, Z:-0.41 [[ 0.88254903 -0.46916645 -0.03146511 0.32908306] [ 0.46954898 0.88288821 0.00567196 -1.54483375] [ 0.02511908 -0.0197802 0.99948876 -0.41240133] [ 0. 0. 0. 1. ]] SLAMing on 163.86241403699998 meters Centerline goodness : 0.836519 Centerline is valid? [False, False] Translation: X:0.29, Y:-1.56, Z:-0.42 [[ 0.88030102 -0.47343557 -0.03047735 0.29291581] [ 0.4737927 0.8806201 0.0053587 -1.56039617] [ 0.02430197 -0.01915721 0.99952109 -0.41559321] [ 0. 0. 0. 1. ]] SLAMing on 163.89241403699998 meters Centerline goodness : 0.834866 Centerline is valid? [False, False] Translation: X:0.25, Y:-1.58, Z:-0.42 [[ 0.88020594 -0.4738215 -0.0270313 0.24970104] [ 0.47407789 0.88047545 0.00362435 -1.58042428] [ 0.02208311 -0.01600512 0.99962802 -0.4200267 ] [ 0. 0. 0. 1. ]] SLAMing on 163.92241403699998 meters Centerline goodness : 0.834399 Centerline is valid? [False, False] Translation: X:0.23, Y:-1.59, Z:-0.42 [[ 8.78763121e-01 -4.76571344e-01 -2.55955423e-02 2.28194420e-01] [ 4.76697292e-01 8.79066514e-01 -1.32487399e-03 -1.58551883e+00] [ 2.31315811e-02 -1.10370753e-02 9.99671503e-01 -4.23191549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95241403699998 meters Centerline goodness : 0.834857 Centerline is valid? [False, False] Translation: X:0.19, Y:-1.60, Z:-0.43 [[ 8.78750078e-01 -4.76592811e-01 -2.56435773e-02 1.88143700e-01] [ 4.76749122e-01 8.79039404e-01 -2.07641552e-05 -1.60213706e+00] [ 2.25516109e-02 -1.22073065e-02 9.99671149e-01 -4.26022888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98241403699998 meters Centerline goodness : 0.835822 Centerline is valid? [False, False] Translation: X:0.15, Y:-1.62, Z:-0.43 [[ 0.87827055 -0.47754307 -0.02436112 0.1503192 ] [ 0.47772754 0.87850568 0.00204138 -1.61632285] [ 0.02042654 -0.01343086 0.99970114 -0.43020213] [ 0. 0. 0. 1. ]] SLAMing on 164.01241403699999 meters Centerline goodness : 0.834862 Centerline is valid? [False, False] Translation: X:0.11, Y:-1.63, Z:-0.43 [[ 0.87829074 -0.47784052 -0.01654728 0.10786664] [ 0.47797939 0.87835346 0.00555944 -1.62917166] [ 0.01187783 -0.01279206 0.99984763 -0.43435945] [ 0. 0. 0. 1. ]] SLAMing on 164.042414037 meters Centerline goodness : 0.836330 Centerline is valid? [False, False] Translation: X:0.07, Y:-1.65, Z:-0.44 [[ 8.79250953e-01 -4.76317557e-01 -6.27274308e-03 6.59883376e-02] [ 4.76356375e-01 8.79212658e-01 8.34899681e-03 -1.64658365e+00] [ 1.53830135e-03 -1.03289246e-02 9.99945472e-01 -4.38937821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.072414037 meters Centerline goodness : 0.836520 Centerline is valid? [False, False] Translation: X:0.03, Y:-1.66, Z:-0.44 [[ 8.79839369e-01 -4.75268729e-01 1.52325113e-03 3.42863658e-02] [ 4.75255353e-01 8.79831717e-01 5.33846569e-03 -1.65740858e+00] [-3.87741046e-03 -3.97305903e-03 9.99984590e-01 -4.40463323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102414037 meters Centerline goodness : 0.837085 Centerline is valid? [False, False] Translation: X:0.01, Y:-1.66, Z:-0.44 [[ 8.79265310e-01 -4.76310733e-01 4.53871743e-03 7.89102315e-03] [ 4.76316297e-01 8.79273994e-01 -1.66497437e-04 -1.66129111e+00] [-3.91147169e-03 2.30826050e-03 9.99989686e-01 -4.40128547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.132414037 meters Centerline goodness : 0.837085 Centerline is valid? [False, False] Translation: X:-0.02, Y:-1.68, Z:-0.44 [[ 0.88074436 -0.4735323 0.0075188 -0.02107367] [ 0.47356966 0.880746 -0.00427276 -1.67518908] [-0.00459886 0.00732389 0.9999626 -0.44193489] [ 0. 0. 0. 1. ]] SLAMing on 164.162414037 meters Centerline goodness : 0.836092 Centerline is valid? [False, False] Translation: X:-0.06, Y:-1.68, Z:-0.44 [[ 0.88051549 -0.47397781 0.00612404 -0.05921211] [ 0.4740006 0.88051953 -0.00296407 -1.68488525] [-0.00398743 0.00551271 0.99997685 -0.4449521 ] [ 0. 0. 0. 1. ]] SLAMing on 164.192414037 meters Centerline goodness : 0.834293 Centerline is valid? [False, False] Translation: X:-0.10, Y:-1.70, Z:-0.45 [[ 8.80701111e-01 -4.73632616e-01 6.13988106e-03 -9.73896794e-02] [ 4.73640683e-01 8.80718160e-01 1.58072873e-04 -1.69771169e+00] [-5.48237322e-03 2.76888250e-03 9.99981138e-01 -4.47529881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222414037 meters Centerline goodness : 0.832575 Centerline is valid? [False, False] Translation: X:-0.14, Y:-1.71, Z:-0.45 [[ 8.81075563e-01 -4.72920374e-01 7.22303335e-03 -1.38705460e-01] [ 4.72917820e-01 8.81103879e-01 2.16555065e-03 -1.71160932e+00] [-7.38837573e-03 1.50788743e-03 9.99971569e-01 -4.49323913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252414037 meters Centerline goodness : 0.831746 Centerline is valid? [False, False] Translation: X:-0.18, Y:-1.72, Z:-0.45 [[ 0.88097863 -0.47304244 0.01036857 -0.1812495 ] [ 0.47304938 0.8810338 0.00192775 -1.71931278] [-0.01004696 0.00320654 0.99994439 -0.45197693] [ 0. 0. 0. 1. ]] SLAMing on 164.282414037 meters Centerline goodness : 0.830456 Centerline is valid? [False, False] Translation: X:-0.22, Y:-1.73, Z:-0.45 [[ 0.88144048 -0.47214748 0.01180833 -0.22380167] [ 0.47215893 0.88151123 0.00197444 -1.732649 ] [-0.01134141 0.00383506 0.99992833 -0.45314964] [ 0. 0. 0. 1. ]] SLAMing on 164.312414037 meters Centerline goodness : 0.830337 Centerline is valid? [False, False] Translation: X:-0.27, Y:-1.74, Z:-0.45 [[ 0.88209929 -0.47087884 0.01318934 -0.26572649] [ 0.47088852 0.88218902 0.00255644 -1.74492486] [-0.01283926 0.00395568 0.99990975 -0.45493641] [ 0. 0. 0. 1. ]] SLAMing on 164.342414037 meters Centerline goodness : 0.829657 Centerline is valid? [False, False] Translation: X:-0.31, Y:-1.75, Z:-0.46 [[ 0.88327215 -0.46862183 0.01496291 -0.30897505] [ 0.46864257 0.88338487 0.0023057 -1.74897932] [-0.01429851 0.0049757 0.99988539 -0.45833976] [ 0. 0. 0. 1. ]] SLAMing on 164.372414037 meters Centerline goodness : 0.827825 Centerline is valid? [False, False] Translation: X:-0.33, Y:-1.75, Z:-0.46 [[ 8.84112413e-01 -4.66919285e-01 1.82105009e-02 -3.34294862e-01] [ 4.67012926e-01 8.84249900e-01 -1.02102080e-03 -1.75108097e+00] [-1.56258993e-02 9.40723645e-03 9.99833654e-01 -4.59576880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402414037 meters Centerline goodness : 0.828100 Centerline is valid? [False, False] Translation: X:-0.36, Y:-1.75, Z:-0.46 [[ 8.84816285e-01 -4.65393240e-01 2.25670970e-02 -3.59233927e-01] [ 4.65522822e-01 8.85035702e-01 -5.55755752e-04 -1.75320096e+00] [-1.97140415e-02 1.09972404e-02 9.99745176e-01 -4.59860811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432414037 meters Centerline goodness : 0.829649 Centerline is valid? [False, False] Translation: X:-0.38, Y:-1.75, Z:-0.46 [[ 8.86508874e-01 -4.62095675e-01 2.38663695e-02 -3.83991119e-01] [ 4.62220237e-01 8.86765099e-01 3.34147276e-04 -1.74659576e+00] [-2.13182715e-02 1.07352944e-02 9.99715102e-01 -4.55084002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462414037 meters Centerline goodness : 0.827940 Centerline is valid? [False, False] Translation: X:-0.41, Y:-1.75, Z:-0.45 [[ 0.88789082 -0.45929009 0.02650492 -0.40886412] [ 0.45955371 0.88813837 -0.00454131 -1.74809165] [-0.02145425 0.01621262 0.99963837 -0.45486266] [ 0. 0. 0. 1. ]] SLAMing on 164.49241403699997 meters Centerline goodness : 0.825934 Centerline is valid? [False, False] Translation: X:-0.43, Y:-1.74, Z:-0.45 [[ 0.88946407 -0.45633942 0.02465777 -0.42860459] [ 0.4566986 0.88954852 -0.01139359 -1.73967663] [-0.01673494 0.02139536 0.99963102 -0.45339982] [ 0. 0. 0. 1. ]] SLAMing on 164.52241403699998 meters Centerline goodness : 0.825328 Centerline is valid? [False, False] Translation: X:-0.46, Y:-1.75, Z:-0.46 [[ 0.89004813 -0.45508326 0.0267124 -0.46074827] [ 0.45540054 0.89025936 -0.006973 -1.74773386] [-0.02060767 0.01837115 0.99961884 -0.45619035] [ 0. 0. 0. 1. ]] SLAMing on 164.55241403699998 meters Centerline goodness : 0.825859 Centerline is valid? [False, False] Translation: X:-0.50, Y:-1.76, Z:-0.46 [[ 0.89069693 -0.45392931 0.02464071 -0.49705542] [ 0.45415646 0.89091179 -0.00425265 -1.75794855] [-0.0200223 0.01497856 0.99968733 -0.45502357] [ 0. 0. 0. 1. ]] SLAMing on 164.58241403699998 meters Centerline goodness : 0.825040 Centerline is valid? [False, False] Translation: X:-0.52, Y:-1.76, Z:-0.45 [[ 8.91175416e-01 -4.52838381e-01 2.72723101e-02 -5.19061181e-01] [ 4.53041532e-01 8.91488241e-01 -1.44412385e-03 -1.76143260e+00] [-2.36589891e-02 1.36424568e-02 9.99626998e-01 -4.54618129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61241403699998 meters Centerline goodness : 0.825856 Centerline is valid? [False, False] Translation: X:-0.56, Y:-1.77, Z:-0.46 [[ 0.89130113 -0.45245609 0.02942426 -0.55514357] [ 0.45255025 0.89173099 0.0037577 -1.77241444] [-0.02793872 0.00996671 0.99955995 -0.45503985] [ 0. 0. 0. 1. ]] SLAMing on 164.64241403699998 meters Centerline goodness : 0.825277 Centerline is valid? [False, False] Translation: X:-0.58, Y:-1.77, Z:-0.45 [[ 0.88957937 -0.45558376 0.03304515 -0.58494928] [ 0.45553263 0.89016842 0.00949754 -1.77498811] [-0.03374267 0.00660432 0.99940873 -0.45444454] [ 0. 0. 0. 1. ]] SLAMing on 164.67241403699998 meters Centerline goodness : 0.825917 Centerline is valid? [False, False] Translation: X:-0.61, Y:-1.78, Z:-0.45 [[ 0.8862735 -0.46211864 0.03107469 -0.61322197] [ 0.46194654 0.8868134 0.0129376 -1.77838235] [-0.03353615 0.00288859 0.99943333 -0.45381914] [ 0. 0. 0. 1. ]] SLAMing on 164.70241403699998 meters Centerline goodness : 0.825917 Centerline is valid? [False, False] Translation: X:-0.63, Y:-1.79, Z:-0.46 [[ 0.88636152 -0.46163528 0.03544193 -0.63423212] [ 0.46156211 0.88704325 0.0107095 -1.78662549] [-0.03638241 0.00686617 0.99931435 -0.45526448] [ 0. 0. 0. 1. ]] SLAMing on 164.73241403699998 meters Centerline goodness : 0.825278 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.79, Z:-0.45 [[ 0.88507769 -0.46422071 0.03371376 -0.65127041] [ 0.46418359 0.88568919 0.00939431 -1.79026928] [-0.03422095 0.00733468 0.99938738 -0.45476986] [ 0. 0. 0. 1. ]] SLAMing on 164.76241403699999 meters Centerline goodness : 0.828982 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.79, Z:-0.45 [[ 0.88067769 -0.47259729 0.03253631 -0.6833333 ] [ 0.47245474 0.88126736 0.01242376 -1.79288154] [-0.03454462 0.00443061 0.99939334 -0.45247126] [ 0. 0. 0. 1. ]] SLAMing on 164.792414037 meters Centerline goodness : 0.829337 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.80, Z:-0.45 [[ 0.87965854 -0.4745089 0.03228261 -0.72211953] [ 0.47438202 0.8802377 0.01197016 -1.8030033 ] [-0.03409632 0.00478464 0.9994071 -0.44945384] [ 0. 0. 0. 1. ]] SLAMing on 164.822414037 meters Centerline goodness : 0.831911 Centerline is valid? [False, False] Translation: X:-0.76, Y:-1.80, Z:-0.45 [[ 0.87902885 -0.47569248 0.03201468 -0.75909966] [ 0.47569575 0.87957348 0.00800268 -1.80343929] [-0.03196608 0.00819466 0.99945536 -0.44857247] [ 0. 0. 0. 1. ]] SLAMing on 164.852414037 meters Centerline goodness : 0.831312 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.81, Z:-0.45 [[ 0.87922924 -0.47540756 0.03071805 -0.79320827] [ 0.47545419 0.87971838 0.00623584 -1.80948731] [-0.0299878 0.00912229 0.99950864 -0.44928435] [ 0. 0. 0. 1. ]] SLAMing on 164.882414037 meters Centerline goodness : 0.832059 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.82, Z:-0.45 [[ 0.87972958 -0.474517 0.03015754 -0.82910413] [ 0.47464499 0.88017144 0.00321893 -1.81533171] [-0.02807124 0.01148234 0.99953997 -0.44906539] [ 0. 0. 0. 1. ]] SLAMing on 164.912414037 meters Centerline goodness : 0.832822 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.81, Z:-0.45 [[ 8.80664320e-01 -4.72788178e-01 3.00282248e-02 -8.48536801e-01] [ 4.72986982e-01 8.81069247e-01 5.45017871e-04 -1.81393593e+00] [-2.67146234e-02 1.37229816e-02 9.99548903e-01 -4.47948614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942414037 meters Centerline goodness : 0.832822 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.83, Z:-0.45 [[ 0.88098037 -0.47228836 0.02858835 -0.88269093] [ 0.47240176 0.88137797 0.00307394 -1.83002727] [-0.02664893 0.01079711 0.99958654 -0.44697227] [ 0. 0. 0. 1. ]] SLAMing on 164.972414037 meters Centerline goodness : 0.831468 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.82, Z:-0.44 [[ 0.88291111 -0.46879169 0.02650135 -0.90139493] [ 0.46902157 0.88318206 -0.00286559 -1.81918301] [-0.02206216 0.01495976 0.99964467 -0.44386678] [ 0. 0. 0. 1. ]] SLAMing on 165.002414037 meters Centerline goodness : 0.832291 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.83, Z:-0.44 [[ 0.88467693 -0.46520376 0.03053187 -0.94561769] [ 0.46549493 0.88504608 -0.00281198 -1.83063854] [-0.02571397 0.01670012 0.99952984 -0.44393598] [ 0. 0. 0. 1. ]] SLAMing on 165.032414037 meters Centerline goodness : 0.832314 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.83, Z:-0.44 [[ 0.88576066 -0.46297465 0.03290175 -0.96677403] [ 0.46332392 0.8861822 -0.00347102 -1.83140777] [-0.02754995 0.01831866 0.99945256 -0.44210965] [ 0. 0. 0. 1. ]] SLAMing on 165.062414037 meters Centerline goodness : 0.830511 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.83, Z:-0.44 [[ 0.8867669 -0.46091438 0.03467565 -0.98819981] [ 0.46128044 0.8872495 -0.00294639 -1.83317129] [-0.02940792 0.01860795 0.99939428 -0.43994294] [ 0. 0. 0. 1. ]] SLAMing on 165.092414037 meters Centerline goodness : 0.832359 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.83, Z:-0.44 [[ 0.88762928 -0.45927351 0.03438185 -0.99225054] [ 0.45960761 0.88811967 -0.00207479 -1.82815344] [-0.0295823 0.0176438 0.99940662 -0.43832181] [ 0. 0. 0. 1. ]] SLAMing on 165.122414037 meters Centerline goodness : 0.830901 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.83, Z:-0.43 [[ 0.88850181 -0.4575966 0.03420368 -1.0329808 ] [ 0.45794417 0.88897694 -0.00267219 -1.83205876] [-0.0291835 0.01803762 0.99941131 -0.43380267] [ 0. 0. 0. 1. ]] SLAMing on 165.152414037 meters Centerline goodness : 0.831356 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.84, Z:-0.43 [[ 0.88918382 -0.45643293 0.03195502 -1.0670546 ] [ 0.4567365 0.88959845 -0.00252472 -1.84161996] [-0.02727477 0.01683996 0.99948612 -0.43360934] [ 0. 0. 0. 1. ]] SLAMing on 165.182414037 meters Centerline goodness : 0.826950 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.85, Z:-0.44 [[ 0.8897835 -0.45552591 0.02795481 -1.09915572] [ 0.45581913 0.89005927 -0.00483934 -1.84653137] [-0.02267699 0.0170483 0.99959747 -0.43539037] [ 0. 0. 0. 1. ]] SLAMing on 165.212414037 meters Centerline goodness : 0.825023 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.86, Z:-0.44 [[ 8.89296185e-01 -4.56526804e-01 2.71214579e-02 -1.13999673e+00] [ 4.56667450e-01 8.89636770e-01 1.12126546e-03 -1.86067146e+00] [-2.46401340e-02 1.13883499e-02 9.99631517e-01 -4.38025710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24241403699997 meters Centerline goodness : 0.824834 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.88, Z:-0.44 [[ 0.8885029 -0.45807132 0.02707891 -1.18507882] [ 0.45802856 0.88890033 0.00812595 -1.87660183] [-0.02779272 0.00518299 0.99960027 -0.43860824] [ 0. 0. 0. 1. ]] SLAMing on 165.27241403699998 meters Centerline goodness : 0.822203 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.88, Z:-0.44 [[ 8.87341737e-01 -4.60195103e-01 2.90707552e-02 -1.21340513e+00] [ 4.59976779e-01 8.87817473e-01 1.41950137e-02 -1.88472899e+00] [-3.23420002e-02 7.76044231e-04 9.99476559e-01 -4.38903879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30241403699998 meters Centerline goodness : 0.822430 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.90, Z:-0.44 [[ 0.88524051 -0.46407275 0.03139619 -1.26260724] [ 0.46364137 0.88579053 0.02029306 -1.89735132] [-0.0372279 -0.00340766 0.99930099 -0.43737682] [ 0. 0. 0. 1. ]] SLAMing on 165.33241403699998 meters Centerline goodness : 0.820839 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.91, Z:-0.44 [[ 0.88398985 -0.46637224 0.03254047 -1.30682428] [ 0.46578364 0.88456627 0.024251 -1.91219486] [-0.0400942 -0.00628082 0.99917616 -0.43783872] [ 0. 0. 0. 1. ]] SLAMing on 165.36241403699998 meters Centerline goodness : 0.819361 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.93, Z:-0.44 [[ 0.88283881 -0.46852598 0.03284872 -1.34976894] [ 0.46786243 0.88341659 0.02607453 -1.92551684] [-0.0412357 -0.00765092 0.99912015 -0.43862438] [ 0. 0. 0. 1. ]] SLAMing on 165.39241403699998 meters Centerline goodness : 0.875240 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.94, Z:-0.44 [[ 0.88192973 -0.47029086 0.03203835 -1.39238636] [ 0.46954835 0.88245697 0.02817871 -1.93833413] [-0.04152466 -0.00980809 0.99908934 -0.43969094] [ 0. 0. 0. 1. ]] SLAMing on 165.42241403699998 meters Centerline goodness : 0.873574 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.94, Z:-0.44 [[ 0.88104058 -0.47195123 0.0320862 -1.43838004] [ 0.47124314 0.88157887 0.02736066 -1.94467554] [-0.04119941 -0.00898546 0.99911054 -0.43913888] [ 0. 0. 0. 1. ]] SLAMing on 165.45241403699998 meters Centerline goodness : 0.873020 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.95, Z:-0.43 [[ 0.88149513 -0.47100459 0.03348158 -1.49162778] [ 0.47013947 0.88205814 0.03069714 -1.9530491 ] [-0.04399119 -0.01131837 0.9989678 -0.43277936] [ 0. 0. 0. 1. ]] SLAMing on 165.48241403699998 meters Centerline goodness : 0.871339 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.97, Z:-0.43 [[ 0.88313215 -0.46815333 0.03016732 -1.55060708] [ 0.46701991 0.88343504 0.03788064 -1.97326354] [-0.04438481 -0.01936487 0.99882681 -0.42818105] [ 0. 0. 0. 1. ]] SLAMing on 165.51241403699999 meters Centerline goodness : 0.871041 Centerline is valid? [False, False] Translation: X:-1.60, Y:-1.99, Z:-0.43 [[ 0.88429054 -0.46611844 0.02763781 -1.5964502 ] [ 0.46468892 0.88429127 0.04575096 -1.98798666] [-0.04576524 -0.02761416 0.99857048 -0.42679886] [ 0. 0. 0. 1. ]] SLAMing on 165.542414037 meters Centerline goodness : 0.871797 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.00, Z:-0.43 [[ 0.88582618 -0.46330152 0.02576193 -1.63947358] [ 0.46169105 0.88557825 0.05091701 -2.00135305] [-0.04640413 -0.03320957 0.99837056 -0.42616426] [ 0. 0. 0. 1. ]] SLAMing on 165.572414037 meters Centerline goodness : 0.868349 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.01, Z:-0.42 [[ 0.88847332 -0.45847672 0.02035305 -1.68356268] [ 0.4565516 0.88751015 0.06234082 -2.01070686] [-0.04664535 -0.04609594 0.99784737 -0.42366736] [ 0. 0. 0. 1. ]] SLAMing on 165.602414037 meters Centerline goodness : 0.869103 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.03, Z:-0.42 [[ 0.88936025 -0.45690771 0.01654335 -1.72731953] [ 0.45487213 0.88789105 0.06885373 -2.02504431] [-0.04614849 -0.05371066 0.99748959 -0.42006743] [ 0. 0. 0. 1. ]] SLAMing on 165.632414037 meters Centerline goodness : 0.866906 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.03, Z:-0.42 [[ 0.89173966 -0.45230745 0.0147766 -1.74053126] [ 0.45055797 0.89040278 0.06465609 -2.02644118] [-0.04240155 -0.05099868 0.9977982 -0.41590889] [ 0. 0. 0. 1. ]] SLAMing on 165.662414037 meters Centerline goodness : 0.864500 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.03, Z:-0.41 [[ 0.89373249 -0.44846747 0.01091635 -1.75492811] [ 0.44697167 0.89229577 0.06343963 -2.03020334] [-0.03819122 -0.05181876 0.99792597 -0.41212222] [ 0. 0. 0. 1. ]] SLAMing on 165.692414037 meters Centerline goodness : 0.866613 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.03, Z:-0.41 [[ 0.89561305 -0.44471671 0.01021346 -1.76340036] [ 0.44357065 0.89456326 0.05478735 -2.02939119] [-0.03350144 -0.04453787 0.99844581 -0.41067241] [ 0. 0. 0. 1. ]] SLAMing on 165.722414037 meters Centerline goodness : 0.863046 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.03, Z:-0.41 [[ 0.89721961 -0.44157523 0.00287918 -1.77161756] [ 0.4408863 0.89614825 0.05037449 -2.02931728] [-0.0248243 -0.04392759 0.99872625 -0.4067024 ] [ 0. 0. 0. 1. ]] SLAMing on 165.752414037 meters Centerline goodness : 0.864750 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.02, Z:-0.40 [[ 0.8972751 -0.44138409 -0.00880255 -1.77834161] [ 0.44128178 0.89612544 0.04721847 -2.02298457] [-0.01295329 -0.04625236 0.9988458 -0.40187352] [ 0. 0. 0. 1. ]] SLAMing on 165.782414037 meters Centerline goodness : 0.865326 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.02, Z:-0.40 [[ 0.89821284 -0.43912978 -0.01946109 -1.78402387] [ 0.4395526 0.89704487 0.0458695 -2.02499791] [-0.0026852 -0.04975475 0.99875786 -0.39746585] [ 0. 0. 0. 1. ]] SLAMing on 165.812414037 meters Centerline goodness : 0.865069 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.03, Z:-0.39 [[ 0.89885201 -0.43719934 -0.03036109 -1.78885263] [ 0.43818532 0.89776639 0.04482338 -2.02827741] [ 0.00766042 -0.05359337 0.99853346 -0.3931656 ] [ 0. 0. 0. 1. ]] SLAMing on 165.842414037 meters Centerline goodness : 0.856697 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.02, Z:-0.39 [[ 0.89762231 -0.43971622 -0.03039465 -1.78870497] [ 0.44068147 0.89666099 0.04241346 -2.02316106] [ 0.00860381 -0.05146563 0.9986377 -0.39389903] [ 0. 0. 0. 1. ]] SLAMing on 165.872414037 meters Centerline goodness : 0.860076 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.03, Z:-0.39 [[ 0.89845175 -0.43721424 -0.04035039 -1.79451727] [ 0.4387104 0.89764272 0.04208013 -2.02622437] [ 0.0178222 -0.0555091 0.99829911 -0.39000628] [ 0. 0. 0. 1. ]] SLAMing on 165.902414037 meters Centerline goodness : 0.858756 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.02, Z:-0.39 [[ 0.89801172 -0.43813338 -0.04017571 -1.79565812] [ 0.43959189 0.89728088 0.04057083 -2.02257644] [ 0.01827346 -0.054094 0.99836863 -0.38975454] [ 0. 0. 0. 1. ]] SLAMing on 165.932414037 meters Centerline goodness : 0.857465 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.02, Z:-0.39 [[ 0.8984514 -0.43717888 -0.04073951 -1.79963005] [ 0.4386708 0.89772661 0.04068003 -2.01594523] [ 0.01878849 -0.05442026 0.99834134 -0.38833952] [ 0. 0. 0. 1. ]] SLAMing on 165.962414037 meters Centerline goodness : 0.858200 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.02, Z:-0.38 [[ 0.9004445 -0.43249353 -0.04635783 -1.80773818] [ 0.43419594 0.90007997 0.03646825 -2.01535977] [ 0.02595347 -0.05296602 0.99825899 -0.38465238] [ 0. 0. 0. 1. ]] SLAMing on 165.99241403699997 meters Centerline goodness : 0.863474 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.01, Z:-0.38 [[ 0.90242868 -0.42769493 -0.05195687 -1.81546757] [ 0.42953761 0.90250319 0.03139165 -2.01414459] [ 0.03346519 -0.05064615 0.99815582 -0.38150423] [ 0. 0. 0. 1. ]] SLAMing on 166.02241403699998 meters Centerline goodness : 0.859269 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.01, Z:-0.38 [[ 0.90337463 -0.4254949 -0.0535571 -1.81619716] [ 0.42747565 0.90342357 0.03302148 -2.01028019] [ 0.03433428 -0.05272513 0.99801865 -0.38135516] [ 0. 0. 0. 1. ]] SLAMing on 166.05241403699998 meters Centerline goodness : 0.859133 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.00, Z:-0.38 [[ 0.9043046 -0.42350625 -0.05362497 -1.82122034] [ 0.42546746 0.90439502 0.03235866 -2.0011503 ] [ 0.03479406 -0.05207776 0.99803671 -0.38080742] [ 0. 0. 0. 1. ]] SLAMing on 166.08241403699998 meters Centerline goodness : 0.860723 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.00, Z:-0.38 [[ 0.90718821 -0.41713121 -0.0548736 -1.82963002] [ 0.41896301 0.90759637 0.02718124 -2.00044581] [ 0.03846493 -0.04764851 0.99812327 -0.37985829] [ 0. 0. 0. 1. ]] SLAMing on 166.11241403699998 meters Centerline goodness : 0.861149 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.00, Z:-0.38 [[ 0.91006508 -0.41048875 -0.057276 -1.83713632] [ 0.41220605 0.91082964 0.02180693 -1.99906845] [ 0.04321718 -0.04345523 0.99812019 -0.37903606] [ 0. 0. 0. 1. ]] SLAMing on 166.14241403699998 meters Centerline goodness : 0.858024 Centerline is valid? [False, False] Translation: X:-1.85, Y:-1.99, Z:-0.38 [[ 0.91360088 -0.40144337 -0.06462696 -1.84626836] [ 0.40331993 0.91486893 0.01865128 -1.99309285] [ 0.05163777 -0.04310517 0.99773518 -0.37616779] [ 0. 0. 0. 1. ]] SLAMing on 166.17241403699998 meters Centerline goodness : 0.855585 Centerline is valid? [False, False] Translation: X:-1.85, Y:-1.99, Z:-0.38 [[ 0.91456147 -0.39912769 -0.06537889 -1.84897881] [ 0.40108329 0.91583187 0.01960071 -1.98845284] [ 0.05205289 -0.04414843 0.99766799 -0.37530135] [ 0. 0. 0. 1. ]] SLAMing on 166.20241403699998 meters Centerline goodness : 0.860009 Centerline is valid? [False, False] Translation: X:-1.85, Y:-1.98, Z:-0.37 [[ 0.91567032 -0.39645119 -0.06613865 -1.85128033] [ 0.39851424 0.91692007 0.02107093 -1.98468215] [ 0.05229026 -0.04565122 0.99758794 -0.37482496] [ 0. 0. 0. 1. ]] SLAMing on 166.23241403699998 meters Centerline goodness : 0.853930 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.98, Z:-0.37 [[ 0.91683852 -0.3937537 -0.06606931 -1.85525841] [ 0.39579242 0.91810581 0.02073848 -1.97761882] [ 0.05249277 -0.04516357 0.9975995 -0.37487198] [ 0. 0. 0. 1. ]] SLAMing on 166.26241403699999 meters Centerline goodness : 0.852628 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.98, Z:-0.37 [[ 0.91912169 -0.38601384 -0.07879486 -1.8570738 ] [ 0.38875164 0.92107053 0.02238835 -1.98050753] [ 0.06393341 -0.05120925 0.99663942 -0.37030195] [ 0. 0. 0. 1. ]] SLAMing on 166.292414037 meters Centerline goodness : 0.852603 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.98, Z:-0.37 [[ 0.92037204 -0.38295869 -0.07910718 -1.86083821] [ 0.38566317 0.92238381 0.02172636 -1.9802168 ] [ 0.06464688 -0.05050506 0.99662933 -0.36863671] [ 0. 0. 0. 1. ]] SLAMing on 166.322414037 meters Centerline goodness : 0.855688 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.98, Z:-0.36 [[ 0.92221556 -0.37532387 -0.09300782 -1.86188927] [ 0.37898998 0.92506724 0.02484351 -1.98336275] [ 0.07671412 -0.05816011 0.99535539 -0.36303302] [ 0. 0. 0. 1. ]] SLAMing on 166.352414037 meters Centerline goodness : 0.855729 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.98, Z:-0.36 [[ 0.92276905 -0.37364964 -0.09425086 -1.86391259] [ 0.37751038 0.92562699 0.02646874 -1.97980282] [ 0.07735111 -0.06000521 0.99519655 -0.36116817] [ 0. 0. 0. 1. ]] SLAMing on 166.382414037 meters Centerline goodness : 0.859569 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.98, Z:-0.36 [[ 0.92378528 -0.36727954 -0.10828896 -1.86389035] [ 0.37219505 0.92771349 0.02860984 -1.98308651] [ 0.08995332 -0.06673396 0.99370769 -0.35571288] [ 0. 0. 0. 1. ]] SLAMing on 166.412414037 meters Centerline goodness : 0.850859 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.99, Z:-0.35 [[ 0.92439621 -0.36183943 -0.1206809 -1.86429984] [ 0.36763021 0.92951998 0.02899379 -1.98578596] [ 0.10168422 -0.0711677 0.99226785 -0.35070559] [ 0. 0. 0. 1. ]] SLAMing on 166.442414037 meters Centerline goodness : 0.855631 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.99, Z:-0.35 [[ 0.92470945 -0.35620568 -0.13427567 -1.86438338] [ 0.36316535 0.9312202 0.03065716 -1.98902769] [ 0.11411996 -0.07711324 0.99046968 -0.34531478] [ 0. 0. 0. 1. ]] SLAMing on 166.472414037 meters Centerline goodness : 0.854613 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.99, Z:-0.34 [[ 0.92489943 -0.35042089 -0.14753388 -1.86391735] [ 0.35852274 0.9329866 0.0315825 -1.99179069] [ 0.12657996 -0.08210489 0.98855263 -0.34076738] [ 0. 0. 0. 1. ]] SLAMing on 166.502414037 meters Centerline goodness : 0.852944 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.99, Z:-0.34 [[ 0.92456095 -0.34564764 -0.16035824 -1.86325369] [ 0.35457629 0.93454717 0.02995393 -1.99182461] [ 0.13950883 -0.08455347 0.98660428 -0.33758955] [ 0. 0. 0. 1. ]] SLAMing on 166.532414037 meters Centerline goodness : 0.852217 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.99, Z:-0.33 [[ 0.9242871 -0.33987647 -0.17371626 -1.86242483] [ 0.34985829 0.93633696 0.0295344 -1.99376366] [ 0.1526189 -0.08807433 0.98435277 -0.33367401] [ 0. 0. 0. 1. ]] SLAMing on 166.562414037 meters Centerline goodness : 0.861565 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.99, Z:-0.33 [[ 0.92402222 -0.33444081 -0.18528973 -1.86362622] [ 0.34512634 0.9381445 0.02779755 -1.99287362] [ 0.1645319 -0.08963392 0.9822907 -0.33085477] [ 0. 0. 0. 1. ]] SLAMing on 166.592414037 meters Centerline goodness : 0.855945 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.99, Z:-0.33 [[ 0.92466995 -0.33211361 -0.18624188 -1.86466675] [ 0.34324126 0.9387644 0.03011377 -1.9921267 ] [ 0.16483606 -0.09177119 0.98204232 -0.32985326] [ 0. 0. 0. 1. ]] SLAMing on 166.622414037 meters Centerline goodness : 0.852678 Centerline is valid? [False, False] Translation: X:-1.87, Y:-1.99, Z:-0.33 [[ 0.9257151 -0.32867837 -0.18714189 -1.86693686] [ 0.34035478 0.93971164 0.03317627 -1.99178746] [ 0.16495509 -0.09440641 0.9817725 -0.32819505] [ 0. 0. 0. 1. ]] SLAMing on 166.652414037 meters Centerline goodness : 0.865781 Centerline is valid? [False, False] Translation: X:-1.87, Y:-1.99, Z:-0.33 [[ 0.92695464 -0.32451777 -0.18826395 -1.8690817 ] [ 0.33681325 0.9408611 0.0365681 -1.99072104] [ 0.16526323 -0.09730677 0.98143745 -0.32668008] [ 0. 0. 0. 1. ]] SLAMing on 166.682414037 meters Centerline goodness : 0.850703 Centerline is valid? [False, False] Translation: X:-1.87, Y:-1.99, Z:-0.32 [[ 0.92959774 -0.31597282 -0.18976092 -1.87475243] [ 0.32918955 0.94333504 0.04187177 -1.98528386] [ 0.16577779 -0.10139121 0.98093708 -0.32470219] [ 0. 0. 0. 1. ]] SLAMing on 166.712414037 meters Centerline goodness : 0.858393 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.33 [[ 0.93052858 -0.31272215 -0.19058177 -1.87555984] [ 0.32622079 0.94430096 0.04330918 -1.98167252] [ 0.16642281 -0.10247217 0.98071551 -0.32531089] [ 0. 0. 0. 1. ]] SLAMing on 166.74241403699997 meters Centerline goodness : 0.862185 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.33 [[ 0.93085926 -0.31224662 -0.18974478 -1.87583489] [ 0.32521859 0.94475987 0.04076349 -1.97731459] [ 0.16653499 -0.0996536 0.98098688 -0.32804796] [ 0. 0. 0. 1. ]] SLAMing on 166.77241403699998 meters Centerline goodness : 0.861386 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.33 [[ 0.9324467 -0.30527796 -0.19325765 -1.87891437] [ 0.31693941 0.9479113 0.03183669 -1.97512847] [ 0.17347207 -0.09093698 0.98063138 -0.3316754 ] [ 0. 0. 0. 1. ]] SLAMing on 166.80241403699998 meters Centerline goodness : 0.860354 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.97, Z:-0.33 [[ 0.93299958 -0.3038574 -0.19282752 -1.87871339] [ 0.31537197 0.94844958 0.03136735 -1.97411014] [ 0.17335598 -0.09007812 0.98073117 -0.3335109 ] [ 0. 0. 0. 1. ]] SLAMing on 166.83241403699998 meters Centerline goodness : 0.859671 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.97, Z:-0.33 [[ 0.93434998 -0.29939541 -0.19326795 -1.88155552] [ 0.31145949 0.94962722 0.03465729 -1.97322576] [ 0.17315627 -0.09257718 0.98053372 -0.33246368] [ 0. 0. 0. 1. ]] SLAMing on 166.86241403699998 meters Centerline goodness : 0.859671 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.97, Z:-0.33 [[ 0.93434998 -0.29939541 -0.19326795 -1.88155552] [ 0.31145949 0.94962722 0.03465729 -1.97322576] [ 0.17315627 -0.09257718 0.98053372 -0.33246368] [ 0. 0. 0. 1. ]] SLAMing on 166.89241403699998 meters Centerline goodness : 0.858644 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.97, Z:-0.33 [[ 0.93495886 -0.29639833 -0.19493577 -1.88110369] [ 0.30919691 0.95023203 0.03816229 -1.97283365] [ 0.17392298 -0.09595371 0.98007331 -0.33144684] [ 0. 0. 0. 1. ]] SLAMing on 166.92241403699998 meters Centerline goodness : 0.858808 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.97, Z:-0.33 [[ 0.93501102 -0.2963511 -0.19475733 -1.88150195] [ 0.30907327 0.95028531 0.03783586 -1.9720031 ] [ 0.17386233 -0.09557123 0.98012144 -0.3315782 ] [ 0. 0. 0. 1. ]] SLAMing on 166.95241403699998 meters Centerline goodness : 0.856102 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.97, Z:-0.33 [[ 0.9350247 -0.29626602 -0.19482107 -1.88024495] [ 0.30897293 0.95032246 0.03772215 -1.97205132] [ 0.17396705 -0.09546558 0.98011315 -0.33262287] [ 0. 0. 0. 1. ]] SLAMing on 166.98241403699998 meters Centerline goodness : 0.856255 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.97, Z:-0.33 [[ 0.93502388 -0.29698053 -0.19373411 -1.87866355] [ 0.30933208 0.95026282 0.03625241 -1.97417841] [ 0.17333206 -0.09382505 0.98038404 -0.33477571] [ 0. 0. 0. 1. ]] SLAMing on 167.01241403699999 meters Centerline goodness : 0.856534 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.33 [[ 0.93510306 -0.29638749 -0.19425942 -1.87765119] [ 0.30899639 0.95032476 0.03747106 -1.97581383] [ 0.17350359 -0.09506476 0.98023426 -0.33442564] [ 0. 0. 0. 1. ]] SLAMing on 167.042414037 meters Centerline goodness : 0.857486 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.33 [[ 0.93514044 -0.29595224 -0.1947425 -1.87685453] [ 0.30875842 0.95036685 0.03835471 -1.97672886] [ 0.17372565 -0.09599542 0.98010422 -0.3341294 ] [ 0. 0. 0. 1. ]] SLAMing on 167.072414037 meters Centerline goodness : 0.854716 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.33 [[ 0.93506675 -0.2960194 -0.19499406 -1.87648299] [ 0.30887966 0.95032109 0.03851208 -1.97722753] [ 0.17390664 -0.09624107 0.98004803 -0.33374185] [ 0. 0. 0. 1. ]] SLAMing on 167.102414037 meters Centerline goodness : 0.854351 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.33 [[ 0.93497304 -0.29620815 -0.19515674 -1.87517045] [ 0.3089595 0.95032411 0.03779041 -1.97627607] [ 0.17426832 -0.09562854 0.98004374 -0.33476205] [ 0. 0. 0. 1. ]] SLAMing on 167.132414037 meters Centerline goodness : 0.854829 Centerline is valid? [False, False] Translation: X:-1.87, Y:-1.98, Z:-0.34 [[ 0.93511787 -0.29570813 -0.19522108 -1.87431705] [ 0.30845213 0.95049014 0.03775944 -1.97667573] [ 0.17438994 -0.09552589 0.98003212 -0.33543766] [ 0. 0. 0. 1. ]] SLAMing on 167.162414037 meters Centerline goodness : 0.851210 Centerline is valid? [False, False] Translation: X:-1.87, Y:-1.98, Z:-0.34 [[ 0.9354075 -0.29508316 -0.19477867 -1.87458406] [ 0.30774013 0.95072827 0.03757354 -1.97718738] [ 0.17409427 -0.09508778 0.98012729 -0.33607929] [ 0. 0. 0. 1. ]] SLAMing on 167.192414037 meters Centerline goodness : 0.852588 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.34 [[ 0.93703346 -0.29099574 -0.19310561 -1.87791292] [ 0.30354433 0.95204867 0.03826452 -1.97853742] [ 0.17271112 -0.09447125 0.98043156 -0.33718159] [ 0. 0. 0. 1. ]] SLAMing on 167.222414037 meters Centerline goodness : 0.850235 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.34 [[ 0.93838814 -0.2863364 -0.19349201 -1.8800028 ] [ 0.29949099 0.95317823 0.04190958 -1.97973117] [ 0.17243213 -0.09727657 0.98020632 -0.33649078] [ 0. 0. 0. 1. ]] SLAMing on 167.252414037 meters Centerline goodness : 0.856187 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.34 [[ 0.93980167 -0.28134828 -0.19394839 -1.88174106] [ 0.29511718 0.95437321 0.04558099 -1.98043152] [ 0.17227501 -0.10007459 0.97995224 -0.33619886] [ 0. 0. 0. 1. ]] SLAMing on 167.282414037 meters Centerline goodness : 0.854651 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.34 [[ 0.94190995 -0.27472422 -0.19321553 -1.88453872] [ 0.28884015 0.95614426 0.04857488 -1.98054898] [ 0.17139722 -0.10156157 0.97995318 -0.33785557] [ 0. 0. 0. 1. ]] SLAMing on 167.312414037 meters Centerline goodness : 0.853910 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.34 [[ 0.9423539 -0.27382906 -0.19231947 -1.8846708 ] [ 0.28770944 0.95652215 0.04783996 -1.98076809] [ 0.17085786 -0.1004143 0.98016558 -0.33970735] [ 0. 0. 0. 1. ]] SLAMing on 167.342414037 meters Centerline goodness : 0.849271 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.34 [[ 0.94242556 -0.27504742 -0.19021825 -1.88479694] [ 0.28814056 0.95655654 0.04443644 -1.9820276 ] [ 0.16973238 -0.09668763 0.98073565 -0.34228338] [ 0. 0. 0. 1. ]] SLAMing on 167.372414037 meters Centerline goodness : 0.848056 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.98, Z:-0.34 [[ 0.94250091 -0.27591944 -0.18857491 -1.88406061] [ 0.28843445 0.95658026 0.04194958 -1.9843668 ] [ 0.16881233 -0.09392902 0.98116244 -0.34453133] [ 0. 0. 0. 1. ]] SLAMing on 167.402414037 meters Centerline goodness : 0.848960 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.99, Z:-0.35 [[ 0.94253293 -0.27707457 -0.18671196 -1.8840517 ] [ 0.28903791 0.95649528 0.03967198 -1.98724778] [ 0.16759701 -0.09135899 0.98161335 -0.34628666] [ 0. 0. 0. 1. ]] SLAMing on 167.432414037 meters Centerline goodness : 0.849063 Centerline is valid? [False, False] Translation: X:-1.88, Y:-1.99, Z:-0.35 [[ 0.94315899 -0.27486072 -0.18682267 -1.88285446] [ 0.2873779 0.95684932 0.04305023 -1.99472921] [ 0.16692833 -0.09429192 0.98144993 -0.34580386] [ 0. 0. 0. 1. ]] SLAMing on 167.462414037 meters Centerline goodness : 0.850465 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.00, Z:-0.35 [[ 0.94350559 -0.27348781 -0.18708719 -1.88212219] [ 0.28636626 0.95705634 0.045139 -1.99882754] [ 0.16670801 -0.09616436 0.98130569 -0.34522726] [ 0. 0. 0. 1. ]] SLAMing on 167.49241403699997 meters Centerline goodness : 0.850267 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.00, Z:-0.34 [[ 0.9436983 -0.2727717 -0.18716067 -1.88206156] [ 0.28594939 0.95709536 0.04691917 -2.00288101] [ 0.16633239 -0.09779602 0.98120817 -0.34422137] [ 0. 0. 0. 1. ]] SLAMing on 167.52241403699998 meters Centerline goodness : 0.856784 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.01, Z:-0.34 [[ 0.94407842 -0.2720317 -0.18631878 -1.88052299] [ 0.28534176 0.95720951 0.04827034 -2.01157201] [ 0.16521505 -0.09873552 0.98130285 -0.34438884] [ 0. 0. 0. 1. ]] SLAMing on 167.55241403699998 meters Centerline goodness : 0.857380 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.02, Z:-0.35 [[ 0.94395091 -0.27344111 -0.18489631 -1.87974756] [ 0.28633968 0.95699629 0.04655837 -2.01544601] [ 0.16421411 -0.09689197 0.98165456 -0.34566907] [ 0. 0. 0. 1. ]] SLAMing on 167.58241403699998 meters Centerline goodness : 0.849037 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.02, Z:-0.35 [[ 0.94427003 -0.27263243 -0.18446048 -1.87797928] [ 0.28561041 0.95717475 0.04736227 -2.02048994] [ 0.16364842 -0.09740661 0.98169809 -0.34672644] [ 0. 0. 0. 1. ]] SLAMing on 167.61241403699998 meters Centerline goodness : 0.858308 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.03, Z:-0.35 [[ 0.9446058 -0.27246849 -0.18297759 -1.87734112] [ 0.28538633 0.95721422 0.04791227 -2.02940647] [ 0.16209417 -0.09747751 0.98194889 -0.34703707] [ 0. 0. 0. 1. ]] SLAMing on 167.64241403699998 meters Centerline goodness : 0.855074 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.03, Z:-0.35 [[ 0.94503424 -0.27083968 -0.18318341 -1.87642523] [ 0.28410093 0.95748986 0.0499983 -2.03375962] [ 0.16185473 -0.09929269 0.9818065 -0.34677628] [ 0. 0. 0. 1. ]] SLAMing on 167.67241403699998 meters Centerline goodness : 0.855426 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.04, Z:-0.35 [[ 0.94540863 -0.26956745 -0.18312816 -1.87598558] [ 0.28307102 0.95770959 0.05160568 -2.03775433] [ 0.16147238 -0.10062672 0.98173364 -0.34655084] [ 0. 0. 0. 1. ]] SLAMing on 167.70241403699998 meters Centerline goodness : 0.855981 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.05, Z:-0.35 [[ 0.94635894 -0.26770467 -0.18093913 -1.87560116] [ 0.28109974 0.9582427 0.05247734 -2.04732457] [ 0.15933517 -0.10052434 0.98209325 -0.34844071] [ 0. 0. 0. 1. ]] SLAMing on 167.73241403699998 meters Centerline goodness : 0.859764 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.05, Z:-0.35 [[ 0.94691215 -0.26633744 -0.18006042 -1.8749416 ] [ 0.27980124 0.9585621 0.05357209 -2.05331563] [ 0.15833084 -0.10110919 0.98219564 -0.34916155] [ 0. 0. 0. 1. ]] SLAMing on 167.76241403699999 meters Centerline goodness : 0.848410 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.07, Z:-0.35 [[ 0.94685896 -0.25808517 -0.19196395 -1.8749109 ] [ 0.27353672 0.96008503 0.05843276 -2.06538159] [ 0.16922108 -0.10783677 0.97966089 -0.34554835] [ 0. 0. 0. 1. ]] SLAMing on 167.792414037 meters Centerline goodness : 0.859787 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.07, Z:-0.34 [[ 0.94714437 -0.25697371 -0.192047 -1.87413684] [ 0.27282984 0.96013836 0.06081287 -2.0711538 ] [ 0.16876438 -0.10999472 0.97949974 -0.34476829] [ 0. 0. 0. 1. ]] SLAMing on 167.822414037 meters Centerline goodness : 0.815538 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.08, Z:-0.34 [[ 0.94725038 -0.25686489 -0.19166938 -1.87235462] [ 0.27311302 0.95989334 0.06335659 -2.08278352] [ 0.16770808 -0.11236196 0.97941247 -0.34325487] [ 0. 0. 0. 1. ]] SLAMing on 167.852414037 meters Centerline goodness : 0.815284 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.09, Z:-0.34 [[ 0.94688406 -0.25849693 -0.19128492 -1.87109251] [ 0.27472654 0.95943104 0.06338299 -2.08952121] [ 0.16714038 -0.11256739 0.97948592 -0.34201687] [ 0. 0. 0. 1. ]] SLAMing on 167.882414037 meters Centerline goodness : 0.814839 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.10, Z:-0.34 [[ 0.94606184 -0.2528738 -0.2025385 -1.87113242] [ 0.27120045 0.9601136 0.06806027 -2.10417838] [ 0.17724931 -0.11931776 0.97690632 -0.33753018] [ 0. 0. 0. 1. ]] SLAMing on 167.912414037 meters Centerline goodness : 0.818485 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.11, Z:-0.34 [[ 0.94541576 -0.25501724 -0.20286756 -1.86742857] [ 0.27347835 0.95944305 0.0684004 -2.11256374] [ 0.17719659 -0.1201467 0.97681428 -0.33642837] [ 0. 0. 0. 1. ]] SLAMing on 167.942414037 meters Centerline goodness : 0.815276 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.13, Z:-0.33 [[ 0.94399812 -0.25129724 -0.21381594 -1.86730124] [ 0.27148378 0.95985871 0.07048274 -2.12729766] [ 0.18752097 -0.12458314 0.97432794 -0.33263903] [ 0. 0. 0. 1. ]] SLAMing on 167.972414037 meters Centerline goodness : 0.847697 Centerline is valid? [False, False] Translation: X:-1.86, Y:-2.14, Z:-0.33 [[ 0.94323949 -0.25399741 -0.21397331 -1.86343677] [ 0.27423384 0.95908273 0.07039971 -2.13547181] [ 0.18733676 -0.12508251 0.97429939 -0.33192444] [ 0. 0. 0. 1. ]] SLAMing on 168.002414037 meters Centerline goodness : 0.858314 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.15, Z:-0.33 [[ 0.94210219 -0.25487849 -0.21790004 -1.85381097] [ 0.27682234 0.95787729 0.07642316 -2.15257559] [ 0.18924287 -0.13231803 0.97297434 -0.33044813] [ 0. 0. 0. 1. ]] SLAMing on 168.032414037 meters Centerline goodness : 0.847628 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.16, Z:-0.33 [[ 0.94157345 -0.25715947 -0.21750506 -1.85185511] [ 0.27900531 0.95727714 0.07600335 -2.15875032] [ 0.18866764 -0.1322478 0.9730956 -0.32981664] [ 0. 0. 0. 1. ]] SLAMing on 168.062414037 meters Centerline goodness : 0.869436 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.17, Z:-0.33 [[ 0.94094292 -0.25965282 -0.21727136 -1.84977397] [ 0.2813894 0.95662751 0.07539112 -2.16548131] [ 0.18827224 -0.1320766 0.97319542 -0.32866407] [ 0. 0. 0. 1. ]] SLAMing on 168.092414037 meters Centerline goodness : 0.856953 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.18, Z:-0.33 [[ 0.94075864 -0.26098796 -0.21646817 -1.84438034] [ 0.28285047 0.95610787 0.07650723 -2.18409332] [ 0.18699945 -0.13320296 0.9732873 -0.32740773] [ 0. 0. 0. 1. ]] SLAMing on 168.122414037 meters Centerline goodness : 0.832542 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.20, Z:-0.32 [[ 0.93939501 -0.25539163 -0.22871846 -1.83229861] [ 0.28328863 0.95398486 0.09828756 -2.19800064] [ 0.19309213 -0.15712419 0.96851816 -0.31555034] [ 0. 0. 0. 1. ]] SLAMing on 168.152414037 meters Centerline goodness : 0.850511 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.20, Z:-0.31 [[ 0.93889174 -0.25739364 -0.22854064 -1.83047109] [ 0.28521825 0.95344804 0.09791518 -2.20437658] [ 0.19269888 -0.15711572 0.96859785 -0.31410388] [ 0. 0. 0. 1. ]] SLAMing on 168.182414037 meters Centerline goodness : 0.870456 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.22, Z:-0.31 [[ 0.93870814 -0.25812551 -0.22846934 -1.83015247] [ 0.28638141 0.95287331 0.10009068 -2.21937903] [ 0.19186638 -0.15938531 0.96839228 -0.30873707] [ 0. 0. 0. 1. ]] SLAMing on 168.212414037 meters Centerline goodness : 0.843702 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.23, Z:-0.31 [[ 0.93811023 -0.26049205 -0.22823908 -1.82895488] [ 0.28857034 0.95230519 0.09920675 -2.22546204] [ 0.19151069 -0.1589299 0.96853753 -0.30689306] [ 0. 0. 0. 1. ]] SLAMing on 168.24241403699997 meters Centerline goodness : 0.845855 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.23, Z:-0.31 [[ 0.93856689 -0.26288055 -0.22357553 -1.83517529] [ 0.28871031 0.95304256 0.09141245 -2.23361849] [ 0.18904644 -0.15034526 0.97039051 -0.30963992] [ 0. 0. 0. 1. ]] SLAMing on 168.27241403699998 meters Centerline goodness : 0.846869 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.25, Z:-0.31 [[ 0.93802209 -0.26785349 -0.2199297 -1.84297876] [ 0.29016985 0.95397195 0.07575609 -2.25172485] [ 0.18951523 -0.13487785 0.97256976 -0.31104038] [ 0. 0. 0. 1. ]] SLAMing on 168.30241403699998 meters Centerline goodness : 0.848039 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.26, Z:-0.31 [[ 0.93737159 -0.27058572 -0.21935786 -1.84123349] [ 0.29286903 0.95314615 0.07576374 -2.26036833] [ 0.18857951 -0.1352619 0.9726983 -0.30923378] [ 0. 0. 0. 1. ]] SLAMing on 168.33241403699998 meters Centerline goodness : 0.849096 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.27, Z:-0.31 [[ 0.93585768 -0.27689136 -0.21794858 -1.84059901] [ 0.29828166 0.9517878 0.07161031 -2.26739759] [ 0.18761253 -0.13202712 0.97332953 -0.30741996] [ 0. 0. 0. 1. ]] SLAMing on 168.36241403699998 meters Centerline goodness : 0.848996 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.27, Z:-0.31 [[ 0.93427794 -0.28331658 -0.21646349 -1.84037135] [ 0.30378792 0.95035911 0.06730864 -2.27456089] [ 0.18664839 -0.12864397 0.97396771 -0.30535504] [ 0. 0. 0. 1. ]] SLAMing on 168.39241403699998 meters Centerline goodness : 0.851374 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.28, Z:-0.30 [[ 0.93260315 -0.28989185 -0.21497461 -1.83984529] [ 0.30942857 0.94884311 0.06285473 -2.28156063] [ 0.1857561 -0.12513781 0.97459489 -0.30342871] [ 0. 0. 0. 1. ]] SLAMing on 168.42241403699998 meters Centerline goodness : 0.852177 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.29, Z:-0.30 [[ 0.9299454 -0.29958956 -0.21318456 -1.83700424] [ 0.31791908 0.94641417 0.05681266 -2.29481186] [ 0.18474041 -0.12060811 0.97535874 -0.30032273] [ 0. 0. 0. 1. ]] SLAMing on 168.45241403699998 meters Centerline goodness : 0.851289 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.30, Z:-0.30 [[ 0.92900586 -0.30274877 -0.21281753 -1.83506525] [ 0.32077537 0.94554781 0.0551588 -2.3006644 ] [ 0.18452989 -0.11950947 0.97553381 -0.29929377] [ 0. 0. 0. 1. ]] SLAMing on 168.48241403699998 meters Centerline goodness : 0.849589 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.31, Z:-0.30 [[ 0.92747356 -0.3079209 -0.21207904 -1.83076344] [ 0.32540042 0.94413125 0.05225665 -2.31198058] [ 0.18413953 -0.11747727 0.97585436 -0.29794126] [ 0. 0. 0. 1. ]] SLAMing on 168.51241403699999 meters Centerline goodness : 0.848803 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.32, Z:-0.30 [[ 0.92681831 -0.31100956 -0.21043023 -1.82932519] [ 0.32792006 0.94338134 0.05000089 -2.31780964] [ 0.1829652 -0.11534603 0.97632937 -0.29856383] [ 0. 0. 0. 1. ]] SLAMing on 168.542414037 meters Centerline goodness : 0.848862 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.32, Z:-0.30 [[ 0.92606671 -0.31348319 -0.21006842 -1.82638837] [ 0.33011624 0.94269275 0.04851434 -2.32308017] [ 0.18282154 -0.11427451 0.97648227 -0.2985901 ] [ 0. 0. 0. 1. ]] SLAMing on 168.572414037 meters Centerline goodness : 0.848020 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.33, Z:-0.30 [[ 0.92588352 -0.3158747 -0.20727487 -1.8261966 ] [ 0.33192621 0.94213716 0.04693148 -2.33490753] [ 0.18045689 -0.11225304 0.97715637 -0.29900728] [ 0. 0. 0. 1. ]] SLAMing on 168.602414037 meters Centerline goodness : 0.847617 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.34, Z:-0.30 [[ 0.92529524 -0.31795913 -0.20671407 -1.82604004] [ 0.33375462 0.94155162 0.04569899 -2.33957735] [ 0.18010156 -0.11127684 0.97733356 -0.29761454] [ 0. 0. 0. 1. ]] SLAMing on 168.632414037 meters Centerline goodness : 0.847523 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.34, Z:-0.30 [[ 0.92458781 -0.32039434 -0.20611854 -1.82534697] [ 0.3358681 0.94087649 0.04409136 -2.34362182] [ 0.17980547 -0.10999498 0.97753317 -0.29672332] [ 0. 0. 0. 1. ]] SLAMing on 168.662414037 meters Centerline goodness : 0.846358 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.35, Z:-0.30 [[ 0.92405558 -0.32236354 -0.20543375 -1.82506074] [ 0.33756481 0.94032675 0.04284389 -2.34791536] [ 0.17936354 -0.10893733 0.97773277 -0.29580305] [ 0. 0. 0. 1. ]] SLAMing on 168.692414037 meters Centerline goodness : 0.849699 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.35, Z:-0.29 [[ 0.92370112 -0.32379211 -0.20478017 -1.8252813 ] [ 0.33879393 0.93992175 0.04202107 -2.35256048] [ 0.17887125 -0.10819319 0.97790557 -0.29454886] [ 0. 0. 0. 1. ]] SLAMing on 168.722414037 meters Centerline goodness : 0.848190 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.36, Z:-0.29 [[ 0.92361081 -0.32431387 -0.20436142 -1.82623953] [ 0.33925966 0.93975817 0.0419222 -2.35761965] [ 0.17845436 -0.10805138 0.97799741 -0.29260366] [ 0. 0. 0. 1. ]] SLAMing on 168.752414037 meters Centerline goodness : 0.848190 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.36, Z:-0.29 [[ 0.92361081 -0.32431387 -0.20436142 -1.82623953] [ 0.33925966 0.93975817 0.0419222 -2.35761965] [ 0.17845436 -0.10805138 0.97799741 -0.29260366] [ 0. 0. 0. 1. ]] SLAMing on 168.782414037 meters Centerline goodness : 0.848693 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.37, Z:-0.29 [[ 0.92578806 -0.32038336 -0.20067626 -1.83377199] [ 0.3351234 0.94117231 0.04343958 -2.37175542] [ 0.17495362 -0.10746716 0.97869405 -0.29239038] [ 0. 0. 0. 1. ]] SLAMing on 168.812414037 meters Centerline goodness : 0.848845 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.38, Z:-0.29 [[ 0.92608556 -0.31916408 -0.20124567 -1.83278771] [ 0.33423962 0.94140985 0.04507069 -2.37601026] [ 0.17506971 -0.1090036 0.97850335 -0.29144427] [ 0. 0. 0. 1. ]] SLAMing on 168.842414037 meters Centerline goodness : 0.848466 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.38, Z:-0.29 [[ 0.92631873 -0.31807637 -0.20189359 -1.83126765] [ 0.33347481 0.94160849 0.0465619 -2.37981972] [ 0.17529448 -0.11045759 0.97830004 -0.2909117 ] [ 0. 0. 0. 1. ]] SLAMing on 168.872414037 meters Centerline goodness : 0.846659 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.39, Z:-0.29 [[ 0.92623311 -0.31974286 -0.19964151 -1.83052619] [ 0.33467197 0.94124939 0.04521348 -2.38747916] [ 0.17345576 -0.10869264 0.97882532 -0.29235338] [ 0. 0. 0. 1. ]] SLAMing on 168.902414037 meters Centerline goodness : 0.846031 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.39, Z:-0.29 [[ 0.92530226 -0.3228636 -0.1989342 -1.8289067 ] [ 0.33735698 0.94039819 0.04291286 -2.39096736] [ 0.17322236 -0.10681921 0.97907286 -0.29215143] [ 0. 0. 0. 1. ]] SLAMing on 168.932414037 meters Centerline goodness : 0.845153 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.39, Z:-0.29 [[ 0.92428317 -0.32624396 -0.19815524 -1.82652764] [ 0.34027736 0.93945333 0.04048171 -2.39496272] [ 0.17295069 -0.1048443 0.97933433 -0.29238635] [ 0. 0. 0. 1. ]] SLAMing on 168.96241403699997 meters Centerline goodness : 0.847273 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.40, Z:-0.29 [[ 0.92241533 -0.33241698 -0.19659328 -1.821711 ] [ 0.3456381 0.9376677 0.03624343 -2.40191891] [ 0.17229124 -0.10138162 0.97981503 -0.29362053] [ 0. 0. 0. 1. ]] SLAMing on 168.99241403699997 meters Centerline goodness : 0.844572 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.40, Z:-0.29 [[ 0.92137094 -0.33595784 -0.19546844 -1.82124615] [ 0.34865689 0.9366479 0.03360194 -2.40372817] [ 0.17179627 -0.09911127 0.98013417 -0.29365353] [ 0. 0. 0. 1. ]] SLAMing on 169.02241403699998 meters Centerline goodness : 0.844855 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.41, Z:-0.29 [[ 0.92071283 -0.3383833 -0.19438266 -1.82305237] [ 0.35072767 0.93593137 0.03197773 -2.40611744] [ 0.1711081 -0.09761769 0.98040441 -0.29220763] [ 0. 0. 0. 1. ]] SLAMing on 169.05241403699998 meters Centerline goodness : 0.843210 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.41, Z:-0.29 [[ 0.92011015 -0.34054964 -0.1934509 -1.82496721] [ 0.35257261 0.93528842 0.03046511 -2.40860129] [ 0.1705575 -0.09623674 0.98063685 -0.29043299] [ 0. 0. 0. 1. ]] SLAMing on 169.08241403699998 meters Centerline goodness : 0.842237 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.41, Z:-0.29 [[ 0.91935058 -0.34290142 -0.19290703 -1.82400654] [ 0.35467077 0.93453853 0.02909272 -2.41425514] [ 0.17030312 -0.0951649 0.98078565 -0.28904139] [ 0. 0. 0. 1. ]] SLAMing on 169.11241403699998 meters Centerline goodness : 0.841623 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.42, Z:-0.29 [[ 0.91843648 -0.34580322 -0.1920796 -1.82310608] [ 0.35709071 0.93369361 0.026504 -2.41615803] [ 0.17017833 -0.09293208 0.98102139 -0.28887286] [ 0. 0. 0. 1. ]] SLAMing on 169.14241403699998 meters Centerline goodness : 0.843579 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.42, Z:-0.29 [[ 0.91787959 -0.3477222 -0.19127552 -1.82357127] [ 0.35867785 0.93313063 0.02484815 -2.41870287] [ 0.1698448 -0.0914139 0.98122181 -0.28795568] [ 0. 0. 0. 1. ]] SLAMing on 169.17241403699998 meters Centerline goodness : 0.841508 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.42, Z:-0.29 [[ 0.91837625 -0.34598781 -0.19203514 -1.82201715] [ 0.35735745 0.93357778 0.02698495 -2.42446228] [ 0.16994327 -0.09340752 0.98101698 -0.28693952] [ 0. 0. 0. 1. ]] SLAMing on 169.20241403699998 meters Centerline goodness : 0.841969 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.43, Z:-0.29 [[ 0.91863456 -0.34503347 -0.19251611 -1.82137647] [ 0.35661759 0.93382946 0.02804346 -2.42705872] [ 0.17010128 -0.09441633 0.98089302 -0.28622781] [ 0. 0. 0. 1. ]] SLAMing on 169.23241403699998 meters Centerline goodness : 0.840731 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.43, Z:-0.29 [[ 0.91894057 -0.34387127 -0.19313409 -1.82049967] [ 0.35571928 0.93413269 0.02932411 -2.43036656] [ 0.17032915 -0.09564864 0.98073407 -0.28530321] [ 0. 0. 0. 1. ]] SLAMing on 169.26241403699999 meters Centerline goodness : 0.840567 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.43, Z:-0.28 [[ 0.91927767 -0.342624 -0.19374561 -1.81931475] [ 0.35477123 0.93444525 0.03081309 -2.4345151 ] [ 0.17048736 -0.09706115 0.98056779 -0.28445028] [ 0. 0. 0. 1. ]] SLAMing on 169.292414037 meters Centerline goodness : 0.840469 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.45, Z:-0.29 [[ 0.92185846 -0.33846749 -0.18872397 -1.82711914] [ 0.34967346 0.93643515 0.02859511 -2.44812409] [ 0.16704925 -0.09235241 0.98161376 -0.28988126] [ 0. 0. 0. 1. ]] SLAMing on 169.322414037 meters Centerline goodness : 0.840376 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.46, Z:-0.29 [[ 0.92273276 -0.33555456 -0.18965073 -1.82383964] [ 0.34739645 0.93716972 0.03207215 -2.45562553] [ 0.16697296 -0.09547801 0.98132766 -0.29015648] [ 0. 0. 0. 1. ]] SLAMing on 169.352414037 meters Centerline goodness : 0.840376 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.46, Z:-0.29 [[ 0.92273276 -0.33555456 -0.18965073 -1.82383964] [ 0.34739645 0.93716972 0.03207215 -2.45562553] [ 0.16697296 -0.09547801 0.98132766 -0.29015648] [ 0. 0. 0. 1. ]] SLAMing on 169.382414037 meters Centerline goodness : 0.839657 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.46, Z:-0.29 [[ 0.92385332 -0.33321212 -0.18832078 -1.82560279] [ 0.34528261 0.93786742 0.03441838 -2.46459778] [ 0.1651513 -0.09682143 0.98150428 -0.29004635] [ 0. 0. 0. 1. ]] SLAMing on 169.412414037 meters Centerline goodness : 0.840097 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.47, Z:-0.29 [[ 0.92331531 -0.33511315 -0.18758471 -1.82644965] [ 0.34693193 0.93730304 0.03318495 -2.46891991] [ 0.164703 -0.0957193 0.9816877 -0.28827134] [ 0. 0. 0. 1. ]] SLAMing on 169.442414037 meters Centerline goodness : 0.841241 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.48, Z:-0.29 [[ 0.92233265 -0.33936431 -0.18475482 -1.8276826 ] [ 0.35046741 0.93608918 0.03016039 -2.48049545] [ 0.16271163 -0.09256845 0.98232174 -0.28665618] [ 0. 0. 0. 1. ]] SLAMing on 169.472414037 meters Centerline goodness : 0.840529 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.48, Z:-0.29 [[ 0.92125245 -0.34268211 -0.18401873 -1.82646814] [ 0.35339684 0.9350563 0.0279354 -2.48496772] [ 0.16249491 -0.09076719 0.98252569 -0.28566438] [ 0. 0. 0. 1. ]] SLAMing on 169.502414037 meters Centerline goodness : 0.840964 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.49, Z:-0.29 [[ 0.92008202 -0.34625433 -0.18318575 -1.82511504] [ 0.35653605 0.93393466 0.0254577 -2.48865181] [ 0.16226868 -0.0887355 0.98274864 -0.28512758] [ 0. 0. 0. 1. ]] SLAMing on 169.532414037 meters Centerline goodness : 0.841641 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.49, Z:-0.28 [[ 0.91897108 -0.34962393 -0.18236026 -1.82408374] [ 0.35949727 0.93285949 0.02312777 -2.49200705] [ 0.16203047 -0.08681177 0.98295974 -0.28454009] [ 0. 0. 0. 1. ]] SLAMing on 169.562414037 meters Centerline goodness : 0.840475 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.50, Z:-0.28 [[ 0.91783714 -0.35303356 -0.18150012 -1.82307879] [ 0.36248703 0.93175829 0.02072787 -2.49500651] [ 0.16179661 -0.08481625 0.98317245 -0.28409122] [ 0. 0. 0. 1. ]] SLAMing on 169.592414037 meters Centerline goodness : 0.840791 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.50, Z:-0.28 [[ 0.9166894 -0.35649597 -0.18053024 -1.82213315] [ 0.36551825 0.93062435 0.01829546 -2.49802751] [ 0.16148358 -0.08275835 0.98339926 -0.28373479] [ 0. 0. 0. 1. ]] SLAMing on 169.622414037 meters Centerline goodness : 0.840498 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.50, Z:-0.28 [[ 0.91448789 -0.36302677 -0.17867137 -1.82009533] [ 0.37125508 0.92842851 0.01378995 -2.50477582] [ 0.16087747 -0.0789434 0.98381217 -0.28281313] [ 0. 0. 0. 1. ]] SLAMing on 169.652414037 meters Centerline goodness : 0.839564 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.51, Z:-0.28 [[ 0.91331233 -0.36644079 -0.17771248 -1.81894419] [ 0.37423474 0.92726535 0.01128425 -2.50812929] [ 0.16065162 -0.07681223 0.98401775 -0.28234338] [ 0. 0. 0. 1. ]] SLAMing on 169.682414037 meters Centerline goodness : 0.840146 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.51, Z:-0.28 [[ 0.91214889 -0.3697711 -0.17678727 -1.81743742] [ 0.37713859 0.92611501 0.00880142 -2.51143873] [ 0.16047084 -0.0747015 0.98420973 -0.28217215] [ 0. 0. 0. 1. ]] SLAMing on 169.71241403699997 meters Centerline goodness : 0.839267 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.51, Z:-0.28 [[ 0.91103455 -0.37298535 -0.1757782 -1.81610683] [ 0.37992016 0.92499774 0.00631354 -2.51419774] [ 0.16023958 -0.07253354 0.98440955 -0.28226426] [ 0. 0. 0. 1. ]] SLAMing on 169.74241403699997 meters Centerline goodness : 0.841236 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.52, Z:-0.28 [[ 0.91020538 -0.37533485 -0.17507115 -1.81466258] [ 0.38205967 0.92412345 0.00512381 -2.52003648] [ 0.15986421 -0.07155135 0.98454245 -0.28151698] [ 0. 0. 0. 1. ]] SLAMing on 169.77241403699998 meters Centerline goodness : 0.841456 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.53, Z:-0.29 [[ 0.91049374 -0.37696682 -0.16999165 -1.83719462] [ 0.38353772 0.92350342 0.00634471 -2.5329986 ] [ 0.15459612 -0.07097503 0.98542508 -0.28612549] [ 0. 0. 0. 1. ]] SLAMing on 169.80241403699998 meters Centerline goodness : 0.842041 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.54, Z:-0.28 [[ 0.90884952 -0.38181952 -0.16794761 -1.8385364 ] [ 0.38783505 0.92172294 0.00328605 -2.54177348] [ 0.15354648 -0.06812249 0.98579045 -0.28275582] [ 0. 0. 0. 1. ]] SLAMing on 169.83241403699998 meters Centerline goodness : 0.839704 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.55, Z:-0.28 [[ 9.07670978e-01 -3.84997001e-01 -1.67064973e-01 -1.83736694e+00] [ 3.90661099e-01 9.20533881e-01 1.13104422e-03 -2.54561557e+00] [ 1.53353520e-01 -6.62924020e-02 9.85945240e-01 -2.82083331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86241403699998 meters Centerline goodness : 0.838866 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.56, Z:-0.28 [[ 0.90502908 -0.38865301 -0.17283288 -1.84710836] [ 0.39503784 0.91866064 0.00278014 -2.55923377] [ 0.15769425 -0.07079163 0.98494724 -0.28167015] [ 0. 0. 0. 1. ]] SLAMing on 169.89241403699998 meters Centerline goodness : 0.841072 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.57, Z:-0.29 [[ 9.05552421e-01 -3.88163425e-01 -1.71184021e-01 -1.87178644e+00] [ 3.94351615e-01 9.18956650e-01 2.34075429e-03 -2.57430572e+00] [ 1.56402099e-01 -6.96263709e-02 9.85236292e-01 -2.88123953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92241403699998 meters Centerline goodness : 0.838849 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.58, Z:-0.29 [[ 9.04224123e-01 -3.91768011e-01 -1.69989887e-01 -1.87124824e+00] [ 3.97458508e-01 9.17619949e-01 -6.03393611e-04 -2.57523921e+00] [ 1.56222502e-01 -6.70183241e-02 9.85445622e-01 -2.88209047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95241403699998 meters Centerline goodness : 0.838813 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.58, Z:-0.29 [[ 0.90284198 -0.39549155 -0.16870918 -1.8705056 ] [ 0.40069426 0.9162052 -0.00348416 -2.57664421] [ 0.15595019 -0.06445515 0.98565971 -0.28836249] [ 0. 0. 0. 1. ]] SLAMing on 169.98241403699998 meters Centerline goodness : 0.837338 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.59, Z:-0.29 [[ 0.89844677 -0.40363383 -0.17283846 -1.88076119] [ 0.40882696 0.91259194 -0.00603869 -2.58781036] [ 0.1601684 -0.06523558 0.98493167 -0.28813011] [ 0. 0. 0. 1. ]] SLAMing on 170.01241403699999 meters Centerline goodness : 0.839054 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.59, Z:-0.29 [[ 0.89591825 -0.41041579 -0.16996874 -1.88214731] [ 0.41460899 0.90992423 -0.01171692 -2.58989869] [ 0.15946748 -0.05997316 0.9853798 -0.28691497] [ 0. 0. 0. 1. ]] SLAMing on 170.042414037 meters Centerline goodness : 0.837497 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.60, Z:-0.29 [[ 0.89580582 -0.41320126 -0.16369685 -1.90837618] [ 0.41684618 0.90888316 -0.01306339 -2.60422657] [ 0.15417912 -0.05653414 0.98642419 -0.29372878] [ 0. 0. 0. 1. ]] SLAMing on 170.072414037 meters Centerline goodness : 0.840763 Centerline is valid? [False, False] Translation: X:-1.94, Y:-2.62, Z:-0.30 [[ 0.89487763 -0.41794469 -0.1565767 -1.94322415] [ 0.42218867 0.90648306 -0.0067225 -2.62155136] [ 0.14474376 -0.06008909 0.98764292 -0.30305438] [ 0. 0. 0. 1. ]] SLAMing on 170.102414037 meters Centerline goodness : 0.842013 Centerline is valid? [False, False] Translation: X:-1.97, Y:-2.63, Z:-0.31 [[ 0.89445817 -0.41970904 -0.15423652 -1.96535815] [ 0.42400641 0.90564241 -0.005513 -2.6292648 ] [ 0.14199699 -0.06046612 0.98801857 -0.30628461] [ 0. 0. 0. 1. ]] SLAMing on 170.132414037 meters Centerline goodness : 0.841613 Centerline is valid? [False, False] Translation: X:-1.99, Y:-2.64, Z:-0.31 [[ 0.89609915 -0.41792355 -0.14948654 -1.99334598] [ 0.42207386 0.90655105 -0.00434158 -2.64048958] [ 0.13733163 -0.05920387 0.98875423 -0.31263417] [ 0. 0. 0. 1. ]] SLAMing on 170.162414037 meters Centerline goodness : 0.841821 Centerline is valid? [False, False] Translation: X:-2.02, Y:-2.65, Z:-0.32 [[ 0.8979304 -0.41579188 -0.1443541 -2.02330778] [ 0.41955651 0.90771668 -0.00477078 -2.65201566] [ 0.13301628 -0.05628087 0.98951459 -0.31934386] [ 0. 0. 0. 1. ]] SLAMing on 170.192414037 meters Centerline goodness : 0.842904 Centerline is valid? [False, False] Translation: X:-2.05, Y:-2.66, Z:-0.33 [[ 0.89976567 -0.41326738 -0.14011358 -2.05233941] [ 0.41646612 0.90912382 -0.00706069 -2.66063211] [ 0.13029854 -0.05199959 0.99011026 -0.32718273] [ 0. 0. 0. 1. ]] SLAMing on 170.222414037 meters Centerline goodness : 0.843041 Centerline is valid? [False, False] Translation: X:-2.08, Y:-2.67, Z:-0.33 [[ 0.90102229 -0.41160507 -0.1368945 -2.07884506] [ 0.41436511 0.91006598 -0.00902572 -2.67015604] [ 0.12829806 -0.04859193 0.99054451 -0.33489774] [ 0. 0. 0. 1. ]] SLAMing on 170.252414037 meters Centerline goodness : 0.841193 Centerline is valid? [False, False] Translation: X:-2.11, Y:-2.68, Z:-0.34 [[ 0.90263245 -0.40916294 -0.13356777 -2.10671196] [ 0.41149746 0.91134555 -0.01091474 -2.68006791] [ 0.1261923 -0.0451108 0.99097958 -0.34213761] [ 0. 0. 0. 1. ]] SLAMing on 170.282414037 meters Centerline goodness : 0.841787 Centerline is valid? [False, False] Translation: X:-2.13, Y:-2.69, Z:-0.35 [[ 0.9042034 -0.4066941 -0.13044585 -2.13365235] [ 0.40886474 0.91252974 -0.01091308 -2.68853597] [ 0.123474 -0.04346707 0.99139537 -0.34878046] [ 0. 0. 0. 1. ]] SLAMing on 170.312414037 meters Centerline goodness : 0.844959 Centerline is valid? [False, False] Translation: X:-2.15, Y:-2.69, Z:-0.35 [[ 0.90494675 -0.40535419 -0.12945793 -2.15291797] [ 0.40800878 0.91295474 -0.00651797 -2.68820123] [ 0.12083131 -0.04692156 0.99156349 -0.35102575] [ 0. 0. 0. 1. ]] SLAMing on 170.342414037 meters Centerline goodness : 0.845520 Centerline is valid? [False, False] Translation: X:-2.18, Y:-2.69, Z:-0.35 [[ 0.90536873 -0.40526219 -0.1267676 -2.17537932] [ 0.40797509 0.91297961 -0.00495577 -2.69350856] [ 0.11774462 -0.04723123 0.99192007 -0.354875 ] [ 0. 0. 0. 1. ]] SLAMing on 170.372414037 meters Centerline goodness : 0.843689 Centerline is valid? [False, False] Translation: X:-2.20, Y:-2.70, Z:-0.36 [[ 0.90545431 -0.40558254 -0.12512112 -2.1979338 ] [ 0.40819794 0.91287897 -0.0051405 -2.69922429] [ 0.11630533 -0.0464197 0.99212816 -0.35891149] [ 0. 0. 0. 1. ]] SLAMing on 170.402414037 meters Centerline goodness : 0.845773 Centerline is valid? [False, False] Translation: X:-2.22, Y:-2.70, Z:-0.36 [[ 0.90519757 -0.40631455 -0.12460272 -2.22000712] [ 0.408692 0.91264541 -0.00701516 -2.70337472] [ 0.11656846 -0.04457403 0.99218191 -0.36325822] [ 0. 0. 0. 1. ]] SLAMing on 170.432414037 meters Centerline goodness : 0.845773 Centerline is valid? [False, False] Translation: X:-2.22, Y:-2.70, Z:-0.36 [[ 0.90519757 -0.40631455 -0.12460272 -2.22000712] [ 0.408692 0.91264541 -0.00701516 -2.70337472] [ 0.11656846 -0.04457403 0.99218191 -0.36325822] [ 0. 0. 0. 1. ]] SLAMing on 170.46241403699997 meters Centerline goodness : 0.846892 Centerline is valid? [False, False] Translation: X:-2.24, Y:-2.71, Z:-0.36 [[ 0.90324901 -0.41114354 -0.12289107 -2.23863211] [ 0.41350356 0.91047684 -0.00683522 -2.70688156] [ 0.11469973 -0.04464199 0.99239663 -0.36463714] [ 0. 0. 0. 1. ]] SLAMing on 170.49241403699997 meters Centerline goodness : 0.846825 Centerline is valid? [False, False] Translation: X:-2.26, Y:-2.71, Z:-0.37 [[ 0.90136735 -0.41523113 -0.12296349 -2.25734447] [ 0.41759775 0.90860434 -0.00709015 -2.71194169] [ 0.11466921 -0.04495844 0.99238587 -0.36564252] [ 0. 0. 0. 1. ]] SLAMing on 170.52241403699998 meters Centerline goodness : 0.848209 Centerline is valid? [False, False] Translation: X:-2.27, Y:-2.71, Z:-0.36 [[ 0.89808607 -0.42034608 -0.12942406 -2.26790803] [ 0.42334971 0.9059541 -0.00471152 -2.71299087] [ 0.11923273 -0.05056028 0.99157814 -0.36333112] [ 0. 0. 0. 1. ]] SLAMing on 170.55241403699998 meters Centerline goodness : 0.847624 Centerline is valid? [False, False] Translation: X:-2.29, Y:-2.72, Z:-0.37 [[ 0.89747651 -0.42242955 -0.12684319 -2.29228438] [ 0.42508005 0.90513069 -0.00673739 -2.72085651] [ 0.11765574 -0.04787186 0.9918999 -0.36713671] [ 0. 0. 0. 1. ]] SLAMing on 170.58241403699998 meters Centerline goodness : 0.849514 Centerline is valid? [False, False] Translation: X:-2.32, Y:-2.73, Z:-0.37 [[ 0.89691581 -0.42468443 -0.12322812 -2.31590124] [ 0.4270528 0.9041927 -0.00784037 -2.72798064] [ 0.11475165 -0.04559276 0.9923474 -0.37069105] [ 0. 0. 0. 1. ]] SLAMing on 170.61241403699998 meters Centerline goodness : 0.848178 Centerline is valid? [False, False] Translation: X:-2.34, Y:-2.73, Z:-0.37 [[ 0.89549485 -0.4283416 -0.12088194 -2.33540397] [ 0.4306203 0.9024983 -0.00793591 -2.72935969] [ 0.11249503 -0.04494765 0.99263517 -0.3724302 ] [ 0. 0. 0. 1. ]] SLAMing on 170.64241403699998 meters Centerline goodness : 0.848637 Centerline is valid? [False, False] Translation: X:-2.36, Y:-2.73, Z:-0.37 [[ 0.89556965 -0.42933756 -0.116723 -2.36018248] [ 0.4314474 0.90210396 -0.00784695 -2.73096438] [ 0.10866527 -0.04333235 0.99313351 -0.37443294] [ 0. 0. 0. 1. ]] SLAMing on 170.67241403699998 meters Centerline goodness : 0.848637 Centerline is valid? [False, False] Translation: X:-2.38, Y:-2.74, Z:-0.38 [[ 0.8956098 -0.42971711 -0.11500559 -2.38302029] [ 0.43167212 0.90198947 -0.0086128 -2.74016584] [ 0.1074349 -0.041931 0.99332751 -0.37813823] [ 0. 0. 0. 1. ]] SLAMing on 170.70241403699998 meters Centerline goodness : 0.848637 Centerline is valid? [False, False] Translation: X:-2.41, Y:-2.75, Z:-0.38 [[ 0.89563349 -0.43011241 -0.11333124 -2.40567347] [ 0.43194035 0.90185558 -0.00916812 -2.74931219] [ 0.10615174 -0.04074106 0.99351496 -0.38175188] [ 0. 0. 0. 1. ]] SLAMing on 170.73241403699998 meters Centerline goodness : 0.849024 Centerline is valid? [False, False] Translation: X:-2.43, Y:-2.75, Z:-0.38 [[ 0.89553336 -0.43094435 -0.11093681 -2.42747063] [ 0.43266359 0.90150719 -0.00932742 -2.74854506] [ 0.10402993 -0.0396453 0.99378369 -0.38243192] [ 0. 0. 0. 1. ]] SLAMing on 170.76241403699999 meters Centerline goodness : 0.847034 Centerline is valid? [False, False] Translation: X:-2.46, Y:-2.76, Z:-0.39 [[ 0.89713722 -0.428608 -0.10695786 -2.45613011] [ 0.42992649 0.90278949 -0.01159093 -2.75683049] [ 0.1015284 -0.03558536 0.99419599 -0.38839951] [ 0. 0. 0. 1. ]] SLAMing on 170.792414037 meters Centerline goodness : 0.847356 Centerline is valid? [False, False] Translation: X:-2.48, Y:-2.76, Z:-0.40 [[ 0.89879822 -0.42607683 -0.10305485 -2.48463435] [ 0.42699057 0.90414553 -0.01413899 -2.76477803] [ 0.09920088 -0.03129535 0.99457518 -0.39507218] [ 0. 0. 0. 1. ]] SLAMing on 170.822414037 meters Centerline goodness : 0.846604 Centerline is valid? [False, False] Translation: X:-2.51, Y:-2.77, Z:-0.40 [[ 0.89959858 -0.42497862 -0.10057621 -2.50837291] [ 0.42581468 0.90470082 -0.01408114 -2.77011498] [ 0.09697556 -0.03015946 0.99482971 -0.3993786 ] [ 0. 0. 0. 1. ]] SLAMing on 170.852414037 meters Centerline goodness : 0.846154 Centerline is valid? [False, False] Translation: X:-2.53, Y:-2.77, Z:-0.40 [[ 0.90110716 -0.42258896 -0.09707967 -2.53423034] [ 0.42340109 0.90584766 -0.01309712 -2.77274313] [ 0.09347409 -0.02930173 0.99519044 -0.4033712 ] [ 0. 0. 0. 1. ]] SLAMing on 170.882414037 meters Centerline goodness : 0.846242 Centerline is valid? [False, False] Translation: X:-2.56, Y:-2.78, Z:-0.41 [[ 0.90172352 -0.42208527 -0.09348109 -2.55830131] [ 0.42282878 0.90612084 -0.0126828 -2.77914082] [ 0.09005838 -0.02809011 0.99554027 -0.40715014] [ 0. 0. 0. 1. ]] SLAMing on 170.912414037 meters Centerline goodness : 0.845899 Centerline is valid? [False, False] Translation: X:-2.58, Y:-2.79, Z:-0.41 [[ 0.90211906 -0.42206484 -0.08967984 -2.58286208] [ 0.42266266 0.90619163 -0.01315321 -2.78590351] [ 0.08681863 -0.02603856 0.99588379 -0.41102369] [ 0. 0. 0. 1. ]] SLAMing on 170.942414037 meters Centerline goodness : 0.845724 Centerline is valid? [False, False] Translation: X:-2.60, Y:-2.79, Z:-0.41 [[ 0.90148603 -0.42368633 -0.08839021 -2.60176703] [ 0.42440317 0.90540088 -0.01145426 -2.7900171 ] [ 0.08488158 -0.02718722 0.99602007 -0.41209015] [ 0. 0. 0. 1. ]] SLAMing on 170.972414037 meters Centerline goodness : 0.844622 Centerline is valid? [False, False] Translation: X:-2.62, Y:-2.79, Z:-0.41 [[ 0.90067223 -0.42584147 -0.08630513 -2.62114035] [ 0.42662654 0.90437191 -0.01006172 -2.79419841] [ 0.08233664 -0.02775775 0.99621794 -0.4137409 ] [ 0. 0. 0. 1. ]] SLAMing on 171.002414037 meters Centerline goodness : 0.846048 Centerline is valid? [False, False] Translation: X:-2.64, Y:-2.80, Z:-0.41 [[ 0.89958867 -0.42815247 -0.08617243 -2.63946718] [ 0.42904302 0.90324072 -0.00884851 -2.79860716] [ 0.08162296 -0.02901166 0.99624094 -0.41447356] [ 0. 0. 0. 1. ]] SLAMing on 171.032414037 meters Centerline goodness : 0.843733 Centerline is valid? [False, False] Translation: X:-2.67, Y:-2.81, Z:-0.42 [[ 0.89771186 -0.43166126 -0.08821544 -2.67299058] [ 0.43271489 0.90149708 -0.00779993 -2.8093535 ] [ 0.08289289 -0.03117005 0.99607088 -0.41784215] [ 0. 0. 0. 1. ]] SLAMing on 171.062414037 meters Centerline goodness : 0.841560 Centerline is valid? [False, False] Translation: X:-2.70, Y:-2.82, Z:-0.42 [[ 0.89762434 -0.43201736 -0.0873587 -2.69586104] [ 0.43277381 0.90143457 -0.01107027 -2.81754265] [ 0.0835307 -0.02786961 0.99611541 -0.42121853] [ 0. 0. 0. 1. ]] SLAMing on 171.092414037 meters Centerline goodness : 0.841725 Centerline is valid? [False, False] Translation: X:-2.72, Y:-2.83, Z:-0.42 [[ 0.89801817 -0.43143029 -0.08620485 -2.71862239] [ 0.43204407 0.90176764 -0.01237115 -2.82554318] [ 0.08307403 -0.02613477 0.99620062 -0.42493492] [ 0. 0. 0. 1. ]] SLAMing on 171.122414037 meters Centerline goodness : 0.841557 Centerline is valid? [False, False] Translation: X:-2.74, Y:-2.83, Z:-0.43 [[ 0.89877954 -0.43009538 -0.08493121 -2.7424198 ] [ 0.43050928 0.90247252 -0.01432138 -2.83299684] [ 0.08280764 -0.02369192 0.99628389 -0.42856643] [ 0. 0. 0. 1. ]] SLAMing on 171.152414037 meters Centerline goodness : 0.841242 Centerline is valid? [False, False] Translation: X:-2.77, Y:-2.84, Z:-0.43 [[ 0.90273574 -0.42239491 -0.08155198 -2.77426613] [ 0.42273987 0.90614536 -0.01384152 -2.84208782] [ 0.07974454 -0.02198004 0.99657297 -0.43338983] [ 0. 0. 0. 1. ]] SLAMing on 171.182414037 meters Centerline goodness : 0.841109 Centerline is valid? [False, False] Translation: X:-2.80, Y:-2.85, Z:-0.44 [[ 0.90575006 -0.41669081 -0.07736668 -2.80389516] [ 0.41698576 0.90881896 -0.01307578 -2.85257886] [ 0.07576087 -0.02041742 0.99691696 -0.43796635] [ 0. 0. 0. 1. ]] SLAMing on 171.21241403699997 meters Centerline goodness : 0.840235 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.85, Z:-0.44 [[ 0.90913516 -0.40873042 -0.08007933 -2.80611162] [ 0.40955416 0.91226188 -0.00660715 -2.84920271] [ 0.07575386 -0.02679003 0.9967666 -0.43783612] [ 0. 0. 0. 1. ]] SLAMing on 171.24241403699997 meters Centerline goodness : 0.839123 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.85, Z:-0.44 [[ 0.91079136 -0.40473183 -0.08155519 -2.80689328] [ 0.40583649 0.91393978 -0.003288 -2.84794428] [ 0.07586729 -0.03010339 0.9966634 -0.43766285] [ 0. 0. 0. 1. ]] SLAMing on 171.27241403699998 meters Centerline goodness : 0.839602 Centerline is valid? [False, False] Translation: X:-2.83, Y:-2.86, Z:-0.44 [[ 9.12626901e-01 -4.01385660e-01 -7.74705829e-02 -2.83113406e+00] [ 4.02465914e-01 9.15433175e-01 -1.81396565e-03 -2.85549987e+00] [ 7.16472414e-02 -2.95237951e-02 9.96992988e-01 -4.41749716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30241403699998 meters Centerline goodness : 0.837582 Centerline is valid? [False, False] Translation: X:-2.83, Y:-2.85, Z:-0.44 [[ 9.14265996e-01 -3.97342560e-01 -7.89720087e-02 -2.83191054e+00] [ 3.98705962e-01 9.17077352e-01 1.63907003e-03 -2.85478265e+00] [ 7.17721684e-02 -3.29851567e-02 9.96875486e-01 -4.41270345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33241403699998 meters Centerline goodness : 0.838446 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.85, Z:-0.44 [[ 0.91526004 -0.39495256 -0.07944515 -2.83504091] [ 0.39645313 0.91804858 0.0034246 -2.8539495 ] [ 0.07158196 -0.03463068 0.99683336 -0.43926647] [ 0. 0. 0. 1. ]] SLAMing on 171.36241403699998 meters Centerline goodness : 0.837878 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.85, Z:-0.43 [[ 0.91720669 -0.39023655 -0.08029524 -2.84170422] [ 0.39203824 0.91991918 0.00739777 -2.85494801] [ 0.07097826 -0.03826409 0.99674367 -0.43376484] [ 0. 0. 0. 1. ]] SLAMing on 171.39241403699998 meters Centerline goodness : 0.836791 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.86, Z:-0.43 [[ 0.91777454 -0.38886952 -0.0804387 -2.84420138] [ 0.39074775 0.92045899 0.00845221 -2.85569213] [ 0.07075372 -0.03918846 0.99672372 -0.43151665] [ 0. 0. 0. 1. ]] SLAMing on 171.42241403699998 meters Centerline goodness : 0.835510 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.86, Z:-0.43 [[ 0.918025 -0.38824324 -0.08060576 -2.84467433] [ 0.39014903 0.92070992 0.00877315 -2.85600447] [ 0.07080841 -0.03950223 0.99670745 -0.43082266] [ 0. 0. 0. 1. ]] SLAMing on 171.45241403699998 meters Centerline goodness : 0.834925 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.86, Z:-0.44 [[ 0.91905001 -0.38649203 -0.0772722 -2.84987872] [ 0.3879828 0.92165461 0.00470328 -2.85801886] [ 0.0694005 -0.03430283 0.99699894 -0.43503806] [ 0. 0. 0. 1. ]] SLAMing on 171.48241403699998 meters Centerline goodness : 0.833088 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.86, Z:-0.44 [[ 0.91926565 -0.38595444 -0.07739403 -2.84978817] [ 0.38747222 0.92186753 0.00505247 -2.85812764] [ 0.06939702 -0.0346326 0.99698778 -0.43516832] [ 0. 0. 0. 1. ]] SLAMing on 171.51241403699999 meters Centerline goodness : 0.832210 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.86, Z:-0.44 [[ 0.91954003 -0.385262 -0.07758433 -2.84962149] [ 0.386819 0.92213897 0.00554813 -2.85845598] [ 0.06940605 -0.03511282 0.99697036 -0.43533021] [ 0. 0. 0. 1. ]] SLAMing on 171.542414037 meters Centerline goodness : 0.832843 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.86, Z:-0.44 [[ 0.92030877 -0.38327219 -0.07832106 -2.84806814] [ 0.38497047 0.92290023 0.00727405 -2.8606564 ] [ 0.06949458 -0.03684566 0.99690165 -0.436035 ] [ 0. 0. 0. 1. ]] SLAMing on 171.572414037 meters Centerline goodness : 0.830178 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.86, Z:-0.44 [[ 0.92064939 -0.382351 -0.07881887 -2.84679226] [ 0.38414265 0.92323571 0.00838128 -2.86322744] [ 0.06956381 -0.03799391 0.99685372 -0.4361165 ] [ 0. 0. 0. 1. ]] SLAMing on 171.602414037 meters Centerline goodness : 0.829931 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.87, Z:-0.44 [[ 0.92096674 -0.38144204 -0.07951246 -2.84512799] [ 0.38334785 0.92355347 0.00966524 -2.86685768] [ 0.06974728 -0.03938229 0.99678701 -0.43580201] [ 0. 0. 0. 1. ]] SLAMing on 171.632414037 meters Centerline goodness : 0.828564 Centerline is valid? [False, False] Translation: X:-2.85, Y:-2.87, Z:-0.43 [[ 0.92052163 -0.38265581 -0.07883179 -2.84572177] [ 0.3844747 0.92309404 0.0087525 -2.87058201] [ 0.06941996 -0.0383657 0.99684951 -0.43429702] [ 0. 0. 0. 1. ]] SLAMing on 171.662414037 meters Centerline goodness : 0.830479 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.88, Z:-0.43 [[ 0.92025037 -0.38333648 -0.07869181 -2.84468483] [ 0.38517908 0.92279654 0.00914473 -2.87912453] [ 0.06911102 -0.03872588 0.99685705 -0.43205025] [ 0. 0. 0. 1. ]] SLAMing on 171.692414037 meters Centerline goodness : 0.831026 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.88, Z:-0.43 [[ 0.91964902 -0.38491426 -0.07801729 -2.84499246] [ 0.38666431 0.9221848 0.00811844 -2.883139 ] [ 0.06882145 -0.03763262 0.99691895 -0.43047625] [ 0. 0. 0. 1. ]] SLAMing on 171.722414037 meters Centerline goodness : 0.830299 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.89, Z:-0.43 [[ 0.91874693 -0.38720854 -0.0772892 -2.84408486] [ 0.38881977 0.92129157 0.00640461 -2.88682645] [ 0.06872597 -0.03593578 0.99698814 -0.42977384] [ 0. 0. 0. 1. ]] SLAMing on 171.752414037 meters Centerline goodness : 0.831403 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.89, Z:-0.43 [[ 0.91769461 -0.38984399 -0.07653928 -2.84279797] [ 0.39130142 0.92025182 0.00444943 -2.89063227] [ 0.06870083 -0.03403315 0.99705664 -0.42919117] [ 0. 0. 0. 1. ]] SLAMing on 171.782414037 meters Centerline goodness : 0.830155 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.90, Z:-0.43 [[ 9.16621745e-01 -3.92503035e-01 -7.58020105e-02 -2.84126972e+00] [ 3.93820355e-01 9.19183567e-01 2.66432364e-03 -2.89522379e+00] [ 6.86302072e-02 -3.22945517e-02 9.97119329e-01 -4.28477314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812414037 meters Centerline goodness : 0.832979 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.90, Z:-0.43 [[ 9.15498332e-01 -3.95264931e-01 -7.50229220e-02 -2.83958826e+00] [ 3.96439756e-01 9.18060356e-01 8.38044350e-04 -2.89999213e+00] [ 6.85443210e-02 -3.05092971e-02 9.97181457e-01 -4.27879267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842414037 meters Centerline goodness : 0.831168 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.91, Z:-0.43 [[ 9.13269013e-01 -4.00739254e-01 -7.31283815e-02 -2.83707684e+00] [ 4.01634236e-01 9.15796266e-01 -2.67213822e-03 -2.90962157e+00] [ 6.80415294e-02 -2.69304806e-02 9.97318956e-01 -4.26421101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872414037 meters Centerline goodness : 0.831677 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.91, Z:-0.43 [[ 0.91213055 -0.40348468 -0.07223556 -2.83616052] [ 0.40424763 0.9146391 -0.00437808 -2.91445791] [ 0.06783596 -0.02520767 0.99737799 -0.425253 ] [ 0. 0. 0. 1. ]] SLAMing on 171.902414037 meters Centerline goodness : 0.832735 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.92, Z:-0.42 [[ 0.91100168 -0.4061812 -0.07136365 -2.83507446] [ 0.40681394 0.91349074 -0.00608968 -2.9192746 ] [ 0.06766355 -0.02348402 0.99743177 -0.42422291] [ 0. 0. 0. 1. ]] SLAMing on 171.932414037 meters Centerline goodness : 0.831775 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.94, Z:-0.43 [[ 0.91175701 -0.40529435 -0.06660067 -2.86093046] [ 0.4059006 0.91390478 -0.00477063 -2.93931289] [ 0.06280017 -0.0226836 0.99776831 -0.42754033] [ 0. 0. 0. 1. ]] SLAMing on 171.96241403699997 meters Centerline goodness : 0.831949 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.94, Z:-0.43 [[ 0.91087949 -0.40741737 -0.06564793 -2.86084926] [ 0.40792402 0.91299549 -0.00610223 -2.94396314] [ 0.06242242 -0.02122097 0.99782419 -0.42612906] [ 0. 0. 0. 1. ]] SLAMing on 171.99241403699997 meters Centerline goodness : 0.834281 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.95, Z:-0.42 [[ 0.9105373 -0.40826401 -0.06513305 -2.86025089] [ 0.40878539 0.91261262 -0.00571981 -2.95217473] [ 0.06177643 -0.02141734 0.9978602 -0.42414368] [ 0. 0. 0. 1. ]] SLAMing on 172.02241403699998 meters Centerline goodness : 0.833957 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.96, Z:-0.42 [[ 0.91099385 -0.40713426 -0.06581715 -2.85967728] [ 0.40777328 0.91307434 -0.0040248 -2.95590795] [ 0.06173458 -0.02317191 0.99782358 -0.42296335] [ 0. 0. 0. 1. ]] SLAMing on 172.05241403699998 meters Centerline goodness : 0.832620 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.96, Z:-0.42 [[ 9.11417427e-01 -4.06074680e-01 -6.64953305e-02 -2.85894329e+00] [ 4.06826528e-01 9.13502211e-01 -2.42620104e-03 -2.95962966e+00] [ 6.17288502e-02 -2.48407825e-02 9.97783786e-01 -4.21871849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08241403699998 meters Centerline goodness : 0.833299 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.96, Z:-0.42 [[ 0.91085928 -0.40744692 -0.06574478 -2.85976575] [ 0.40811718 0.91292283 -0.00350254 -2.96311463] [ 0.06144701 -0.02364126 0.99783032 -0.42013317] [ 0. 0. 0. 1. ]] SLAMing on 172.11241403699998 meters Centerline goodness : 0.832435 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.97, Z:-0.42 [[ 0.9099184 -0.40969375 -0.06480382 -2.85911881] [ 0.4102297 0.91196612 -0.00542042 -2.96645311] [ 0.0613196 -0.02165232 0.9978833 -0.41950093] [ 0. 0. 0. 1. ]] SLAMing on 172.14241403699998 meters Centerline goodness : 0.832364 Centerline is valid? [False, False] Translation: X:-2.86, Y:-2.97, Z:-0.42 [[ 0.90886147 -0.4121708 -0.06392222 -2.85724456] [ 0.41256823 0.91089609 -0.00746855 -2.97005567] [ 0.06130482 -0.0195844 0.99792694 -0.4196945 ] [ 0. 0. 0. 1. ]] SLAMing on 172.17241403699998 meters Centerline goodness : 0.831319 Centerline is valid? [False, False] Translation: X:-2.87, Y:-2.99, Z:-0.43 [[ 0.91023133 -0.40879833 -0.06605187 -2.87459467] [ 0.40923535 0.91239891 -0.00739289 -2.99265653] [ 0.06328786 -0.02030152 0.9977888 -0.42538196] [ 0. 0. 0. 1. ]] SLAMing on 172.20241403699998 meters Centerline goodness : 0.830862 Centerline is valid? [False, False] Translation: X:-2.87, Y:-2.99, Z:-0.43 [[ 0.90926233 -0.41112463 -0.06495037 -2.87374907] [ 0.41142411 0.91139641 -0.00931585 -2.9947544 ] [ 0.06302551 -0.0182516 0.99784501 -0.42588227] [ 0. 0. 0. 1. ]] SLAMing on 172.23241403699998 meters Centerline goodness : 0.830673 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.00, Z:-0.42 [[ 0.90853089 -0.41289198 -0.06396741 -2.87443238] [ 0.41310167 0.91062401 -0.01053216 -2.99792209] [ 0.06259891 -0.01685625 0.99789641 -0.42468206] [ 0. 0. 0. 1. ]] SLAMing on 172.26241403699999 meters Centerline goodness : 0.829580 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.00, Z:-0.42 [[ 0.90781328 -0.41459608 -0.06312798 -2.87498339] [ 0.41472317 0.90987246 -0.01169605 -3.001961 ] [ 0.06228755 -0.0155628 0.9979369 -0.42292568] [ 0. 0. 0. 1. ]] SLAMing on 172.292414037 meters Centerline goodness : 0.825350 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.01, Z:-0.42 [[ 0.90762833 -0.41507856 -0.06261478 -2.8736892 ] [ 0.41524911 0.90964267 -0.0108811 -3.01453165] [ 0.06147359 -0.01612474 0.99797845 -0.42009444] [ 0. 0. 0. 1. ]] SLAMing on 172.322414037 meters Centerline goodness : 0.820646 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.02, Z:-0.42 [[ 0.9078297 -0.41446634 -0.06374083 -2.87056485] [ 0.41475755 0.90988527 -0.00921852 -3.02088723] [ 0.06181761 -0.01806814 0.99792391 -0.41913028] [ 0. 0. 0. 1. ]] SLAMing on 172.352414037 meters Centerline goodness : 0.817350 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.03, Z:-0.42 [[ 0.90801227 -0.41387801 -0.06495161 -2.86700571] [ 0.4142925 0.91011218 -0.00758626 -3.02668091] [ 0.06225304 -0.02002055 0.99785958 -0.41875062] [ 0. 0. 0. 1. ]] SLAMing on 172.382414037 meters Centerline goodness : 0.813656 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.03, Z:-0.42 [[ 0.90824717 -0.41320833 -0.0659238 -2.86424593] [ 0.41375358 0.91037046 -0.00579668 -3.03206456] [ 0.06241032 -0.02201139 0.99780782 -0.41831664] [ 0. 0. 0. 1. ]] SLAMing on 172.412414037 meters Centerline goodness : 0.808694 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.04, Z:-0.42 [[ 9.08591450e-01 -4.12220141e-01 -6.73508101e-02 -2.86015666e+00] [ 4.13019675e-01 9.10719353e-01 -2.23775811e-03 -3.04207045e+00] [ 6.22601352e-02 -2.57840018e-02 9.97726847e-01 -4.16736923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442414037 meters Centerline goodness : 0.807621 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.05, Z:-0.42 [[ 0.90748239 -0.41494626 -0.06553866 -2.8595245 ] [ 0.41559226 0.90954182 -0.00409409 -3.04591882] [ 0.06130898 -0.02352204 0.99784163 -0.41664749] [ 0. 0. 0. 1. ]] SLAMing on 172.472414037 meters Centerline goodness : 0.806101 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.05, Z:-0.42 [[ 0.90641322 -0.41744925 -0.06442987 -2.85897056] [ 0.41798781 0.90843582 -0.00552815 -3.05115841] [ 0.06083812 -0.02192011 0.99790693 -0.41528333] [ 0. 0. 0. 1. ]] SLAMing on 172.502414037 meters Centerline goodness : 0.802960 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.06, Z:-0.41 [[ 0.90490079 -0.42104957 -0.06222393 -2.86029255] [ 0.42145643 0.90682104 -0.00707692 -3.06378922] [ 0.05940571 -0.01982076 0.99803712 -0.41034983] [ 0. 0. 0. 1. ]] SLAMing on 172.532414037 meters Centerline goodness : 0.802743 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.07, Z:-0.41 [[ 0.90371346 -0.42377468 -0.06096722 -2.85990603] [ 0.42405111 0.90559381 -0.00897259 -3.06842688] [ 0.05901389 -0.01774457 0.99809944 -0.40912221] [ 0. 0. 0. 1. ]] SLAMing on 172.562414037 meters Centerline goodness : 0.802743 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.07, Z:-0.41 [[ 0.90371615 -0.4237687 -0.06096893 -2.85990009] [ 0.42404603 0.90559634 -0.00895759 -3.06846281] [ 0.05900919 -0.01775852 0.99809947 -0.40911711] [ 0. 0. 0. 1. ]] SLAMing on 172.592414037 meters Centerline goodness : 0.803038 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.08, Z:-0.40 [[ 0.90442857 -0.42103297 -0.06884904 -2.87455046] [ 0.42102501 0.90691936 -0.01533647 -3.0843588 ] [ 0.06889769 -0.01511643 0.9975092 -0.40479216] [ 0. 0. 0. 1. ]] SLAMing on 172.622414037 meters Centerline goodness : 0.802018 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.09, Z:-0.40 [[ 0.90456403 -0.42051402 -0.07022728 -2.8759648 ] [ 0.42094069 0.90704017 -0.0093311 -3.09156187] [ 0.06762283 -0.02112094 0.99748737 -0.40128563] [ 0. 0. 0. 1. ]] SLAMing on 172.652414037 meters Centerline goodness : 0.802520 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.10, Z:-0.40 [[ 0.90471909 -0.41968868 -0.07310806 -2.86922884] [ 0.42044281 0.90730239 -0.0054974 -3.09994945] [ 0.06863832 -0.02576415 0.99730887 -0.40306067] [ 0. 0. 0. 1. ]] SLAMing on 172.682414037 meters Centerline goodness : 0.801387 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.11, Z:-0.40 [[ 9.05658747e-01 -4.17333635e-01 -7.49324475e-02 -2.87017256e+00] [ 4.18641907e-01 9.08149319e-01 1.94105888e-03 -3.10675449e+00] [ 6.72397821e-02 -3.31277997e-02 9.97186723e-01 -4.01994821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71241403699997 meters Centerline goodness : 0.800923 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.11, Z:-0.40 [[ 0.90592337 -0.41661138 -0.07574827 -2.86935295] [ 0.41815207 0.90836324 0.00500692 -3.11147821] [ 0.066721 -0.03621018 0.9971144 -0.40207014] [ 0. 0. 0. 1. ]] SLAMing on 172.74241403699997 meters Centerline goodness : 0.802520 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.12, Z:-0.40 [[ 0.90613611 -0.41600794 -0.0765163 -2.87210438] [ 0.41804144 0.90834795 0.01205605 -3.11866243] [ 0.06448801 -0.04291141 0.99699544 -0.39903165] [ 0. 0. 0. 1. ]] SLAMing on 172.77241403699998 meters Centerline goodness : 0.798796 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.13, Z:-0.39 [[ 0.90527691 -0.41779287 -0.07695995 -2.87320665] [ 0.42034227 0.90714901 0.01982545 -3.12996875] [ 0.06153121 -0.05029704 0.99683706 -0.39421828] [ 0. 0. 0. 1. ]] SLAMing on 172.80241403699998 meters Centerline goodness : 0.798829 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.13, Z:-0.39 [[ 0.90467574 -0.41909081 -0.0769721 -2.87243944] [ 0.42171805 0.90648289 0.02103924 -3.13467736] [ 0.06095654 -0.05149422 0.99681124 -0.39396767] [ 0. 0. 0. 1. ]] SLAMing on 172.83241403699998 meters Centerline goodness : 0.798562 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.14, Z:-0.39 [[ 0.90280837 -0.42320133 -0.07640472 -2.87265802] [ 0.42593835 0.90445402 0.02322582 -3.14329683] [ 0.05927536 -0.05351217 0.99680634 -0.39135596] [ 0. 0. 0. 1. ]] SLAMing on 172.86241403699998 meters Centerline goodness : 0.799317 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.15, Z:-0.39 [[ 0.90168435 -0.42576391 -0.0754349 -2.87299256] [ 0.4284025 0.90331141 0.02235615 -3.14682068] [ 0.05862276 -0.05247469 0.99690008 -0.39047058] [ 0. 0. 0. 1. ]] SLAMing on 172.89241403699998 meters Centerline goodness : 0.800419 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.15, Z:-0.39 [[ 0.90076925 -0.42781898 -0.07473742 -2.87360061] [ 0.43041085 0.90236198 0.02212114 -3.15084413] [ 0.05797636 -0.05209384 0.99695786 -0.38899573] [ 0. 0. 0. 1. ]] SLAMing on 172.92241403699998 meters Centerline goodness : 0.800903 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.16, Z:-0.38 [[ 0.90029638 -0.42878766 -0.07488371 -2.87647429] [ 0.43168588 0.90161014 0.02732148 -3.15766997] [ 0.0558008 -0.05692366 0.99681792 -0.384576 ] [ 0. 0. 0. 1. ]] SLAMing on 172.95241403699998 meters Centerline goodness : 0.801120 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.16, Z:-0.38 [[ 0.89959703 -0.43028774 -0.07468366 -2.87575862] [ 0.43319641 0.90087453 0.02767585 -3.16142551] [ 0.05537203 -0.05724981 0.99682315 -0.38415562] [ 0. 0. 0. 1. ]] SLAMing on 172.98241403699998 meters Centerline goodness : 0.798547 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.17, Z:-0.38 [[ 0.89922367 -0.43087897 -0.07576344 -2.87285372] [ 0.43399553 0.90040662 0.0302623 -3.1674877 ] [ 0.05517851 -0.06009357 0.99666649 -0.38476072] [ 0. 0. 0. 1. ]] SLAMing on 173.01241403699999 meters Centerline goodness : 0.800720 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.17, Z:-0.39 [[ 0.89955103 -0.43009548 -0.07632714 -2.87217593] [ 0.43335896 0.90064186 0.03231484 -3.1697726 ] [ 0.05484495 -0.06214589 0.99655904 -0.38530794] [ 0. 0. 0. 1. ]] SLAMing on 173.042414037 meters Centerline goodness : 0.799303 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.17, Z:-0.38 [[ 0.89994448 -0.42921807 -0.07662753 -2.87303498] [ 0.43267545 0.90084904 0.0355382 -3.17378869] [ 0.0537762 -0.06513726 0.99642624 -0.38495364] [ 0. 0. 0. 1. ]] SLAMing on 173.072414037 meters Centerline goodness : 0.800189 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.18, Z:-0.38 [[ 0.90063276 -0.42774018 -0.07680471 -2.87818351] [ 0.43159976 0.90104029 0.0429889 -3.17960776] [ 0.05081606 -0.0718661 0.99611896 -0.37998989] [ 0. 0. 0. 1. ]] SLAMing on 173.102414037 meters Centerline goodness : 0.800939 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.18, Z:-0.38 [[ 0.90040973 -0.42833088 -0.07612472 -2.87956786] [ 0.43212517 0.90080404 0.04266051 -3.18181557] [ 0.05030064 -0.07130735 0.99618528 -0.37820016] [ 0. 0. 0. 1. ]] SLAMing on 173.132414037 meters Centerline goodness : 0.798525 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.19, Z:-0.38 [[ 0.89977678 -0.42978897 -0.07538697 -2.88171092] [ 0.43358981 0.90004293 0.04384744 -3.18533078] [ 0.04900636 -0.07213992 0.99618985 -0.37673786] [ 0. 0. 0. 1. ]] SLAMing on 173.162414037 meters Centerline goodness : 0.800373 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.19, Z:-0.38 [[ 0.89978946 -0.42983481 -0.07497311 -2.88425321] [ 0.43370701 0.89988199 0.04594164 -3.18780796] [ 0.04771963 -0.07385416 0.9961267 -0.37565493] [ 0. 0. 0. 1. ]] SLAMing on 173.192414037 meters Centerline goodness : 0.799198 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.19, Z:-0.38 [[ 0.89947813 -0.43054991 -0.07460469 -2.88482974] [ 0.43444024 0.89947874 0.04690061 -3.18918747] [ 0.04691229 -0.07459735 0.99610967 -0.37599481] [ 0. 0. 0. 1. ]] SLAMing on 173.222414037 meters Centerline goodness : 0.800021 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.19, Z:-0.38 [[ 0.89848513 -0.43272472 -0.07398501 -2.88604827] [ 0.43664698 0.89831902 0.04860405 -3.19128988] [ 0.04542997 -0.07597535 0.99607423 -0.37664076] [ 0. 0. 0. 1. ]] SLAMing on 173.252414037 meters Centerline goodness : 0.797571 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.19, Z:-0.38 [[ 0.89823319 -0.43336468 -0.0732952 -2.88978905] [ 0.43735967 0.89781464 0.05143329 -3.19348852] [ 0.04351613 -0.07825546 0.99598315 -0.37569699] [ 0. 0. 0. 1. ]] SLAMing on 173.282414037 meters Centerline goodness : 0.799520 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.20, Z:-0.37 [[ 0.89796829 -0.43404359 -0.07251972 -2.89360792] [ 0.4381064 0.89727046 0.05448395 -3.19575244] [ 0.04142139 -0.08069622 0.9958777 -0.37493357] [ 0. 0. 0. 1. ]] SLAMing on 173.312414037 meters Centerline goodness : 0.799910 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.20, Z:-0.38 [[ 0.89706955 -0.43601741 -0.07179858 -2.8955339 ] [ 0.44011113 0.89614895 0.05673851 -3.19746118] [ 0.03960324 -0.08249774 0.99580405 -0.37601637] [ 0. 0. 0. 1. ]] SLAMing on 173.342414037 meters Centerline goodness : 0.798044 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.20, Z:-0.37 [[ 0.89748339 -0.43519288 -0.07162908 -2.90056429] [ 0.43946583 0.89613613 0.06172376 -3.19986141] [ 0.03732766 -0.08687458 0.99551969 -0.3743241 ] [ 0. 0. 0. 1. ]] SLAMing on 173.372414037 meters Centerline goodness : 0.800904 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.20, Z:-0.37 [[ 0.89817717 -0.43381126 -0.07131311 -2.90653237] [ 0.43825817 0.89633046 0.06724197 -3.20253081] [ 0.03474979 -0.09164876 0.99518489 -0.37181388] [ 0. 0. 0. 1. ]] SLAMing on 173.402414037 meters Centerline goodness : 0.799309 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.20, Z:-0.37 [[ 0.89856586 -0.43305453 -0.07101523 -2.9099028 ] [ 0.43754707 0.89651907 0.06932613 -3.20311885] [ 0.03364452 -0.0933666 0.99506318 -0.37037808] [ 0. 0. 0. 1. ]] SLAMing on 173.432414037 meters Centerline goodness : 0.801226 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.20, Z:-0.37 [[ 0.89959073 -0.43101496 -0.07044586 -2.91670738] [ 0.43564693 0.89697437 0.07515809 -3.2036571 ] [ 0.03079387 -0.09830105 0.99468017 -0.3692654 ] [ 0. 0. 0. 1. ]] SLAMing on 173.46241403699997 meters Centerline goodness : 0.799958 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.21, Z:-0.37 [[ 0.90061307 -0.42889686 -0.07031062 -2.92261589] [ 0.4337048 0.89737807 0.0813188 -3.20517793] [ 0.02821784 -0.10373083 0.99420504 -0.36824586] [ 0. 0. 0. 1. ]] SLAMing on 173.49241403699997 meters Centerline goodness : 0.799279 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.21, Z:-0.36 [[ 0.90177458 -0.42665386 -0.06905867 -2.93244733] [ 0.43162844 0.89726032 0.09284825 -3.20926232] [ 0.02234954 -0.11353588 0.99328249 -0.36481188] [ 0. 0. 0. 1. ]] SLAMing on 173.52241403699998 meters Centerline goodness : 0.798752 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.21, Z:-0.36 [[ 0.90194438 -0.42634952 -0.06871991 -2.93585746] [ 0.43134449 0.89711888 0.09549687 -3.2091606 ] [ 0.02093488 -0.11577482 0.99305484 -0.36445333] [ 0. 0. 0. 1. ]] SLAMing on 173.55241403699998 meters Centerline goodness : 0.800942 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.21, Z:-0.36 [[ 0.90210614 -0.4266673 -0.06449445 -2.94796442] [ 0.43129352 0.8962967 0.10314129 -3.21193311] [ 0.01379915 -0.12086043 0.99257359 -0.35969423] [ 0. 0. 0. 1. ]] SLAMing on 173.58241403699998 meters Centerline goodness : 0.800359 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.22, Z:-0.36 [[ 9.05296051e-01 -4.21513519e-01 -5.25871937e-02 -2.95471586e+00] [ 4.24780472e-01 8.98102879e-01 1.13898061e-01 -3.21737780e+00] [-7.80862246e-04 -1.25449478e-01 9.92099702e-01 -3.59445135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61241403699998 meters Centerline goodness : 0.799428 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.22, Z:-0.36 [[ 0.90579338 -0.4207655 -0.04994742 -2.96424101] [ 0.42368267 0.89784222 0.1198847 -3.21971175] [-0.00559845 -0.12975262 0.99153059 -0.35560595] [ 0. 0. 0. 1. ]] SLAMing on 173.64241403699998 meters Centerline goodness : 0.801840 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.22, Z:-0.36 [[ 0.90954444 -0.41377656 -0.03895992 -2.97131353] [ 0.41512489 0.89997701 0.1330891 -3.22310728] [-0.02000612 -0.13722368 0.99033803 -0.35672785] [ 0. 0. 0. 1. ]] SLAMing on 173.67241403699998 meters Centerline goodness : 0.800212 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.22, Z:-0.36 [[ 0.91035066 -0.41194631 -0.03952104 -2.97325453] [ 0.41332807 0.90033575 0.13621839 -3.22233042] [-0.02053246 -0.14034166 0.98989021 -0.3567508 ] [ 0. 0. 0. 1. ]] SLAMing on 173.70241403699998 meters Centerline goodness : 0.802020 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.22, Z:-0.36 [[ 0.91159192 -0.40914421 -0.04001489 -2.9766616 ] [ 0.41054022 0.90097483 0.14036055 -3.22197652] [-0.0213753 -0.14437926 0.98929153 -0.35585684] [ 0. 0. 0. 1. ]] SLAMing on 173.73241403699998 meters Centerline goodness : 0.801244 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.22, Z:-0.35 [[ 0.91377587 -0.40436948 -0.03871679 -2.98896203] [ 0.40533022 0.90132599 0.15270516 -3.22210068] [-0.02685285 -0.15523137 0.98751311 -0.35349955] [ 0. 0. 0. 1. ]] SLAMing on 173.76241403699999 meters Centerline goodness : 0.799090 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.22, Z:-0.35 [[ 0.91451817 -0.402742 -0.03814958 -2.99536792] [ 0.40350115 0.90132439 0.15748384 -3.22169816] [-0.02904021 -0.15941523 0.9867844 -0.35202197] [ 0. 0. 0. 1. ]] SLAMing on 173.792414037 meters Centerline goodness : 0.799527 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.23, Z:-0.35 [[ 0.91741425 -0.39709113 -0.025879 -3.00231765] [ 0.39557807 0.90298785 0.16772278 -3.22525099] [-0.04323281 -0.16410843 0.98549447 -0.35446507] [ 0. 0. 0. 1. ]] SLAMing on 173.822414037 meters Centerline goodness : 0.801147 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.22, Z:-0.35 [[ 0.91794076 -0.39597064 -0.02433146 -3.01070767] [ 0.39403356 0.90289202 0.17182417 -3.2249443 ] [-0.04606864 -0.16731183 0.98482711 -0.35100975] [ 0. 0. 0. 1. ]] SLAMing on 173.852414037 meters Centerline goodness : 0.802165 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.22, Z:-0.35 [[ 0.91862027 -0.39462161 -0.0202628 -3.02431627] [ 0.39167996 0.90260216 0.17859494 -3.2229933 ] [-0.05218817 -0.17199747 0.98371402 -0.34682493] [ 0. 0. 0. 1. ]] SLAMing on 173.882414037 meters Centerline goodness : 0.802927 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.23, Z:-0.35 [[ 0.9216213 -0.38800664 -0.00806402 -3.0320663 ] [ 0.38235994 0.90425917 0.19004271 -3.22674372] [-0.06644586 -0.17823077 0.98174271 -0.34790061] [ 0. 0. 0. 1. ]] SLAMing on 173.912414037 meters Centerline goodness : 0.803721 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.23, Z:-0.35 [[ 0.92433887 -0.38154889 0.00425516 -3.03632705] [ 0.37315892 0.90622984 0.19874582 -3.22969325] [-0.0796874 -0.18212064 0.98004183 -0.35165583] [ 0. 0. 0. 1. ]] SLAMing on 173.942414037 meters Centerline goodness : 0.805910 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.23, Z:-0.36 [[ 0.92454555 -0.38101311 0.00667352 -3.05222165] [ 0.37324834 0.90895653 0.18569788 -3.22556372] [-0.07681926 -0.16919527 0.98258423 -0.35545893] [ 0. 0. 0. 1. ]] SLAMing on 173.972414037 meters Centerline goodness : 0.806060 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.22, Z:-0.36 [[ 0.92422768 -0.38167996 0.01111802 -3.06109121] [ 0.37383402 0.91039328 0.17729129 -3.22259585] [-0.0777903 -0.15970122 0.98409562 -0.36128868] [ 0. 0. 0. 1. ]] SLAMing on 174.002414037 meters Centerline goodness : 0.806940 Centerline is valid? [False, False] Translation: X:-3.07, Y:-3.22, Z:-0.37 [[ 0.92404554 -0.38198392 0.01510366 -3.07060894] [ 0.37425874 0.9119968 0.16790541 -3.22000889] [-0.07791166 -0.14949957 0.9856874 -0.36697432] [ 0. 0. 0. 1. ]] SLAMing on 174.032414037 meters Centerline goodness : 0.805548 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.22, Z:-0.37 [[ 0.92429461 -0.38126043 0.01788742 -3.08292168] [ 0.37400097 0.91405735 0.15691536 -3.21583554] [-0.07617574 -0.13834611 0.98745006 -0.3716021 ] [ 0. 0. 0. 1. ]] SLAMing on 174.062414037 meters Centerline goodness : 0.807502 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.22, Z:-0.38 [[ 0.92411529 -0.3814402 0.0226783 -3.09451774] [ 0.37431666 0.91559103 0.14690171 -3.21521675] [-0.07679826 -0.12726525 0.98889109 -0.37606061] [ 0. 0. 0. 1. ]] SLAMing on 174.092414037 meters Centerline goodness : 0.809092 Centerline is valid? [False, False] Translation: X:-3.10, Y:-3.21, Z:-0.38 [[ 0.9229961 -0.38390072 0.02642789 -3.0991506 ] [ 0.37672846 0.91548057 0.14131879 -3.21211864] [-0.0784466 -0.12048055 0.98961132 -0.37944351] [ 0. 0. 0. 1. ]] SLAMing on 174.122414037 meters Centerline goodness : 0.809576 Centerline is valid? [False, False] Translation: X:-3.11, Y:-3.21, Z:-0.38 [[ 0.92342697 -0.38275116 0.02800308 -3.11380069] [ 0.37640666 0.9175141 0.12839743 -3.21003559] [-0.07483749 -0.10802511 0.99132736 -0.38283194] [ 0. 0. 0. 1. ]] SLAMing on 174.152414037 meters Centerline goodness : 0.810428 Centerline is valid? [False, False] Translation: X:-3.12, Y:-3.21, Z:-0.39 [[ 0.9224017 -0.38494186 0.03154141 -3.118001 ] [ 0.37868891 0.91742741 0.12215426 -3.20567013] [-0.07595925 -0.10073091 0.99200982 -0.38761851] [ 0. 0. 0. 1. ]] SLAMing on 174.182414037 meters Centerline goodness : 0.808463 Centerline is valid? [False, False] Translation: X:-3.13, Y:-3.20, Z:-0.39 [[ 0.92224497 -0.38497418 0.03548369 -3.12561062] [ 0.37896492 0.91835917 0.11402643 -3.20325697] [-0.076484 -0.09171323 0.99284383 -0.39384788] [ 0. 0. 0. 1. ]] SLAMing on 174.21241403699997 meters Centerline goodness : 0.809209 Centerline is valid? [False, False] Translation: X:-3.13, Y:-3.20, Z:-0.40 [[ 0.92275464 -0.38358722 0.03721169 -3.13383819] [ 0.3781256 0.91979221 0.10489671 -3.19783363] [-0.07446406 -0.08272323 0.99378668 -0.39963517] [ 0. 0. 0. 1. ]] SLAMing on 174.24241403699997 meters Centerline goodness : 0.811798 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.20, Z:-0.40 [[ 0.92282926 -0.38298288 0.0413554 -3.14291234] [ 0.37768666 0.92069155 0.09838632 -3.19583329] [-0.07575585 -0.07517439 0.99428862 -0.40349303] [ 0. 0. 0. 1. ]] SLAMing on 174.27241403699998 meters Centerline goodness : 0.813640 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.20, Z:-0.41 [[ 0.92340916 -0.38106374 0.04589075 -3.15485817] [ 0.37597172 0.92209646 0.09156078 -3.1951196 ] [-0.07720619 -0.06729444 0.99474151 -0.40673287] [ 0. 0. 0. 1. ]] SLAMing on 174.30241403699998 meters Centerline goodness : 0.817904 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.19, Z:-0.41 [[ 0.92500127 -0.37661047 0.05037068 -3.17302971] [ 0.3717902 0.9244633 0.08449651 -3.19401932] [-0.07838811 -0.05943206 0.9951498 -0.40648829] [ 0. 0. 0. 1. ]] SLAMing on 174.33241403699998 meters Centerline goodness : 0.820676 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.19, Z:-0.40 [[ 0.92495963 -0.37658012 0.05135278 -3.17724785] [ 0.37177384 0.92455267 0.08358572 -3.19101069] [-0.07895507 -0.0582218 0.99517653 -0.40447139] [ 0. 0. 0. 1. ]] SLAMing on 174.36241403699998 meters Centerline goodness : 0.823236 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.19, Z:-0.40 [[ 0.92514389 -0.37574679 0.05406604 -3.1843824 ] [ 0.37090543 0.92503546 0.08208872 -3.1887596 ] [-0.08085758 -0.05589049 0.99515743 -0.40389829] [ 0. 0. 0. 1. ]] SLAMing on 174.39241403699998 meters Centerline goodness : 0.824507 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.19, Z:-0.40 [[ 0.92513247 -0.37549365 0.05598603 -3.18946742] [ 0.37067224 0.92526395 0.08055251 -3.18554052] [-0.08204881 -0.05376927 0.9951768 -0.40366616] [ 0. 0. 0. 1. ]] SLAMing on 174.42241403699998 meters Centerline goodness : 0.826538 Centerline is valid? [False, False] Translation: X:-3.20, Y:-3.18, Z:-0.41 [[ 0.92519658 -0.37489333 0.05887517 -3.19527267] [ 0.37015617 0.92571222 0.07772579 -3.18242975] [-0.08364034 -0.05011863 0.99523485 -0.40601087] [ 0. 0. 0. 1. ]] SLAMing on 174.45241403699998 meters Centerline goodness : 0.830031 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.18, Z:-0.41 [[ 0.92676992 -0.37129776 0.05688136 -3.2069591 ] [ 0.36746581 0.92757195 0.06766953 -3.17878785] [-0.0778871 -0.04181213 0.99608501 -0.40746719] [ 0. 0. 0. 1. ]] SLAMing on 174.48241403699998 meters Centerline goodness : 0.830031 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.18, Z:-0.41 [[ 0.92676992 -0.37129776 0.05688136 -3.2069591 ] [ 0.36746581 0.92757195 0.06766953 -3.17878785] [-0.0778871 -0.04181213 0.99608501 -0.40746719] [ 0. 0. 0. 1. ]] SLAMing on 174.51241403699999 meters Centerline goodness : 0.832159 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.17, Z:-0.41 [[ 0.92584702 -0.3733168 0.05866732 -3.20907261] [ 0.36969595 0.92693953 0.06409375 -3.17476255] [-0.07830834 -0.03765194 0.99621792 -0.40877652] [ 0. 0. 0. 1. ]] SLAMing on 174.542414037 meters Centerline goodness : 0.836537 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.17, Z:-0.41 [[ 0.92526519 -0.3741141 0.06263364 -3.21737788] [ 0.37091897 0.92691202 0.05703714 -3.17178169] [-0.07939428 -0.02954248 0.99640544 -0.41132363] [ 0. 0. 0. 1. ]] SLAMing on 174.572414037 meters Centerline goodness : 0.838132 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.17, Z:-0.41 [[ 0.9238258 -0.37734225 0.06448803 -3.21874819] [ 0.37443484 0.92574437 0.05287644 -3.16899905] [-0.07965194 -0.02470205 0.99651662 -0.41182164] [ 0. 0. 0. 1. ]] SLAMing on 174.602414037 meters Centerline goodness : 0.835557 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.17, Z:-0.41 [[ 0.92230294 -0.38071921 0.06640906 -3.2197209 ] [ 0.37811478 0.92447956 0.04864928 -3.16653021] [-0.07991554 -0.01975913 0.99660578 -0.41270021] [ 0. 0. 0. 1. ]] SLAMing on 174.632414037 meters Centerline goodness : 0.836310 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.16, Z:-0.41 [[ 0.92069625 -0.38425363 0.06831959 -3.2204699 ] [ 0.38196954 0.92310986 0.04435612 -3.16418067] [-0.08011049 -0.01474251 0.99667696 -0.41355173] [ 0. 0. 0. 1. ]] SLAMing on 174.662414037 meters Centerline goodness : 0.838749 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.16, Z:-0.41 [[ 0.9188017 -0.38842192 0.07022714 -3.22066137] [ 0.38651485 0.92143603 0.03952106 -3.16139925] [-0.08006066 -0.00916819 0.99674783 -0.41467881] [ 0. 0. 0. 1. ]] SLAMing on 174.692414037 meters Centerline goodness : 0.838759 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.16, Z:-0.41 [[ 0.9174193 -0.39135848 0.07197473 -3.22241675] [ 0.38972943 0.92022476 0.03601903 -3.15989 ] [-0.08032929 -0.00499389 0.99675587 -0.41392857] [ 0. 0. 0. 1. ]] SLAMing on 174.722414037 meters Centerline goodness : 0.838794 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.16, Z:-0.41 [[ 9.15925414e-01 -3.94491042e-01 7.38745827e-02 -3.22412006e+00] [ 3.93167844e-01 9.18899635e-01 3.22878901e-02 -3.15788665e+00] [-8.06206105e-02 -5.28188731e-04 9.96744721e-01 -4.13608546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752414037 meters Centerline goodness : 0.837193 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.16, Z:-0.41 [[ 9.13302375e-01 -4.01348213e-01 6.92703742e-02 -3.23656901e+00] [ 4.00228009e-01 9.15925481e-01 2.99675571e-02 -3.15860363e+00] [-7.54739263e-02 3.54502875e-04 9.97147713e-01 -4.12216239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782414037 meters Centerline goodness : 0.838268 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.16, Z:-0.41 [[ 0.91171853 -0.40462957 0.07102274 -3.23753732] [ 0.40382972 0.91446676 0.02592485 -3.15627978] [-0.07543789 0.00504493 0.99713774 -0.41237707] [ 0. 0. 0. 1. ]] SLAMing on 174.812414037 meters Centerline goodness : 0.838438 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.15, Z:-0.41 [[ 0.91023506 -0.40761962 0.0729272 -3.23942187] [ 0.40712086 0.9131031 0.02225584 -3.15425144] [-0.07566197 0.00943214 0.99708891 -0.41183048] [ 0. 0. 0. 1. ]] SLAMing on 174.842414037 meters Centerline goodness : 0.837886 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.15, Z:-0.41 [[ 0.90699857 -0.41460118 0.0738881 -3.2568259 ] [ 0.41444375 0.9098934 0.018176 -3.154542 ] [-0.07476608 0.01413685 0.99710089 -0.41003519] [ 0. 0. 0. 1. ]] SLAMing on 174.872414037 meters Centerline goodness : 0.837557 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.15, Z:-0.41 [[ 0.90561777 -0.41724624 0.07590803 -3.25910697] [ 0.41739644 0.90860661 0.01463687 -3.15184075] [-0.07507772 0.01842833 0.99700739 -0.40978946] [ 0. 0. 0. 1. ]] SLAMing on 174.902414037 meters Centerline goodness : 0.840400 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.15, Z:-0.41 [[ 0.90537984 -0.41769039 0.07630263 -3.25971369] [ 0.41791354 0.90838218 0.01378739 -3.1495888 ] [-0.0750708 0.01940508 0.99698938 -0.41034234] [ 0. 0. 0. 1. ]] SLAMing on 174.932414037 meters Centerline goodness : 0.838196 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.14, Z:-0.41 [[ 0.90523309 -0.41782028 0.07732573 -3.26329007] [ 0.41812954 0.90829543 0.0129266 -3.14347481] [-0.07563561 0.02063058 0.99692208 -0.41063785] [ 0. 0. 0. 1. ]] SLAMing on 174.96241403699997 meters Centerline goodness : 0.840726 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.14, Z:-0.41 [[ 0.90542823 -0.4173162 0.07776191 -3.26633541] [ 0.41763506 0.90852331 0.01289739 -3.1402505 ] [-0.0760308 0.02079844 0.99688853 -0.40946761] [ 0. 0. 0. 1. ]] SLAMing on 174.99241403699997 meters Centerline goodness : 0.840693 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.14, Z:-0.41 [[ 0.90570222 -0.41664895 0.0781482 -3.26951116] [ 0.41697449 0.90882684 0.01288614 -3.13730513] [-0.07639218 0.0209148 0.99685847 -0.40789879] [ 0. 0. 0. 1. ]] SLAMing on 175.02241403699998 meters Centerline goodness : 0.842271 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.13, Z:-0.41 [[ 0.90716017 -0.41358814 0.07749368 -3.2742199 ] [ 0.41374671 0.91027247 0.01475418 -3.13225738] [-0.07664251 0.01867835 0.99688367 -0.40515722] [ 0. 0. 0. 1. ]] SLAMing on 175.05241403699998 meters Centerline goodness : 0.840250 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.13, Z:-0.40 [[ 0.90936582 -0.40868873 0.07763582 -3.28932327] [ 0.4094884 0.91229524 0.00605431 -3.13329137] [-0.07330111 0.02628538 0.9969634 -0.40386479] [ 0. 0. 0. 1. ]] SLAMing on 175.08241403699998 meters Centerline goodness : 0.840422 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.13, Z:-0.40 [[ 9.11971719e-01 -4.03888343e-01 7.19846529e-02 -3.29617397e+00] [ 4.04944556e-01 9.14341238e-01 -8.63514138e-05 -3.12603603e+00] [-6.57836603e-02 2.92285434e-02 9.97405736e-01 -4.03352865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11241403699998 meters Centerline goodness : 0.838499 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.12, Z:-0.41 [[ 9.12188447e-01 -4.03060079e-01 7.38566780e-02 -3.29965699e+00] [ 4.04257090e-01 9.14644356e-01 -1.38132492e-03 -3.12180016e+00] [-6.69958367e-02 3.11171143e-02 9.97267909e-01 -4.05686422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14241403699998 meters Centerline goodness : 0.839436 Centerline is valid? [False, False] Translation: X:-3.32, Y:-3.13, Z:-0.40 [[ 9.13087330e-01 -4.01106728e-01 7.33820123e-02 -3.32328823e+00] [ 4.02202334e-01 9.15550793e-01 -1.67229132e-04 -3.12686624e+00] [-6.71178828e-02 2.96671114e-02 9.97303892e-01 -4.04564646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17241403699998 meters Centerline goodness : 0.836224 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.12, Z:-0.40 [[ 9.13348169e-01 -4.00444747e-01 7.37504378e-02 -3.32610507e+00] [ 4.01550077e-01 9.15837052e-01 -1.74793990e-04 -3.12369552e+00] [-6.74733882e-02 2.97741417e-02 9.97276713e-01 -4.03544544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20241403699998 meters Centerline goodness : 0.837494 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.12, Z:-0.40 [[ 9.13698298e-01 -3.99586620e-01 7.40672169e-02 -3.32919356e+00] [ 4.00673447e-01 9.16220906e-01 2.02086848e-04 -3.12117716e+00] [-6.79426838e-02 2.94921207e-02 9.97253231e-01 -4.01946481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23241403699998 meters Centerline goodness : 0.837280 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.12, Z:-0.40 [[ 9.13991948e-01 -3.98858033e-01 7.43706196e-02 -3.33228064e+00] [ 3.99940641e-01 9.16540970e-01 3.65777486e-04 -3.11848891e+00] [-6.83096131e-02 2.94095156e-02 9.97230604e-01 -4.00199447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26241403699999 meters Centerline goodness : 0.838890 Centerline is valid? [False, False] Translation: X:-3.34, Y:-3.11, Z:-0.40 [[ 9.15137168e-01 -3.96358434e-01 7.36475057e-02 -3.33555811e+00] [ 3.97292784e-01 9.17689449e-01 2.12578662e-03 -3.11321256e+00] [-6.84281124e-02 2.73142363e-02 9.97282069e-01 -3.98796954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.292414037 meters Centerline goodness : 0.836070 Centerline is valid? [False, False] Translation: X:-3.34, Y:-3.11, Z:-0.40 [[ 9.15919463e-01 -3.93966762e-01 7.66924269e-02 -3.34428214e+00] [ 3.95206088e-01 9.18591855e-01 -1.07297959e-03 -3.11219355e+00] [-7.00263204e-02 3.12920769e-02 9.97054221e-01 -3.99302303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322414037 meters Centerline goodness : 0.840623 Centerline is valid? [False, False] Translation: X:-3.35, Y:-3.11, Z:-0.40 [[ 0.91666181 -0.3916632 0.07956801 -3.35277943] [ 0.39326032 0.91941438 -0.00485044 -3.11066787] [-0.07125623 0.03573715 0.99681764 -0.4001752 ] [ 0. 0. 0. 1. ]] SLAMing on 175.352414037 meters Centerline goodness : 0.839442 Centerline is valid? [False, False] Translation: X:-3.37, Y:-3.11, Z:-0.40 [[ 0.91702976 -0.39146517 0.07623279 -3.37114561] [ 0.39285288 0.91959459 -0.0035225 -3.11017944] [-0.06872432 0.0331785 0.99708383 -0.39767737] [ 0. 0. 0. 1. ]] SLAMing on 175.382414037 meters Centerline goodness : 0.838617 Centerline is valid? [False, False] Translation: X:-3.37, Y:-3.11, Z:-0.40 [[ 0.91703936 -0.39139105 0.07649748 -3.37239098] [ 0.39283507 0.91959929 -0.00421303 -3.10726265] [-0.06869809 0.03391441 0.99706087 -0.39760729] [ 0. 0. 0. 1. ]] SLAMing on 175.412414037 meters Centerline goodness : 0.838869 Centerline is valid? [False, False] Translation: X:-3.38, Y:-3.11, Z:-0.40 [[ 0.91762934 -0.38930034 0.0800103 -3.38044333] [ 0.3910381 0.92035016 -0.00669168 -3.10663277] [-0.07103242 0.03742755 0.99677158 -0.39869265] [ 0. 0. 0. 1. ]] SLAMing on 175.442414037 meters Centerline goodness : 0.838453 Centerline is valid? [False, False] Translation: X:-3.38, Y:-3.10, Z:-0.40 [[ 0.91905617 -0.38612012 0.07903805 -3.38293172] [ 0.3876282 0.92180669 -0.00409893 -3.102542 ] [-0.07127512 0.03440453 0.99686317 -0.39775516] [ 0. 0. 0. 1. ]] SLAMing on 175.472414037 meters Centerline goodness : 0.838473 Centerline is valid? [False, False] Translation: X:-3.39, Y:-3.10, Z:-0.40 [[ 9.19520445e-01 -3.84993233e-01 7.91350877e-02 -3.38603482e+00] [ 3.86444985e-01 9.22306504e-01 -3.31460733e-03 -3.10035104e+00] [-7.17107047e-02 3.36292070e-02 9.96858391e-01 -3.95723584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502414037 meters Centerline goodness : 0.840558 Centerline is valid? [False, False] Translation: X:-3.39, Y:-3.10, Z:-0.39 [[ 9.20265342e-01 -3.83297976e-01 7.87042641e-02 -3.38877022e+00] [ 3.84614348e-01 9.23075781e-01 -1.70481634e-03 -3.09852081e+00] [-7.19965474e-02 3.18396726e-02 9.96896551e-01 -3.93472887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.532414037 meters Centerline goodness : 0.839146 Centerline is valid? [False, False] Translation: X:-3.40, Y:-3.10, Z:-0.39 [[ 9.21649117e-01 -3.79505311e-01 8.08617626e-02 -3.39733422e+00] [ 3.80789752e-01 9.24661513e-01 -5.01883150e-04 -3.09660881e+00] [-7.45792924e-02 3.12538907e-02 9.96725200e-01 -3.91453521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562414037 meters Centerline goodness : 0.836834 Centerline is valid? [False, False] Translation: X:-3.40, Y:-3.10, Z:-0.39 [[ 0.92313322 -0.37585375 0.08098772 -3.40480901] [ 0.37755715 0.92596503 -0.00627402 -3.09630376] [-0.07263368 0.03636925 0.99669535 -0.39180806] [ 0. 0. 0. 1. ]] SLAMing on 175.592414037 meters Centerline goodness : 0.834022 Centerline is valid? [False, False] Translation: X:-3.41, Y:-3.09, Z:-0.39 [[ 0.92602378 -0.37068163 0.07123968 -3.40872315] [ 0.372324 0.92803926 -0.01086156 -3.0930109 ] [-0.06208704 0.0365823 0.99740009 -0.39019198] [ 0. 0. 0. 1. ]] SLAMing on 175.622414037 meters Centerline goodness : 0.834126 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.10, Z:-0.39 [[ 0.92658136 -0.37096964 0.06187496 -3.41737238] [ 0.3718851 0.92827189 -0.00357345 -3.09542833] [-0.05611115 0.02632147 0.99807751 -0.38608259] [ 0. 0. 0. 1. ]] SLAMing on 175.652414037 meters Centerline goodness : 0.835344 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.09, Z:-0.38 [[ 9.27202478e-01 -3.69427123e-01 6.17994043e-02 -3.41998182e+00] [ 3.70258258e-01 9.28926335e-01 -2.16493706e-03 -3.09376962e+00] [-5.66073076e-02 2.48890748e-02 9.98086242e-01 -3.84638884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682414037 meters Centerline goodness : 0.835821 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.09, Z:-0.38 [[ 9.28808513e-01 -3.65540700e-01 6.07843901e-02 -3.42275940e+00] [ 3.66127300e-01 9.30563416e-01 1.59004044e-03 -3.09169281e+00] [-5.71449542e-02 2.07779815e-02 9.98149653e-01 -3.83028313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71241403699997 meters Centerline goodness : 0.832495 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.09, Z:-0.38 [[ 9.29152317e-01 -3.64671142e-01 6.07530172e-02 -3.42440937e+00] [ 3.65216165e-01 9.30919963e-01 2.27479078e-03 -3.09174627e+00] [-5.73857471e-02 2.00743568e-02 9.98150237e-01 -3.81365588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74241403699997 meters Centerline goodness : 0.833361 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.09, Z:-0.38 [[ 9.29247455e-01 -3.64433971e-01 6.07210651e-02 -3.42491654e+00] [ 3.64975659e-01 9.31014186e-01 2.31377239e-03 -3.09178967e+00] [-5.73753902e-02 2.00116436e-02 9.98152092e-01 -3.80595337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77241403699998 meters Centerline goodness : 0.832127 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.09, Z:-0.38 [[ 9.29359260e-01 -3.64159592e-01 6.06560535e-02 -3.42540775e+00] [ 3.64691127e-01 9.31125307e-01 2.45871281e-03 -3.09207309e+00] [-5.73737503e-02 1.98356970e-02 9.98155698e-01 -3.79706873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80241403699998 meters Centerline goodness : 0.832505 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.09, Z:-0.38 [[ 9.29946825e-01 -3.62023250e-01 6.43278315e-02 -3.43386433e+00] [ 3.62762990e-01 9.31881417e-01 1.93517553e-04 -3.09359439e+00] [-6.00159686e-02 2.31557954e-02 9.97928801e-01 -3.79883510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83241403699998 meters Centerline goodness : 0.834540 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.10, Z:-0.38 [[ 0.93005171 -0.36329043 0.05498984 -3.44103055] [ 0.36347906 0.93157692 0.00688594 -3.09699708] [-0.05372886 0.01358338 0.99846317 -0.37639898] [ 0. 0. 0. 1. ]] SLAMing on 175.86241403699998 meters Centerline goodness : 0.831018 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.10, Z:-0.37 [[ 0.93009227 -0.36459645 0.04469663 -3.44771565] [ 0.36450253 0.93114292 0.01052467 -3.09900819] [-0.04545621 0.00650312 0.99894516 -0.37393136] [ 0. 0. 0. 1. ]] SLAMing on 175.89241403699998 meters Centerline goodness : 0.830497 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.10, Z:-0.37 [[ 0.930126 -0.36452273 0.04459599 -3.44780594] [ 0.36442344 0.93117272 0.01062668 -3.0991605 ] [-0.04540023 0.00636768 0.99894858 -0.37355656] [ 0. 0. 0. 1. ]] SLAMing on 175.92241403699998 meters Centerline goodness : 0.830489 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.10, Z:-0.37 [[ 0.92967022 -0.3656106 0.04519043 -3.44949854] [ 0.36556908 0.93073597 0.0094766 -3.09965333] [-0.0455251 0.00771011 0.99893344 -0.3715099 ] [ 0. 0. 0. 1. ]] SLAMing on 175.95241403699998 meters Centerline goodness : 0.831494 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.10, Z:-0.37 [[ 0.92905447 -0.3670735 0.04598738 -3.45140865] [ 0.36710857 0.93014381 0.00798656 -3.10025367] [-0.04570653 0.00946241 0.99891009 -0.36926123] [ 0. 0. 0. 1. ]] SLAMing on 175.98241403699998 meters Centerline goodness : 0.830818 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.10, Z:-0.37 [[ 0.9275558 -0.37066716 0.04739296 -3.4513849 ] [ 0.37089886 0.92866407 0.00413329 -3.09993794] [-0.04554421 0.01374414 0.99886777 -0.36914409] [ 0. 0. 0. 1. ]] SLAMing on 176.01241403699999 meters Centerline goodness : 0.830736 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.10, Z:-0.37 [[ 9.26095915e-01 -3.74113513e-01 4.88409264e-02 -3.45107122e+00] [ 3.74550977e-01 9.27206299e-01 2.10406827e-04 -3.09873520e+00] [-4.53643307e-02 1.80985598e-02 9.98806548e-01 -3.69983840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042414037 meters Centerline goodness : 0.830406 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.10, Z:-0.37 [[ 9.23444775e-01 -3.81494400e-01 4.13735410e-02 -3.45732282e+00] [ 3.81831293e-01 9.24232003e-01 -2.60514335e-04 -3.10328785e+00] [-3.81393659e-02 1.60382832e-02 9.99143715e-01 -3.67777962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.072414037 meters Centerline goodness : 0.829245 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.10, Z:-0.37 [[ 0.92189117 -0.38506758 0.04289086 -3.45697337] [ 0.38557179 0.92266982 -0.00384685 -3.10313312] [-0.03809281 0.02008388 0.99907236 -0.36842037] [ 0. 0. 0. 1. ]] SLAMing on 176.102414037 meters Centerline goodness : 0.830628 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.10, Z:-0.37 [[ 0.92030823 -0.38866269 0.04443046 -3.45697784] [ 0.38934259 0.92106261 -0.00748408 -3.10279906] [-0.03801445 0.02418633 0.99898445 -0.36862888] [ 0. 0. 0. 1. ]] SLAMing on 176.132414037 meters Centerline goodness : 0.830963 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.11, Z:-0.36 [[ 0.91838669 -0.39385451 0.03800674 -3.46726253] [ 0.39428176 0.91898012 -0.00417438 -3.10794445] [-0.03328334 0.01881906 0.99926876 -0.36356859] [ 0. 0. 0. 1. ]] SLAMing on 176.162414037 meters Centerline goodness : 0.831568 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.11, Z:-0.36 [[ 0.91474022 -0.40267056 0.03326793 -3.47790106] [ 0.40301853 0.91518209 -0.00421933 -3.11372623] [-0.02874721 0.01726719 0.99943756 -0.35790487] [ 0. 0. 0. 1. ]] SLAMing on 176.192414037 meters Centerline goodness : 0.831561 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.12, Z:-0.36 [[ 0.91271045 -0.40733827 0.03217396 -3.49519523] [ 0.40767002 0.91311951 -0.00423202 -3.12088235] [-0.02765481 0.01697897 0.99947332 -0.35511314] [ 0. 0. 0. 1. ]] SLAMing on 176.222414037 meters Centerline goodness : 0.828323 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.13, Z:-0.35 [[ 0.91085952 -0.41144488 0.03237361 -3.51349926] [ 0.41177236 0.91127844 -0.00388961 -3.12737214] [-0.02790101 0.01687345 0.99946827 -0.35297622] [ 0. 0. 0. 1. ]] SLAMing on 176.252414037 meters Centerline goodness : 0.830417 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.13, Z:-0.35 [[ 0.90917985 -0.41509316 0.03301025 -3.5319335 ] [ 0.41542696 0.90961914 -0.00366962 -3.1320714 ] [-0.02850352 0.01704969 0.99944828 -0.35182708] [ 0. 0. 0. 1. ]] SLAMing on 176.282414037 meters Centerline goodness : 0.829877 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.14, Z:-0.35 [[ 9.08195274e-01 -4.17350662e-01 3.16191184e-02 -3.54990747e+00] [ 4.17622941e-01 9.08617652e-01 -2.24555508e-03 -3.13581185e+00] [-2.77925052e-02 1.52442717e-02 9.99497468e-01 -3.50425792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.312414037 meters Centerline goodness : 0.829209 Centerline is valid? [False, False] Translation: X:-3.57, Y:-3.14, Z:-0.35 [[ 9.07593436e-01 -4.18673643e-01 3.14091710e-02 -3.56988067e+00] [ 4.18907159e-01 9.08028576e-01 -9.47390200e-04 -3.13612114e+00] [-2.81237775e-02 1.40173717e-02 9.99506161e-01 -3.49592043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342414037 meters Centerline goodness : 0.829856 Centerline is valid? [False, False] Translation: X:-3.59, Y:-3.14, Z:-0.35 [[ 9.07547528e-01 -4.18468058e-01 3.52415835e-02 -3.59395951e+00] [ 4.18762222e-01 9.08095289e-01 -1.07111930e-03 -3.14150113e+00] [-3.15544867e-02 1.57299355e-02 9.99378248e-01 -3.50490963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.372414037 meters Centerline goodness : 0.829856 Centerline is valid? [False, False] Translation: X:-3.59, Y:-3.14, Z:-0.35 [[ 9.07547528e-01 -4.18468058e-01 3.52415835e-02 -3.59395951e+00] [ 4.18762222e-01 9.08095289e-01 -1.07111930e-03 -3.14150113e+00] [-3.15544867e-02 1.57299355e-02 9.99378248e-01 -3.50490963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402414037 meters Centerline goodness : 0.829039 Centerline is valid? [False, False] Translation: X:-3.62, Y:-3.14, Z:-0.35 [[ 9.07568482e-01 -4.17933538e-01 4.06325991e-02 -3.62076176e+00] [ 4.18387971e-01 9.08263449e-01 -3.00200807e-03 -3.14337695e+00] [-3.56504648e-02 1.97247186e-02 9.99169645e-01 -3.50644780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.432414037 meters Centerline goodness : 0.827883 Centerline is valid? [False, False] Translation: X:-3.65, Y:-3.15, Z:-0.35 [[ 0.90776086 -0.41723233 0.04344429 -3.64512295] [ 0.41778328 0.90853768 -0.00405148 -3.14769779] [-0.03778036 0.02182807 0.99904764 -0.35115934] [ 0. 0. 0. 1. ]] SLAMing on 176.46241403699997 meters Centerline goodness : 0.827025 Centerline is valid? [False, False] Translation: X:-3.66, Y:-3.15, Z:-0.35 [[ 0.90725325 -0.41853899 0.04143251 -3.66300695] [ 0.41909357 0.90792738 -0.00533383 -3.14829759] [-0.03538529 0.02220323 0.99912707 -0.35023293] [ 0. 0. 0. 1. ]] SLAMing on 176.49241403699997 meters Centerline goodness : 0.823905 Centerline is valid? [False, False] Translation: X:-3.68, Y:-3.14, Z:-0.35 [[ 0.90747277 -0.41852736 0.03644204 -3.67940709] [ 0.4190076 0.90796047 -0.00635782 -3.14301719] [-0.03042701 0.02103904 0.99931554 -0.35046762] [ 0. 0. 0. 1. ]] SLAMing on 176.52241403699998 meters Centerline goodness : 0.825113 Centerline is valid? [False, False] Translation: X:-3.70, Y:-3.14, Z:-0.35 [[ 0.90729853 -0.41894096 0.03602579 -3.69876979] [ 0.4194031 0.90778002 -0.00603971 -3.14396297] [-0.03017321 0.02058914 0.99933261 -0.34917433] [ 0. 0. 0. 1. ]] SLAMing on 176.55241403699998 meters Centerline goodness : 0.824182 Centerline is valid? [False, False] Translation: X:-3.72, Y:-3.15, Z:-0.35 [[ 0.90708191 -0.41920578 0.03832644 -3.71898488] [ 0.41969459 0.90764956 -0.00536001 -3.14544016] [-0.03254003 0.02094736 0.9992509 -0.34819078] [ 0. 0. 0. 1. ]] SLAMing on 176.58241403699998 meters Centerline goodness : 0.824047 Centerline is valid? [False, False] Translation: X:-3.74, Y:-3.15, Z:-0.35 [[ 0.90686613 -0.41957053 0.03942568 -3.73919833] [ 0.42006599 0.90748056 -0.00485782 -3.14712369] [-0.03373984 0.02096678 0.9992107 -0.34651101] [ 0. 0. 0. 1. ]] SLAMing on 176.61241403699998 meters Centerline goodness : 0.823700 Centerline is valid? [False, False] Translation: X:-3.76, Y:-3.14, Z:-0.34 [[ 9.07587253e-01 -4.17926084e-01 4.02885359e-02 -3.76069057e+00] [ 4.18373569e-01 9.08270099e-01 -2.99721385e-03 -3.14431371e+00] [-3.53402587e-02 1.95758917e-02 9.99183592e-01 -3.44629118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64241403699998 meters Centerline goodness : 0.823931 Centerline is valid? [False, False] Translation: X:-3.78, Y:-3.15, Z:-0.34 [[ 9.07943060e-01 -4.17097877e-01 4.08504663e-02 -3.78091307e+00] [ 4.17491048e-01 9.08680228e-01 -1.21187096e-03 -3.14541513e+00] [-3.66145422e-02 1.81550138e-02 9.99164536e-01 -3.42979852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67241403699998 meters Centerline goodness : 0.822061 Centerline is valid? [False, False] Translation: X:-3.80, Y:-3.14, Z:-0.34 [[ 9.09181632e-01 -4.14354887e-01 4.12163591e-02 -3.80239215e+00] [ 4.14701267e-01 9.09957600e-01 1.60215069e-04 -3.14200548e+00] [-3.75715251e-02 1.69468118e-02 9.99150232e-01 -3.40186928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70241403699998 meters Centerline goodness : 0.821411 Centerline is valid? [False, False] Translation: X:-3.82, Y:-3.14, Z:-0.34 [[ 9.09474750e-01 -4.13620492e-01 4.21161176e-02 -3.82208498e+00] [ 4.13972679e-01 9.10289221e-01 3.93612997e-04 -3.14369867e+00] [-3.85006543e-02 1.70769409e-02 9.99112645e-01 -3.37905965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73241403699998 meters Centerline goodness : 0.821043 Centerline is valid? [False, False] Translation: X:-3.85, Y:-3.15, Z:-0.34 [[ 9.10254391e-01 -4.11535988e-01 4.55529757e-02 -3.84586847e+00] [ 4.12002402e-01 9.11182277e-01 -9.37319033e-04 -3.14720359e+00] [-4.11213236e-02 1.96211342e-02 9.98961485e-01 -3.38447296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76241403699999 meters Centerline goodness : 0.824165 Centerline is valid? [False, False] Translation: X:-3.86, Y:-3.14, Z:-0.33 [[ 0.91218906 -0.4077961 0.04016782 -3.85901703] [ 0.40836741 0.91279192 -0.0068537 -3.14002677] [-0.03386995 0.0226551 0.99916944 -0.33416502] [ 0. 0. 0. 1. ]] SLAMing on 176.792414037 meters Centerline goodness : 0.820345 Centerline is valid? [False, False] Translation: X:-3.88, Y:-3.14, Z:-0.33 [[ 0.91306462 -0.40595941 0.03885812 -3.87831727] [ 0.40646106 0.91365053 -0.00566627 -3.1415202 ] [-0.03320247 0.02096799 0.99922867 -0.33220834] [ 0. 0. 0. 1. ]] SLAMing on 176.822414037 meters Centerline goodness : 0.821942 Centerline is valid? [False, False] Translation: X:-3.90, Y:-3.14, Z:-0.33 [[ 9.14141096e-01 -4.03560621e-01 3.85341535e-02 -3.89821136e+00] [ 4.03986214e-01 9.14757842e-01 -3.63723954e-03 -3.14373248e+00] [-3.37815725e-02 1.88922169e-02 9.99250664e-01 -3.30032990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.852414037 meters Centerline goodness : 0.820936 Centerline is valid? [False, False] Translation: X:-3.92, Y:-3.15, Z:-0.33 [[ 9.15089197e-01 -4.01283659e-01 3.97892744e-02 -3.91828086e+00] [ 4.01663422e-01 9.15785769e-01 -1.70886142e-03 -3.14613915e+00] [-3.57527131e-02 1.75456567e-02 9.99206632e-01 -3.28068656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882414037 meters Centerline goodness : 0.821771 Centerline is valid? [False, False] Translation: X:-3.92, Y:-3.14, Z:-0.33 [[ 9.17809497e-01 -3.95217563e-01 3.77995286e-02 -3.92189177e+00] [ 3.95392391e-01 9.18507241e-01 3.05034997e-03 -3.14025039e+00] [-3.59246926e-02 1.21460058e-02 9.99280687e-01 -3.26719226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.912414037 meters Centerline goodness : 0.819911 Centerline is valid? [False, False] Translation: X:-3.95, Y:-3.14, Z:-0.33 [[ 9.19951458e-01 -3.90071704e-01 3.91584001e-02 -3.94620955e+00] [ 3.90347025e-01 9.20667561e-01 6.65232033e-04 -3.14456132e+00] [-3.63113569e-02 1.46733838e-02 9.99232794e-01 -3.27401424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942414037 meters Centerline goodness : 0.820211 Centerline is valid? [False, False] Translation: X:-3.95, Y:-3.14, Z:-0.33 [[ 9.21321752e-01 -3.86446593e-01 4.27230652e-02 -3.95333875e+00] [ 3.86836720e-01 9.22147746e-01 -9.41637848e-04 -3.14181578e+00] [-3.90330856e-02 1.73944018e-02 9.99086509e-01 -3.30673249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.972414037 meters Centerline goodness : 0.817233 Centerline is valid? [False, False] Translation: X:-3.96, Y:-3.14, Z:-0.33 [[ 9.23835225e-01 -3.80103287e-01 4.52765811e-02 -3.96108915e+00] [ 3.80508018e-01 9.24777556e-01 -3.47236274e-04 -3.13674439e+00] [-4.17387803e-02 1.75488912e-02 9.98974429e-01 -3.33889188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002414037 meters Centerline goodness : 0.817068 Centerline is valid? [False, False] Translation: X:-3.96, Y:-3.13, Z:-0.33 [[ 9.25053549e-01 -3.77246794e-01 4.42807824e-02 -3.96234619e+00] [ 3.77524389e-01 9.25996937e-01 2.23797663e-03 -3.13481023e+00] [-4.18481384e-02 1.46468271e-02 9.99016618e-01 -3.33408383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032414037 meters Centerline goodness : 0.818176 Centerline is valid? [False, False] Translation: X:-3.96, Y:-3.13, Z:-0.33 [[ 9.25758234e-01 -3.75542635e-01 4.40388711e-02 -3.96481200e+00] [ 3.75753696e-01 9.26712191e-01 3.69811418e-03 -3.13306553e+00] [-4.22001583e-02 1.31242089e-02 9.99022974e-01 -3.31949474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062414037 meters Centerline goodness : 0.816889 Centerline is valid? [False, False] Translation: X:-3.97, Y:-3.13, Z:-0.33 [[ 0.92698941 -0.37260253 0.04310448 -3.96639961] [ 0.37269732 0.92793281 0.00611631 -3.12964785] [-0.04227702 0.01039517 0.99905185 -0.33163036] [ 0. 0. 0. 1. ]] SLAMing on 177.092414037 meters Centerline goodness : 0.818268 Centerline is valid? [False, False] Translation: X:-3.98, Y:-3.13, Z:-0.33 [[ 9.27891324e-01 -3.69885480e-01 4.69299807e-02 -3.97545299e+00] [ 3.70227778e-01 9.28939801e-01 1.49587673e-03 -3.13065295e+00] [-4.41484300e-02 1.59867714e-02 9.98897061e-01 -3.32701718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122414037 meters Centerline goodness : 0.818493 Centerline is valid? [False, False] Translation: X:-3.98, Y:-3.13, Z:-0.33 [[ 9.27871946e-01 -3.69921220e-01 4.70313035e-02 -3.97581450e+00] [ 3.70281446e-01 9.28918930e-01 1.12813279e-03 -3.12952276e+00] [-4.41055884e-02 1.63680563e-02 9.98892779e-01 -3.32666426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152414037 meters Centerline goodness : 0.816860 Centerline is valid? [False, False] Translation: X:-3.98, Y:-3.13, Z:-0.33 [[ 9.27822467e-01 -3.70043247e-01 4.70474715e-02 -3.97590537e+00] [ 3.70415778e-01 9.28865660e-01 8.58358733e-04 -3.12921652e+00] [-4.40184105e-02 1.66307213e-02 9.98892286e-01 -3.32467951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182414037 meters Centerline goodness : 0.818506 Centerline is valid? [False, False] Translation: X:-3.99, Y:-3.14, Z:-0.33 [[ 9.27471964e-01 -3.70785050e-01 4.81061622e-02 -3.99477099e+00] [ 3.71118290e-01 9.28583134e-01 2.13973267e-03 -3.13665075e+00] [-4.54639517e-02 1.58685346e-02 9.98839936e-01 -3.29728825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21241403699997 meters Centerline goodness : 0.818929 Centerline is valid? [False, False] Translation: X:-3.99, Y:-3.14, Z:-0.33 [[ 9.27478348e-01 -3.70778178e-01 4.80359967e-02 -3.99479047e+00] [ 3.71109882e-01 9.28586473e-01 2.14880129e-03 -3.13655770e+00] [-4.54023054e-02 1.58336664e-02 9.98843294e-01 -3.29579322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24241403699997 meters Centerline goodness : 0.818283 Centerline is valid? [False, False] Translation: X:-4.01, Y:-3.14, Z:-0.33 [[ 0.9278413 -0.37033165 0.0443283 -4.0110462 ] [ 0.37044456 0.92883557 0.00594309 -3.14460382] [-0.04337462 0.01090694 0.99899934 -0.32682137] [ 0. 0. 0. 1. ]] SLAMing on 177.27241403699998 meters Centerline goodness : 0.818838 Centerline is valid? [False, False] Translation: X:-4.02, Y:-3.15, Z:-0.32 [[ 9.27379705e-01 -3.72449025e-01 3.53356378e-02 -4.01843157e+00] [ 3.72312276e-01 9.28046759e-01 1.06199223e-02 -3.15057100e+00] [-3.67485038e-02 3.30719136e-03 9.99319073e-01 -3.22667855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30241403699998 meters Centerline goodness : 0.818563 Centerline is valid? [False, False] Translation: X:-4.03, Y:-3.16, Z:-0.32 [[ 9.26884606e-01 -3.73893857e-01 3.29895685e-02 -4.03466891e+00] [ 3.73718815e-01 9.27470086e-01 1.15536876e-02 -3.15896306e+00] [-3.49166907e-02 1.61988724e-03 9.99388914e-01 -3.20752181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33241403699998 meters Centerline goodness : 0.816331 Centerline is valid? [False, False] Translation: X:-4.05, Y:-3.17, Z:-0.32 [[ 9.26009725e-01 -3.76145943e-01 3.19408748e-02 -4.05199292e+00] [ 3.75969661e-01 9.26559545e-01 1.15855131e-02 -3.16722167e+00] [-3.39529662e-02 1.28050206e-03 9.99422612e-01 -3.18605660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36241403699998 meters Centerline goodness : 0.818242 Centerline is valid? [False, False] Translation: X:-4.06, Y:-3.17, Z:-0.31 [[ 9.23526311e-01 -3.82689554e-01 2.54530716e-02 -4.06074423e+00] [ 3.82493586e-01 9.23875471e-01 1.23600638e-02 -3.17427478e+00] [-2.82455358e-02 -1.67920746e-03 9.99599605e-01 -3.13869800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39241403699998 meters Centerline goodness : 0.817329 Centerline is valid? [False, False] Translation: X:-4.08, Y:-3.18, Z:-0.31 [[ 9.22107394e-01 -3.86205736e-01 2.37293842e-02 -4.07696249e+00] [ 3.86029607e-01 9.22411085e-01 1.17869424e-02 -3.18247382e+00] [-2.64404318e-02 -1.70858190e-03 9.99648931e-01 -3.12457514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42241403699998 meters Centerline goodness : 0.816808 Centerline is valid? [False, False] Translation: X:-4.09, Y:-3.19, Z:-0.31 [[ 9.20636494e-01 -3.89875939e-01 2.06203448e-02 -4.09165073e+00] [ 3.89730239e-01 9.20865355e-01 1.08322790e-02 -3.19035767e+00] [-2.32118061e-02 -1.93621944e-03 9.99728695e-01 -3.11454887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45241403699998 meters Centerline goodness : 0.818701 Centerline is valid? [False, False] Translation: X:-4.10, Y:-3.20, Z:-0.31 [[ 9.17057947e-01 -3.98499500e-01 1.42432807e-02 -4.09831609e+00] [ 3.98404538e-01 9.17164662e-01 9.09983970e-03 -3.19628553e+00] [-1.66897153e-02 -2.67049265e-03 9.99857151e-01 -3.08461973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48241403699998 meters Centerline goodness : 0.818483 Centerline is valid? [False, False] Translation: X:-4.12, Y:-3.20, Z:-0.31 [[ 9.15340199e-01 -4.02342459e-01 1.65186255e-02 -4.11699069e+00] [ 4.02261295e-01 9.15488900e-01 8.11938691e-03 -3.20390400e+00] [-1.83893924e-02 -7.87197546e-04 9.99830591e-01 -3.07876370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51241403699999 meters Centerline goodness : 0.819005 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.21, Z:-0.31 [[ 9.13778268e-01 -4.05752263e-01 1.93488285e-02 -4.13624049e+00] [ 4.05687655e-01 9.13982373e-01 7.33134290e-03 -3.21091854e+00] [-2.06591972e-02 1.15035907e-03 9.99785914e-01 -3.07024007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542414037 meters Centerline goodness : 0.820377 Centerline is valid? [False, False] Translation: X:-4.16, Y:-3.22, Z:-0.31 [[ 9.12694274e-01 -4.08038393e-01 2.22223545e-02 -4.15606267e+00] [ 4.07970724e-01 9.12962503e-01 7.70435979e-03 -3.21771137e+00] [-2.34318510e-02 2.03434498e-03 9.99723367e-01 -3.05575002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.572414037 meters Centerline goodness : 0.822347 Centerline is valid? [False, False] Translation: X:-4.18, Y:-3.22, Z:-0.30 [[ 9.11824298e-01 -4.09758148e-01 2.59751750e-02 -4.17713728e+00] [ 4.09660483e-01 9.12191466e-01 9.22050336e-03 -3.22364783e+00] [-2.74725093e-02 2.23352370e-03 9.99620064e-01 -3.02900146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602414037 meters Centerline goodness : 0.822116 Centerline is valid? [False, False] Translation: X:-4.18, Y:-3.22, Z:-0.30 [[ 9.12090651e-01 -4.09163353e-01 2.59999228e-02 -4.17916543e+00] [ 4.09050669e-01 9.12459500e-01 9.75759842e-03 -3.22355774e+00] [-2.77163282e-02 1.73547153e-03 9.99614322e-01 -3.01057644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.632414037 meters Centerline goodness : 0.821149 Centerline is valid? [False, False] Translation: X:-4.20, Y:-3.23, Z:-0.30 [[ 9.12286712e-01 -4.08439444e-01 3.01691284e-02 -4.19747759e+00] [ 4.08302132e-01 9.12782237e-01 1.08607633e-02 -3.22817553e+00] [-3.19738087e-02 2.40998947e-03 9.99485802e-01 -3.00327640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662414037 meters Centerline goodness : 0.820364 Centerline is valid? [False, False] Translation: X:-4.20, Y:-3.23, Z:-0.30 [[ 9.12866789e-01 -4.06876810e-01 3.35482934e-02 -4.20307062e+00] [ 4.06764126e-01 9.13473712e-01 1.04270033e-02 -3.22807485e+00] [-3.48879899e-02 4.12777726e-03 9.99382704e-01 -3.01570266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.692414037 meters Centerline goodness : 0.822976 Centerline is valid? [False, False] Translation: X:-4.23, Y:-3.23, Z:-0.30 [[ 0.91551754 -0.40089469 0.03333303 -4.22648648] [ 0.40087943 0.91610067 0.00743246 -3.23323226] [-0.03351605 0.00655798 0.99941666 -0.30319266] [ 0. 0. 0. 1. ]] SLAMing on 177.722414037 meters Centerline goodness : 0.822342 Centerline is valid? [False, False] Translation: X:-4.23, Y:-3.23, Z:-0.30 [[ 0.91589345 -0.4000265 0.03343633 -4.22758577] [ 0.4000125 0.91647982 0.00739875 -3.23019911] [-0.03360341 0.00659849 0.99941346 -0.3036068 ] [ 0. 0. 0. 1. ]] SLAMing on 177.752414037 meters Centerline goodness : 0.822134 Centerline is valid? [False, False] Translation: X:-4.25, Y:-3.23, Z:-0.30 [[ 0.91687544 -0.39776358 0.03351951 -4.24619887] [ 0.39771603 0.91747046 0.00836159 -3.23346097] [-0.0340791 0.00566471 0.99940308 -0.30260667] [ 0. 0. 0. 1. ]] SLAMing on 177.782414037 meters Centerline goodness : 0.822676 Centerline is valid? [False, False] Translation: X:-4.27, Y:-3.24, Z:-0.30 [[ 0.91863119 -0.39327369 0.03811216 -4.27078961] [ 0.39319886 0.91940171 0.00975461 -3.24042215] [-0.03887662 0.00602477 0.99922586 -0.30318729] [ 0. 0. 0. 1. ]] SLAMing on 177.812414037 meters Centerline goodness : 0.820498 Centerline is valid? [False, False] Translation: X:-4.27, Y:-3.24, Z:-0.30 [[ 9.20070492e-01 -3.90023173e-01 3.67724613e-02 -4.27163543e+00] [ 3.89821741e-01 9.20801471e-01 1.27929945e-02 -3.23908023e+00] [-3.88497007e-02 2.56424809e-03 9.99241775e-01 -3.02598802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842414037 meters Centerline goodness : 0.822403 Centerline is valid? [False, False] Translation: X:-4.29, Y:-3.24, Z:-0.30 [[ 0.92392798 -0.38052687 0.0394511 -4.28727322] [ 0.38052407 0.92473749 0.00787381 -3.23972976] [-0.0394781 0.00773726 0.99919048 -0.30399273] [ 0. 0. 0. 1. ]] SLAMing on 177.872414037 meters Centerline goodness : 0.822700 Centerline is valid? [False, False] Translation: X:-4.30, Y:-3.24, Z:-0.30 [[ 9.25698116e-01 -3.76041130e-01 4.09397928e-02 -4.29628588e+00] [ 3.76268383e-01 9.26507862e-01 2.29924472e-03 -3.23930300e+00] [-3.87956504e-02 1.32759431e-02 9.99158970e-01 -3.04781001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902414037 meters Centerline goodness : 0.821451 Centerline is valid? [False, False] Translation: X:-4.30, Y:-3.24, Z:-0.30 [[ 0.92669918 -0.37364492 0.0402257 -4.29784395] [ 0.37378266 0.92750624 0.00432326 -3.2373974 ] [-0.03892495 0.01102931 0.99918127 -0.3040375 ] [ 0. 0. 0. 1. ]] SLAMing on 177.932414037 meters Centerline goodness : 0.822120 Centerline is valid? [False, False] Translation: X:-4.30, Y:-3.24, Z:-0.30 [[ 0.92847879 -0.36930348 0.03926925 -4.30057677] [ 0.3692839 0.92928205 0.00801696 -3.23518 ] [-0.0394529 0.00705792 0.9991965 -0.30265305] [ 0. 0. 0. 1. ]] SLAMing on 177.96241403699997 meters Centerline goodness : 0.820872 Centerline is valid? [False, False] Translation: X:-4.30, Y:-3.23, Z:-0.30 [[ 0.92897948 -0.36803432 0.03934295 -4.30277771] [ 0.36798148 0.9297911 0.00883989 -3.23416018] [-0.03983411 0.0062654 0.99918666 -0.30125672] [ 0. 0. 0. 1. ]] SLAMing on 177.99241403699997 meters Centerline goodness : 0.822492 Centerline is valid? [False, False] Translation: X:-4.31, Y:-3.23, Z:-0.30 [[ 0.9298638 -0.36528305 0.04383619 -4.31071431] [ 0.36534312 0.9308472 0.00692048 -3.23463716] [-0.04333273 0.00958014 0.99901476 -0.30332636] [ 0. 0. 0. 1. ]] SLAMing on 178.02241403699998 meters Centerline goodness : 0.823053 Centerline is valid? [False, False] Translation: X:-4.31, Y:-3.23, Z:-0.30 [[ 0.93055195 -0.36355846 0.04356976 -4.31276259] [ 0.36354163 0.93153835 0.00859021 -3.23409967] [-0.04370995 0.00784579 0.99901346 -0.30186561] [ 0. 0. 0. 1. ]] SLAMing on 178.05241403699998 meters Centerline goodness : 0.821772 Centerline is valid? [False, False] Translation: X:-4.31, Y:-3.23, Z:-0.30 [[ 9.31955563e-01 -3.60097359e-01 4.22932692e-02 -4.31325582e+00] [ 3.59926298e-01 9.32905398e-01 1.18565871e-02 -3.23272680e+00] [-4.37251448e-02 4.17264746e-03 9.99034885e-01 -3.01805050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08241403699998 meters Centerline goodness : 0.822745 Centerline is valid? [False, False] Translation: X:-4.31, Y:-3.23, Z:-0.30 [[ 9.32073547e-01 -3.59797754e-01 4.22430975e-02 -4.31356068e+00] [ 3.59629664e-01 9.33020798e-01 1.17768425e-02 -3.23199834e+00] [-4.36509700e-02 4.21498763e-03 9.99037951e-01 -3.01462056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11241403699998 meters Centerline goodness : 0.821000 Centerline is valid? [False, False] Translation: X:-4.31, Y:-3.23, Z:-0.30 [[ 9.32204421e-01 -3.59482670e-01 4.20372109e-02 -4.31344978e+00] [ 3.59305753e-01 9.33143350e-01 1.19525383e-02 -3.23237195e+00] [-4.35234742e-02 3.96200274e-03 9.99044548e-01 -3.01059236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14241403699998 meters Centerline goodness : 0.822013 Centerline is valid? [False, False] Translation: X:-4.32, Y:-3.24, Z:-0.30 [[ 0.93264213 -0.35776925 0.04668844 -4.32022592] [ 0.3576892 0.9337834 0.01034456 -3.23760643] [-0.04729785 0.00705218 0.99885594 -0.30190329] [ 0. 0. 0. 1. ]] SLAMing on 178.17241403699998 meters Centerline goodness : 0.823709 Centerline is valid? [False, False] Translation: X:-4.32, Y:-3.24, Z:-0.30 [[ 0.93274162 -0.35754748 0.04639911 -4.3194197 ] [ 0.35744421 0.93387218 0.01078811 -3.23884975] [-0.0471881 0.00652257 0.99886473 -0.3020775 ] [ 0. 0. 0. 1. ]] SLAMing on 178.20241403699998 meters Centerline goodness : 0.822676 Centerline is valid? [False, False] Translation: X:-4.32, Y:-3.24, Z:-0.30 [[ 0.93279475 -0.35743884 0.04616747 -4.31859732] [ 0.35731574 0.9339168 0.01117446 -3.23998437] [-0.04711076 0.00607288 0.99887121 -0.30238516] [ 0. 0. 0. 1. ]] SLAMing on 178.23241403699998 meters Centerline goodness : 0.819484 Centerline is valid? [False, False] Translation: X:-4.33, Y:-3.25, Z:-0.30 [[ 9.33172638e-01 -3.57135303e-01 4.05364341e-02 -4.33116583e+00] [ 3.56829127e-01 9.34052433e-01 1.47995427e-02 -3.25212034e+00] [-4.31485941e-02 6.54052078e-04 9.99068452e-01 -3.00062438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26241403699999 meters Centerline goodness : 0.820872 Centerline is valid? [False, False] Translation: X:-4.33, Y:-3.26, Z:-0.30 [[ 9.32564935e-01 -3.58639560e-01 4.12347933e-02 -4.33151843e+00] [ 3.58388219e-01 9.33473745e-01 1.35886906e-02 -3.25545030e+00] [-4.33650389e-02 2.10572773e-03 9.99057075e-01 -2.98577103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.292414037 meters Centerline goodness : 0.820872 Centerline is valid? [False, False] Translation: X:-4.33, Y:-3.26, Z:-0.30 [[ 9.32564935e-01 -3.58639560e-01 4.12347933e-02 -4.33151843e+00] [ 3.58388219e-01 9.33473745e-01 1.35886906e-02 -3.25545030e+00] [-4.33650389e-02 2.10572773e-03 9.99057075e-01 -2.98577103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322414037 meters Centerline goodness : 0.820210 Centerline is valid? [False, False] Translation: X:-4.33, Y:-3.26, Z:-0.30 [[ 0.93149796 -0.36129425 0.0421666 -4.33068239] [ 0.36115802 0.9324389 0.01107179 -3.25790882] [-0.04331795 0.00491546 0.99904924 -0.29833859] [ 0. 0. 0. 1. ]] SLAMing on 178.352414037 meters Centerline goodness : 0.822007 Centerline is valid? [False, False] Translation: X:-4.35, Y:-3.27, Z:-0.29 [[ 9.30824302e-01 -3.63342230e-01 3.93515310e-02 -4.34560404e+00] [ 3.63067574e-01 9.31655094e-01 1.41676391e-02 -3.27304756e+00] [-4.18097559e-02 1.09968208e-03 9.99124985e-01 -2.94003549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382414037 meters Centerline goodness : 0.820302 Centerline is valid? [False, False] Translation: X:-4.35, Y:-3.28, Z:-0.29 [[ 9.29991871e-01 -3.65363710e-01 4.03048351e-02 -4.34643925e+00] [ 3.65161973e-01 9.30859776e-01 1.25224278e-02 -3.27572863e+00] [-4.20933904e-02 3.07203702e-03 9.99108958e-01 -2.92320271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.412414037 meters Centerline goodness : 0.821805 Centerline is valid? [False, False] Translation: X:-4.36, Y:-3.29, Z:-0.29 [[ 9.29539753e-01 -3.66757784e-01 3.80075700e-02 -4.36270601e+00] [ 3.66464311e-01 9.30316421e-01 1.46719085e-02 -3.28586627e+00] [-4.07401032e-02 2.90295726e-04 9.99169735e-01 -2.89621475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442414037 meters Centerline goodness : 0.823916 Centerline is valid? [False, False] Translation: X:-4.38, Y:-3.30, Z:-0.29 [[ 9.28377844e-01 -3.70041206e-01 3.44105140e-02 -4.37639925e+00] [ 3.69717452e-01 9.29013721e-01 1.55727732e-02 -3.29851939e+00] [-3.77304075e-02 -1.73525008e-03 9.99286448e-01 -2.86928402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.472414037 meters Centerline goodness : 0.823104 Centerline is valid? [False, False] Translation: X:-4.38, Y:-3.30, Z:-0.29 [[ 9.27118885e-01 -3.73077767e-01 3.55464789e-02 -4.37566273e+00] [ 3.72861988e-01 9.27798991e-01 1.27659707e-02 -3.30066816e+00] [-3.77426871e-02 1.41835824e-03 9.99286484e-01 -2.86785871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502414037 meters Centerline goodness : 0.823047 Centerline is valid? [False, False] Translation: X:-4.38, Y:-3.30, Z:-0.29 [[ 0.92581477 -0.37619124 0.03670384 -4.3751171 ] [ 0.37609102 0.92653025 0.00986109 -3.30275187] [-0.03771687 0.00467444 0.99927753 -0.28632183] [ 0. 0. 0. 1. ]] SLAMing on 178.532414037 meters Centerline goodness : 0.824992 Centerline is valid? [False, False] Translation: X:-4.39, Y:-3.31, Z:-0.28 [[ 0.92446793 -0.3794226 0.03738349 -4.39304497] [ 0.37932482 0.92521007 0.00995048 -3.31287569] [-0.03836302 0.00498158 0.99925145 -0.28409844] [ 0. 0. 0. 1. ]] SLAMing on 178.562414037 meters Centerline goodness : 0.823764 Centerline is valid? [False, False] Translation: X:-4.40, Y:-3.32, Z:-0.28 [[ 9.22277452e-01 -3.85319190e-01 3.05519700e-02 -4.40144773e+00] [ 3.85148754e-01 9.22782645e-01 1.15164368e-02 -3.32229083e+00] [-3.26303318e-02 1.14570323e-03 9.99466832e-01 -2.78824000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592414037 meters Centerline goodness : 0.824459 Centerline is valid? [False, False] Translation: X:-4.42, Y:-3.33, Z:-0.28 [[ 9.21495759e-01 -3.87448935e-01 2.69979210e-02 -4.41645053e+00] [ 3.87255984e-01 9.21890786e-01 1.22548777e-02 -3.33052423e+00] [-2.96372740e-02 -8.37711375e-04 9.99560368e-01 -2.77049936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622414037 meters Centerline goodness : 0.823643 Centerline is valid? [False, False] Translation: X:-4.43, Y:-3.34, Z:-0.28 [[ 9.20794112e-01 -3.89405248e-01 2.23999133e-02 -4.42905152e+00] [ 3.89188985e-01 9.21059062e-01 1.34958861e-02 -3.34099610e+00] [-2.58870120e-02 -3.70913297e-03 9.99657994e-01 -2.76178629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.652414037 meters Centerline goodness : 0.824634 Centerline is valid? [False, False] Translation: X:-4.45, Y:-3.35, Z:-0.28 [[ 9.21015523e-01 -3.88720812e-01 2.50307238e-02 -4.45175920e+00] [ 3.88534368e-01 9.21354467e-01 1.21239834e-02 -3.35247261e+00] [-2.77750139e-02 -1.44108041e-03 9.99613161e-01 -2.77655660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682414037 meters Centerline goodness : 0.822536 Centerline is valid? [False, False] Translation: X:-4.48, Y:-3.36, Z:-0.28 [[ 9.21330139e-01 -3.87806447e-01 2.75124445e-02 -4.47527036e+00] [ 3.87663394e-01 9.21740368e-01 1.05729614e-02 -3.36385056e+00] [-2.94595933e-02 9.24379626e-04 9.99565545e-01 -2.78471565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71241403699997 meters Centerline goodness : 0.823777 Centerline is valid? [False, False] Translation: X:-4.49, Y:-3.37, Z:-0.28 [[ 9.20246790e-01 -3.90235319e-01 2.93639482e-02 -4.49386463e+00] [ 3.90056340e-01 9.20714980e-01 1.18311605e-02 -3.37280061e+00] [-3.16527637e-02 5.66006655e-04 9.99498765e-01 -2.77005238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74241403699997 meters Centerline goodness : 0.825400 Centerline is valid? [False, False] Translation: X:-4.49, Y:-3.37, Z:-0.28 [[ 9.20136249e-01 -3.90489612e-01 2.94473550e-02 -4.49400278e+00] [ 3.90310143e-01 9.20607146e-01 1.18522156e-02 -3.37340450e+00] [-3.17376125e-02 5.87948104e-04 9.99496062e-01 -2.76647982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77241403699998 meters Centerline goodness : 0.824573 Centerline is valid? [False, False] Translation: X:-4.51, Y:-3.38, Z:-0.28 [[ 9.19421643e-01 -3.92103964e-01 3.03038614e-02 -4.51246909e+00] [ 3.91909750e-01 9.19920763e-01 1.23506406e-02 -3.38034300e+00] [-3.27198864e-02 5.20932484e-04 9.99464425e-01 -2.75018750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80241403699998 meters Centerline goodness : 0.824917 Centerline is valid? [False, False] Translation: X:-4.53, Y:-3.39, Z:-0.27 [[ 9.18390028e-01 -3.94815087e-01 2.60921948e-02 -4.52633843e+00] [ 3.94632758e-01 9.18760303e-01 1.20204423e-02 -3.38758712e+00] [-2.87183248e-02 -7.42619583e-04 9.99587268e-01 -2.73873496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83241403699998 meters Centerline goodness : 0.824088 Centerline is valid? [False, False] Translation: X:-4.54, Y:-3.39, Z:-0.27 [[ 9.17357733e-01 -3.97324931e-01 2.42422997e-02 -4.54239485e+00] [ 3.97183156e-01 9.17677987e-01 1.06138191e-02 -3.39349656e+00] [-2.64637597e-02 -1.08035979e-04 9.99649768e-01 -2.73202646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86241403699998 meters Centerline goodness : 0.823406 Centerline is valid? [False, False] Translation: X:-4.54, Y:-3.39, Z:-0.27 [[ 9.17281804e-01 -3.97499212e-01 2.42583904e-02 -4.54197388e+00] [ 3.97355343e-01 9.17602500e-01 1.06950607e-02 -3.39413378e+00] [-2.65108379e-02 -1.71183496e-04 9.99648511e-01 -2.73464566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89241403699998 meters Centerline goodness : 0.822449 Centerline is valid? [False, False] Translation: X:-4.56, Y:-3.40, Z:-0.27 [[ 9.16218766e-01 -3.99720111e-01 2.76948785e-02 -4.56146991e+00] [ 3.99574600e-01 9.16636544e-01 1.08436962e-02 -3.39973154e+00] [-2.97205812e-02 1.13097200e-03 9.99557606e-01 -2.72416463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92241403699998 meters Centerline goodness : 0.823884 Centerline is valid? [False, False] Translation: X:-4.58, Y:-3.41, Z:-0.27 [[ 9.15694415e-01 -4.00837924e-01 2.88564831e-02 -4.58029127e+00] [ 4.00686168e-01 9.16147937e-01 1.11154075e-02 -3.40526409e+00] [-3.08922843e-02 1.38407705e-03 9.99521761e-01 -2.70889986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95241403699998 meters Centerline goodness : 0.826063 Centerline is valid? [False, False] Translation: X:-4.60, Y:-3.41, Z:-0.27 [[ 9.15250590e-01 -4.01790118e-01 2.96826200e-02 -4.59902401e+00] [ 4.01642510e-01 9.15729982e-01 1.10405923e-02 -3.41071903e+00] [-3.16172660e-02 1.81689335e-03 9.99498398e-01 -2.69583254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98241403699998 meters Centerline goodness : 0.823618 Centerline is valid? [False, False] Translation: X:-4.62, Y:-3.42, Z:-0.27 [[ 9.15614645e-01 -4.00779666e-01 3.20231186e-02 -4.62124448e+00] [ 4.00676746e-01 9.16166538e-01 9.84983381e-03 -3.41804099e+00] [-3.32861228e-02 3.81226687e-03 9.99438593e-01 -2.71069246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01241403699999 meters Centerline goodness : 0.824608 Centerline is valid? [False, False] Translation: X:-4.64, Y:-3.42, Z:-0.27 [[ 0.91496833 -0.40254334 0.02813916 -4.63601155] [ 0.40252329 0.91538578 0.00662398 -3.41974941] [-0.02842463 0.00526593 0.99958207 -0.27134328] [ 0. 0. 0. 1. ]] SLAMing on 179.042414037 meters Centerline goodness : 0.823548 Centerline is valid? [False, False] Translation: X:-4.65, Y:-3.42, Z:-0.27 [[ 0.91446484 -0.40380979 0.02630028 -4.65279535] [ 0.40382866 0.91482191 0.00482648 -3.42376168] [-0.02600905 0.00620716 0.99964244 -0.2706143 ] [ 0. 0. 0. 1. ]] SLAMing on 179.072414037 meters Centerline goodness : 0.823445 Centerline is valid? [False, False] Translation: X:-4.67, Y:-3.43, Z:-0.27 [[ 9.14455289e-01 -4.03659066e-01 2.88250391e-02 -4.67497904e+00] [ 4.03797484e-01 9.14847732e-01 1.10445645e-03 -3.42814580e+00] [-2.68163455e-02 1.06295022e-02 9.99583862e-01 -2.72301249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102414037 meters Centerline goodness : 0.823994 Centerline is valid? [False, False] Translation: X:-4.69, Y:-3.43, Z:-0.27 [[ 9.14257041e-01 -4.04162927e-01 2.80426675e-02 -4.69355926e+00] [ 4.04264549e-01 9.14639460e-01 2.19847730e-03 -3.43343197e+00] [-2.65374733e-02 9.32668297e-03 9.99604309e-01 -2.70884858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.132414037 meters Centerline goodness : 0.821962 Centerline is valid? [False, False] Translation: X:-4.71, Y:-3.44, Z:-0.27 [[ 9.14060074e-01 -4.04707384e-01 2.65728099e-02 -4.71171561e+00] [ 4.04771624e-01 9.14412365e-01 3.15569348e-03 -3.43853866e+00] [-2.55756384e-02 7.87142601e-03 9.99641900e-01 -2.69557081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162414037 meters Centerline goodness : 0.823094 Centerline is valid? [False, False] Translation: X:-4.73, Y:-3.44, Z:-0.27 [[ 9.13761472e-01 -4.05407340e-01 2.61698416e-02 -4.73051083e+00] [ 4.05457336e-01 9.14106861e-01 3.60486556e-03 -3.44332488e+00] [-2.53834707e-02 7.31676699e-03 9.99651011e-01 -2.68204570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.192414037 meters Centerline goodness : 0.822630 Centerline is valid? [False, False] Translation: X:-4.76, Y:-3.45, Z:-0.27 [[ 9.14299790e-01 -4.03990735e-01 2.91098078e-02 -4.75523970e+00] [ 4.04139848e-01 9.14696835e-01 8.26810923e-04 -3.45050938e+00] [-2.69606730e-02 1.10084802e-02 9.99575878e-01 -2.69089056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222414037 meters Centerline goodness : 0.821611 Centerline is valid? [False, False] Translation: X:-4.78, Y:-3.46, Z:-0.27 [[ 9.14821938e-01 -4.02651446e-01 3.11870810e-02 -4.77868657e+00] [ 4.02931031e-01 9.15225456e-01 -2.99143000e-03 -3.45529761e+00] [-2.73387068e-02 1.53028685e-02 9.99509088e-01 -2.70613021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252414037 meters Centerline goodness : 0.823017 Centerline is valid? [False, False] Translation: X:-4.80, Y:-3.46, Z:-0.27 [[ 9.15646885e-01 -4.00520601e-01 3.42641312e-02 -4.80247685e+00] [ 4.00865295e-01 9.16130077e-01 -3.56319073e-03 -3.46228250e+00] [-2.99632699e-02 1.69979256e-02 9.99406460e-01 -2.71855242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282414037 meters Centerline goodness : 0.820067 Centerline is valid? [False, False] Translation: X:-4.80, Y:-3.46, Z:-0.27 [[ 9.16362680e-01 -3.98910651e-01 3.39076893e-02 -4.80467739e+00] [ 3.99200883e-01 9.16861356e-01 -1.97686480e-03 -3.46146820e+00] [-3.03000576e-02 1.53475047e-02 9.99423014e-01 -2.70343903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312414037 meters Centerline goodness : 0.821963 Centerline is valid? [False, False] Translation: X:-4.83, Y:-3.46, Z:-0.27 [[ 9.17758645e-01 -3.95532522e-01 3.56804330e-02 -4.82565392e+00] [ 3.95734856e-01 9.18363582e-01 1.50164449e-03 -3.46385188e+00] [-3.33615595e-02 1.27418438e-02 9.99362122e-01 -2.68486815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342414037 meters Centerline goodness : 0.818501 Centerline is valid? [False, False] Translation: X:-4.85, Y:-3.47, Z:-0.27 [[ 9.18476785e-01 -3.93804499e-01 3.63099402e-02 -4.84534112e+00] [ 3.93915847e-01 9.19136281e-01 4.33605111e-03 -3.46850117e+00] [-3.50813399e-02 1.03204986e-02 9.99331170e-01 -2.67146529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372414037 meters Centerline goodness : 0.818083 Centerline is valid? [False, False] Translation: X:-4.86, Y:-3.47, Z:-0.27 [[ 0.91900155 -0.39256205 0.0364854 -4.86485929] [ 0.39260948 0.91968468 0.00615554 -3.47369888] [-0.03597149 0.00866757 0.99931523 -0.26555138] [ 0. 0. 0. 1. ]] SLAMing on 179.402414037 meters Centerline goodness : 0.818287 Centerline is valid? [False, False] Translation: X:-4.88, Y:-3.48, Z:-0.26 [[ 0.91899782 -0.39234687 0.03881937 -4.88482484] [ 0.39239907 0.91977151 0.00658377 -3.4789033 ] [-0.03828807 0.00918222 0.99922455 -0.26403837] [ 0. 0. 0. 1. ]] SLAMing on 179.432414037 meters Centerline goodness : 0.818376 Centerline is valid? [False, False] Translation: X:-4.89, Y:-3.48, Z:-0.26 [[ 0.91943037 -0.39131247 0.03901713 -4.88785099] [ 0.39133893 0.92021787 0.00727456 -3.47829969] [-0.03875088 0.00858047 0.99921206 -0.26162431] [ 0. 0. 0. 1. ]] SLAMing on 179.46241403699997 meters Centerline goodness : 0.817497 Centerline is valid? [False, False] Translation: X:-4.91, Y:-3.48, Z:-0.26 [[ 0.91909665 -0.39184006 0.04150561 -4.90763885] [ 0.39188698 0.91998409 0.0073391 -3.48359711] [-0.04106026 0.00952016 0.99911132 -0.26005966] [ 0. 0. 0. 1. ]] SLAMing on 179.49241403699997 meters Centerline goodness : 0.817033 Centerline is valid? [False, False] Translation: X:-4.93, Y:-3.49, Z:-0.26 [[ 0.91888065 -0.3922638 0.04227839 -4.92695812] [ 0.39228844 0.91980696 0.00805904 -3.48918869] [-0.04204923 0.00918003 0.99907337 -0.25881306] [ 0. 0. 0. 1. ]] SLAMing on 179.52241403699998 meters Centerline goodness : 0.815175 Centerline is valid? [False, False] Translation: X:-4.94, Y:-3.49, Z:-0.26 [[ 0.9186773 -0.39301349 0.03965384 -4.94404436] [ 0.3930698 0.91948427 0.00669345 -3.4917659 ] [-0.0390917 0.00943761 0.99919106 -0.25836876] [ 0. 0. 0. 1. ]] SLAMing on 179.55241403699998 meters Centerline goodness : 0.815175 Centerline is valid? [False, False] Translation: X:-4.94, Y:-3.49, Z:-0.26 [[ 0.9186773 -0.39301349 0.03965384 -4.94404436] [ 0.3930698 0.91948427 0.00669345 -3.4917659 ] [-0.0390917 0.00943761 0.99919106 -0.25836876] [ 0. 0. 0. 1. ]] SLAMing on 179.58241403699998 meters Centerline goodness : 0.814496 Centerline is valid? [False, False] Translation: X:-4.95, Y:-3.49, Z:-0.26 [[ 0.91930277 -0.39156609 0.03947667 -4.94640976] [ 0.39155803 0.92011636 0.00825774 -3.4898503 ] [-0.03955659 0.00786604 0.99918637 -0.25745591] [ 0. 0. 0. 1. ]] SLAMing on 179.61241403699998 meters Centerline goodness : 0.815024 Centerline is valid? [False, False] Translation: X:-4.95, Y:-3.49, Z:-0.26 [[ 0.91932531 -0.39150293 0.0395783 -4.94706035] [ 0.3915092 0.92014015 0.00791456 -3.48826752] [-0.03951616 0.00821922 0.99918513 -0.25734549] [ 0. 0. 0. 1. ]] SLAMing on 179.64241403699998 meters Centerline goodness : 0.814235 Centerline is valid? [False, False] Translation: X:-4.95, Y:-3.49, Z:-0.26 [[ 0.91935071 -0.39143486 0.03966139 -4.94768492] [ 0.39145715 0.92016557 0.0075257 -3.48679888] [-0.03944087 0.00860697 0.99918484 -0.25710931] [ 0. 0. 0. 1. ]] SLAMing on 179.67241403699998 meters Centerline goodness : 0.815138 Centerline is valid? [False, False] Translation: X:-4.97, Y:-3.49, Z:-0.26 [[ 0.92016186 -0.38913903 0.04327783 -4.97155577] [ 0.38925841 0.92110919 0.00597982 -3.49422065] [-0.04219059 0.01134386 0.99904518 -0.25800403] [ 0. 0. 0. 1. ]] SLAMing on 179.70241403699998 meters Centerline goodness : 0.813096 Centerline is valid? [False, False] Translation: X:-4.98, Y:-3.49, Z:-0.26 [[ 9.21609329e-01 -3.86021472e-01 4.02947684e-02 -4.97926250e+00] [ 3.86449196e-01 9.22305438e-01 -3.11406501e-03 -3.49211621e+00] [-3.59619881e-02 1.84418322e-02 9.99182983e-01 -2.56808014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73241403699998 meters Centerline goodness : 0.814082 Centerline is valid? [False, False] Translation: X:-5.00, Y:-3.50, Z:-0.26 [[ 9.22774576e-01 -3.83639675e-01 3.61618729e-02 -4.99569299e+00] [ 3.83886471e-01 9.23380290e-01 1.28267534e-04 -3.49734250e+00] [-3.34403692e-02 1.37636917e-02 9.99345937e-01 -2.55793832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76241403699999 meters Centerline goodness : 0.815151 Centerline is valid? [False, False] Translation: X:-5.00, Y:-3.50, Z:-0.26 [[ 0.92441084 -0.37957985 0.03719868 -5.0037807 ] [ 0.38004848 0.92494589 -0.00618586 -3.49682873] [-0.03205874 0.01985558 0.99928874 -0.25691324] [ 0. 0. 0. 1. ]] SLAMing on 179.792414037 meters Centerline goodness : 0.813248 Centerline is valid? [False, False] Translation: X:-5.00, Y:-3.50, Z:-0.26 [[ 9.25814740e-01 -3.76273944e-01 3.58466986e-02 -5.00408424e+00] [ 3.76610959e-01 9.26366953e-01 -2.90766148e-03 -3.49616168e+00] [-3.21131197e-02 1.61922154e-02 9.99353071e-01 -2.56815909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822414037 meters Centerline goodness : 0.814148 Centerline is valid? [False, False] Translation: X:-5.01, Y:-3.50, Z:-0.26 [[ 9.26548745e-01 -3.74482302e-01 3.56430684e-02 -5.00623909e+00] [ 3.74770474e-01 9.27116368e-01 -1.52738466e-03 -3.49569158e+00] [-3.24732936e-02 1.47731660e-02 9.99363417e-01 -2.55203849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.852414037 meters Centerline goodness : 0.815751 Centerline is valid? [False, False] Translation: X:-5.02, Y:-3.50, Z:-0.26 [[ 0.92947377 -0.36662685 0.04078303 -5.02090087] [ 0.36713955 0.93014892 -0.00561553 -3.4990812 ] [-0.03587549 0.02019255 0.99915225 -0.25731483] [ 0. 0. 0. 1. ]] SLAMing on 179.882414037 meters Centerline goodness : 0.814712 Centerline is valid? [False, False] Translation: X:-5.02, Y:-3.50, Z:-0.26 [[ 9.30463280e-01 -3.64184603e-01 4.00956248e-02 -5.02266312e+00] [ 3.64585097e-01 9.31165510e-01 -2.91561059e-03 -3.49977472e+00] [-3.62738424e-02 1.73311358e-02 9.99191593e-01 -2.55647827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.912414037 meters Centerline goodness : 0.816213 Centerline is valid? [False, False] Translation: X:-5.02, Y:-3.50, Z:-0.25 [[ 9.31470788e-01 -3.61690222e-01 3.92728240e-02 -5.02438056e+00] [ 3.61973218e-01 9.32188489e-01 -1.02301768e-04 -3.50024833e+00] [-3.65726729e-02 1.43110016e-02 9.99228520e-01 -2.53803193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942414037 meters Centerline goodness : 0.815502 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.50, Z:-0.25 [[ 9.32462575e-01 -3.59211128e-01 3.84826105e-02 -5.02624669e+00] [ 3.59380155e-01 9.33187427e-01 2.67038531e-03 -3.50071102e+00] [-3.68707204e-02 1.13398522e-02 9.99255702e-01 -2.51819751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.972414037 meters Centerline goodness : 0.815909 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.50, Z:-0.25 [[ 9.33055859e-01 -3.57694004e-01 3.82330123e-02 -5.02779658e+00] [ 3.57803794e-01 9.33787499e-01 4.16560435e-03 -3.50154530e+00] [-3.71915207e-02 9.79317530e-03 9.99260169e-01 -2.50125849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002414037 meters Centerline goodness : 0.815387 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.50, Z:-0.25 [[ 9.33455989e-01 -3.56697287e-01 3.77751486e-02 -5.02725755e+00] [ 3.56774133e-01 9.34177739e-01 4.91629760e-03 -3.50230696e+00] [-3.70423329e-02 8.88804844e-03 9.99274171e-01 -2.50017473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.032414037 meters Centerline goodness : 0.814822 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.50, Z:-0.25 [[ 0.93352156 -0.35654021 0.03763749 -5.02661883] [ 0.35661006 0.93423957 0.00506923 -3.50279594] [-0.03696982 0.00868967 0.9992786 -0.25040836] [ 0. 0. 0. 1. ]] SLAMing on 180.062414037 meters Centerline goodness : 0.815938 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.50, Z:-0.25 [[ 9.33567719e-01 -3.55948046e-01 4.18605023e-02 -5.03221275e+00] [ 3.56138164e-01 9.34428242e-01 3.07718947e-03 -3.50461156e+00] [-4.02109552e-02 1.20353577e-02 9.99118726e-01 -2.51994745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.092414037 meters Centerline goodness : 0.813027 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.51, Z:-0.25 [[ 9.33696552e-01 -3.55635552e-01 4.16425701e-02 -5.03174241e+00] [ 3.55807050e-01 9.34553000e-01 3.46896606e-03 -3.50524558e+00] [-4.01508765e-02 1.15777584e-02 9.99126550e-01 -2.52164595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122414037 meters Centerline goodness : 0.814717 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.51, Z:-0.25 [[ 9.33831662e-01 -3.55301347e-01 4.14654099e-02 -5.03143610e+00] [ 3.55450574e-01 9.34686666e-01 3.96550179e-03 -3.50624572e+00] [-4.01661139e-02 1.10357926e-02 9.99132071e-01 -2.52070926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152414037 meters Centerline goodness : 0.814097 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.51, Z:-0.25 [[ 9.34074677e-01 -3.54708827e-01 4.10627027e-02 -5.03091868e+00] [ 3.54810806e-01 9.34924632e-01 5.02232097e-03 -3.50929511e+00] [-4.01719938e-02 9.87826783e-03 9.99143949e-01 -2.51206831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182414037 meters Centerline goodness : 0.814097 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.51, Z:-0.25 [[ 9.34074677e-01 -3.54708827e-01 4.10627027e-02 -5.03091868e+00] [ 3.54810806e-01 9.34924632e-01 5.02232097e-03 -3.50929511e+00] [-4.01719938e-02 9.87826783e-03 9.99143949e-01 -2.51206831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21241403699997 meters Centerline goodness : 0.814549 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.51, Z:-0.25 [[ 0.93418737 -0.35444577 0.04076944 -5.03028385] [ 0.35452267 0.93503083 0.00557089 -3.51085391] [-0.04009526 0.00924943 0.99915305 -0.25103769] [ 0. 0. 0. 1. ]] SLAMing on 180.24241403699997 meters Centerline goodness : 0.812864 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.51, Z:-0.25 [[ 9.33697803e-01 -3.55407025e-01 4.35230965e-02 -5.03364306e+00] [ 3.55587187e-01 9.34635424e-01 3.79155791e-03 -3.51252811e+00] [-4.20257741e-02 1.19360862e-02 9.99045226e-01 -2.50992606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27241403699998 meters Centerline goodness : 0.812716 Centerline is valid? [False, False] Translation: X:-5.03, Y:-3.51, Z:-0.25 [[ 9.33695191e-01 -3.55432347e-01 4.33720798e-02 -5.03292412e+00] [ 3.55595657e-01 9.34630677e-01 4.15059435e-03 -3.51382513e+00] [-4.20121318e-02 1.15475332e-02 9.99050367e-01 -2.51261310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30241403699998 meters Centerline goodness : 0.814366 Centerline is valid? [False, False] Translation: X:-5.04, Y:-3.52, Z:-0.25 [[ 0.93249708 -0.35940879 0.0357003 -5.04155214] [ 0.35938359 0.93316104 0.00734258 -3.52114645] [-0.03595312 0.00598317 0.99933557 -0.2463641 ] [ 0. 0. 0. 1. ]] SLAMing on 180.33241403699998 meters Centerline goodness : 0.814999 Centerline is valid? [False, False] Translation: X:-5.04, Y:-3.52, Z:-0.25 [[ 9.31174850e-01 -3.62694222e-01 3.69635068e-02 -5.04151228e+00] [ 3.62798795e-01 9.31858590e-01 4.07463987e-03 -3.52208532e+00] [-3.59226096e-02 9.61611353e-03 9.99308309e-01 -2.45892950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36241403699998 meters Centerline goodness : 0.815540 Centerline is valid? [False, False] Translation: X:-5.04, Y:-3.52, Z:-0.25 [[ 9.29827664e-01 -3.66004097e-01 3.82297926e-02 -5.04131796e+00] [ 3.66237846e-01 9.30520788e-01 9.50573582e-04 -3.52375809e+00] [-3.59215306e-02 1.31173273e-02 9.99268522e-01 -2.45345544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39241403699998 meters Centerline goodness : 0.817018 Centerline is valid? [False, False] Translation: X:-5.05, Y:-3.53, Z:-0.24 [[ 9.27233187e-01 -3.73096757e-01 3.22091071e-02 -5.05002144e+00] [ 3.73238298e-01 9.27733903e-01 1.72540157e-03 -3.53384549e+00] [-3.05252224e-02 1.04218227e-02 9.99479663e-01 -2.39655595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42241403699998 meters Centerline goodness : 0.817965 Centerline is valid? [False, False] Translation: X:-5.06, Y:-3.54, Z:-0.24 [[ 9.25715537e-01 -3.77437500e-01 2.43244379e-02 -5.05752113e+00] [ 3.77438108e-01 9.26022668e-01 4.74255767e-03 -3.54021510e+00] [-2.43150000e-02 4.79071049e-03 9.99692868e-01 -2.35614306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45241403699998 meters Centerline goodness : 0.816415 Centerline is valid? [False, False] Translation: X:-5.07, Y:-3.55, Z:-0.23 [[ 9.24255451e-01 -3.81436397e-01 1.60665896e-02 -5.06507588e+00] [ 3.81363342e-01 9.24394728e-01 7.50918136e-03 -3.54606640e+00] [-1.77161458e-02 -8.13193516e-04 9.99842726e-01 -2.31707801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48241403699998 meters Centerline goodness : 0.816337 Centerline is valid? [False, False] Translation: X:-5.08, Y:-3.55, Z:-0.23 [[ 9.23580665e-01 -3.83226542e-01 1.16693380e-02 -5.07887199e+00] [ 3.83142628e-01 9.23647064e-01 8.82199682e-03 -3.55403870e+00] [-1.41591731e-02 -3.67680487e-03 9.99892994e-01 -2.31183104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51241403699999 meters Centerline goodness : 0.816393 Centerline is valid? [False, False] Translation: X:-5.09, Y:-3.56, Z:-0.23 [[ 9.21300889e-01 -3.88829372e-01 4.04872685e-03 -5.08596088e+00] [ 3.88774370e-01 9.21276657e-01 1.01887384e-02 -3.56028203e+00] [-7.69167828e-03 -7.81285249e-03 9.99939897e-01 -2.27978320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542414037 meters Centerline goodness : 0.817448 Centerline is valid? [False, False] Translation: X:-5.10, Y:-3.57, Z:-0.23 [[ 0.92001203 -0.39185075 0.00555393 -5.10416476] [ 0.39179342 0.92000747 0.00917449 -3.56853139] [-0.00870469 -0.00626465 0.99994249 -0.22721505] [ 0. 0. 0. 1. ]] SLAMing on 180.572414037 meters Centerline goodness : 0.815829 Centerline is valid? [False, False] Translation: X:-5.12, Y:-3.58, Z:-0.23 [[ 9.18474377e-01 -3.95387633e-01 8.56963920e-03 -5.12283223e+00] [ 3.95330060e-01 9.18507046e-01 7.67786549e-03 -3.57648485e+00] [-1.09070071e-02 -3.66408674e-03 9.99933804e-01 -2.26190597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602414037 meters Centerline goodness : 0.816241 Centerline is valid? [False, False] Translation: X:-5.14, Y:-3.58, Z:-0.23 [[ 9.17090039e-01 -3.98518460e-01 1.13533121e-02 -5.14185102e+00] [ 3.98468847e-01 9.17159273e-01 6.43787168e-03 -3.58470372e+00] [-1.29784062e-02 -1.38016682e-03 9.99914824e-01 -2.25252284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.632414037 meters Centerline goodness : 0.816384 Centerline is valid? [False, False] Translation: X:-5.14, Y:-3.59, Z:-0.22 [[ 9.15402763e-01 -4.02333253e-01 1.28738208e-02 -5.14157240e+00] [ 4.02327715e-01 9.15490362e-01 3.13143395e-03 -3.58616814e+00] [-1.30457389e-02 2.31297162e-03 9.99912226e-01 -2.24892820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662414037 meters Centerline goodness : 0.816282 Centerline is valid? [False, False] Translation: X:-5.17, Y:-3.60, Z:-0.23 [[ 9.14552233e-01 -4.04241691e-01 1.35228883e-02 -5.17475696e+00] [ 4.04181050e-01 9.14651654e-01 7.07318321e-03 -3.60021727e+00] [-1.52280077e-02 -1.00310033e-03 9.99883544e-01 -2.25655437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.692414037 meters Centerline goodness : 0.816955 Centerline is valid? [False, False] Translation: X:-5.19, Y:-3.61, Z:-0.22 [[ 9.13805634e-01 -4.05902790e-01 1.42192737e-02 -5.19373618e+00] [ 4.05829331e-01 9.13915183e-01 7.84806265e-03 -3.60738704e+00] [-1.61807606e-02 -1.40100555e-03 9.99868101e-01 -2.24230577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722414037 meters Centerline goodness : 0.818039 Centerline is valid? [False, False] Translation: X:-5.21, Y:-3.61, Z:-0.22 [[ 9.13110397e-01 -4.07444088e-01 1.47891085e-02 -5.21296891e+00] [ 4.07363614e-01 9.13228932e-01 8.23428146e-03 -3.61420767e+00] [-1.68608510e-02 -1.49426334e-03 9.99856729e-01 -2.22717981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.752414037 meters Centerline goodness : 0.817634 Centerline is valid? [False, False] Translation: X:-5.23, Y:-3.62, Z:-0.22 [[ 9.12586949e-01 -4.08603319e-01 1.51125034e-02 -5.23100594e+00] [ 4.08509065e-01 9.12709769e-01 9.01231612e-03 -3.62075624e+00] [-1.74757917e-02 -2.05092744e-03 9.99845183e-01 -2.22441138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782414037 meters Centerline goodness : 0.816055 Centerline is valid? [False, False] Translation: X:-5.26, Y:-3.63, Z:-0.22 [[ 9.12911309e-01 -4.07760330e-01 1.80126432e-02 -5.25502589e+00] [ 4.07714894e-01 9.13087596e-01 6.29345763e-03 -3.62912643e+00] [-1.90133435e-02 1.59865429e-03 9.99817952e-01 -2.23965800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812414037 meters Centerline goodness : 0.817417 Centerline is valid? [False, False] Translation: X:-5.27, Y:-3.63, Z:-0.22 [[ 9.12092259e-01 -4.09642648e-01 1.67514713e-02 -5.27224517e+00] [ 4.09638255e-01 9.12239922e-01 3.85016380e-03 -3.63329057e+00] [-1.68585521e-02 3.35033886e-03 9.99852271e-01 -2.23631886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842414037 meters Centerline goodness : 0.817222 Centerline is valid? [False, False] Translation: X:-5.30, Y:-3.64, Z:-0.23 [[ 9.12574765e-01 -4.08370338e-01 2.09991684e-02 -5.29676669e+00] [ 4.08414535e-01 9.12793579e-01 2.33458019e-03 -3.64099789e+00] [-2.01212794e-02 6.44588662e-03 9.99776767e-01 -2.25178324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872414037 meters Centerline goodness : 0.814624 Centerline is valid? [False, False] Translation: X:-5.30, Y:-3.64, Z:-0.22 [[ 9.12838041e-01 -4.07763756e-01 2.13408180e-02 -5.29993671e+00] [ 4.07804829e-01 9.13065453e-01 2.58834448e-03 -3.63755633e+00] [-2.05409967e-02 6.34014934e-03 9.99768908e-01 -2.24168987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902414037 meters Centerline goodness : 0.815832 Centerline is valid? [False, False] Translation: X:-5.32, Y:-3.64, Z:-0.22 [[ 9.12751670e-01 -4.07869750e-01 2.29489713e-02 -5.32022232e+00] [ 4.07904284e-01 9.13018482e-01 3.36850464e-03 -3.64155901e+00] [-2.23267461e-02 6.28637545e-03 9.99730963e-01 -2.22891458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932414037 meters Centerline goodness : 0.816464 Centerline is valid? [False, False] Translation: X:-5.34, Y:-3.65, Z:-0.22 [[ 9.12592695e-01 -4.08114103e-01 2.48485864e-02 -5.34071101e+00] [ 4.08138696e-01 9.12909784e-01 4.30471810e-03 -3.64595794e+00] [-2.44413338e-02 6.21321535e-03 9.99681958e-01 -2.21204416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96241403699997 meters Centerline goodness : 0.815706 Centerline is valid? [False, False] Translation: X:-5.34, Y:-3.64, Z:-0.22 [[ 9.12438074e-01 -4.08444155e-01 2.51024459e-02 -5.34164575e+00] [ 4.08489837e-01 9.12756103e-01 3.51420254e-03 -3.64364037e+00] [-2.43477662e-02 7.04760184e-03 9.99678707e-01 -2.21034548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99241403699997 meters Centerline goodness : 0.815246 Centerline is valid? [False, False] Translation: X:-5.36, Y:-3.65, Z:-0.22 [[ 9.11661320e-01 -4.10051186e-01 2.70492749e-02 -5.36106586e+00] [ 4.10152474e-01 9.12014891e-01 1.94616474e-03 -3.64594552e+00] [-2.54673687e-02 9.32008391e-03 9.99632207e-01 -2.20794669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02241403699998 meters Centerline goodness : 0.815332 Centerline is valid? [False, False] Translation: X:-5.38, Y:-3.65, Z:-0.22 [[ 9.11324563e-01 -4.10769437e-01 2.74956664e-02 -5.37958750e+00] [ 4.10877625e-01 9.11688622e-01 1.85302570e-03 -3.65043078e+00] [-2.58286526e-02 9.60864628e-03 9.99620205e-01 -2.20601376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05241403699998 meters Centerline goodness : 0.812391 Centerline is valid? [False, False] Translation: X:-5.40, Y:-3.65, Z:-0.22 [[ 9.10970688e-01 -4.11551523e-01 2.75272347e-02 -5.39828040e+00] [ 4.11695846e-01 9.11321192e-01 4.64156171e-04 -3.65370662e+00] [-2.52771765e-02 1.09100155e-02 9.99620946e-01 -2.19994292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08241403699998 meters Centerline goodness : 0.812779 Centerline is valid? [False, False] Translation: X:-5.42, Y:-3.66, Z:-0.22 [[ 9.11071860e-01 -4.11204051e-01 2.93137083e-02 -5.41702908e+00] [ 4.11335542e-01 9.11482459e-01 1.67301818e-03 -3.65766427e+00] [-2.74068827e-02 1.05335303e-02 9.99568861e-01 -2.20645673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11241403699998 meters Centerline goodness : 0.813454 Centerline is valid? [False, False] Translation: X:-5.44, Y:-3.66, Z:-0.22 [[ 9.11903726e-01 -4.09290491e-01 3.02140264e-02 -5.43817779e+00] [ 4.09383160e-01 9.12356454e-01 3.33596014e-03 -3.65759823e+00] [-2.89313387e-02 9.32703910e-03 9.99537885e-01 -2.19945078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14241403699998 meters Centerline goodness : 0.813181 Centerline is valid? [False, False] Translation: X:-5.46, Y:-3.66, Z:-0.22 [[ 9.12521507e-01 -4.07766726e-01 3.21060275e-02 -5.45840082e+00] [ 4.07863539e-01 9.13035109e-01 3.77142122e-03 -3.66084181e+00] [-3.08517904e-02 9.65337503e-03 9.99477353e-01 -2.18133614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17241403699998 meters Centerline goodness : 0.813395 Centerline is valid? [False, False] Translation: X:-5.46, Y:-3.66, Z:-0.22 [[ 9.13446346e-01 -4.05736814e-01 3.15184150e-02 -5.46110281e+00] [ 4.05776769e-01 9.13956230e-01 5.40578385e-03 -3.65919121e+00] [-3.09997772e-02 7.85154708e-03 9.99488553e-01 -2.15956430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20241403699998 meters Centerline goodness : 0.815306 Centerline is valid? [False, False] Translation: X:-5.46, Y:-3.66, Z:-0.21 [[ 0.91412218 -0.4042306 0.03127733 -5.46398225] [ 0.40424361 0.91463042 0.00618816 -3.65754107] [-0.03110864 0.00698693 0.99949159 -0.21350813] [ 0. 0. 0. 1. ]] SLAMing on 181.23241403699998 meters Centerline goodness : 0.814612 Centerline is valid? [False, False] Translation: X:-5.47, Y:-3.65, Z:-0.21 [[ 9.15760130e-01 -4.00582693e-01 3.02802029e-02 -5.46649684e+00] [ 4.00511545e-01 9.16250933e-01 8.64462929e-03 -3.65327885e+00] [-3.12071530e-02 4.21116402e-03 9.99504067e-01 -2.12573789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26241403699999 meters Centerline goodness : 0.816056 Centerline is valid? [False, False] Translation: X:-5.47, Y:-3.65, Z:-0.21 [[ 9.17156332e-01 -3.97474388e-01 2.89546742e-02 -5.46707545e+00] [ 3.97310576e-01 9.17612725e-01 1.14539631e-02 -3.65092248e+00] [-3.11218344e-02 9.98923448e-04 9.99515099e-01 -2.12865198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.292414037 meters Centerline goodness : 0.813430 Centerline is valid? [False, False] Translation: X:-5.47, Y:-3.65, Z:-0.21 [[ 9.18524142e-01 -3.94390206e-01 2.77446471e-02 -5.46791398e+00] [ 3.94142061e-01 9.18940782e-01 1.41377125e-02 -3.64822305e+00] [-3.10714631e-02 -2.05049788e-03 9.99515062e-01 -2.13123644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322414037 meters Centerline goodness : 0.815534 Centerline is valid? [False, False] Translation: X:-5.47, Y:-3.64, Z:-0.21 [[ 0.92040845 -0.39004412 0.02671841 -5.47147471] [ 0.38968895 0.92077782 0.01762725 -3.64352666] [-0.03147713 -0.0058124 0.99948757 -0.21213592] [ 0. 0. 0. 1. ]] SLAMing on 181.352414037 meters Centerline goodness : 0.815076 Centerline is valid? [False, False] Translation: X:-5.47, Y:-3.64, Z:-0.21 [[ 0.92105826 -0.3885166 0.02658068 -5.47405927] [ 0.3881261 0.92141547 0.01875244 -3.64237405] [-0.03177748 -0.00695543 0.99947077 -0.21040068] [ 0. 0. 0. 1. ]] SLAMing on 181.382414037 meters Centerline goodness : 0.814704 Centerline is valid? [False, False] Translation: X:-5.48, Y:-3.64, Z:-0.21 [[ 0.92116573 -0.38824622 0.02680635 -5.47508213] [ 0.38786694 0.92153272 0.01834881 -3.64022147] [-0.03182678 -0.006505 0.99947223 -0.21036137] [ 0. 0. 0. 1. ]] SLAMing on 181.412414037 meters Centerline goodness : 0.814955 Centerline is valid? [False, False] Translation: X:-5.48, Y:-3.64, Z:-0.21 [[ 9.21640452e-01 -3.86955633e-01 2.90553900e-02 -5.47889369e+00] [ 3.86597614e-01 9.22086323e-01 1.72944555e-02 -3.63660506e+00] [-3.34837647e-02 -4.70652529e-03 9.99428180e-01 -2.12045109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442414037 meters Centerline goodness : 0.815419 Centerline is valid? [False, False] Translation: X:-5.48, Y:-3.63, Z:-0.21 [[ 9.21777762e-01 -3.86613127e-01 2.92582726e-02 -5.47984182e+00] [ 3.86271438e-01 9.22232603e-01 1.67750425e-02 -3.63363881e+00] [-3.34683846e-02 -4.16122609e-03 9.99431114e-01 -2.12319864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.472414037 meters Centerline goodness : 0.815798 Centerline is valid? [False, False] Translation: X:-5.49, Y:-3.63, Z:-0.21 [[ 9.23257872e-01 -3.82794816e-01 3.26041598e-02 -5.48877841e+00] [ 3.82614502e-01 9.23832111e-01 1.18479289e-02 -3.63298490e+00] [-3.46560956e-02 1.53613081e-03 9.99398117e-01 -2.14249226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502414037 meters Centerline goodness : 0.815965 Centerline is valid? [False, False] Translation: X:-5.49, Y:-3.63, Z:-0.21 [[ 9.24808317e-01 -3.79113859e-01 3.16584629e-02 -5.49127535e+00] [ 3.78842153e-01 9.25349069e-01 1.44126503e-02 -3.62841451e+00] [-3.47591647e-02 -1.33537866e-03 9.99394826e-01 -2.13406945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532414037 meters Centerline goodness : 0.816425 Centerline is valid? [False, False] Translation: X:-5.49, Y:-3.63, Z:-0.21 [[ 9.25360413e-01 -3.77758583e-01 3.17263207e-02 -5.49413169e+00] [ 3.77458345e-01 9.25901762e-01 1.52027815e-02 -3.62714983e+00] [-3.51184375e-02 -2.09268769e-03 9.99380966e-01 -2.11341732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562414037 meters Centerline goodness : 0.816888 Centerline is valid? [False, False] Translation: X:-5.50, Y:-3.63, Z:-0.21 [[ 9.25914394e-01 -3.76393173e-01 3.17917247e-02 -5.49669993e+00] [ 3.76062755e-01 9.26455528e-01 1.60299183e-02 -3.62645051e+00] [-3.54871709e-02 -2.88664854e-03 9.99365963e-01 -2.09366467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592414037 meters Centerline goodness : 0.818676 Centerline is valid? [False, False] Translation: X:-5.50, Y:-3.62, Z:-0.21 [[ 0.92732855 -0.37298029 0.03078081 -5.49781777] [ 0.37255851 0.92782084 0.018672 -3.62422674] [-0.03552336 -0.00584742 0.99935174 -0.20884315] [ 0. 0. 0. 1. ]] SLAMing on 181.622414037 meters Centerline goodness : 0.818232 Centerline is valid? [False, False] Translation: X:-5.50, Y:-3.62, Z:-0.21 [[ 9.27463507e-01 -3.72611153e-01 3.11828925e-02 -5.49864209e+00] [ 3.72207911e-01 9.27973192e-01 1.80838329e-02 -3.62163724e+00] [-3.56751261e-02 -5.16557579e-03 9.99350090e-01 -2.09203896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652414037 meters Centerline goodness : 0.818741 Centerline is valid? [False, False] Translation: X:-5.50, Y:-3.62, Z:-0.21 [[ 9.27653804e-01 -3.72091080e-01 3.17277087e-02 -5.49957708e+00] [ 3.71702735e-01 9.28185213e-01 1.75865828e-02 -3.61903946e+00] [-3.59930006e-02 -4.52098437e-03 9.99341816e-01 -2.09606922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682414037 meters Centerline goodness : 0.817826 Centerline is valid? [False, False] Translation: X:-5.50, Y:-3.62, Z:-0.21 [[ 9.27763619e-01 -3.71734175e-01 3.26859498e-02 -5.50113815e+00] [ 3.71366100e-01 9.28332408e-01 1.69162778e-02 -3.61664500e+00] [-3.66317850e-02 -3.55585340e-03 9.99322505e-01 -2.09354018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71241403699997 meters Centerline goodness : 0.818331 Centerline is valid? [False, False] Translation: X:-5.50, Y:-3.61, Z:-0.21 [[ 9.29798175e-01 -3.65968321e-01 3.92752066e-02 -5.50373629e+00] [ 3.66066199e-01 9.30575762e-01 4.92841812e-03 -3.61244763e+00] [-3.83522003e-02 9.79489145e-03 9.99216277e-01 -2.08553854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74241403699997 meters Centerline goodness : 0.816422 Centerline is valid? [False, False] Translation: X:-5.51, Y:-3.61, Z:-0.21 [[ 9.30286986e-01 -3.64246811e-01 4.34785409e-02 -5.51233930e+00] [ 3.64786806e-01 9.31078038e-01 -4.92685847e-03 -3.61441288e+00] [-3.86873220e-02 2.04437904e-02 9.99042213e-01 -2.09915936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77241403699998 meters Centerline goodness : 0.815856 Centerline is valid? [False, False] Translation: X:-5.52, Y:-3.62, Z:-0.22 [[ 0.93050329 -0.36311728 0.0480569 -5.5164109 ] [ 0.36403375 0.9313132 -0.01162569 -3.61803933] [-0.04053453 0.02831207 0.99877694 -0.21534614] [ 0. 0. 0. 1. ]] SLAMing on 181.80241403699998 meters Centerline goodness : 0.814859 Centerline is valid? [False, False] Translation: X:-5.52, Y:-3.62, Z:-0.22 [[ 0.93058599 -0.36296331 0.04761663 -5.51509199] [ 0.36383363 0.93140141 -0.01079325 -3.62053159] [-0.04043264 0.02736858 0.99880737 -0.21564366] [ 0. 0. 0. 1. ]] SLAMing on 181.83241403699998 meters Centerline goodness : 0.815193 Centerline is valid? [False, False] Translation: X:-5.51, Y:-3.62, Z:-0.22 [[ 0.93058874 -0.36300394 0.04725178 -5.51410585] [ 0.36383068 0.93141187 -0.00995847 -3.62315305] [-0.0403959 0.02645889 0.99883337 -0.21540066] [ 0. 0. 0. 1. ]] SLAMing on 181.86241403699998 meters Centerline goodness : 0.814588 Centerline is valid? [False, False] Translation: X:-5.51, Y:-3.63, Z:-0.21 [[ 0.93057777 -0.36307539 0.04691767 -5.51344043] [ 0.36385844 0.93140989 -0.00909178 -3.62607218] [-0.04039858 0.025532 0.99885738 -0.21476403] [ 0. 0. 0. 1. ]] SLAMing on 181.89241403699998 meters Centerline goodness : 0.817754 Centerline is valid? [False, False] Translation: X:-5.52, Y:-3.64, Z:-0.21 [[ 9.29964071e-01 -3.65485197e-01 3.98421483e-02 -5.52224852e+00] [ 3.65902904e-01 9.30646489e-01 -3.48974676e-03 -3.63929934e+00] [-3.58035046e-02 1.78236969e-02 9.99199892e-01 -2.08051584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92241403699998 meters Centerline goodness : 0.817578 Centerline is valid? [False, False] Translation: X:-5.52, Y:-3.64, Z:-0.21 [[ 9.29345491e-01 -3.66988541e-01 4.04520587e-02 -5.52257078e+00] [ 3.67451804e-01 9.30032090e-01 -4.41405927e-03 -3.64324770e+00] [-3.60018035e-02 1.89663680e-02 9.99171730e-01 -2.06335204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95241403699998 meters Centerline goodness : 0.816343 Centerline is valid? [False, False] Translation: X:-5.54, Y:-3.65, Z:-0.20 [[ 9.29217071e-01 -3.67755957e-01 3.62103717e-02 -5.53528023e+00] [ 3.68079693e-01 9.29790940e-01 -2.47932071e-03 -3.65374942e+00] [-3.27562906e-02 1.56321296e-02 9.99341114e-01 -2.04133734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98241403699998 meters Centerline goodness : 0.816820 Centerline is valid? [False, False] Translation: X:-5.54, Y:-3.66, Z:-0.20 [[ 9.28696014e-01 -3.69825775e-01 2.74337283e-02 -5.54079169e+00] [ 3.69931208e-01 9.29058220e-01 1.31360462e-03 -3.66436278e+00] [-2.59733357e-02 8.92865289e-03 9.99622761e-01 -2.00772759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01241403699999 meters Centerline goodness : 0.816628 Centerline is valid? [False, False] Translation: X:-5.54, Y:-3.67, Z:-0.20 [[ 9.28827753e-01 -3.69524444e-01 2.70313018e-02 -5.53950055e+00] [ 3.69599376e-01 9.29188229e-01 2.35301202e-03 -3.66742665e+00] [-2.59866629e-02 7.80520943e-03 9.99631818e-01 -2.00934194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042414037 meters Centerline goodness : 0.817410 Centerline is valid? [False, False] Translation: X:-5.54, Y:-3.67, Z:-0.20 [[ 9.28935818e-01 -3.69274958e-01 2.67254944e-02 -5.53854080e+00] [ 3.69324047e-01 9.29294972e-01 3.25626187e-03 -3.67067076e+00] [-2.60383236e-02 6.84550949e-03 9.99637507e-01 -2.00645737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.072414037 meters Centerline goodness : 0.817893 Centerline is valid? [False, False] Translation: X:-5.54, Y:-3.68, Z:-0.20 [[ 9.28415989e-01 -3.70542079e-01 2.72455384e-02 -5.53840891e+00] [ 3.70608697e-01 9.28785033e-01 2.74899175e-03 -3.67702745e+00] [-2.63238654e-02 7.54522557e-03 9.99624992e-01 -1.98339285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102414037 meters Centerline goodness : 0.817893 Centerline is valid? [False, False] Translation: X:-5.54, Y:-3.68, Z:-0.20 [[ 9.28402222e-01 -3.70575500e-01 2.72600991e-02 -5.53843293e+00] [ 3.70641507e-01 9.28771857e-01 2.77682616e-03 -3.67706303e+00] [-2.63474367e-02 7.52571265e-03 9.99624518e-01 -1.98350070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.132414037 meters Centerline goodness : 0.818225 Centerline is valid? [False, False] Translation: X:-5.54, Y:-3.68, Z:-0.20 [[ 9.27975395e-01 -3.71601250e-01 2.78240200e-02 -5.53920091e+00] [ 3.71691160e-01 9.28354156e-01 2.05988296e-03 -3.67991680e+00] [-2.65959997e-02 8.43042155e-03 9.99610715e-01 -1.96655355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162414037 meters Centerline goodness : 0.817911 Centerline is valid? [False, False] Translation: X:-5.55, Y:-3.69, Z:-0.19 [[ 9.27921854e-01 -3.72096068e-01 2.24844338e-02 -5.55193780e+00] [ 3.72122284e-01 9.28178326e-01 3.16245611e-03 -3.68926987e+00] [-2.20463017e-02 5.43244673e-03 9.99742191e-01 -1.94708760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.192414037 meters Centerline goodness : 0.817258 Centerline is valid? [False, False] Translation: X:-5.56, Y:-3.70, Z:-0.19 [[ 9.26806993e-01 -3.75317198e-01 1.28763146e-02 -5.55630207e+00] [ 3.75284762e-01 9.26896400e-01 4.94066919e-03 -3.69861954e+00] [-1.37893278e-02 2.53237917e-04 9.99904891e-01 -1.91290538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222414037 meters Centerline goodness : 0.817121 Centerline is valid? [False, False] Translation: X:-5.55, Y:-3.70, Z:-0.19 [[ 9.25575266e-01 -3.78309919e-01 1.38575773e-02 -5.55484740e+00] [ 3.78318652e-01 9.25673075e-01 2.08686895e-03 -3.70025469e+00] [-1.36170694e-02 3.31102569e-03 9.99901801e-01 -1.91888186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.252414037 meters Centerline goodness : 0.816372 Centerline is valid? [False, False] Translation: X:-5.57, Y:-3.71, Z:-0.19 [[ 9.25080970e-01 -3.79614647e-01 1.08589966e-02 -5.56927105e+00] [ 3.79601646e-01 9.25144099e-01 3.31451215e-03 -3.71140235e+00] [-1.13043740e-02 1.05590087e-03 9.99935546e-01 -1.90806182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282414037 meters Centerline goodness : 0.819628 Centerline is valid? [False, False] Translation: X:-5.57, Y:-3.72, Z:-0.19 [[ 9.23608832e-01 -3.83126053e-01 1.26945750e-02 -5.56923969e+00] [ 3.83147589e-01 9.23686801e-01 7.86256340e-04 -3.71953735e+00] [-1.20270467e-02 4.13770251e-03 9.99919112e-01 -1.88574749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312414037 meters Centerline goodness : 0.816838 Centerline is valid? [False, False] Translation: X:-5.57, Y:-3.72, Z:-0.19 [[ 9.22847331e-01 -3.84927803e-01 1.35421615e-02 -5.56951011e+00] [ 3.84969565e-01 9.22929121e-01 -5.21129075e-04 -3.72343778e+00] [-1.22978581e-02 5.69424260e-03 9.99908165e-01 -1.87059399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342414037 meters Centerline goodness : 0.816352 Centerline is valid? [False, False] Translation: X:-5.58, Y:-3.74, Z:-0.19 [[ 9.22720148e-01 -3.85372172e-01 8.70737122e-03 -5.58279476e+00] [ 3.85367326e-01 9.22760401e-01 2.29507505e-03 -3.73516666e+00] [-8.91927541e-03 1.23782437e-03 9.99959456e-01 -1.85188957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372414037 meters Centerline goodness : 0.816434 Centerline is valid? [False, False] Translation: X:-5.60, Y:-3.75, Z:-0.18 [[ 9.22604734e-01 -3.85730017e-01 3.58601602e-03 -5.59589330e+00] [ 3.85710478e-01 9.22605641e-01 5.12433948e-03 -3.74664387e+00] [-5.28509016e-03 -3.34457590e-03 9.99980441e-01 -1.83781137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402414037 meters Centerline goodness : 0.815308 Centerline is valid? [False, False] Translation: X:-5.60, Y:-3.76, Z:-0.18 [[ 9.21578245e-01 -3.88161125e-01 -4.94766430e-03 -5.60196365e+00] [ 3.88191547e-01 9.21531223e-01 9.35565717e-03 -3.75952611e+00] [ 9.27924720e-04 -1.05426116e-02 9.99943995e-01 -1.79544258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432414037 meters Centerline goodness : 0.817224 Centerline is valid? [False, False] Translation: X:-5.60, Y:-3.76, Z:-0.18 [[ 9.20731848e-01 -3.90175237e-01 -4.01857455e-03 -5.60205410e+00] [ 3.90195432e-01 9.20698315e-01 7.88277781e-03 -3.76342288e+00] [ 6.24230116e-04 -8.82595401e-03 9.99960856e-01 -1.78185400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46241403699997 meters Centerline goodness : 0.818996 Centerline is valid? [False, False] Translation: X:-5.60, Y:-3.77, Z:-0.18 [[ 9.19805552e-01 -3.92361828e-01 -3.15305838e-03 -5.60190300e+00] [ 3.92374225e-01 9.19784670e-01 6.21509837e-03 -3.76731521e+00] [ 4.61567404e-04 -6.95386083e-03 9.99975715e-01 -1.76770391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49241403699997 meters Centerline goodness : 0.817281 Centerline is valid? [False, False] Translation: X:-5.60, Y:-3.77, Z:-0.18 [[ 9.18632328e-01 -3.95107788e-01 -2.11718337e-03 -5.60111841e+00] [ 3.95113234e-01 9.18624355e-01 3.85057137e-03 -3.77019133e+00] [ 4.23505472e-04 -4.37378651e-03 9.99990345e-01 -1.76268252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52241403699998 meters Centerline goodness : 0.817092 Centerline is valid? [False, False] Translation: X:-5.61, Y:-3.78, Z:-0.17 [[ 9.17098056e-01 -3.98619123e-01 -5.82669477e-03 -5.61389669e+00] [ 3.98645890e-01 9.17093905e-01 4.49709674e-03 -3.78369503e+00] [ 3.55099750e-03 -6.44706660e-03 9.99972913e-01 -1.74380660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55241403699998 meters Centerline goodness : 0.817577 Centerline is valid? [False, False] Translation: X:-5.63, Y:-3.79, Z:-0.17 [[ 9.16043564e-01 -4.01027914e-01 -6.38753684e-03 -5.63019863e+00] [ 4.01060982e-01 9.16036776e-01 5.16847324e-03 -3.79311991e+00] [ 3.77851661e-03 -7.29633844e-03 9.99966243e-01 -1.73762431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58241403699998 meters Centerline goodness : 0.818214 Centerline is valid? [False, False] Translation: X:-5.65, Y:-3.80, Z:-0.17 [[ 9.14829150e-01 -4.03785859e-01 -6.67876003e-03 -5.64629932e+00] [ 4.03824051e-01 9.14817361e-01 5.94409631e-03 -3.80482943e+00] [ 3.70970359e-03 -8.13487651e-03 9.99960030e-01 -1.73191086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61241403699998 meters Centerline goodness : 0.818737 Centerline is valid? [False, False] Translation: X:-5.66, Y:-3.81, Z:-0.17 [[ 9.14226511e-01 -4.05165265e-01 -5.56730379e-03 -5.66453863e+00] [ 4.05198335e-01 9.14197992e-01 7.50598296e-03 -3.81334681e+00] [ 2.04845437e-03 -9.11803084e-03 9.99956332e-01 -1.72108515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64241403699998 meters Centerline goodness : 0.819761 Centerline is valid? [False, False] Translation: X:-5.68, Y:-3.82, Z:-0.17 [[ 9.13698087e-01 -4.06381559e-01 -3.13597751e-03 -5.68308978e+00] [ 4.06393056e-01 9.13656240e-01 8.77269614e-03 -3.82120828e+00] [-6.99856513e-04 -9.29003516e-03 9.99956602e-01 -1.71394661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67241403699998 meters Centerline goodness : 0.817713 Centerline is valid? [False, False] Translation: X:-5.71, Y:-3.83, Z:-0.17 [[ 9.14059741e-01 -4.05576321e-01 1.62429029e-03 -5.70710497e+00] [ 4.05548187e-01 9.14031498e-01 8.78005076e-03 -3.83238665e+00] [-5.04563317e-03 -7.36676294e-03 9.99960135e-01 -1.71810940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70241403699998 meters Centerline goodness : 0.819540 Centerline is valid? [False, False] Translation: X:-5.73, Y:-3.84, Z:-0.17 [[ 9.14536554e-01 -4.04479561e-01 4.37901309e-03 -5.73061451e+00] [ 4.04444934e-01 9.14534931e-01 7.08200819e-03 -3.84490000e+00] [-6.86928800e-03 -4.70568571e-03 9.99965334e-01 -1.71843033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73241403699998 meters Centerline goodness : 0.818234 Centerline is valid? [False, False] Translation: X:-5.75, Y:-3.85, Z:-0.17 [[ 9.14944765e-01 -4.03545834e-01 5.18048645e-03 -5.75168927e+00] [ 4.03524738e-01 9.14956836e-01 4.66623605e-03 -3.85493088e+00] [-6.62296161e-03 -2.17889381e-03 9.99975694e-01 -1.73897755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76241403699999 meters Centerline goodness : 0.820831 Centerline is valid? [False, False] Translation: X:-5.77, Y:-3.86, Z:-0.17 [[ 9.14438563e-01 -4.04723946e-01 8.01441443e-04 -5.76560542e+00] [ 4.04717059e-01 9.14431617e-01 4.34962736e-03 -3.86146123e+00] [-2.49326174e-03 -3.65310997e-03 9.99990219e-01 -1.73974222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.792414037 meters Centerline goodness : 0.817086 Centerline is valid? [False, False] Translation: X:-5.76, Y:-3.86, Z:-0.17 [[ 9.14424164e-01 -4.04756633e-01 7.18551272e-04 -5.76481268e+00] [ 4.04749640e-01 9.14416383e-01 4.51748031e-03 -3.86193011e+00] [-2.48553518e-03 -3.84005979e-03 9.99989538e-01 -1.74639059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822414037 meters Centerline goodness : 0.816778 Centerline is valid? [False, False] Translation: X:-5.78, Y:-3.87, Z:-0.17 [[ 9.13817531e-01 -4.06109538e-01 -3.54438815e-03 -5.77918209e+00] [ 4.06123364e-01 9.13803847e-01 5.13250377e-03 -3.86899064e+00] [ 1.15451679e-03 -6.12963076e-03 9.99980547e-01 -1.74097340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.852414037 meters Centerline goodness : 0.818958 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.88, Z:-0.17 [[ 9.13258770e-01 -4.07369821e-01 -2.87197967e-03 -5.79751277e+00] [ 4.07379845e-01 9.13240780e-01 5.73934744e-03 -3.87691816e+00] [ 2.84772018e-04 -6.41149601e-03 9.99979406e-01 -1.72479966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882414037 meters Centerline goodness : 0.819833 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.88, Z:-0.17 [[ 9.13321725e-01 -4.07226999e-01 -3.09815041e-03 -5.79704500e+00] [ 4.07238632e-01 9.13301517e-01 6.08562905e-03 -3.87848976e+00] [ 3.51313013e-04 -6.81982375e-03 9.99976683e-01 -1.71954413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.912414037 meters Centerline goodness : 0.818987 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.88, Z:-0.17 [[ 9.12851915e-01 -4.08283082e-01 -2.51129949e-03 -5.79741475e+00] [ 4.08290699e-01 9.12838846e-01 4.89355682e-03 -3.88164719e+00] [ 2.94455264e-04 -5.49243294e-03 9.99984873e-01 -1.70129399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942414037 meters Centerline goodness : 0.819063 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.88, Z:-0.17 [[ 9.13062211e-01 -4.07810649e-01 -2.80603007e-03 -5.79692186e+00] [ 4.07820182e-01 9.13045626e-01 5.51211782e-03 -3.88291675e+00] [ 3.14133137e-04 -6.17726218e-03 9.99980871e-01 -1.69970364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.972414037 meters Centerline goodness : 0.822056 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.88, Z:-0.17 [[ 9.13301203e-01 -4.07273184e-01 -3.07662737e-03 -5.79665668e+00] [ 4.07284657e-01 9.13281244e-01 6.04794852e-03 -3.88350023e+00] [ 3.46658814e-04 -6.77666179e-03 9.99976978e-01 -1.69928213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002414037 meters Centerline goodness : 0.822390 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.88, Z:-0.17 [[ 9.14266848e-01 -4.05095903e-01 -3.66612408e-03 -5.79839600e+00] [ 4.05112491e-01 9.14228775e-01 8.34368291e-03 -3.88497093e+00] [-2.83156310e-05 -9.11354533e-03 9.99958470e-01 -1.68167324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032414037 meters Centerline goodness : 0.819168 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.89, Z:-0.17 [[ 9.14489630e-01 -4.04590271e-01 -3.92793958e-03 -5.79843241e+00] [ 4.04609338e-01 9.14446397e-01 8.89218643e-03 -3.88577016e+00] [-5.80192516e-06 -9.72109331e-03 9.99952749e-01 -1.67631274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062414037 meters Centerline goodness : 0.824093 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.89, Z:-0.17 [[ 9.14634253e-01 -4.04261388e-01 -4.11249487e-03 -5.79826513e+00] [ 4.04282306e-01 9.14586904e-01 9.30655868e-03 -3.88707104e+00] [-1.04837760e-06 -1.01747063e-02 9.99948236e-01 -1.67098817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092414037 meters Centerline goodness : 0.821325 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.89, Z:-0.17 [[ 9.14761820e-01 -4.03970413e-01 -4.32651819e-03 -5.79775242e+00] [ 4.03993580e-01 9.14710017e-01 9.73507949e-03 -3.88846919e+00] [ 2.48254427e-05 -1.06531646e-02 9.99943253e-01 -1.66868736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122414037 meters Centerline goodness : 0.820807 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.89, Z:-0.17 [[ 9.14147160e-01 -4.05379471e-01 -1.56687854e-03 -5.79917306e+00] [ 4.05378912e-01 9.14115986e-01 7.73964782e-03 -3.89001587e+00] [-1.70518561e-03 -7.71035660e-03 9.99968821e-01 -1.68748573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152414037 meters Centerline goodness : 0.819332 Centerline is valid? [False, False] Translation: X:-5.80, Y:-3.89, Z:-0.17 [[ 9.13577381e-01 -4.06658205e-01 2.33959438e-03 -5.80262747e+00] [ 4.06644364e-01 9.13573915e-01 4.80246455e-03 -3.89038490e+00] [-4.09035402e-03 -3.43604012e-03 9.99985731e-01 -1.71438276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182414037 meters Centerline goodness : 0.816878 Centerline is valid? [False, False] Translation: X:-5.82, Y:-3.90, Z:-0.17 [[ 9.14233378e-01 -4.05183811e-01 1.84669505e-03 -5.82373855e+00] [ 4.05175762e-01 9.14231677e-01 3.61155336e-03 -3.90041689e+00] [-3.15165007e-03 -2.55356656e-03 9.99991773e-01 -1.72950521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21241403699997 meters Centerline goodness : 0.819088 Centerline is valid? [False, False] Translation: X:-5.82, Y:-3.90, Z:-0.17 [[ 9.14358869e-01 -4.04901646e-01 1.58611025e-03 -5.82371757e+00] [ 4.04892840e-01 9.14355001e-01 4.08910876e-03 -3.90148046e+00] [-3.10595471e-03 -3.09670818e-03 9.99990382e-01 -1.72223479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24241403699997 meters Centerline goodness : 0.823182 Centerline is valid? [False, False] Translation: X:-5.82, Y:-3.90, Z:-0.17 [[ 9.14371275e-01 -4.04874310e-01 1.40183445e-03 -5.82370208e+00] [ 4.04865229e-01 9.14365910e-01 4.37361716e-03 -3.90287868e+00] [-3.05255486e-03 -3.43155587e-03 9.99989453e-01 -1.71239204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27241403699998 meters Centerline goodness : 0.822701 Centerline is valid? [False, False] Translation: X:-5.83, Y:-3.90, Z:-0.17 [[ 9.13511626e-01 -4.06804985e-01 2.49250777e-03 -5.82544511e+00] [ 4.06799408e-01 9.13514191e-01 2.46283704e-03 -3.90456399e+00] [-3.27883561e-03 -1.23587958e-03 9.99993861e-01 -1.68889077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30241403699998 meters Centerline goodness : 0.820649 Centerline is valid? [False, False] Translation: X:-5.83, Y:-3.91, Z:-0.17 [[ 9.12611739e-01 -4.08811245e-01 3.63048746e-03 -5.82691125e+00] [ 4.08812392e-01 9.12618333e-01 4.54137936e-04 -3.90603621e+00] [-3.49890611e-03 1.06973665e-03 9.99993307e-01 -1.67000018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33241403699998 meters Centerline goodness : 0.822257 Centerline is valid? [False, False] Translation: X:-5.84, Y:-3.91, Z:-0.17 [[ 9.11791141e-01 -4.10653231e-01 -9.16060146e-04 -5.84096595e+00] [ 4.10654097e-01 9.11790469e-01 1.16349244e-03 -3.91416818e+00] [ 3.57462981e-04 -1.43704595e-03 9.99998904e-01 -1.65792072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36241403699998 meters Centerline goodness : 0.821465 Centerline is valid? [False, False] Translation: X:-5.84, Y:-3.91, Z:-0.17 [[ 9.11825581e-01 -4.10576685e-01 -9.45990774e-04 -5.84087626e+00] [ 4.10577630e-01 9.11824775e-01 1.26061136e-03 -3.91372480e+00] [ 3.45000193e-04 -1.53786033e-03 9.99998758e-01 -1.66184944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39241403699998 meters Centerline goodness : 0.820958 Centerline is valid? [False, False] Translation: X:-5.86, Y:-3.92, Z:-0.17 [[ 9.12792521e-01 -4.08422180e-01 -1.06611968e-03 -5.86257580e+00] [ 4.08423441e-01 9.12791206e-01 1.58362212e-03 -3.92360203e+00] [ 3.26358267e-04 -1.88094670e-03 9.99998178e-01 -1.67546691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42241403699998 meters Centerline goodness : 0.819384 Centerline is valid? [False, False] Translation: X:-5.86, Y:-3.92, Z:-0.17 [[ 9.13208433e-01 -4.07490081e-01 -1.48071833e-03 -5.86185492e+00] [ 4.07492587e-01 9.13205446e-01 2.36751899e-03 -3.92473457e+00] [ 3.87459542e-04 -2.76542005e-03 9.99996101e-01 -1.67725150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45241403699998 meters Centerline goodness : 0.820731 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.93, Z:-0.17 [[ 9.14142013e-01 -4.05379299e-01 3.46469859e-03 -5.87023924e+00] [ 4.05382884e-01 9.14146913e-01 -3.72532009e-04 -3.92902461e+00] [-3.01622676e-03 1.74507667e-03 9.99993929e-01 -1.69973311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48241403699998 meters Centerline goodness : 0.821460 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.93, Z:-0.17 [[ 9.14410237e-01 -4.04776454e-01 3.15296970e-03 -5.86977933e+00] [ 4.04777807e-01 9.14415046e-01 2.24999837e-04 -3.93009956e+00] [-2.97419757e-03 1.07051001e-03 9.99995004e-01 -1.69844777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51241403699999 meters Centerline goodness : 0.823355 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.93, Z:-0.17 [[ 9.15154350e-01 -4.03094169e-01 2.75814357e-03 -5.87079464e+00] [ 4.03090288e-01 9.15158311e-01 1.86674659e-03 -3.93185616e+00] [-3.27661268e-03 -5.96580378e-04 9.99994454e-01 -1.68539460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542414037 meters Centerline goodness : 0.820947 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.93, Z:-0.17 [[ 9.15356665e-01 -4.02636361e-01 2.47730434e-03 -5.87076905e+00] [ 4.02631362e-01 9.15359362e-01 2.28565744e-03 -3.93223573e+00] [-3.18791251e-03 -1.09475135e-03 9.99994319e-01 -1.68134694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572414037 meters Centerline goodness : 0.820498 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.93, Z:-0.17 [[ 9.15333753e-01 -4.02676339e-01 3.98574576e-03 -5.87381207e+00] [ 4.02670031e-01 9.15342289e-01 2.31087720e-03 -3.93364257e+00] [-4.57885722e-03 -5.10283529e-04 9.99989387e-01 -1.67139448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602414037 meters Centerline goodness : 0.822521 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.93, Z:-0.17 [[ 9.15511589e-01 -4.02275410e-01 3.60887607e-03 -5.87347729e+00] [ 4.02267079e-01 9.15517996e-01 2.82767900e-03 -3.93492307e+00] [-4.44149672e-03 -1.13704086e-03 9.99989490e-01 -1.66505494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632414037 meters Centerline goodness : 0.823619 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.94, Z:-0.16 [[ 9.15566468e-01 -4.02151588e-01 3.48477965e-03 -5.87343345e+00] [ 4.02141702e-01 9.15571804e-01 3.21307225e-03 -3.93864485e+00] [-4.48270809e-03 -1.54040599e-03 9.99988766e-01 -1.64846943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662414037 meters Centerline goodness : 0.823083 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.94, Z:-0.16 [[ 9.15771524e-01 -4.01687068e-01 3.16457395e-03 -5.87275180e+00] [ 4.01674634e-01 9.15774057e-01 3.91973844e-03 -3.94064753e+00] [-4.47254297e-03 -2.31845576e-03 9.99987310e-01 -1.64540301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692414037 meters Centerline goodness : 0.823580 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.94, Z:-0.16 [[ 9.15511444e-01 -4.02272590e-01 3.94453030e-03 -5.87414168e+00] [ 4.02261169e-01 9.15518686e-01 3.38936159e-03 -3.94233577e+00] [-4.97473846e-03 -1.51626795e-03 9.99986476e-01 -1.63365138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722414037 meters Centerline goodness : 0.822384 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.95, Z:-0.16 [[ 9.16056045e-01 -4.01035560e-01 3.43533099e-03 -5.87323306e+00] [ 4.01016112e-01 9.16056211e-01 5.20537367e-03 -3.94600010e+00] [-5.23449624e-03 -3.39079094e-03 9.99980551e-01 -1.63176791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752414037 meters Centerline goodness : 0.822584 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.95, Z:-0.16 [[ 9.16224381e-01 -4.00652823e-01 3.19361225e-03 -5.87272074e+00] [ 4.00630987e-01 9.16220933e-01 5.83211335e-03 -3.94751514e+00] [-5.26270708e-03 -4.06406442e-03 9.99977893e-01 -1.63052242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782414037 meters Centerline goodness : 0.823331 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.95, Z:-0.16 [[ 9.16405730e-01 -4.00240550e-01 2.83560818e-03 -5.87200965e+00] [ 4.00216168e-01 9.16396830e-01 6.62336537e-03 -3.94966011e+00] [-5.24948174e-03 -4.93483374e-03 9.99974045e-01 -1.62708726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812414037 meters Centerline goodness : 0.825436 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.95, Z:-0.16 [[ 9.15649074e-01 -4.01961570e-01 3.69713815e-03 -5.87197207e+00] [ 4.01939769e-01 9.15649752e-01 5.47299623e-03 -3.95457433e+00] [-5.58521779e-03 -3.52531708e-03 9.99978189e-01 -1.61064140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842414037 meters Centerline goodness : 0.825946 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.96, Z:-0.16 [[ 9.15138495e-01 -4.03117034e-01 4.26530663e-03 -5.87252802e+00] [ 4.03099561e-01 9.15145501e-01 4.41091512e-03 -3.95690400e+00] [-5.68149119e-03 -2.31725499e-03 9.99981175e-01 -1.59618436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872414037 meters Centerline goodness : 0.823683 Centerline is valid? [False, False] Translation: X:-5.87, Y:-3.96, Z:-0.16 [[ 9.14394778e-01 -4.04788377e-01 5.34424810e-03 -5.87341485e+00] [ 4.04779603e-01 9.14410350e-01 2.68059386e-03 -3.95871505e+00] [-5.97190901e-03 -2.87878403e-04 9.99982127e-01 -1.58500221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902414037 meters Centerline goodness : 0.825268 Centerline is valid? [False, False] Translation: X:-5.88, Y:-3.96, Z:-0.16 [[ 9.13728287e-01 -4.06238301e-01 8.42975770e-03 -5.87624781e+00] [ 4.06248936e-01 9.13762313e-01 4.86948456e-04 -3.96056417e+00] [-7.90061201e-03 2.97964152e-03 9.99964350e-01 -1.59470371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932414037 meters Centerline goodness : 0.823351 Centerline is valid? [False, False] Translation: X:-5.88, Y:-3.97, Z:-0.16 [[ 9.14262453e-01 -4.04924319e-01 1.26674218e-02 -5.88400777e+00] [ 4.04985517e-01 9.14319414e-01 -2.59608887e-03 -3.96552748e+00] [-1.05308502e-02 7.50362896e-03 9.99916395e-01 -1.60566767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96241403699997 meters Centerline goodness : 0.826262 Centerline is valid? [False, False] Translation: X:-5.88, Y:-3.97, Z:-0.16 [[ 9.14689834e-01 -4.03980490e-01 1.19277480e-02 -5.88265837e+00] [ 4.04018898e-01 9.14750195e-01 -9.00929678e-04 -3.96996282e+00] [-1.05469518e-02 5.64310680e-03 9.99928456e-01 -1.59749624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99241403699997 meters Centerline goodness : 0.826262 Centerline is valid? [False, False] Translation: X:-5.88, Y:-3.97, Z:-0.16 [[ 9.14689834e-01 -4.03980490e-01 1.19277480e-02 -5.88265837e+00] [ 4.04018898e-01 9.14750195e-01 -9.00929678e-04 -3.96996282e+00] [-1.05469518e-02 5.64310680e-03 9.99928456e-01 -1.59749624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02241403699998 meters Centerline goodness : 0.826157 Centerline is valid? [False, False] Translation: X:-5.88, Y:-3.97, Z:-0.16 [[ 9.14825496e-01 -4.03684689e-01 1.15318750e-02 -5.88178132e+00] [ 4.03713176e-01 9.14885592e-01 -1.56171516e-04 -3.97245132e+00] [-1.04873023e-02 4.79843957e-03 9.99933494e-01 -1.59273587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05241403699998 meters Centerline goodness : 0.826621 Centerline is valid? [False, False] Translation: X:-5.88, Y:-3.98, Z:-0.16 [[ 9.14992753e-01 -4.03317496e-01 1.11022540e-02 -5.88073867e+00] [ 4.03334341e-01 9.15052352e-01 7.76792825e-04 -3.97553473e+00] [-1.04724378e-02 3.76716051e-03 9.99938066e-01 -1.58766245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08241403699998 meters Centerline goodness : 0.826047 Centerline is valid? [False, False] Translation: X:-5.88, Y:-3.98, Z:-0.16 [[ 9.14178041e-01 -4.05131920e-01 1.21093717e-02 -5.88139511e+00] [ 4.05171044e-01 9.14240493e-01 -8.64171898e-04 -3.97833972e+00] [-1.07207743e-02 5.69637374e-03 9.99926305e-01 -1.57262327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11241403699998 meters Centerline goodness : 0.826006 Centerline is valid? [False, False] Translation: X:-5.89, Y:-3.99, Z:-0.15 [[ 9.13525319e-01 -4.06708463e-01 7.72771626e-03 -5.89426962e+00] [ 4.06703497e-01 9.13557383e-01 2.27465077e-03 -3.99356403e+00] [-7.98483196e-03 1.06493816e-03 9.99967554e-01 -1.54501541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14241403699998 meters Centerline goodness : 0.826554 Centerline is valid? [False, False] Translation: X:-5.89, Y:-4.00, Z:-0.15 [[ 9.12303974e-01 -4.09416642e-01 8.91475233e-03 -5.89362280e+00] [ 4.09435331e-01 9.12339092e-01 -2.99767957e-04 -3.99543931e+00] [-8.01054706e-03 3.92349407e-03 9.99960218e-01 -1.54458684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17241403699998 meters Centerline goodness : 0.828033 Centerline is valid? [False, False] Translation: X:-5.91, Y:-4.01, Z:-0.15 [[ 9.11727274e-01 -4.10780236e-01 3.60228474e-03 -5.90719986e+00] [ 4.10773565e-01 9.11734068e-01 2.46300424e-03 -4.00634431e+00] [-4.29607919e-03 -7.65864793e-04 9.99990479e-01 -1.51774043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20241403699998 meters Centerline goodness : 0.828995 Centerline is valid? [False, False] Translation: X:-5.91, Y:-4.01, Z:-0.15 [[ 9.10706493e-01 -4.13032729e-01 4.20094710e-03 -5.90557209e+00] [ 4.13031618e-01 9.10715936e-01 1.16929176e-03 -4.01199060e+00] [-4.30882524e-03 6.70242385e-04 9.99990492e-01 -1.50691526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23241403699998 meters Centerline goodness : 0.828579 Centerline is valid? [False, False] Translation: X:-5.91, Y:-4.01, Z:-0.15 [[ 9.09654059e-01 -4.15333348e-01 5.26337881e-03 -5.90563521e+00] [ 4.15343035e-01 9.09664463e-01 -8.53205264e-04 -4.01463258e+00] [-4.43354406e-03 2.96222936e-03 9.99985784e-01 -1.49597565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26241403699999 meters Centerline goodness : 0.830286 Centerline is valid? [False, False] Translation: X:-5.90, Y:-4.02, Z:-0.15 [[ 9.08362045e-01 -4.18136466e-01 6.34748520e-03 -5.90473978e+00] [ 4.18162455e-01 9.08365565e-01 -3.48729719e-03 -4.01671967e+00] [-4.30767086e-03 5.82200840e-03 9.99973774e-01 -1.49347973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.292414037 meters Centerline goodness : 0.830789 Centerline is valid? [False, False] Translation: X:-5.92, Y:-4.03, Z:-0.15 [[ 9.07491667e-01 -4.20069063e-01 9.25292514e-04 -5.91715861e+00] [ 4.20070058e-01 9.07490154e-01 -1.66305771e-03 -4.02747512e+00] [-1.41094751e-04 1.89789870e-03 9.99998189e-01 -1.47846762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322414037 meters Centerline goodness : 0.831334 Centerline is valid? [False, False] Translation: X:-5.93, Y:-4.04, Z:-0.15 [[ 9.06273419e-01 -4.22660029e-01 -5.19518899e-03 -5.92650502e+00] [ 4.22667218e-01 9.06284900e-01 3.19975823e-04 -4.04051875e+00] [ 4.57308035e-03 -2.48582166e-03 9.99986454e-01 -1.47036458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.352414037 meters Centerline goodness : 0.832143 Centerline is valid? [False, False] Translation: X:-5.93, Y:-4.04, Z:-0.15 [[ 9.05058881e-01 -4.25268286e-01 -3.91246240e-03 -5.92657304e+00] [ 4.25263558e-01 9.05067324e-01 -2.01136160e-03 -4.04259540e+00] [ 4.39641017e-03 1.56572993e-04 9.99990323e-01 -1.46326993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382414037 meters Centerline goodness : 0.832847 Centerline is valid? [False, False] Translation: X:-5.93, Y:-4.05, Z:-0.14 [[ 9.03928753e-01 -4.27674595e-01 -2.69241071e-03 -5.92734611e+00] [ 4.27662929e-01 9.03929369e-01 -4.01445607e-03 -4.04529772e+00] [ 4.15062999e-03 2.47733802e-03 9.99988317e-01 -1.44610776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.412414037 meters Centerline goodness : 0.834765 Centerline is valid? [False, False] Translation: X:-5.95, Y:-4.06, Z:-0.14 [[ 9.02209138e-01 -4.31292157e-01 2.39712795e-03 -5.94981331e+00] [ 4.31297560e-01 9.02205998e-01 -2.59859984e-03 -4.06194113e+00] [-1.04194748e-03 3.37835596e-03 9.99993751e-01 -1.42627771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442414037 meters Centerline goodness : 0.834607 Centerline is valid? [False, False] Translation: X:-5.95, Y:-4.06, Z:-0.14 [[ 9.00769840e-01 -4.34280682e-01 3.73959729e-03 -5.94950022e+00] [ 4.34295573e-01 9.00754257e-01 -5.39666102e-03 -4.06345561e+00] [-1.02479255e-03 6.48524003e-03 9.99978445e-01 -1.42234339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.472414037 meters Centerline goodness : 0.836095 Centerline is valid? [False, False] Translation: X:-5.96, Y:-4.07, Z:-0.14 [[ 8.99524213e-01 -4.36866840e-01 -1.88507501e-03 -5.96145755e+00] [ 4.36860949e-01 8.99524470e-01 -2.87035834e-03 -4.07287252e+00] [ 2.94963548e-03 1.75844117e-03 9.99994104e-01 -1.40154141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502414037 meters Centerline goodness : 0.834194 Centerline is valid? [False, False] Translation: X:-5.97, Y:-4.08, Z:-0.14 [[ 8.96906023e-01 -4.42102439e-01 -1.02479161e-02 -5.96639486e+00] [ 4.42108439e-01 8.96959812e-01 -1.79538703e-03 -4.08076290e+00] [ 9.98571384e-03 -2.92039673e-03 9.99945877e-01 -1.38314290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532414037 meters Centerline goodness : 0.835277 Centerline is valid? [False, False] Translation: X:-5.98, Y:-4.09, Z:-0.14 [[ 8.95483239e-01 -4.44816866e-01 -1.57392816e-02 -5.97869229e+00] [ 4.44861230e-01 8.95599195e-01 -7.53041436e-04 -4.08911453e+00] [ 1.44310535e-02 -6.32746021e-03 9.99875846e-01 -1.37502508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562414037 meters Centerline goodness : 0.835309 Centerline is valid? [False, False] Translation: X:-5.99, Y:-4.10, Z:-0.14 [[ 8.94039739e-01 -4.47525813e-01 -2.03369486e-02 -5.99265998e+00] [ 4.47627113e-01 8.94220183e-01 4.82518769e-04 -4.09790321e+00] [ 1.79697703e-02 -9.53476055e-03 9.99793066e-01 -1.35944961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592414037 meters Centerline goodness : 0.833693 Centerline is valid? [False, False] Translation: X:-6.01, Y:-4.11, Z:-0.14 [[ 8.93267686e-01 -4.49158086e-01 -1.81619192e-02 -6.01457870e+00] [ 4.49248480e-01 8.93406271e-01 1.01854377e-03 -4.10965031e+00] [ 1.57684854e-02 -9.06904683e-03 9.99834540e-01 -1.36488531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622414037 meters Centerline goodness : 0.833762 Centerline is valid? [False, False] Translation: X:-6.04, Y:-4.12, Z:-0.14 [[ 8.91859249e-01 -4.52080647e-01 -1.44971706e-02 -6.03828736e+00] [ 4.52120555e-01 8.91956650e-01 -5.82241871e-04 -4.12200220e+00] [ 1.31940680e-02 -6.03519103e-03 9.99894741e-01 -1.36122306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652414037 meters Centerline goodness : 0.832798 Centerline is valid? [False, False] Translation: X:-6.06, Y:-4.13, Z:-0.14 [[ 8.91100172e-01 -4.53610298e-01 -1.33484103e-02 -6.06003185e+00] [ 4.53639630e-01 8.91184744e-01 -9.15839411e-04 -4.13233031e+00] [ 1.23113338e-02 -5.23926326e-03 9.99910487e-01 -1.36401803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682414037 meters Centerline goodness : 0.834208 Centerline is valid? [False, False] Translation: X:-6.06, Y:-4.13, Z:-0.14 [[ 8.90992965e-01 -4.53817583e-01 -1.34587136e-02 -6.05927113e+00] [ 4.53846838e-01 8.91079180e-01 -9.70381355e-04 -4.13274398e+00] [ 1.24331556e-02 -5.24359166e-03 9.99908957e-01 -1.36651775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71241403699997 meters Centerline goodness : 0.835043 Centerline is valid? [False, False] Translation: X:-6.09, Y:-4.15, Z:-0.14 [[ 8.91164879e-01 -4.53581850e-01 -9.41616868e-03 -6.08818356e+00] [ 4.53559715e-01 8.91214582e-01 -4.48920050e-03 -4.14806937e+00] [ 1.04280467e-02 -2.70176970e-04 9.99945590e-01 -1.38070778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74241403699997 meters Centerline goodness : 0.833566 Centerline is valid? [False, False] Translation: X:-6.09, Y:-4.15, Z:-0.14 [[ 8.90211821e-01 -4.55474984e-01 -8.09024746e-03 -6.09022602e+00] [ 4.55435275e-01 8.90246466e-01 -6.31983984e-03 -4.14894437e+00] [ 1.00808432e-02 1.94141205e-03 9.99947302e-01 -1.36233630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77241403699998 meters Centerline goodness : 0.834797 Centerline is valid? [False, False] Translation: X:-6.11, Y:-4.16, Z:-0.13 [[ 8.88344365e-01 -4.59136483e-01 -6.16279349e-03 -6.10862636e+00] [ 4.59115436e-01 8.88364897e-01 -4.56358001e-03 -4.15721422e+00] [ 7.57011548e-03 1.22459696e-03 9.99970596e-01 -1.34706498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80241403699998 meters Centerline goodness : 0.834853 Centerline is valid? [False, False] Translation: X:-6.13, Y:-4.17, Z:-0.13 [[ 8.87277654e-01 -4.61223701e-01 -3.32601887e-03 -6.13130557e+00] [ 4.61210258e-01 8.87281386e-01 -4.10372222e-03 -4.16863451e+00] [ 4.84384859e-03 2.10714700e-03 9.99986048e-01 -1.34217715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83241403699998 meters Centerline goodness : 0.833658 Centerline is valid? [False, False] Translation: X:-6.14, Y:-4.17, Z:-0.13 [[ 8.83875147e-01 -4.67614077e-01 -1.00895401e-02 -6.14004641e+00] [ 4.67600835e-01 8.83931658e-01 -3.77916765e-03 -4.17476424e+00] [ 1.06856559e-02 -1.37756500e-03 9.99941958e-01 -1.30061830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86241403699998 meters Centerline goodness : 0.833364 Centerline is valid? [False, False] Translation: X:-6.18, Y:-4.20, Z:-0.13 [[ 8.83211389e-01 -4.68842258e-01 -1.11615198e-02 -6.17685353e+00] [ 4.68866022e-01 8.83269130e-01 -5.44923215e-04 -4.19501376e+00] [ 1.01141089e-02 -4.75197499e-03 9.99937560e-01 -1.32148708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89241403699998 meters Centerline goodness : 0.833869 Centerline is valid? [False, False] Translation: X:-6.19, Y:-4.20, Z:-0.13 [[ 8.80845006e-01 -4.73119519e-01 -1.64315408e-02 -6.18833940e+00] [ 4.73159369e-01 8.80975367e-01 -1.61728376e-03 -4.19916218e+00] [ 1.52409512e-02 -6.35016115e-03 9.99863685e-01 -1.33318114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92241403699998 meters Centerline goodness : 0.836063 Centerline is valid? [False, False] Translation: X:-6.23, Y:-4.22, Z:-0.14 [[ 8.80173658e-01 -4.74392081e-01 -1.56998670e-02 -6.22762628e+00] [ 4.74453762e-01 8.80280395e-01 2.32822074e-04 -4.21701564e+00] [ 1.37098362e-02 -7.65378483e-03 9.99876722e-01 -1.35346480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95241403699998 meters Centerline goodness : 0.836799 Centerline is valid? [False, False] Translation: X:-6.26, Y:-4.23, Z:-0.14 [[ 8.80491707e-01 -4.73960374e-01 -9.79380957e-03 -6.25773370e+00] [ 4.73955409e-01 8.80543840e-01 -2.96924092e-03 -4.22948148e+00] [ 1.00311812e-02 -2.02743701e-03 9.99947631e-01 -1.37309626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98241403699998 meters Centerline goodness : 0.835739 Centerline is valid? [False, False] Translation: X:-6.29, Y:-4.24, Z:-0.14 [[ 8.80059137e-01 -4.74860124e-01 -1.94340055e-03 -6.28909311e+00] [ 4.74836215e-01 8.80044438e-01 -7.23570187e-03 -4.24107744e+00] [ 5.14622514e-03 5.44504859e-03 9.99971934e-01 -1.38206465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01241403699999 meters Centerline goodness : 0.835190 Centerline is valid? [False, False] Translation: X:-6.31, Y:-4.25, Z:-0.14 [[ 8.79400525e-01 -4.76080326e-01 1.49637220e-03 -6.31415239e+00] [ 4.76068241e-01 8.79345036e-01 -1.05516468e-02 -4.25042722e+00] [ 3.70760397e-03 9.99149900e-03 9.99943210e-01 -1.39472761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042414037 meters Centerline goodness : 0.835606 Centerline is valid? [False, False] Translation: X:-6.35, Y:-4.27, Z:-0.14 [[ 8.79064751e-01 -4.76699784e-01 1.57468864e-03 -6.35372331e+00] [ 4.76695750e-01 8.79030294e-01 -8.17949515e-03 -4.26820962e+00] [ 2.51496455e-03 7.94095325e-03 9.99965308e-01 -1.40726287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.072414037 meters Centerline goodness : 0.834998 Centerline is valid? [False, False] Translation: X:-6.39, Y:-4.28, Z:-0.14 [[ 8.78221333e-01 -4.78250593e-01 1.91325561e-03 -6.39020184e+00] [ 4.78254042e-01 8.78208577e-01 -4.77148488e-03 -4.28284941e+00] [ 6.01727990e-04 5.10544203e-03 9.99986786e-01 -1.43712470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102414037 meters Centerline goodness : 0.834159 Centerline is valid? [False, False] Translation: X:-6.43, Y:-4.30, Z:-0.15 [[ 8.77725279e-01 -4.79157807e-01 2.47616204e-03 -6.42849893e+00] [ 4.79162202e-01 8.77724831e-01 -1.64474486e-03 -4.29839905e+00] [-1.38529657e-03 2.63011740e-03 9.99995582e-01 -1.46397753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.132414037 meters Centerline goodness : 0.832893 Centerline is valid? [False, False] Translation: X:-6.47, Y:-4.31, Z:-0.15 [[ 8.76645885e-01 -4.81123821e-01 3.44404556e-03 -6.46810758e+00] [ 4.81128892e-01 8.76649517e-01 -7.83460771e-04 -4.31051523e+00] [-2.64227924e-03 2.34384748e-03 9.99993762e-01 -1.49257147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162414037 meters Centerline goodness : 0.833016 Centerline is valid? [False, False] Translation: X:-6.51, Y:-4.33, Z:-0.15 [[ 8.76686011e-01 -4.81021159e-01 6.34684498e-03 -6.51115649e+00] [ 4.81032585e-01 8.76702659e-01 -3.16544745e-04 -4.32848374e+00] [-5.41203115e-03 3.33054960e-03 9.99979808e-01 -1.52064450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.192414037 meters Centerline goodness : 0.832200 Centerline is valid? [False, False] Translation: X:-6.54, Y:-4.33, Z:-0.15 [[ 8.75489153e-01 -4.83109344e-01 1.11402392e-02 -6.53805751e+00] [ 4.83194040e-01 8.75487410e-01 -6.73160415e-03 -4.33193288e+00] [-6.50103827e-03 1.12763436e-02 9.99915287e-01 -1.53730662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222414037 meters Centerline goodness : 0.833526 Centerline is valid? [False, False] Translation: X:-6.58, Y:-4.35, Z:-0.16 [[ 8.75214699e-01 -4.83575103e-01 1.24237882e-02 -6.57781127e+00] [ 4.83652304e-01 8.75250951e-01 -4.02751725e-03 -4.34706065e+00] [-8.92632537e-03 9.53373609e-03 9.99914711e-01 -1.55394885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.252414037 meters Centerline goodness : 0.832022 Centerline is valid? [False, False] Translation: X:-6.62, Y:-4.36, Z:-0.16 [[ 8.74951989e-01 -4.84024126e-01 1.34038334e-02 -6.61718370e+00] [ 4.84089863e-01 8.75016054e-01 -1.97759039e-03 -4.36089912e+00] [-1.07713679e-02 8.21895649e-03 9.99908209e-01 -1.57211817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282414037 meters Centerline goodness : 0.829659 Centerline is valid? [False, False] Translation: X:-6.66, Y:-4.37, Z:-0.16 [[ 8.74852642e-01 -4.84167234e-01 1.46609519e-02 -6.65889922e+00] [ 4.84227703e-01 8.74941764e-01 -6.65134212e-04 -4.37052960e+00] [-1.25054429e-02 7.68113349e-03 9.99892301e-01 -1.58911357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312414037 meters Centerline goodness : 0.830037 Centerline is valid? [False, False] Translation: X:-6.69, Y:-4.38, Z:-0.16 [[ 8.75159106e-01 -4.83496186e-01 1.81101199e-02 -6.68537422e+00] [ 4.83630051e-01 8.75264930e-01 -3.64371279e-03 -4.37704177e+00] [-1.40894316e-02 1.19474267e-02 9.99829359e-01 -1.59583579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342414037 meters Centerline goodness : 0.828641 Centerline is valid? [False, False] Translation: X:-6.73, Y:-4.39, Z:-0.16 [[ 8.76356303e-01 -4.81209513e-01 2.09053889e-02 -6.73115748e+00] [ 4.81370124e-01 8.76511753e-01 -3.15460933e-03 -4.39496756e+00] [-1.68057911e-02 1.28277914e-02 9.99776482e-01 -1.61174248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372414037 meters Centerline goodness : 0.827367 Centerline is valid? [False, False] Translation: X:-6.76, Y:-4.40, Z:-0.16 [[ 8.76832579e-01 -4.80117216e-01 2.55360188e-02 -6.75996113e+00] [ 4.80358657e-01 8.77063242e-01 -3.95355413e-03 -4.39761399e+00] [-2.04985340e-02 1.57330528e-02 9.99666085e-01 -1.61790240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402414037 meters Centerline goodness : 0.828226 Centerline is valid? [False, False] Translation: X:-6.80, Y:-4.41, Z:-0.16 [[ 8.77147333e-01 -4.79374202e-01 2.85119341e-02 -6.80077587e+00] [ 4.79609164e-01 8.77480721e-01 -1.62313497e-03 -4.41115687e+00] [-2.42405835e-02 1.50983134e-02 9.99592134e-01 -1.63084928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432414037 meters Centerline goodness : 0.826435 Centerline is valid? [False, False] Translation: X:-6.84, Y:-4.42, Z:-0.16 [[ 8.77663617e-01 -4.78235629e-01 3.15794009e-02 -6.84178398e+00] [ 4.78451527e-01 8.78113588e-01 8.14029773e-04 -4.42422102e+00] [-2.81195990e-02 1.43947682e-02 9.99500915e-01 -1.64659582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46241403699997 meters Centerline goodness : 0.824085 Centerline is valid? [False, False] Translation: X:-6.87, Y:-4.42, Z:-0.17 [[ 8.79408709e-01 -4.74866062e-01 3.38015464e-02 -6.86896375e+00] [ 4.75207176e-01 8.79870704e-01 -2.38428660e-03 -4.42227537e+00] [-2.86087736e-02 1.81594998e-02 9.99425720e-01 -1.65251869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49241403699997 meters Centerline goodness : 0.823220 Centerline is valid? [False, False] Translation: X:-6.90, Y:-4.43, Z:-0.17 [[ 0.88054407 -0.47249063 0.03734634 -6.89590495] [ 0.47304201 0.88101136 -0.00708839 -4.42708703] [-0.02955335 0.02390803 0.99927724 -0.16671545] [ 0. 0. 0. 1. ]] SLAMing on 185.52241403699998 meters Centerline goodness : 0.821182 Centerline is valid? [False, False] Translation: X:-6.92, Y:-4.43, Z:-0.17 [[ 0.8819726 -0.46944179 0.04181796 -6.92408707] [ 0.47024792 0.88245887 -0.0115429 -4.4331966 ] [-0.03148391 0.02984533 0.99905857 -0.1686558 ] [ 0. 0. 0. 1. ]] SLAMing on 185.55241403699998 meters Centerline goodness : 0.821389 Centerline is valid? [False, False] Translation: X:-6.95, Y:-4.44, Z:-0.17 [[ 0.88322629 -0.46675318 0.04530779 -6.95013654] [ 0.46773363 0.88376548 -0.01355821 -4.43865565] [-0.03371313 0.03316694 0.99888106 -0.16861309] [ 0. 0. 0. 1. ]] SLAMing on 185.58241403699998 meters Centerline goodness : 0.821370 Centerline is valid? [False, False] Translation: X:-6.97, Y:-4.44, Z:-0.17 [[ 0.88519757 -0.46277528 0.04758462 -6.97231231] [ 0.46368429 0.8859484 -0.00960809 -4.43672178] [-0.03771113 0.0305693 0.998821 -0.16522076] [ 0. 0. 0. 1. ]] SLAMing on 185.61241403699998 meters Centerline goodness : 0.820766 Centerline is valid? [False, False] Translation: X:-6.99, Y:-4.44, Z:-0.16 [[ 0.88581691 -0.46136421 0.04971382 -6.99306189] [ 0.46226777 0.88670562 -0.0078523 -4.43931781] [-0.04045876 0.02993679 0.99873264 -0.16354249] [ 0. 0. 0. 1. ]] SLAMing on 185.64241403699998 meters Centerline goodness : 0.820571 Centerline is valid? [False, False] Translation: X:-7.03, Y:-4.45, Z:-0.16 [[ 8.86308100e-01 -4.60623663e-01 4.77890470e-02 -7.02802756e+00] [ 4.61328505e-01 8.87219019e-01 -4.29211390e-03 -4.44993812e+00] [-4.04223022e-02 2.58505849e-02 9.98848229e-01 -1.62312843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67241403699998 meters Centerline goodness : 0.818739 Centerline is valid? [False, False] Translation: X:-7.04, Y:-4.44, Z:-0.16 [[ 0.88705871 -0.45957507 0.04379052 -7.04454071] [ 0.46031976 0.88771537 -0.00819361 -4.44491747] [-0.03510794 0.02742586 0.99900713 -0.16047245] [ 0. 0. 0. 1. ]] SLAMing on 185.70241403699998 meters Centerline goodness : 0.818766 Centerline is valid? [False, False] Translation: X:-7.08, Y:-4.46, Z:-0.16 [[ 8.87025337e-01 -4.59799691e-01 4.20748787e-02 -7.08082716e+00] [ 4.60402970e-01 8.87693510e-01 -5.41648840e-03 -4.45751530e+00] [-3.48590970e-02 2.41759615e-02 9.99099778e-01 -1.58775514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73241403699998 meters Centerline goodness : 0.818321 Centerline is valid? [False, False] Translation: X:-7.10, Y:-4.46, Z:-0.16 [[ 8.86464780e-01 -4.60762616e-01 4.33359511e-02 -7.10041410e+00] [ 4.61410712e-01 8.87167807e-01 -5.78240104e-03 -4.46054631e+00] [-3.57819465e-02 2.51215669e-02 9.99043822e-01 -1.57189712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76241403699999 meters Centerline goodness : 0.816101 Centerline is valid? [False, False] Translation: X:-7.12, Y:-4.46, Z:-0.16 [[ 8.86001806e-01 -4.61531486e-01 4.46036732e-02 -7.12042867e+00] [ 4.62163402e-01 8.86783552e-01 -4.46325940e-03 -4.46426826e+00] [-3.74938690e-02 2.45686412e-02 9.98994791e-01 -1.55166188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.792414037 meters Centerline goodness : 0.816795 Centerline is valid? [False, False] Translation: X:-7.16, Y:-4.47, Z:-0.15 [[ 8.85532773e-01 -4.62502267e-01 4.38561446e-02 -7.15813963e+00] [ 4.63025989e-01 8.86342363e-01 -2.03702719e-03 -4.47187419e+00] [-3.79294292e-02 2.21103891e-02 9.99035780e-01 -1.53862161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822414037 meters Centerline goodness : 0.814406 Centerline is valid? [False, False] Translation: X:-7.18, Y:-4.47, Z:-0.15 [[ 8.84922464e-01 -4.63671550e-01 4.38283763e-02 -7.17747301e+00] [ 4.64239079e-01 8.85704188e-01 -3.18871885e-03 -4.47472842e+00] [-3.73404582e-02 2.31686140e-02 9.99033986e-01 -1.52181367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.852414037 meters Centerline goodness : 0.814471 Centerline is valid? [False, False] Translation: X:-7.21, Y:-4.49, Z:-0.15 [[ 8.84431756e-01 -4.64679641e-01 4.30499703e-02 -7.21152981e+00] [ 4.65116841e-01 8.85249287e-01 -1.57585864e-04 -4.48644222e+00] [-3.80367286e-02 2.01626401e-02 9.99072908e-01 -1.52403635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882414037 meters Centerline goodness : 0.812587 Centerline is valid? [False, False] Translation: X:-7.25, Y:-4.49, Z:-0.15 [[ 8.82898670e-01 -4.67601435e-01 4.28816528e-02 -7.24706027e+00] [ 4.68052370e-01 8.83700564e-01 -5.40140535e-04 -4.49434386e+00] [-3.76419703e-02 2.05477486e-02 9.99080013e-01 -1.52600623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.912414037 meters Centerline goodness : 0.812587 Centerline is valid? [False, False] Translation: X:-7.27, Y:-4.50, Z:-0.15 [[ 8.83160594e-01 -4.66736725e-01 4.67353622e-02 -7.26913256e+00] [ 4.67320790e-01 8.84086001e-01 -1.79524555e-03 -4.50383070e+00] [-4.04801724e-02 2.34258965e-02 9.98905693e-01 -1.53686430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942414037 meters Centerline goodness : 0.812834 Centerline is valid? [False, False] Translation: X:-7.30, Y:-4.52, Z:-0.16 [[ 8.82061846e-01 -4.68489731e-01 4.98424748e-02 -7.30206333e+00] [ 4.68961133e-01 8.83215269e-01 2.49910065e-03 -4.51621908e+00] [-4.51924378e-02 2.11698221e-02 9.98753965e-01 -1.55105242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.972414037 meters Centerline goodness : 0.814373 Centerline is valid? [False, False] Translation: X:-7.32, Y:-4.52, Z:-0.15 [[ 8.80800759e-01 -4.70582354e-01 5.23667020e-02 -7.32148530e+00] [ 4.71097401e-01 8.82076743e-01 2.80333977e-03 -4.52110146e+00] [-4.75106521e-02 2.22006334e-02 9.98623988e-01 -1.53740497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002414037 meters Centerline goodness : 0.814302 Centerline is valid? [False, False] Translation: X:-7.32, Y:-4.52, Z:-0.15 [[ 8.80333443e-01 -4.71381536e-01 5.30327969e-02 -7.32295800e+00] [ 4.71966037e-01 8.81615112e-01 1.68950416e-03 -4.51869697e+00] [-4.75509162e-02 2.35423520e-02 9.98591342e-01 -1.53538843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032414037 meters Centerline goodness : 0.812814 Centerline is valid? [False, False] Translation: X:-7.36, Y:-4.53, Z:-0.15 [[ 8.79645014e-01 -4.72743798e-01 5.23254332e-02 -7.35969825e+00] [ 4.73186471e-01 8.80951496e-01 4.36185221e-03 -4.53269313e+00] [-4.81582072e-02 2.09228056e-02 9.98620560e-01 -1.50500578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062414037 meters Centerline goodness : 0.813833 Centerline is valid? [False, False] Translation: X:-7.38, Y:-4.54, Z:-0.15 [[ 8.78235041e-01 -4.75067362e-01 5.49018539e-02 -7.38078630e+00] [ 4.75531695e-01 8.79683758e-01 5.10809998e-03 -4.53522259e+00] [-5.07229607e-02 2.16214592e-02 9.98478690e-01 -1.49392073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092414037 meters Centerline goodness : 0.815273 Centerline is valid? [False, False] Translation: X:-7.41, Y:-4.55, Z:-0.15 [[ 0.87756425 -0.47614404 0.05628357 -7.41396796] [ 0.47644654 0.8791596 0.0087796 -4.5479699 ] [-0.0536626 0.01911145 0.99837622 -0.15054923] [ 0. 0. 0. 1. ]] SLAMing on 186.122414037 meters Centerline goodness : 0.814172 Centerline is valid? [False, False] Translation: X:-7.45, Y:-4.56, Z:-0.15 [[ 0.87676284 -0.47777343 0.05494978 -7.44962403] [ 0.47806227 0.8782837 0.00861493 -4.56086093] [-0.05237747 0.01871617 0.99845195 -0.1485087 ] [ 0. 0. 0. 1. ]] SLAMing on 186.152414037 meters Centerline goodness : 0.814089 Centerline is valid? [False, False] Translation: X:-7.48, Y:-4.57, Z:-0.15 [[ 0.87549686 -0.47986317 0.05689097 -7.48343002] [ 0.4800436 0.87717125 0.01134637 -4.5702881 ] [-0.05534783 0.01737644 0.99831592 -0.1506054 ] [ 0. 0. 0. 1. ]] SLAMing on 186.182414037 meters Centerline goodness : 0.814377 Centerline is valid? [False, False] Translation: X:-7.52, Y:-4.58, Z:-0.15 [[ 0.87463144 -0.48147705 0.0565658 -7.52062601] [ 0.48162925 0.87629548 0.01181065 -4.58284767] [-0.05525491 0.01691378 0.99832901 -0.14803285] [ 0. 0. 0. 1. ]] SLAMing on 186.21241403699997 meters Centerline goodness : 0.814132 Centerline is valid? [False, False] Translation: X:-7.56, Y:-4.60, Z:-0.15 [[ 0.87383064 -0.48291177 0.05671175 -7.55845567] [ 0.48305004 0.87550836 0.01215563 -4.59526703] [-0.05552171 0.01677265 0.99831659 -0.14502323] [ 0. 0. 0. 1. ]] SLAMing on 186.24241403699997 meters Centerline goodness : 0.813235 Centerline is valid? [False, False] Translation: X:-7.58, Y:-4.60, Z:-0.14 [[ 0.8729803 -0.48404602 0.0600403 -7.57815586] [ 0.48424229 0.87484875 0.0122097 -4.59938175] [-0.05843624 0.01841523 0.99812128 -0.14363209] [ 0. 0. 0. 1. ]] SLAMing on 186.27241403699998 meters Centerline goodness : 0.812775 Centerline is valid? [False, False] Translation: X:-7.62, Y:-4.62, Z:-0.14 [[ 0.87274919 -0.48398952 0.06374168 -7.62399286] [ 0.48416466 0.87486961 0.0137023 -4.61664461] [-0.06239743 0.01890279 0.99787236 -0.14387647] [ 0. 0. 0. 1. ]] SLAMing on 186.30241403699998 meters Centerline goodness : 0.814056 Centerline is valid? [False, False] Translation: X:-7.66, Y:-4.63, Z:-0.14 [[ 0.87282175 -0.48352508 0.06622453 -7.66444275] [ 0.48379025 0.87508678 0.01304276 -4.63096021] [-0.06425871 0.02065478 0.9977195 -0.14417738] [ 0. 0. 0. 1. ]] SLAMing on 186.33241403699998 meters Centerline goodness : 0.812094 Centerline is valid? [False, False] Translation: X:-7.70, Y:-4.64, Z:-0.15 [[ 0.87202362 -0.48499963 0.06595579 -7.69926221] [ 0.48546152 0.87420186 0.00991061 -4.63643848] [-0.06246532 0.02337671 0.99777333 -0.14533182] [ 0. 0. 0. 1. ]] SLAMing on 186.36241403699998 meters Centerline goodness : 0.811417 Centerline is valid? [False, False] Translation: X:-7.74, Y:-4.65, Z:-0.15 [[ 0.87285652 -0.48325459 0.06772376 -7.73963643] [ 0.48376981 0.87514188 0.0096671 -4.64975503] [-0.06393957 0.02432472 0.99765728 -0.14672836] [ 0. 0. 0. 1. ]] SLAMing on 186.39241403699998 meters Centerline goodness : 0.811861 Centerline is valid? [False, False] Translation: X:-7.78, Y:-4.65, Z:-0.15 [[ 0.87311067 -0.4826184 0.06897275 -7.77906481] [ 0.48312214 0.8754925 0.01028965 -4.65475472] [-0.0653511 0.02433826 0.99756548 -0.14634717] [ 0. 0. 0. 1. ]] SLAMing on 186.42241403699998 meters Centerline goodness : 0.811645 Centerline is valid? [False, False] Translation: X:-7.80, Y:-4.66, Z:-0.15 [[ 0.873396 -0.48129025 0.07442526 -7.80400724] [ 0.48173611 0.87621951 0.01302665 -4.65952813] [-0.07148247 0.02447591 0.99714151 -0.14700049] [ 0. 0. 0. 1. ]] SLAMing on 186.45241403699998 meters Centerline goodness : 0.810748 Centerline is valid? [False, False] Translation: X:-7.84, Y:-4.67, Z:-0.15 [[ 0.87374507 -0.48021721 0.07720738 -7.84115372] [ 0.48056623 0.87682643 0.01521564 -4.66981317] [-0.07500428 0.02380866 0.99689894 -0.14573662] [ 0. 0. 0. 1. ]] SLAMing on 186.48241403699998 meters Centerline goodness : 0.811748 Centerline is valid? [False, False] Translation: X:-7.88, Y:-4.68, Z:-0.15 [[ 0.87409831 -0.47897017 0.08086857 -7.87726398] [ 0.47922316 0.87751819 0.01752083 -4.68034107] [-0.0793556 0.02343916 0.99657077 -0.14507326] [ 0. 0. 0. 1. ]] SLAMing on 186.51241403699999 meters Centerline goodness : 0.813740 Centerline is valid? [False, False] Translation: X:-7.92, Y:-4.69, Z:-0.14 [[ 0.8752446 -0.47631252 0.08410279 -7.91855655] [ 0.47666304 0.87891859 0.01715969 -4.6935247 ] [-0.08209288 0.02506976 0.99630932 -0.14470222] [ 0. 0. 0. 1. ]] SLAMing on 186.542414037 meters Centerline goodness : 0.812163 Centerline is valid? [False, False] Translation: X:-7.94, Y:-4.69, Z:-0.14 [[ 0.87592388 -0.47477628 0.08570202 -7.93931419] [ 0.47532551 0.87967889 0.01518874 -4.69189302] [-0.08260152 0.02743218 0.99620503 -0.14351703] [ 0. 0. 0. 1. ]] SLAMing on 186.572414037 meters Centerline goodness : 0.810638 Centerline is valid? [False, False] Translation: X:-7.97, Y:-4.70, Z:-0.14 [[ 0.87646565 -0.47388001 0.08512167 -7.97480614] [ 0.47432993 0.88019899 0.01615116 -4.70322013] [-0.08257772 0.02621982 0.99623965 -0.14232194] [ 0. 0. 0. 1. ]] SLAMing on 186.602414037 meters Centerline goodness : 0.811092 Centerline is valid? [False, False] Translation: X:-8.01, Y:-4.71, Z:-0.14 [[ 0.8767906 -0.47308456 0.08619308 -8.00971514] [ 0.47339252 0.88066494 0.01813226 -4.71478854] [-0.08448531 0.02490497 0.99611343 -0.14207285] [ 0. 0. 0. 1. ]] SLAMing on 186.632414037 meters Centerline goodness : 0.811128 Centerline is valid? [False, False] Translation: X:-8.03, Y:-4.72, Z:-0.14 [[ 0.87721408 -0.47240675 0.08559971 -8.03112509] [ 0.47265727 0.88104998 0.01860222 -4.71577576] [-0.08420543 0.0241412 0.99615594 -0.14038148] [ 0. 0. 0. 1. ]] SLAMing on 186.662414037 meters Centerline goodness : 0.809921 Centerline is valid? [False, False] Translation: X:-8.05, Y:-4.72, Z:-0.14 [[ 0.87720563 -0.47237665 0.08585217 -8.05349118] [ 0.47234749 0.88113927 0.02194167 -4.72150371] [-0.08601245 0.0213047 0.99606625 -0.13958317] [ 0. 0. 0. 1. ]] SLAMing on 186.692414037 meters Centerline goodness : 0.810915 Centerline is valid? [False, False] Translation: X:-8.09, Y:-4.73, Z:-0.14 [[ 0.87777474 -0.47135302 0.0856612 -8.08914798] [ 0.47128193 0.88169997 0.02232719 -4.73267717] [-0.08605146 0.02077233 0.99607412 -0.1378593 ] [ 0. 0. 0. 1. ]] SLAMing on 186.722414037 meters Centerline goodness : 0.807971 Centerline is valid? [False, False] Translation: X:-8.11, Y:-4.73, Z:-0.14 [[ 0.87840615 -0.47045848 0.0840919 -8.10699654] [ 0.47068195 0.8821112 0.01839386 -4.73140988] [-0.08283196 0.02342326 0.99628822 -0.13635264] [ 0. 0. 0. 1. ]] SLAMing on 186.752414037 meters Centerline goodness : 0.806407 Centerline is valid? [False, False] Translation: X:-8.14, Y:-4.74, Z:-0.14 [[ 0.87854608 -0.46969419 0.08685707 -8.14002275] [ 0.46984429 0.882523 0.01998757 -4.7431013 ] [-0.08604141 0.0232493 0.99602025 -0.13738222] [ 0. 0. 0. 1. ]] SLAMing on 186.782414037 meters Centerline goodness : 0.809276 Centerline is valid? [False, False] Translation: X:-8.18, Y:-4.76, Z:-0.13 [[ 0.87896421 -0.4689347 0.08673038 -8.17645071] [ 0.46907625 0.8829309 0.02001258 -4.75590687] [-0.08596153 0.02309282 0.99603079 -0.13478871] [ 0. 0. 0. 1. ]] SLAMing on 186.812414037 meters Centerline goodness : 0.808616 Centerline is valid? [False, False] Translation: X:-8.20, Y:-4.76, Z:-0.13 [[ 0.87936594 -0.4678964 0.08825255 -8.19701994] [ 0.46791573 0.88350532 0.02175352 -4.76206424] [-0.08814999 0.02216545 0.99586057 -0.13259901] [ 0. 0. 0. 1. ]] SLAMing on 186.842414037 meters Centerline goodness : 0.808914 Centerline is valid? [False, False] Translation: X:-8.24, Y:-4.77, Z:-0.13 [[ 0.87888134 -0.46868209 0.08890839 -8.24412215] [ 0.46824564 0.88318559 0.02700437 -4.77388753] [-0.09117907 0.01789732 0.99567367 -0.12984874] [ 0. 0. 0. 1. ]] SLAMing on 186.872414037 meters Centerline goodness : 0.807872 Centerline is valid? [False, False] Translation: X:-8.26, Y:-4.78, Z:-0.13 [[ 0.88025387 -0.46626521 0.08803345 -8.26251984] [ 0.46589543 0.88445866 0.02596797 -4.77721755] [-0.08996991 0.01815598 0.99577898 -0.12706875] [ 0. 0. 0. 1. ]] SLAMing on 186.902414037 meters Centerline goodness : 0.806613 Centerline is valid? [False, False] Translation: X:-8.30, Y:-4.79, Z:-0.13 [[ 0.88159222 -0.46409234 0.08610144 -8.29908425] [ 0.46357799 0.88564179 0.02709383 -4.78846919] [-0.08882908 0.01602902 0.9959179 -0.12501974] [ 0. 0. 0. 1. ]] SLAMing on 186.932414037 meters Centerline goodness : 0.805022 Centerline is valid? [False, False] Translation: X:-8.31, Y:-4.78, Z:-0.12 [[ 0.88425379 -0.45978659 0.08180175 -8.31087996] [ 0.45980933 0.88779949 0.01968363 -4.78313345] [-0.08167382 0.02020788 0.99645423 -0.12223151] [ 0. 0. 0. 1. ]] SLAMing on 186.96241403699997 meters Centerline goodness : 0.804660 Centerline is valid? [False, False] Translation: X:-8.35, Y:-4.79, Z:-0.12 [[ 0.88533967 -0.45785395 0.08089147 -8.3471713 ] [ 0.45788998 0.88880151 0.01920002 -4.79492328] [-0.08068727 0.02004086 0.99653797 -0.11950043] [ 0. 0. 0. 1. ]] SLAMing on 186.99241403699997 meters Centerline goodness : 0.804468 Centerline is valid? [False, False] Translation: X:-8.37, Y:-4.80, Z:-0.12 [[ 0.88667453 -0.45508894 0.08186776 -8.3658329 ] [ 0.45517736 0.89020508 0.01866799 -4.79967616] [-0.0813747 0.02071192 0.99646835 -0.11688154] [ 0. 0. 0. 1. ]] SLAMing on 187.02241403699998 meters Centerline goodness : 0.804606 Centerline is valid? [False, False] Translation: X:-8.41, Y:-4.81, Z:-0.11 [[ 0.88775604 -0.45270281 0.08336289 -8.41256049] [ 0.45222978 0.89153515 0.02555987 -4.81211383] [-0.08589197 0.01500825 0.99619141 -0.11315203] [ 0. 0. 0. 1. ]] SLAMing on 187.05241403699998 meters Centerline goodness : 0.802689 Centerline is valid? [False, False] Translation: X:-8.43, Y:-4.82, Z:-0.11 [[ 0.88959156 -0.44884785 0.08463129 -8.43093752] [ 0.44833252 0.89348649 0.02607382 -4.81631387] [-0.08732009 0.01474791 0.99607113 -0.10952279] [ 0. 0. 0. 1. ]] SLAMing on 187.08241403699998 meters Centerline goodness : 0.801623 Centerline is valid? [False, False] Translation: X:-8.48, Y:-4.83, Z:-0.11 [[ 8.89964435e-01 -4.48264165e-01 8.38006150e-02 -8.47524356e+00] [ 4.47048243e-01 8.93870715e-01 3.38084887e-02 -4.83240785e+00] [-9.00620495e-02 7.37456517e-03 9.95908853e-01 -1.06939219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11241403699998 meters Centerline goodness : 0.798780 Centerline is valid? [False, False] Translation: X:-8.51, Y:-4.84, Z:-0.10 [[ 8.90848530e-01 -4.46704082e-01 8.27306431e-02 -8.51486275e+00] [ 4.45353690e-01 8.94664648e-01 3.51462359e-02 -4.84340325e+00] [-8.97161488e-02 5.53442463e-03 9.95951998e-01 -1.04153726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14241403699998 meters Centerline goodness : 0.842374 Centerline is valid? [False, False] Translation: X:-8.56, Y:-4.86, Z:-0.10 [[ 8.90498656e-01 -4.47461732e-01 8.24023159e-02 -8.55577800e+00] [ 4.45813654e-01 8.94299596e-01 3.84502079e-02 -4.85895044e+00] [-9.08973545e-02 2.49621908e-03 9.95857138e-01 -1.03286814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17241403699998 meters Centerline goodness : 0.843962 Centerline is valid? [False, False] Translation: X:-8.61, Y:-4.88, Z:-0.10 [[ 8.90717092e-01 -4.47596881e-01 7.92470444e-02 -8.61320579e+00] [ 4.45732386e-01 8.94234840e-01 4.08251200e-02 -4.88126334e+00] [-8.91386645e-02 -1.04065798e-03 9.96018682e-01 -9.77325155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20241403699998 meters Centerline goodness : 0.843377 Centerline is valid? [False, False] Translation: X:-8.65, Y:-4.89, Z:-0.10 [[ 8.91657276e-01 -4.45750312e-01 7.90819964e-02 -8.64807520e+00] [ 4.43902757e-01 8.95156713e-01 4.05561455e-02 -4.89429751e+00] [-8.88686945e-02 -1.05746599e-03 9.96042789e-01 -9.58180855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23241403699998 meters Centerline goodness : 0.846375 Centerline is valid? [False, False] Translation: X:-8.70, Y:-4.91, Z:-0.09 [[ 8.90870598e-01 -4.47618207e-01 7.73790606e-02 -8.69613167e+00] [ 4.45171751e-01 8.94191120e-01 4.73745962e-02 -4.91154084e+00] [-9.03974006e-02 -7.75766291e-03 9.95875559e-01 -9.21637333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26241403699999 meters Centerline goodness : 0.846415 Centerline is valid? [False, False] Translation: X:-8.74, Y:-4.93, Z:-0.09 [[ 0.8910168 -0.44755782 0.07603327 -8.74220819] [ 0.44447731 0.89413386 0.05444785 -4.92535783] [-0.09235248 -0.01471888 0.99561758 -0.09037181] [ 0. 0. 0. 1. ]] SLAMing on 187.292414037 meters Centerline goodness : 0.849926 Centerline is valid? [False, False] Translation: X:-8.78, Y:-4.94, Z:-0.09 [[ 0.8915679 -0.44656335 0.07541789 -8.78060613] [ 0.4433794 0.8946061 0.05562945 -4.93933206] [-0.09231138 -0.01615869 0.99559907 -0.08820697] [ 0. 0. 0. 1. ]] SLAMing on 187.322414037 meters Centerline goodness : 0.844005 Centerline is valid? [False, False] Translation: X:-8.83, Y:-4.96, Z:-0.08 [[ 0.89102993 -0.44817679 0.07213342 -8.82570482] [ 0.44455998 0.89366591 0.06105456 -4.9564125 ] [-0.09182642 -0.02233381 0.99552454 -0.08354489] [ 0. 0. 0. 1. ]] SLAMing on 187.352414037 meters Centerline goodness : 0.843137 Centerline is valid? [False, False] Translation: X:-8.85, Y:-4.97, Z:-0.08 [[ 0.89237911 -0.44575505 0.07044122 -8.85296744] [ 0.44280733 0.89499532 0.05389849 -4.96516738] [-0.08707009 -0.01690599 0.99605873 -0.07889354] [ 0. 0. 0. 1. ]] SLAMing on 187.382414037 meters Centerline goodness : 0.845583 Centerline is valid? [False, False] Translation: X:-8.91, Y:-4.98, Z:-0.07 [[ 0.89110594 -0.44918337 0.06453294 -8.90576721] [ 0.4456707 0.89304652 0.06201242 -4.98343927] [-0.08548586 -0.02649919 0.99598693 -0.0715906 ] [ 0. 0. 0. 1. ]] SLAMing on 187.412414037 meters Centerline goodness : 0.843137 Centerline is valid? [False, False] Translation: X:-8.94, Y:-4.99, Z:-0.07 [[ 0.89175144 -0.44820881 0.06235574 -8.93559194] [ 0.44528341 0.89366315 0.05557749 -4.99240995] [-0.08063535 -0.02179533 0.99650535 -0.06707225] [ 0. 0. 0. 1. ]] SLAMing on 187.442414037 meters Centerline goodness : 0.846190 Centerline is valid? [False, False] Translation: X:-8.98, Y:-5.01, Z:-0.07 [[ 0.8912501 -0.4494615 0.06047829 -8.97921204] [ 0.44603817 0.89284363 0.06229129 -5.01046403] [-0.08199519 -0.02854149 0.99622396 -0.06506555] [ 0. 0. 0. 1. ]] SLAMing on 187.472414037 meters Centerline goodness : 0.842733 Centerline is valid? [False, False] Translation: X:-9.02, Y:-5.02, Z:-0.06 [[ 0.88984399 -0.45219481 0.06080736 -9.02020192] [ 0.44889786 0.89151889 0.0607024 -5.02108233] [-0.08166021 -0.02671937 0.996302 -0.06321976] [ 0. 0. 0. 1. ]] SLAMing on 187.502414037 meters Centerline goodness : 0.843527 Centerline is valid? [False, False] Translation: X:-9.06, Y:-5.04, Z:-0.06 [[ 0.88977247 -0.45268408 0.05815567 -9.06341034] [ 0.44878394 0.89097189 0.06900779 -5.03893537] [-0.0830538 -0.0353019 0.9959196 -0.060829 ] [ 0. 0. 0. 1. ]] SLAMing on 187.532414037 meters Centerline goodness : 0.843187 Centerline is valid? [False, False] Translation: X:-9.10, Y:-5.05, Z:-0.06 [[ 0.88873355 -0.45480545 0.05748625 -9.10327764] [ 0.45104182 0.88993322 0.06767667 -5.049304 ] [-0.08193864 -0.03421782 0.9960498 -0.05991433] [ 0. 0. 0. 1. ]] SLAMing on 187.562414037 meters Centerline goodness : 0.846591 Centerline is valid? [False, False] Translation: X:-9.15, Y:-5.07, Z:-0.06 [[ 0.88849975 -0.45584152 0.05269451 -9.14593613] [ 0.45160669 0.88899838 0.07571837 -5.06743442] [-0.08136091 -0.04347856 0.99573592 -0.05726538] [ 0. 0. 0. 1. ]] SLAMing on 187.592414037 meters Centerline goodness : 0.841286 Centerline is valid? [False, False] Translation: X:-9.18, Y:-5.08, Z:-0.05 [[ 0.8886462 -0.45581941 0.05036457 -9.1807131 ] [ 0.45189982 0.88907419 0.07303177 -5.07929872] [-0.07806714 -0.04213966 0.99605711 -0.054684 ] [ 0. 0. 0. 1. ]] SLAMing on 187.622414037 meters Centerline goodness : 0.847836 Centerline is valid? [False, False] Translation: X:-9.22, Y:-5.09, Z:-0.05 [[ 0.88815269 -0.45685343 0.04969654 -9.21971594] [ 0.45300383 0.88855557 0.07250195 -5.09234565] [-0.0772809 -0.04188008 0.99612937 -0.05317016] [ 0. 0. 0. 1. ]] SLAMing on 187.652414037 meters Centerline goodness : 0.848782 Centerline is valid? [False, False] Translation: X:-9.25, Y:-5.10, Z:-0.05 [[ 0.88633094 -0.46044701 0.04905105 -9.24817884] [ 0.45642224 0.8865863 0.07512301 -5.09801119] [-0.07807815 -0.04419586 0.99596713 -0.05050759] [ 0. 0. 0. 1. ]] SLAMing on 187.682414037 meters Centerline goodness : 0.850719 Centerline is valid? [False, False] Translation: X:-9.29, Y:-5.11, Z:-0.05 [[ 0.88594296 -0.4611329 0.04961371 -9.28855152] [ 0.45709902 0.88625427 0.07492569 -5.11076118] [-0.07852107 -0.04370151 0.99595413 -0.04859863] [ 0. 0. 0. 1. ]] SLAMing on 187.71241403699997 meters Centerline goodness : 0.847749 Centerline is valid? [False, False] Translation: X:-9.33, Y:-5.13, Z:-0.05 [[ 0.88598495 -0.46121767 0.0480513 -9.32869012] [ 0.45694211 0.88599096 0.07889185 -5.12515397] [-0.07895933 -0.04794033 0.99572443 -0.04667792] [ 0. 0. 0. 1. ]] SLAMing on 187.74241403699997 meters Centerline goodness : 0.849562 Centerline is valid? [False, False] Translation: X:-9.37, Y:-5.13, Z:-0.05 [[ 0.8853525 -0.46273925 0.04498156 -9.36993029] [ 0.45852752 0.88507146 0.0800064 -5.1338148 ] [-0.076834 -0.05020858 0.99577891 -0.04504724] [ 0. 0. 0. 1. ]] SLAMing on 187.77241403699998 meters Centerline goodness : 0.850601 Centerline is valid? [False, False] Translation: X:-9.41, Y:-5.15, Z:-0.04 [[ 0.88540601 -0.46277105 0.04357926 -9.41060667] [ 0.45846231 0.88490362 0.08220645 -5.14712203] [-0.07660621 -0.05280663 0.99566206 -0.04401371] [ 0. 0. 0. 1. ]] SLAMing on 187.80241403699998 meters Centerline goodness : 0.850601 Centerline is valid? [False, False] Translation: X:-9.41, Y:-5.15, Z:-0.04 [[ 0.88784032 -0.45867686 0.03681177 -9.41433261] [ 0.45512516 0.88711958 0.07668079 -5.15019907] [-0.06782815 -0.05132634 0.99637591 -0.04066675] [ 0. 0. 0. 1. ]] SLAMing on 187.83241403699998 meters Centerline goodness : 0.850173 Centerline is valid? [False, False] Translation: X:-9.43, Y:-5.15, Z:-0.04 [[ 0.88940355 -0.45581997 0.03448876 -9.42543822] [ 0.45283699 0.88886072 0.06975158 -5.15064967] [-0.06244987 -0.04641952 0.99696802 -0.03751166] [ 0. 0. 0. 1. ]] SLAMing on 187.86241403699998 meters Centerline goodness : 0.848014 Centerline is valid? [False, False] Translation: X:-9.47, Y:-5.17, Z:-0.04 [[ 0.88950404 -0.45592144 0.03030203 -9.46713134] [ 0.45280024 0.88842249 0.0753487 -5.16558825] [-0.06127409 -0.0533022 0.99669672 -0.03521019] [ 0. 0. 0. 1. ]] SLAMing on 187.89241403699998 meters Centerline goodness : 0.848022 Centerline is valid? [False, False] Translation: X:-9.49, Y:-5.17, Z:-0.03 [[ 0.89094271 -0.45341958 0.02513499 -9.49292584] [ 0.45076126 0.88972091 0.0721871 -5.17354626] [-0.05509417 -0.05298469 0.99707435 -0.03110971] [ 0. 0. 0. 1. ]] SLAMing on 187.92241403699998 meters Centerline goodness : 0.849752 Centerline is valid? [False, False] Translation: X:-9.52, Y:-5.18, Z:-0.03 [[ 0.89085083 -0.45373874 0.02249338 -9.52246212] [ 0.45098257 0.88923786 0.07662086 -5.17702455] [-0.05476782 -0.05811363 0.99680655 -0.03104019] [ 0. 0. 0. 1. ]] SLAMing on 187.95241403699998 meters Centerline goodness : 0.852853 Centerline is valid? [False, False] Translation: X:-9.53, Y:-5.18, Z:-0.03 [[ 0.89339729 -0.4488411 0.01956897 -9.53260944] [ 0.44660368 0.89199348 0.06994839 -5.17610233] [-0.04885111 -0.05375213 0.99735865 -0.02765825] [ 0. 0. 0. 1. ]] SLAMing on 187.98241403699998 meters Centerline goodness : 0.851520 Centerline is valid? [False, False] Translation: X:-9.54, Y:-5.18, Z:-0.02 [[ 0.8965921 -0.44264338 0.01376422 -9.54213405] [ 0.44082734 0.89502357 0.0678532 -5.17641422] [-0.04235407 -0.054769 0.99760037 -0.02277083] [ 0. 0. 0. 1. ]] SLAMing on 188.01241403699999 meters Centerline goodness : 0.853996 Centerline is valid? [False, False] Translation: X:-9.55, Y:-5.18, Z:-0.02 [[ 0.89940075 -0.43700033 0.01044076 -9.55220094] [ 0.43560721 0.89801079 0.06183022 -5.17515349] [-0.03639574 -0.05106207 0.99803207 -0.01940831] [ 0. 0. 0. 1. ]] SLAMing on 188.042414037 meters Centerline goodness : 0.854749 Centerline is valid? [False, False] Translation: X:-9.56, Y:-5.17, Z:-0.02 [[ 9.02737072e-01 -4.30154041e-01 5.76879376e-03 -9.56287936e+00] [ 4.29165891e-01 9.01427312e-01 5.69687550e-02 -5.17123253e+00] [-2.97054884e-02 -4.89520376e-02 9.98359295e-01 -1.63401881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.072414037 meters Centerline goodness : 0.854692 Centerline is valid? [False, False] Translation: X:-9.57, Y:-5.17, Z:-0.01 [[ 9.05226467e-01 -4.24924181e-01 2.11744729e-03 -9.57035433e+00] [ 4.24298527e-01 9.04142622e-01 4.99687819e-02 -5.17092504e+00] [-2.31474181e-02 -4.43346341e-02 9.98748536e-01 -1.41521552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102414037 meters Centerline goodness : 0.854592 Centerline is valid? [False, False] Translation: X:-9.58, Y:-5.17, Z:-0.01 [[ 9.07489387e-01 -4.20067485e-01 -2.51402855e-03 -9.57780061e+00] [ 4.19780749e-01 9.06613490e-01 4.28497678e-02 -5.16992671e+00] [-1.57205420e-02 -3.99410503e-02 9.99078364e-01 -1.15603511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.132414037 meters Centerline goodness : 0.853353 Centerline is valid? [False, False] Translation: X:-9.58, Y:-5.16, Z:-0.01 [[ 9.10237227e-01 -4.13895082e-01 -1.26115547e-02 -9.58414745e+00] [ 4.14059057e-01 9.09398248e-01 3.93690816e-02 -5.16454418e+00] [-4.82574354e-03 -4.10571321e-02 9.99145147e-01 -8.27007063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162414037 meters Centerline goodness : 0.853561 Centerline is valid? [False, False] Translation: X:-9.59, Y:-5.16, Z:-0.00 [[ 9.12672853e-01 -4.08281972e-01 -1.82782805e-02 -9.59135079e+00] [ 4.08681071e-01 9.12048064e-01 3.38837923e-02 -5.16320608e+00] [ 2.83652886e-03 -3.83948046e-02 9.99258622e-01 -4.69240967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.192414037 meters Centerline goodness : 0.853532 Centerline is valid? [False, False] Translation: X:-9.60, Y:-5.16, Z:-0.00 [[ 9.15379227e-01 -4.01964030e-01 -2.24897489e-02 -9.59915406e+00] [ 4.02500844e-01 9.14934502e-01 2.97981122e-02 -5.16308050e+00] [ 8.59887791e-03 -3.63287159e-02 9.99302899e-01 -1.18556725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222414037 meters Centerline goodness : 0.851143 Centerline is valid? [False, False] Translation: X:-9.60, Y:-5.16, Z:0.00 [[ 9.16927785e-01 -3.98434181e-01 -2.22179946e-02 -9.60463436e+00] [ 3.98960121e-01 9.16494310e-01 2.94788286e-02 -5.16189041e+00] [ 8.61729267e-03 -3.58940508e-02 9.99318447e-01 1.14170556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.252414037 meters Centerline goodness : 0.850767 Centerline is valid? [False, False] Translation: X:-9.61, Y:-5.16, Z:0.00 [[ 9.17770108e-01 -3.96493759e-01 -2.21524024e-02 -9.60822825e+00] [ 3.97024433e-01 9.17310873e-01 3.02053203e-02 -5.16013254e+00] [ 8.34441860e-03 -3.65165851e-02 9.99298209e-01 3.13601071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282414037 meters Centerline goodness : 0.851146 Centerline is valid? [False, False] Translation: X:-9.62, Y:-5.16, Z:0.01 [[ 9.20491321e-01 -3.89640449e-01 -2.95981023e-02 -9.61631491e+00] [ 3.90404073e-01 9.20249669e-01 2.69296446e-02 -5.15750501e+00] [ 1.67447651e-02 -3.63437238e-02 9.99199053e-01 8.15354831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312414037 meters Centerline goodness : 0.851975 Centerline is valid? [False, False] Translation: X:-9.62, Y:-5.16, Z:0.01 [[ 0.92269692 -0.38384523 -0.03596162 -9.62231006] [ 0.3847307 0.92276744 0.02196667 -5.15776108] [ 0.02475241 -0.03410411 0.99911172 0.01184517] [ 0. 0. 0. 1. ]] SLAMing on 188.342414037 meters Centerline goodness : 0.850139 Centerline is valid? [False, False] Translation: X:-9.62, Y:-5.16, Z:0.02 [[ 0.92464587 -0.37757976 -0.04963413 -9.62406891] [ 0.37900977 0.92510269 0.02316477 -5.15915713] [ 0.03717012 -0.04023103 0.9984988 0.01631314] [ 0. 0. 0. 1. ]] SLAMing on 188.372414037 meters Centerline goodness : 0.842631 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.16, Z:0.02 [[ 0.92720859 -0.37033772 -0.05598399 -9.6314216 ] [ 0.3718273 0.92811392 0.01868174 -5.15623078] [ 0.04504097 -0.03813824 0.99825687 0.01889515] [ 0. 0. 0. 1. ]] SLAMing on 188.402414037 meters Centerline goodness : 0.848734 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.16, Z:0.02 [[ 0.92943989 -0.36235983 -0.06954739 -9.63412387] [ 0.36455217 0.93093445 0.02151174 -5.15915787] [ 0.05694907 -0.04534752 0.99734668 0.02457824] [ 0. 0. 0. 1. ]] SLAMing on 188.432414037 meters Centerline goodness : 0.846655 Centerline is valid? [False, False] Translation: X:-9.64, Y:-5.16, Z:0.03 [[ 0.93064577 -0.35919535 -0.06983653 -9.63770717] [ 0.36149515 0.93208408 0.02324942 -5.15846638] [ 0.05674244 -0.04688254 0.99728748 0.02677179] [ 0. 0. 0. 1. ]] SLAMing on 188.46241403699997 meters Centerline goodness : 0.842114 Centerline is valid? [False, False] Translation: X:-9.64, Y:-5.15, Z:0.03 [[ 0.93232338 -0.35461276 -0.07087249 -9.64154668] [ 0.35710095 0.93370951 0.02579649 -5.15351453] [ 0.05702655 -0.04935931 0.99715176 0.02840096] [ 0. 0. 0. 1. ]] SLAMing on 188.49241403699997 meters Centerline goodness : 0.847247 Centerline is valid? [False, False] Translation: X:-9.64, Y:-5.16, Z:0.03 [[ 0.9344408 -0.34614649 -0.08368397 -9.64394358] [ 0.34940404 0.93656603 0.02758421 -5.15606641] [ 0.06882738 -0.05501533 0.99611049 0.03299092] [ 0. 0. 0. 1. ]] SLAMing on 188.52241403699998 meters Centerline goodness : 0.852781 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.16, Z:0.04 [[ 0.93646848 -0.33959373 -0.08776607 -9.64949255] [ 0.34272227 0.93915555 0.02298461 -5.15675333] [ 0.07462056 -0.05160375 0.99587591 0.03509381] [ 0. 0. 0. 1. ]] SLAMing on 188.55241403699998 meters Centerline goodness : 0.848419 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.16, Z:0.04 [[ 0.93789028 -0.33177854 -0.1014141 -9.65032856] [ 0.33573389 0.94164335 0.02430131 -5.15921029] [ 0.08743326 -0.05684012 0.99454745 0.03927816] [ 0. 0. 0. 1. ]] SLAMing on 188.58241403699998 meters Centerline goodness : 0.848975 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.16, Z:0.04 [[ 0.93969916 -0.3227756 -0.1130549 -9.6529824 ] [ 0.32745237 0.94453515 0.02506583 -5.16075103] [ 0.09869369 -0.06057443 0.99327252 0.04328348] [ 0. 0. 0. 1. ]] SLAMing on 188.61241403699998 meters Centerline goodness : 0.849237 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.16, Z:0.05 [[ 0.94071818 -0.31458828 -0.12682085 -9.65292666] [ 0.32049706 0.94681441 0.02870735 -5.1648343 ] [ 0.11104481 -0.06765124 0.99151014 0.04788229] [ 0. 0. 0. 1. ]] SLAMing on 188.64241403699998 meters Centerline goodness : 0.845532 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.17, Z:0.05 [[ 0.94155768 -0.30647079 -0.13980267 -9.65409306] [ 0.31360018 0.94902784 0.03163994 -5.16855225] [ 0.12297991 -0.07363297 0.98967375 0.0527028 ] [ 0. 0. 0. 1. ]] SLAMing on 188.67241403699998 meters Centerline goodness : 0.849792 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94208339 -0.29864526 -0.15261029 -9.65554251] [ 0.30693275 0.95114394 0.03342902 -5.17188358] [ 0.13517093 -0.07833402 0.98772091 0.05754624] [ 0. 0. 0. 1. ]] SLAMing on 188.70241403699998 meters Centerline goodness : 0.845668 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94259451 -0.29741599 -0.15185294 -9.65765008] [ 0.30548577 0.95164653 0.03236232 -5.16888193] [ 0.13488525 -0.07689346 0.98787315 0.05686712] [ 0. 0. 0. 1. ]] SLAMing on 188.73241403699998 meters Centerline goodness : 0.849716 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94304682 -0.28985312 -0.16324174 -9.6592823 ] [ 0.29878093 0.95376674 0.03254159 -5.17187084] [ 0.14626226 -0.07946176 0.98604928 0.06072362] [ 0. 0. 0. 1. ]] SLAMing on 188.76241403699999 meters Centerline goodness : 0.847235 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94327801 -0.28909934 -0.16324266 -9.65956269] [ 0.29798786 0.95402188 0.03233408 -5.17025178] [ 0.14638931 -0.07914436 0.98605595 0.06028691] [ 0. 0. 0. 1. ]] SLAMing on 188.792414037 meters Centerline goodness : 0.846669 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94430118 -0.28537064 -0.16388678 -9.66128301] [ 0.29464352 0.95497157 0.03484952 -5.16857639] [ 0.14656218 -0.08119662 0.9858634 0.06083885] [ 0. 0. 0. 1. ]] SLAMing on 188.822414037 meters Centerline goodness : 0.844012 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94489254 -0.28267736 -0.16514114 -9.66099823] [ 0.29244176 0.95554229 0.03763971 -5.16812556] [ 0.14715945 -0.08385965 0.98555145 0.0614039 ] [ 0. 0. 0. 1. ]] SLAMing on 188.852414037 meters Centerline goodness : 0.844774 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94513115 -0.28205469 -0.1648401 -9.66134902] [ 0.29171736 0.95578176 0.0371781 -5.16691762] [ 0.1470649 -0.0832249 0.98561936 0.06056302] [ 0. 0. 0. 1. ]] SLAMing on 188.882414037 meters Centerline goodness : 0.841774 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94536815 -0.28149407 -0.16443891 -9.66135592] [ 0.29101748 0.95602064 0.03651519 -5.1663529 ] [ 0.14692818 -0.0823749 0.98571116 0.05947174] [ 0. 0. 0. 1. ]] SLAMing on 188.912414037 meters Centerline goodness : 0.841376 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94592888 -0.28061798 -0.16270252 -9.66174326] [ 0.28974432 0.95646825 0.03488162 -5.16689463] [ 0.14583138 -0.08013766 0.9860584 0.0564062 ] [ 0. 0. 0. 1. ]] SLAMing on 188.942414037 meters Centerline goodness : 0.839169 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94621088 -0.27982535 -0.16242766 -9.66159457] [ 0.28890373 0.95672657 0.03476938 -5.1670458 ] [ 0.1456695 -0.07982512 0.98610767 0.05544681] [ 0. 0. 0. 1. ]] SLAMing on 188.972414037 meters Centerline goodness : 0.841243 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94651379 -0.27893423 -0.16219541 -9.66207811] [ 0.28799766 0.95699627 0.03486375 -5.16677872] [ 0.14549571 -0.07971092 0.98614257 0.05502987] [ 0. 0. 0. 1. ]] SLAMing on 189.002414037 meters Centerline goodness : 0.840469 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.9472286 -0.27555603 -0.16378906 -9.66081958] [ 0.28529993 0.957652 0.03881499 -5.16819099] [ 0.14615722 -0.08349567 0.98573148 0.05560141] [ 0. 0. 0. 1. ]] SLAMing on 189.032414037 meters Centerline goodness : 0.849779 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.06 [[ 0.94755884 -0.27461406 -0.16346059 -9.66197193] [ 0.28434671 0.957928 0.03899865 -5.16818073] [ 0.1458739 -0.083433 0.98577875 0.05573603] [ 0. 0. 0. 1. ]] SLAMing on 189.062414037 meters Centerline goodness : 0.846696 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.05 [[ 0.94894078 -0.27028729 -0.16265354 -9.66352269] [ 0.28019262 0.95906964 0.04095741 -5.17035385] [ 0.1449258 -0.08444048 0.9858328 0.05456667] [ 0. 0. 0. 1. ]] SLAMing on 189.092414037 meters Centerline goodness : 0.843228 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.17, Z:0.05 [[ 0.94942264 -0.26899025 -0.16199041 -9.66432899] [ 0.2788935 0.959428 0.04142855 -5.17198812] [ 0.14427426 -0.08451127 0.9859223 0.05400682] [ 0. 0. 0. 1. ]] SLAMing on 189.122414037 meters Centerline goodness : 0.847621 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.18, Z:0.05 [[ 0.95001828 -0.26708099 -0.1616571 -9.66433445] [ 0.27714617 0.95987079 0.04287277 -5.17513815] [ 0.14371943 -0.08553256 0.98591526 0.05348083] [ 0. 0. 0. 1. ]] SLAMing on 189.152414037 meters Centerline goodness : 0.849087 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.18, Z:0.05 [[ 0.95061943 -0.26486862 -0.16176312 -9.66341964] [ 0.27531641 0.96027193 0.04559277 -5.18073648] [ 0.14326049 -0.08787742 0.98577583 0.05356898] [ 0. 0. 0. 1. ]] SLAMing on 189.182414037 meters Centerline goodness : 0.848621 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.18, Z:0.05 [[ 0.95064576 -0.26471413 -0.16186127 -9.66273621] [ 0.2752567 0.96026027 0.04619484 -5.18256161] [ 0.14320052 -0.08846833 0.98573169 0.05358969] [ 0. 0. 0. 1. ]] SLAMing on 189.21241403699997 meters Centerline goodness : 0.846652 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.18, Z:0.05 [[ 0.95059625 -0.26462928 -0.16229023 -9.66107434] [ 0.27531564 0.96020817 0.04692098 -5.18473506] [ 0.14341574 -0.08928394 0.98562686 0.0534504 ] [ 0. 0. 0. 1. ]] SLAMing on 189.24241403699997 meters Centerline goodness : 0.849633 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.19, Z:0.05 [[ 0.95048476 -0.2656175 -0.16132594 -9.66049143] [ 0.27601 0.96008049 0.04543047 -5.18675008] [ 0.14281876 -0.08770854 0.98585497 0.05225718] [ 0. 0. 0. 1. ]] SLAMing on 189.27241403699998 meters Centerline goodness : 0.846606 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.19, Z:0.05 [[ 0.95049023 -0.26532374 -0.16177651 -9.65778847] [ 0.27592604 0.96004774 0.04661712 -5.19046261] [ 0.14294455 -0.08894747 0.98572572 0.05152749] [ 0. 0. 0. 1. ]] SLAMing on 189.30241403699998 meters Centerline goodness : 0.848031 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.20, Z:0.05 [[ 0.94977173 -0.26031935 -0.17368795 -9.65535684] [ 0.27234571 0.96095055 0.04900874 -5.20350617] [ 0.1541476 -0.09385028 0.98358052 0.05432013] [ 0. 0. 0. 1. ]] SLAMing on 189.33241403699998 meters Centerline goodness : 0.849214 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.21, Z:0.05 [[ 0.94976105 -0.26011993 -0.17404474 -9.6540081 ] [ 0.27240493 0.96085904 0.0504526 -5.20734789] [ 0.15410874 -0.09532856 0.98344444 0.05479016] [ 0. 0. 0. 1. ]] SLAMing on 189.36241403699998 meters Centerline goodness : 0.848981 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.21, Z:0.06 [[ 0.94981049 -0.25938243 -0.17487362 -9.65225882] [ 0.27202201 0.96087179 0.05224403 -5.2104407 ] [ 0.15447995 -0.0971914 0.98320383 0.05543309] [ 0. 0. 0. 1. ]] SLAMing on 189.39241403699998 meters Centerline goodness : 0.851483 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.22, Z:0.06 [[ 0.95003521 -0.25842205 -0.17507466 -9.65186143] [ 0.27143729 0.96090737 0.05457858 -5.21543947] [ 0.15412622 -0.09937336 0.98304122 0.05660316] [ 0. 0. 0. 1. ]] SLAMing on 189.42241403699998 meters Centerline goodness : 0.849807 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.22, Z:0.06 [[ 0.95025734 -0.25740703 -0.17536423 -9.65078739] [ 0.27070244 0.96101832 0.05624931 -5.21902154] [ 0.15404927 -0.10092284 0.98289542 0.05679632] [ 0. 0. 0. 1. ]] SLAMing on 189.45241403699998 meters Centerline goodness : 0.849418 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.22, Z:0.06 [[ 0.95059123 -0.25735482 -0.1736226 -9.65160203] [ 0.27032804 0.96117656 0.05533865 -5.22351521] [ 0.15264031 -0.09953949 0.98325624 0.05578797] [ 0. 0. 0. 1. ]] SLAMing on 189.48241403699998 meters Centerline goodness : 0.848504 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.23, Z:0.05 [[ 0.95102497 -0.25632061 -0.17277514 -9.65076203] [ 0.26929931 0.96142648 0.05600894 -5.22861482] [ 0.15175435 -0.09979412 0.98336756 0.05463929] [ 0. 0. 0. 1. ]] SLAMing on 189.51241403699999 meters Centerline goodness : 0.847669 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.24, Z:0.05 [[ 0.95136257 -0.25620035 -0.17108665 -9.65025129] [ 0.26899493 0.96151553 0.05594297 -5.23606888] [ 0.15016986 -0.09924349 0.98366648 0.05329444] [ 0. 0. 0. 1. ]] SLAMing on 189.542414037 meters Centerline goodness : 0.849269 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.24, Z:0.05 [[ 0.9515475 -0.25520527 -0.17154483 -9.6492736 ] [ 0.26832357 0.96159187 0.05782341 -5.23953237] [ 0.15019927 -0.10105124 0.98347792 0.05392951] [ 0. 0. 0. 1. ]] SLAMing on 189.572414037 meters Centerline goodness : 0.848450 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.24, Z:0.05 [[ 0.95156844 -0.2548838 -0.17190623 -9.64859365] [ 0.26823358 0.96153851 0.05911376 -5.24251676] [ 0.15022732 -0.10236181 0.9833381 0.0548361 ] [ 0. 0. 0. 1. ]] SLAMing on 189.602414037 meters Centerline goodness : 0.833544 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.25, Z:0.06 [[ 0.95161693 -0.25458418 -0.1720817 -9.64789896] [ 0.26818705 0.96145454 0.06067017 -5.24651838] [ 0.15000306 -0.10388485 0.9832126 0.05557859] [ 0. 0. 0. 1. ]] SLAMing on 189.632414037 meters Centerline goodness : 0.795544 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.26, Z:0.06 [[ 0.95087942 -0.24948941 -0.18325766 -9.6477399 ] [ 0.26481166 0.9621647 0.06413949 -5.26294776] [ 0.16032193 -0.10951768 0.98097031 0.05962103] [ 0. 0. 0. 1. ]] SLAMing on 189.662414037 meters Centerline goodness : 0.796870 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.27, Z:0.06 [[ 0.95031696 -0.25200012 -0.18273922 -9.64571393] [ 0.26707606 0.96162673 0.06280455 -5.26762653] [ 0.15990016 -0.1084895 0.98115339 0.0594836 ] [ 0. 0. 0. 1. ]] SLAMing on 189.692414037 meters Centerline goodness : 0.831713 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.28, Z:0.06 [[ 0.94916397 -0.2475283 -0.19446723 -9.6469256 ] [ 0.26433358 0.96221007 0.06541815 -5.27875979] [ 0.17092549 -0.11349677 0.97872517 0.06356862] [ 0. 0. 0. 1. ]] SLAMing on 189.722414037 meters Centerline goodness : 0.831713 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.28, Z:0.06 [[ 0.94916397 -0.2475283 -0.19446723 -9.6469256 ] [ 0.26433358 0.96221007 0.06541815 -5.27875979] [ 0.17092549 -0.11349677 0.97872517 0.06356862] [ 0. 0. 0. 1. ]] SLAMing on 189.752414037 meters Centerline goodness : 0.837788 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.28, Z:0.06 [[ 0.94848318 -0.25075501 -0.19365327 -9.64587093] [ 0.26715577 0.96156635 0.06338737 -5.28220255] [ 0.17031576 -0.11185744 0.97902015 0.06355035] [ 0. 0. 0. 1. ]] SLAMing on 189.782414037 meters Centerline goodness : 0.850893 Centerline is valid? [False, False] Translation: X:-9.64, Y:-5.29, Z:0.06 [[ 0.94776748 -0.25385737 -0.19311456 -9.64451205] [ 0.26993002 0.96090692 0.06160901 -5.28578402] [ 0.16992522 -0.11051843 0.97924006 0.06385089] [ 0. 0. 0. 1. ]] SLAMing on 189.812414037 meters Centerline goodness : 0.833869 Centerline is valid? [False, False] Translation: X:-9.64, Y:-5.29, Z:0.07 [[ 0.94758253 -0.25354407 -0.19442928 -9.64181704] [ 0.27027342 0.96061837 0.06453389 -5.29165957] [ 0.17041016 -0.11370026 0.97879141 0.06555169] [ 0. 0. 0. 1. ]] SLAMing on 189.842414037 meters Centerline goodness : 0.852551 Centerline is valid? [False, False] Translation: X:-9.64, Y:-5.30, Z:0.07 [[ 0.94667486 -0.25657197 -0.19487823 -9.63852492] [ 0.27355514 0.9596271 0.06544784 -5.30110028] [ 0.17021835 -0.11526776 0.97864143 0.06751339] [ 0. 0. 0. 1. ]] SLAMing on 189.872414037 meters Centerline goodness : 0.854079 Centerline is valid? [False, False] Translation: X:-9.64, Y:-5.31, Z:0.07 [[ 0.94633283 -0.25705412 -0.1959014 -9.63580292] [ 0.27450772 0.95921967 0.06740274 -5.30706768] [ 0.17058633 -0.11756187 0.97830441 0.06906123] [ 0. 0. 0. 1. ]] SLAMing on 189.902414037 meters Centerline goodness : 0.858816 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.32, Z:0.07 [[ 0.94418767 -0.25573853 -0.20762334 -9.63432089] [ 0.27546026 0.95861905 0.07191079 -5.32325963] [ 0.18064133 -0.12508926 0.97556209 0.07437311] [ 0. 0. 0. 1. ]] SLAMing on 189.932414037 meters Centerline goodness : 0.853337 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.33, Z:0.07 [[ 0.94331341 -0.25917721 -0.20733302 -9.6323858 ] [ 0.27853132 0.95788434 0.06984193 -5.32633352] [ 0.18049961 -0.12363157 0.97577412 0.07471238] [ 0. 0. 0. 1. ]] SLAMing on 189.96241403699997 meters Centerline goodness : 0.859714 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.33, Z:0.08 [[ 0.94246617 -0.2626652 -0.20679583 -9.63137294] [ 0.28158594 0.95715356 0.06757526 -5.32896202] [ 0.1801857 -0.1219182 0.97604768 0.07527172] [ 0. 0. 0. 1. ]] SLAMing on 189.99241403699997 meters Centerline goodness : 0.857544 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.33, Z:0.08 [[ 0.94221092 -0.2631922 -0.20728832 -9.63067921] [ 0.28246533 0.95678559 0.06909897 -5.33359622] [ 0.18014417 -0.12365757 0.9758365 0.07719779] [ 0. 0. 0. 1. ]] SLAMing on 190.02241403699998 meters Centerline goodness : 0.856559 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.34, Z:0.08 [[ 0.94141676 -0.26583236 -0.20752747 -9.62830465] [ 0.28515132 0.95599864 0.06895887 -5.34055128] [ 0.18006447 -0.12409577 0.97579559 0.07912045] [ 0. 0. 0. 1. ]] SLAMing on 190.05241403699998 meters Centerline goodness : 0.857263 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.34, Z:0.08 [[ 0.94063303 -0.26932837 -0.20657139 -9.62846509] [ 0.28806782 0.95532032 0.06618166 -5.34221911] [ 0.17951725 -0.12175923 0.97619068 0.0797074 ] [ 0. 0. 0. 1. ]] SLAMing on 190.08241403699998 meters Centerline goodness : 0.857742 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.35, Z:0.08 [[ 0.94063748 -0.26906648 -0.20689216 -9.62812317] [ 0.28808297 0.95522434 0.06748824 -5.3456443 ] [ 0.1794696 -0.12308407 0.97603328 0.08096732] [ 0. 0. 0. 1. ]] SLAMing on 190.11241403699998 meters Centerline goodness : 0.859466 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.35, Z:0.08 [[ 0.94025135 -0.27108856 -0.20600582 -9.62947987] [ 0.28975298 0.95482217 0.06601396 -5.34771747] [ 0.17880329 -0.12176052 0.97632154 0.08208602] [ 0. 0. 0. 1. ]] SLAMing on 190.14241403699998 meters Centerline goodness : 0.863739 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.35, Z:0.08 [[ 0.94011228 -0.27188425 -0.2055915 -9.63004997] [ 0.29054327 0.95456879 0.06620447 -5.35263593] [ 0.17825127 -0.12197286 0.97639598 0.08378748] [ 0. 0. 0. 1. ]] SLAMing on 190.17241403699998 meters Centerline goodness : 0.862954 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.35, Z:0.08 [[ 0.93971365 -0.27399483 -0.2046096 -9.63052315] [ 0.29216905 0.95421993 0.06404352 -5.3534585 ] [ 0.17769496 -0.11996317 0.9767463 0.08372977] [ 0. 0. 0. 1. ]] SLAMing on 190.20241403699998 meters Centerline goodness : 0.864249 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.35, Z:0.08 [[ 0.93928764 -0.27621177 -0.20358237 -9.63028898] [ 0.29386498 0.95385448 0.06168466 -5.35447266] [ 0.17714992 -0.11776537 0.9771127 0.08316364] [ 0. 0. 0. 1. ]] SLAMing on 190.23241403699998 meters Centerline goodness : 0.869137 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.93962838 -0.27489421 -0.20379324 -9.62953606] [ 0.2928584 0.95405361 0.06336936 -5.35837366] [ 0.1770098 -0.11922621 0.97696092 0.08358994] [ 0. 0. 0. 1. ]] SLAMing on 190.26241403699999 meters Centerline goodness : 0.864697 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.93984143 -0.2742033 -0.2037416 -9.62983076] [ 0.29224336 0.954208 0.06388205 -5.35921317] [ 0.17689519 -0.11958113 0.9769383 0.08378016] [ 0. 0. 0. 1. ]] SLAMing on 190.292414037 meters Centerline goodness : 0.866611 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.94006857 -0.27345412 -0.20370056 -9.63048352] [ 0.29156612 0.95438231 0.06437082 -5.35974076] [ 0.17680575 -0.11990517 0.97691477 0.08424192] [ 0. 0. 0. 1. ]] SLAMing on 190.322414037 meters Centerline goodness : 0.870359 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.94028074 -0.27276032 -0.20365149 -9.63085367] [ 0.2909276 0.95455025 0.06476843 -5.36001419] [ 0.17672932 -0.12014834 0.97689873 0.08436156] [ 0. 0. 0. 1. ]] SLAMing on 190.352414037 meters Centerline goodness : 0.866368 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.94076015 -0.27123429 -0.20347554 -9.63052309] [ 0.28950455 0.95492692 0.06558734 -5.36117059] [ 0.17651474 -0.12060905 0.97688075 0.08354429] [ 0. 0. 0. 1. ]] SLAMing on 190.382414037 meters Centerline goodness : 0.864967 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.94079505 -0.27098889 -0.20364108 -9.62968611] [ 0.28932223 0.95496466 0.06584186 -5.36194179] [ 0.17662762 -0.12086159 0.97682914 0.08327272] [ 0. 0. 0. 1. ]] SLAMing on 190.412414037 meters Centerline goodness : 0.864460 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.94012488 -0.27426313 -0.20234859 -9.63000923] [ 0.29186765 0.95441998 0.06241617 -5.36160069] [ 0.17600708 -0.11773801 0.9773225 0.08269548] [ 0. 0. 0. 1. ]] SLAMing on 190.442414037 meters Centerline goodness : 0.858554 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.36, Z:0.08 [[ 0.93956462 -0.27686471 -0.20140572 -9.63076987] [ 0.29398326 0.95391741 0.0601284 -5.36261433] [ 0.17547699 -0.11570443 0.97766063 0.08316524] [ 0. 0. 0. 1. ]] SLAMing on 190.472414037 meters Centerline goodness : 0.857122 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.08 [[ 0.93938129 -0.27762713 -0.20121125 -9.63164817] [ 0.29489563 0.95357838 0.06103142 -5.36642926] [ 0.17492672 -0.1166681 0.97764472 0.08493443] [ 0. 0. 0. 1. ]] SLAMing on 190.502414037 meters Centerline goodness : 0.812278 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.08 [[ 0.93848794 -0.28144802 -0.20006851 -9.63184845] [ 0.29801022 0.95282825 0.05751718 -5.36624017] [ 0.17444283 -0.11360164 0.97809221 0.08482966] [ 0. 0. 0. 1. ]] SLAMing on 190.532414037 meters Centerline goodness : 0.812226 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.08 [[ 0.93756987 -0.28520301 -0.19905272 -9.63148262] [ 0.3011394 0.95203036 0.05434394 -5.36694892] [ 0.17400517 -0.11089385 0.97848084 0.08469793] [ 0. 0. 0. 1. ]] SLAMing on 190.562414037 meters Centerline goodness : 0.812752 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.08 [[ 0.93658581 -0.28907258 -0.19810114 -9.63089161] [ 0.30441662 0.95115764 0.05128036 -5.36833959] [ 0.17360167 -0.10833374 0.97883924 0.08474029] [ 0. 0. 0. 1. ]] SLAMing on 190.592414037 meters Centerline goodness : 0.814487 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.09 [[ 0.93548242 -0.29299336 -0.19755388 -9.62897869] [ 0.30791668 0.95015558 0.04890496 -5.37213238] [ 0.17337809 -0.10657987 0.97907138 0.08512854] [ 0. 0. 0. 1. ]] SLAMing on 190.622414037 meters Centerline goodness : 0.814105 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.09 [[ 0.93534182 -0.29315768 -0.19797538 -9.62795668] [ 0.30822301 0.95002918 0.04942799 -5.37389787] [ 0.17359219 -0.10725263 0.97895997 0.08560044] [ 0. 0. 0. 1. ]] SLAMing on 190.652414037 meters Centerline goodness : 0.813566 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.09 [[ 0.93433729 -0.29705896 -0.19690051 -9.62792225] [ 0.31141536 0.94917229 0.04574314 -5.37296023] [ 0.1733041 -0.10405736 0.97935578 0.08535162] [ 0. 0. 0. 1. ]] SLAMing on 190.682414037 meters Centerline goodness : 0.811747 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.09 [[ 0.93329093 -0.30075918 -0.19624463 -9.62694 ] [ 0.31456778 0.94827377 0.042708 -5.37388845] [ 0.17324881 -0.10159122 0.97962445 0.08555966] [ 0. 0. 0. 1. ]] SLAMing on 190.71241403699997 meters Centerline goodness : 0.812979 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.09 [[ 0.93228294 -0.30448667 -0.19528541 -9.62665198] [ 0.31764962 0.94739431 0.03927782 -5.3741312 ] [ 0.17305271 -0.09865038 0.97995962 0.085727 ] [ 0. 0. 0. 1. ]] SLAMing on 190.74241403699997 meters Centerline goodness : 0.813835 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.37, Z:0.09 [[ 0.93132251 -0.30808801 -0.19421679 -9.62659044] [ 0.32064493 0.94651048 0.03612104 -5.37496588] [ 0.17269977 -0.09591497 0.98029338 0.08593742] [ 0. 0. 0. 1. ]] SLAMing on 190.77241403699998 meters Centerline goodness : 0.814431 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.38, Z:0.09 [[ 0.9303654 -0.31152813 -0.19331435 -9.62792677] [ 0.3236426 0.9455758 0.03379168 -5.37824321] [ 0.17226632 -0.09400337 0.98055478 0.08809063] [ 0. 0. 0. 1. ]] SLAMing on 190.80241403699998 meters Centerline goodness : 0.816344 Centerline is valid? [False, False] Translation: X:-9.63, Y:-5.38, Z:0.09 [[ 0.92992658 -0.31323469 -0.19266701 -9.63026229] [ 0.32511609 0.9451099 0.03266196 -5.37910241] [ 0.17186064 -0.09301237 0.98072046 0.08979159] [ 0. 0. 0. 1. ]] SLAMing on 190.83241403699998 meters Centerline goodness : 0.815780 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.39, Z:0.09 [[ 0.93017963 -0.31494009 -0.1886229 -9.64998385] [ 0.3261993 0.94478823 0.03113224 -5.38617699] [ 0.1684039 -0.09048723 0.981556 0.08728585] [ 0. 0. 0. 1. ]] SLAMing on 190.86241403699998 meters Centerline goodness : 0.815627 Centerline is valid? [False, False] Translation: X:-9.65, Y:-5.39, Z:0.09 [[ 0.92945307 -0.31761603 -0.18771536 -9.6517245 ] [ 0.32848164 0.94406257 0.02908055 -5.38750636] [ 0.16797859 -0.08869006 0.98179288 0.08873382] [ 0. 0. 0. 1. ]] SLAMing on 190.89241403699998 meters Centerline goodness : 0.817262 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.40, Z:0.09 [[ 0.9273965 -0.32185455 -0.19064466 -9.664666 ] [ 0.33238361 0.94280753 0.02520131 -5.39619416] [ 0.17163007 -0.08673877 0.98133557 0.08572393] [ 0. 0. 0. 1. ]] SLAMing on 190.92241403699998 meters Centerline goodness : 0.816271 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.40, Z:0.09 [[ 0.92615626 -0.32597713 -0.18966678 -9.66341075] [ 0.33589129 0.9416488 0.02178483 -5.39682441] [ 0.17149814 -0.08388357 0.98160681 0.08527706] [ 0. 0. 0. 1. ]] SLAMing on 190.95241403699998 meters Centerline goodness : 0.815498 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.40, Z:0.08 [[ 0.9249106 -0.33011512 -0.18858523 -9.6624072 ] [ 0.33940249 0.94046271 0.01832593 -5.39722472] [ 0.17130771 -0.08095614 0.98188582 0.08484019] [ 0. 0. 0. 1. ]] SLAMing on 190.98241403699998 meters Centerline goodness : 0.816132 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.40, Z:0.09 [[ 0.92352862 -0.33461485 -0.18742407 -9.66194134] [ 0.34328546 0.93911291 0.01490108 -5.39876481] [ 0.17102624 -0.07810153 0.98216606 0.08512573] [ 0. 0. 0. 1. ]] SLAMing on 191.01241403699999 meters Centerline goodness : 0.815726 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.40, Z:0.09 [[ 0.92327407 -0.33548675 -0.1871193 -9.66278431] [ 0.34407775 0.93882918 0.01450045 -5.39949943] [ 0.17080835 -0.07777148 0.98223017 0.08581358] [ 0. 0. 0. 1. ]] SLAMing on 191.042414037 meters Centerline goodness : 0.816891 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.40, Z:0.09 [[ 0.92315101 -0.33580328 -0.18715869 -9.66286987] [ 0.34439319 0.93871437 0.01444525 -5.40008535] [ 0.17083779 -0.07779133 0.98222348 0.08624381] [ 0. 0. 0. 1. ]] SLAMing on 191.072414037 meters Centerline goodness : 0.815577 Centerline is valid? [False, False] Translation: X:-9.66, Y:-5.40, Z:0.09 [[ 0.92303006 -0.33610413 -0.18721515 -9.66286125] [ 0.34468782 0.93860762 0.01435418 -5.40054998] [ 0.17089707 -0.07778013 0.98221405 0.08661478] [ 0. 0. 0. 1. ]] SLAMing on 191.102414037 meters Centerline goodness : 0.817167 Centerline is valid? [False, False] Translation: X:-9.68, Y:-5.41, Z:0.08 [[ 0.9221913 -0.33860851 -0.18683542 -9.68084203] [ 0.3467049 0.93790393 0.01148602 -5.40578691] [ 0.17134441 -0.07536906 0.98232408 0.08365892] [ 0. 0. 0. 1. ]] SLAMing on 191.132414037 meters Centerline goodness : 0.812898 Centerline is valid? [False, False] Translation: X:-9.68, Y:-5.41, Z:0.08 [[ 0.92197083 -0.33928767 -0.18669138 -9.68088664] [ 0.34730597 0.93768692 0.01103624 -5.40573127] [ 0.1713136 -0.07501412 0.98235662 0.08369315] [ 0. 0. 0. 1. ]] SLAMing on 191.162414037 meters Centerline goodness : 0.812220 Centerline is valid? [False, False] Translation: X:-9.68, Y:-5.41, Z:0.08 [[ 0.92175167 -0.33994605 -0.18657585 -9.68090202] [ 0.34790559 0.93746867 0.01068618 -5.40589999] [ 0.17127629 -0.07476079 0.98238244 0.08378262] [ 0. 0. 0. 1. ]] SLAMing on 191.192414037 meters Centerline goodness : 0.813380 Centerline is valid? [False, False] Translation: X:-9.70, Y:-5.41, Z:0.08 [[ 9.21659368e-01 -3.41764932e-01 -1.83686528e-01 -9.69990968e+00] [ 3.49110199e-01 9.37045553e-01 8.22801434e-03 -5.41115378e+00] [ 1.69310597e-01 -7.17102668e-02 9.82950436e-01 8.01187385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222414037 meters Centerline goodness : 0.813964 Centerline is valid? [False, False] Translation: X:-9.70, Y:-5.41, Z:0.08 [[ 9.20922372e-01 -3.44417742e-01 -1.82423692e-01 -9.70213797e+00] [ 3.51385954e-01 9.36209393e-01 6.31530625e-03 -5.40999416e+00] [ 1.68611670e-01 -6.99170298e-02 9.83199732e-01 8.04145117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.252414037 meters Centerline goodness : 0.811900 Centerline is valid? [False, False] Translation: X:-9.70, Y:-5.41, Z:0.08 [[ 9.20652367e-01 -3.45298111e-01 -1.82122031e-01 -9.70268001e+00] [ 3.52129164e-01 9.35934920e-01 5.55664878e-03 -5.40874363e+00] [ 1.68535668e-01 -6.92462203e-02 9.83260235e-01 8.03577652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282414037 meters Centerline goodness : 0.810155 Centerline is valid? [False, False] Translation: X:-9.70, Y:-5.41, Z:0.08 [[ 9.20155443e-01 -3.47014858e-01 -1.81368821e-01 -9.70402847e+00] [ 3.53564132e-01 9.35401490e-01 4.05662486e-03 -5.40552426e+00] [ 1.68244956e-01 -6.78582352e-02 9.83406780e-01 7.98695344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312414037 meters Centerline goodness : 0.809176 Centerline is valid? [False, False] Translation: X:-9.73, Y:-5.41, Z:0.07 [[ 9.19847090e-01 -3.48995005e-01 -1.79119561e-01 -9.72904438e+00] [ 3.55887154e-01 9.34503930e-01 6.83654772e-03 -5.41126295e+00] [ 1.65002013e-01 -7.00349293e-02 9.83803560e-01 7.35066665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342414037 meters Centerline goodness : 0.808654 Centerline is valid? [False, False] Translation: X:-9.73, Y:-5.41, Z:0.07 [[ 9.19551703e-01 -3.50037402e-01 -1.78601464e-01 -9.73018124e+00] [ 3.56742022e-01 9.34184680e-01 5.84068504e-03 -5.40935940e+00] [ 1.64802293e-01 -6.90854592e-02 9.83904164e-01 7.34432121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372414037 meters Centerline goodness : 0.806040 Centerline is valid? [False, False] Translation: X:-9.73, Y:-5.41, Z:0.07 [[ 9.19235250e-01 -3.51087070e-01 -1.78169649e-01 -9.73121325e+00] [ 3.57604447e-01 9.33860786e-01 4.80534598e-03 -5.40742980e+00] [ 1.64698553e-01 -6.81315022e-02 9.83988051e-01 7.35101924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402414037 meters Centerline goodness : 0.808024 Centerline is valid? [False, False] Translation: X:-9.74, Y:-5.40, Z:0.07 [[ 9.18467669e-01 -3.53851443e-01 -1.76653041e-01 -9.73535351e+00] [ 3.59833319e-01 9.33014539e-01 1.96276925e-03 -5.40221723e+00] [ 1.64125327e-01 -6.53683903e-02 9.84271228e-01 7.41587798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432414037 meters Centerline goodness : 0.807286 Centerline is valid? [False, False] Translation: X:-9.75, Y:-5.40, Z:0.07 [[ 9.19887714e-01 -3.53681871e-01 -1.69457156e-01 -9.75213519e+00] [ 3.59189208e-01 9.33262658e-01 1.98077581e-03 -5.40376494e+00] [ 1.57447471e-01 -6.26892730e-02 9.85535564e-01 6.96083325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46241403699997 meters Centerline goodness : 0.805885 Centerline is valid? [False, False] Translation: X:-9.78, Y:-5.41, Z:0.06 [[ 9.19969501e-01 -3.54452963e-01 -1.67389407e-01 -9.77920885e+00] [ 3.60504932e-01 9.32736522e-01 6.22690638e-03 -5.40818055e+00] [ 1.53923068e-01 -6.60732707e-02 9.85871194e-01 6.36830074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49241403699997 meters Centerline goodness : 0.805873 Centerline is valid? [False, False] Translation: X:-9.79, Y:-5.41, Z:0.06 [[ 9.20456055e-01 -3.54193838e-01 -1.65249437e-01 -9.78609035e+00] [ 3.60326303e-01 9.32794443e-01 7.71248329e-03 -5.40566178e+00] [ 1.51412042e-01 -6.66427205e-02 9.86221649e-01 6.32172519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52241403699998 meters Centerline goodness : 0.864302 Centerline is valid? [False, False] Translation: X:-9.81, Y:-5.40, Z:0.06 [[ 9.20591539e-01 -3.52924262e-01 -1.67199534e-01 -9.80802053e+00] [ 3.59136258e-01 9.33255223e-01 7.47244513e-03 -5.40206542e+00] [ 1.53402632e-01 -6.69264848e-02 9.85894760e-01 5.97525235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55241403699998 meters Centerline goodness : 0.864452 Centerline is valid? [False, False] Translation: X:-9.83, Y:-5.40, Z:0.06 [[ 9.21489351e-01 -3.51176315e-01 -1.65929419e-01 -9.82999093e+00] [ 3.57419461e-01 9.33906261e-01 8.39192502e-03 -5.40446846e+00] [ 1.52015478e-01 -6.70394730e-02 9.86101923e-01 5.59093564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58241403699998 meters Centerline goodness : 0.864451 Centerline is valid? [False, False] Translation: X:-9.85, Y:-5.41, Z:0.05 [[ 9.22467530e-01 -3.49186666e-01 -1.64688578e-01 -9.84975111e+00] [ 3.55170177e-01 9.34772164e-01 7.42601847e-03 -5.40629471e+00] [ 1.51353232e-01 -6.53427324e-02 9.86317660e-01 5.31931255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61241403699998 meters Centerline goodness : 0.864451 Centerline is valid? [False, False] Translation: X:-9.85, Y:-5.41, Z:0.05 [[ 9.22467530e-01 -3.49186666e-01 -1.64688578e-01 -9.84975111e+00] [ 3.55170177e-01 9.34772164e-01 7.42601847e-03 -5.40629471e+00] [ 1.51353232e-01 -6.53427324e-02 9.86317660e-01 5.31931255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64241403699998 meters Centerline goodness : 0.859711 Centerline is valid? [False, False] Translation: X:-9.87, Y:-5.40, Z:0.05 [[ 9.23001146e-01 -3.47940229e-01 -1.64336486e-01 -9.87018049e+00] [ 3.53411707e-01 9.35457739e-01 4.35709812e-03 -5.40427643e+00] [ 1.52213828e-01 -6.21000446e-02 9.86394716e-01 5.09983005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67241403699998 meters Centerline goodness : 0.860591 Centerline is valid? [False, False] Translation: X:-9.87, Y:-5.40, Z:0.05 [[ 9.23696529e-01 -3.45964973e-01 -1.64599390e-01 -9.87229006e+00] [ 3.51695340e-01 9.36094651e-01 6.09847063e-03 -5.40219898e+00] [ 1.51970751e-01 -6.35219745e-02 9.86341650e-01 5.11859121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70241403699998 meters Centerline goodness : 0.860601 Centerline is valid? [False, False] Translation: X:-9.90, Y:-5.41, Z:0.04 [[ 0.92380303 -0.34544028 -0.16510293 -9.90073911] [ 0.35250944 0.93569316 0.0146768 -5.40829246] [ 0.14941572 -0.07175881 0.98616713 0.04237806] [ 0. 0. 0. 1. ]] SLAMing on 191.73241403699998 meters Centerline goodness : 0.860145 Centerline is valid? [False, False] Translation: X:-9.90, Y:-5.41, Z:0.04 [[ 0.92459402 -0.34307961 -0.16559675 -9.90202961] [ 0.35045906 0.93642947 0.01668206 -5.40501372] [ 0.1493464 -0.07345902 0.98605245 0.04167116] [ 0. 0. 0. 1. ]] SLAMing on 191.76241403699999 meters Centerline goodness : 0.855310 Centerline is valid? [False, False] Translation: X:-9.91, Y:-5.40, Z:0.04 [[ 0.92519659 -0.34155614 -0.16538037 -9.90537495] [ 0.34898568 0.93696929 0.01724958 -5.39627164] [ 0.14906463 -0.07367463 0.986079 0.04033624] [ 0. 0. 0. 1. ]] SLAMing on 191.792414037 meters Centerline goodness : 0.853466 Centerline is valid? [False, False] Translation: X:-9.93, Y:-5.40, Z:0.03 [[ 0.92668491 -0.33827958 -0.16377426 -9.93247201] [ 0.34694609 0.93750529 0.026688 -5.40375732] [ 0.14451123 -0.0815522 0.98613678 0.03286135] [ 0. 0. 0. 1. ]] SLAMing on 191.822414037 meters Centerline goodness : 0.852494 Centerline is valid? [False, False] Translation: X:-9.95, Y:-5.41, Z:0.03 [[ 0.92895575 -0.33359179 -0.16049213 -9.94547651] [ 0.34181553 0.93941096 0.02586866 -5.40551285] [ 0.14213849 -0.07888955 0.98669807 0.03250158] [ 0. 0. 0. 1. ]] SLAMing on 191.852414037 meters Centerline goodness : 0.855375 Centerline is valid? [False, False] Translation: X:-9.95, Y:-5.40, Z:0.03 [[ 0.92974714 -0.33140163 -0.16044691 -9.94967336] [ 0.33970554 0.940155 0.02662164 -5.39912082] [ 0.14202251 -0.0792561 0.9866854 0.03304841] [ 0. 0. 0. 1. ]] SLAMing on 191.882414037 meters Centerline goodness : 0.849319 Centerline is valid? [False, False] Translation: X:-9.95, Y:-5.40, Z:0.03 [[ 0.93067084 -0.32840003 -0.16126128 -9.9512817 ] [ 0.33708419 0.94102688 0.02902847 -5.39660451] [ 0.14221825 -0.08137458 0.98648474 0.03336196] [ 0. 0. 0. 1. ]] SLAMing on 191.912414037 meters Centerline goodness : 0.853930 Centerline is valid? [False, False] Translation: X:-9.95, Y:-5.39, Z:0.03 [[ 0.93154921 -0.32528518 -0.16249806 -9.95251288] [ 0.33444497 0.94187742 0.03183532 -5.39375888] [ 0.1426977 -0.08400283 0.98619516 0.03400316] [ 0. 0. 0. 1. ]] SLAMing on 191.942414037 meters Centerline goodness : 0.853663 Centerline is valid? [False, False] Translation: X:-9.96, Y:-5.39, Z:0.04 [[ 0.93107687 -0.32313187 -0.16935663 -9.96281088] [ 0.33184899 0.94299635 0.02518203 -5.3855787 ] [ 0.15156557 -0.07964723 0.98523307 0.0358412 ] [ 0. 0. 0. 1. ]] SLAMing on 191.972414037 meters Centerline goodness : 0.857225 Centerline is valid? [False, False] Translation: X:-9.97, Y:-5.38, Z:0.04 [[ 0.93118273 -0.32172972 -0.17143135 -9.97170112] [ 0.32902173 0.94420036 0.01517828 -5.38171185] [ 0.15698224 -0.07053839 0.98507914 0.03596873] [ 0. 0. 0. 1. ]] SLAMing on 192.002414037 meters Centerline goodness : 0.854111 Centerline is valid? [False, False] Translation: X:-9.97, Y:-5.38, Z:0.04 [[ 0.93192792 -0.31882028 -0.172812 -9.97188063] [ 0.32659588 0.94499603 0.01782236 -5.37977375] [ 0.15762452 -0.07304884 0.98479357 0.03623437] [ 0. 0. 0. 1. ]] SLAMing on 192.032414037 meters Centerline goodness : 0.854585 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.37, Z:0.04 [[ 0.9320539 -0.31515344 -0.17875635 -9.98300521] [ 0.32237155 0.94653583 0.01210385 -5.37320507] [ 0.16538472 -0.0689074 0.98381892 0.03814195] [ 0. 0. 0. 1. ]] SLAMing on 192.062414037 meters Centerline goodness : 0.853948 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.37, Z:0.04 [[ 9.32273014e-01 -3.10527564e-01 -1.85579256e-01 -9.99180573e+00] [ 3.17399243e-01 9.48260174e-01 7.76933427e-03 -5.37109112e+00] [ 1.73564825e-01 -6.61458559e-02 9.82598584e-01 4.05314265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092414037 meters Centerline goodness : 0.855743 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.37, Z:0.04 [[ 9.32846273e-01 -3.05336430e-01 -1.91226293e-01 -1.00007419e+01] [ 3.11639630e-01 9.50195485e-01 3.04649310e-03 -5.36971806e+00] [ 1.80772154e-01 -6.24356007e-02 9.81541249e-01 4.25782439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122414037 meters Centerline goodness : 0.851520 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.36, Z:0.04 [[ 9.34359328e-01 -2.98972803e-01 -1.93876015e-01 -1.00019819e+01] [ 3.06332390e-01 9.51887204e-01 8.43910799e-03 -5.36468575e+00] [ 1.82025034e-01 -6.72756624e-02 9.80989741e-01 4.37268678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152414037 meters Centerline goodness : 0.851153 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.36, Z:0.04 [[ 9.34451558e-01 -2.98916956e-01 -1.93517283e-01 -1.00035424e+01] [ 3.05989266e-01 9.52009003e-01 7.03044743e-03 -5.36015537e+00] [ 1.82128676e-01 -6.57838241e-02 9.81071676e-01 4.33228939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182414037 meters Centerline goodness : 0.851243 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.36, Z:0.05 [[ 9.35263312e-01 -2.93129284e-01 -1.98387900e-01 -1.00118546e+01] [ 2.99575483e-01 9.54069052e-01 2.60287964e-03 -5.35953264e+00] [ 1.88512776e-01 -6.18665288e-02 9.80120128e-01 4.52606698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21241403699997 meters Centerline goodness : 0.854094 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.35, Z:0.05 [[ 9.36656835e-01 -2.86615443e-01 -2.01309616e-01 -1.00116121e+01] [ 2.94166348e-01 9.55720833e-01 7.99053115e-03 -5.35450568e+00] [ 1.90105584e-01 -6.67029001e-02 9.79495069e-01 4.58586069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24241403699997 meters Centerline goodness : 0.851245 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.35, Z:0.05 [[ 0.93734223 -0.283305 -0.20279996 -10.01082419] [ 0.29139137 0.95654576 0.01054854 -5.35200245] [ 0.19099899 -0.06898175 0.97916337 0.04567565] [ 0. 0. 0. 1. ]] SLAMing on 192.27241403699998 meters Centerline goodness : 0.850641 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.35, Z:0.05 [[ 0.93802942 -0.27996777 -0.20425196 -10.01027545] [ 0.28863038 0.95734818 0.01330296 -5.35012683] [ 0.19181584 -0.07143189 0.97882796 0.045763 ] [ 0. 0. 0. 1. ]] SLAMing on 192.30241403699998 meters Centerline goodness : 0.853347 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.35, Z:0.05 [[ 0.93874312 -0.27648222 -0.20571567 -10.00906989] [ 0.28572557 0.95817688 0.01606119 -5.34816307] [ 0.19267136 -0.07385556 0.97848 0.04524683] [ 0. 0. 0. 1. ]] SLAMing on 192.33241403699998 meters Centerline goodness : 0.851255 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.34, Z:0.05 [[ 0.93933558 -0.27349161 -0.20700485 -10.00963808] [ 0.28305906 0.95894263 0.01751009 -5.34212336] [ 0.19371691 -0.07504245 0.97818321 0.04518963] [ 0. 0. 0. 1. ]] SLAMing on 192.36241403699998 meters Centerline goodness : 0.853448 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.34, Z:0.05 [[ 0.93979609 -0.27053676 -0.20878976 -10.00873574] [ 0.28081008 0.95954102 0.02065758 -5.3404075 ] [ 0.1947537 -0.07804419 0.97774235 0.04598669] [ 0. 0. 0. 1. ]] SLAMing on 192.39241403699998 meters Centerline goodness : 0.852563 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.34, Z:0.05 [[ 0.94019582 -0.26780309 -0.2105073 -10.00783671] [ 0.27879024 0.96005693 0.02380538 -5.33901788] [ 0.19572384 -0.0810691 0.9773024 0.04682219] [ 0. 0. 0. 1. ]] SLAMing on 192.42241403699998 meters Centerline goodness : 0.853550 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.34, Z:0.05 [[ 0.94009304 -0.2665895 -0.21249731 -10.00646211] [ 0.27810328 0.96020723 0.02570287 -5.33548452] [ 0.19718934 -0.08325929 0.97682355 0.04782812] [ 0. 0. 0. 1. ]] SLAMing on 192.45241403699998 meters Centerline goodness : 0.851628 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.33, Z:0.05 [[ 0.93970404 -0.26759141 -0.21295811 -10.00535406] [ 0.27902475 0.95995842 0.02500046 -5.33361859] [ 0.19774102 -0.08291362 0.97674143 0.04767796] [ 0. 0. 0. 1. ]] SLAMing on 192.48241403699998 meters Centerline goodness : 0.850375 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.33, Z:0.05 [[ 0.93915116 -0.26883214 -0.21383258 -10.0036904 ] [ 0.28027186 0.95960731 0.02452552 -5.33217497] [ 0.19860206 -0.08296442 0.9765624 0.04809992] [ 0. 0. 0. 1. ]] SLAMing on 192.51241403699999 meters Centerline goodness : 0.847200 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.33, Z:0.05 [[ 0.93807098 -0.27132282 -0.2154223 -10.00169381] [ 0.28283451 0.95887011 0.02393208 -5.32939957] [ 0.20006868 -0.08337885 0.97622768 0.04983665] [ 0. 0. 0. 1. ]] SLAMing on 192.542414037 meters Centerline goodness : 0.847556 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.33, Z:0.05 [[ 0.93753789 -0.27241246 -0.21636578 -10.00042436] [ 0.28395157 0.95854947 0.02354595 -5.32721089] [ 0.20098309 -0.08351262 0.9760284 0.05053265] [ 0. 0. 0. 1. ]] SLAMing on 192.572414037 meters Centerline goodness : 0.847564 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.32, Z:0.05 [[ 0.9370899 -0.2717701 -0.2190971 -9.99891212] [ 0.28401851 0.95846981 0.02586722 -5.32284459] [ 0.20296801 -0.08646754 0.97536011 0.05287566] [ 0. 0. 0. 1. ]] SLAMing on 192.602414037 meters Centerline goodness : 0.847564 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.32, Z:0.05 [[ 0.9370899 -0.2717701 -0.2190971 -9.99891212] [ 0.28401851 0.95846981 0.02586722 -5.32284459] [ 0.20296801 -0.08646754 0.97536011 0.05287566] [ 0. 0. 0. 1. ]] SLAMing on 192.632414037 meters Centerline goodness : 0.849378 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.32, Z:0.05 [[ 0.93716036 -0.2699476 -0.22104014 -9.99703942] [ 0.28267781 0.95882003 0.02752111 -5.31833495] [ 0.20450846 -0.08827484 0.97487632 0.0527739 ] [ 0. 0. 0. 1. ]] SLAMing on 192.662414037 meters Centerline goodness : 0.845298 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.32, Z:0.05 [[ 0.937668 -0.26751953 -0.22183783 -9.9963852 ] [ 0.28068815 0.95934493 0.02952061 -5.31697993] [ 0.20492166 -0.08994778 0.9746366 0.05217167] [ 0. 0. 0. 1. ]] SLAMing on 192.692414037 meters Centerline goodness : 0.845314 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.32, Z:0.05 [[ 0.93836291 -0.26424232 -0.22282514 -9.99633958] [ 0.27801543 0.9600333 0.03230308 -5.31584532] [ 0.20538371 -0.09226084 0.97432308 0.05215013] [ 0. 0. 0. 1. ]] SLAMing on 192.722414037 meters Centerline goodness : 0.844563 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.31, Z:0.05 [[ 0.93870061 -0.26317637 -0.22266425 -9.99734163] [ 0.27680802 0.96039817 0.03182259 -5.31292397] [ 0.20547139 -0.09150714 0.97437567 0.05158581] [ 0. 0. 0. 1. ]] SLAMing on 192.752414037 meters Centerline goodness : 0.845036 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.31, Z:0.05 [[ 0.93984031 -0.25860123 -0.22321647 -10.00024443] [ 0.27264894 0.96151119 0.03404089 -5.30758709] [ 0.20582211 -0.09285273 0.97417433 0.05188175] [ 0. 0. 0. 1. ]] SLAMing on 192.782414037 meters Centerline goodness : 0.846138 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.30, Z:0.05 [[ 0.94015417 -0.25778637 -0.22283698 -10.00171391] [ 0.27159471 0.96183991 0.03317079 -5.30408883] [ 0.20578252 -0.091707 0.97429122 0.0512305 ] [ 0. 0. 0. 1. ]] SLAMing on 192.812414037 meters Centerline goodness : 0.854448 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.30, Z:0.05 [[ 0.94028708 -0.25767021 -0.22241015 -10.00308066] [ 0.27109248 0.96203615 0.03154847 -5.30013665] [ 0.20583751 -0.08995834 0.97444262 0.05053936] [ 0. 0. 0. 1. ]] SLAMing on 192.842414037 meters Centerline goodness : 0.848430 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.29, Z:0.05 [[ 0.94210026 -0.26056901 -0.21107083 -10.00106129] [ 0.27259225 0.96167739 0.02949672 -5.2907898 ] [ 0.19529612 -0.08532514 0.97702561 0.04507475] [ 0. 0. 0. 1. ]] SLAMing on 192.872414037 meters Centerline goodness : 0.850198 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.29, Z:0.04 [[ 0.94222503 -0.26053026 -0.2105611 -10.00216538] [ 0.2722731 0.96180308 0.028323 -5.28844504] [ 0.19513931 -0.08401676 0.97717032 0.04441335] [ 0. 0. 0. 1. ]] SLAMing on 192.902414037 meters Centerline goodness : 0.850287 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.28, Z:0.04 [[ 0.94298636 -0.26500701 -0.20136535 -9.99876171] [ 0.27650478 0.96051986 0.03076863 -5.28337481] [ 0.18526152 -0.08469288 0.97903283 0.03992633] [ 0. 0. 0. 1. ]] SLAMing on 192.932414037 meters Centerline goodness : 0.846168 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.28, Z:0.04 [[ 0.94299547 -0.26473538 -0.20167976 -9.998658 ] [ 0.27623526 0.96060087 0.03066027 -5.28145132] [ 0.1856169 -0.08462356 0.97897151 0.03985587] [ 0. 0. 0. 1. ]] SLAMing on 192.96241403699997 meters Centerline goodness : 0.851298 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.28, Z:0.04 [[ 0.9425352 -0.26609781 -0.202038 -9.9979461 ] [ 0.2773583 0.96032575 0.02910041 -5.27726789] [ 0.18627874 -0.08346508 0.97894526 0.03938321] [ 0. 0. 0. 1. ]] SLAMing on 192.99241403699997 meters Centerline goodness : 0.844135 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.28, Z:0.04 [[ 0.94215307 -0.26688469 -0.20278103 -9.99580888] [ 0.27814546 0.96011055 0.02868506 -5.27587003] [ 0.1870366 -0.08342834 0.97880387 0.03892358] [ 0. 0. 0. 1. ]] SLAMing on 193.02241403699998 meters Centerline goodness : 0.841876 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.27, Z:0.04 [[ 0.94185026 -0.26764495 -0.20318529 -9.9941769 ] [ 0.27885228 0.95992144 0.02814657 -5.27453383] [ 0.18750863 -0.08316854 0.97873567 0.03817442] [ 0. 0. 0. 1. ]] SLAMing on 193.05241403699998 meters Centerline goodness : 0.851111 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.27, Z:0.04 [[ 0.94152381 -0.26843312 -0.20365797 -9.99298622] [ 0.2796201 0.95970967 0.0277481 -5.27325865] [ 0.18800401 -0.08307236 0.9786488 0.03804928] [ 0. 0. 0. 1. ]] SLAMing on 193.08241403699998 meters Centerline goodness : 0.845876 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.27, Z:0.04 [[ 0.94124519 -0.26895812 -0.20425235 -9.99204255] [ 0.28018268 0.95954918 0.02762301 -5.27197108] [ 0.18856075 -0.08322799 0.97852846 0.03831327] [ 0. 0. 0. 1. ]] SLAMing on 193.11241403699998 meters Centerline goodness : 0.850772 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.27, Z:0.04 [[ 0.9407707 -0.26995186 -0.20512555 -9.99160955] [ 0.28114997 0.95928412 0.0269938 -5.26814911] [ 0.18948665 -0.08306602 0.97836335 0.03909211] [ 0. 0. 0. 1. ]] SLAMing on 193.14241403699998 meters Centerline goodness : 0.848574 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.27, Z:0.04 [[ 0.94064263 -0.27031522 -0.20523434 -9.99170351] [ 0.28141309 0.95922374 0.02639117 -5.26607331] [ 0.18973171 -0.08258029 0.97835698 0.03907739] [ 0. 0. 0. 1. ]] SLAMing on 193.17241403699998 meters Centerline goodness : 0.849897 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.26, Z:0.04 [[ 0.94048009 -0.27062694 -0.20556813 -9.99127031] [ 0.28164062 0.95917363 0.02577821 -5.26364147] [ 0.19019925 -0.08214023 0.97830324 0.038859 ] [ 0. 0. 0. 1. ]] SLAMing on 193.20241403699998 meters Centerline goodness : 0.842901 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.26, Z:0.04 [[ 0.94067476 -0.26887715 -0.20696878 -9.99057382] [ 0.28035852 0.95949463 0.02773364 -5.2605927 ] [ 0.19112849 -0.08411379 0.97795438 0.03909697] [ 0. 0. 0. 1. ]] SLAMing on 193.23241403699998 meters Centerline goodness : 0.849865 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.26, Z:0.04 [[ 0.94067891 -0.268894 -0.206928 -9.9912298 ] [ 0.28029615 0.95952401 0.02734492 -5.25917648] [ 0.1911995 -0.08372391 0.97797396 0.03932227] [ 0. 0. 0. 1. ]] SLAMing on 193.26241403699999 meters Centerline goodness : 0.849140 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.26, Z:0.04 [[ 0.94074332 -0.26869437 -0.20689451 -9.99159959] [ 0.27999901 0.95962385 0.02688167 -5.25741201] [ 0.19131795 -0.08321901 0.97799388 0.03914208] [ 0. 0. 0. 1. ]] SLAMing on 193.292414037 meters Centerline goodness : 0.849683 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.26, Z:0.04 [[ 0.94134144 -0.26571552 -0.20801816 -9.99198301] [ 0.27763072 0.96022564 0.0297976 -5.25567895] [ 0.19182669 -0.08580195 0.97767098 0.03969278] [ 0. 0. 0. 1. ]] SLAMing on 193.322414037 meters Centerline goodness : 0.848169 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.25, Z:0.04 [[ 0.94144053 -0.26530659 -0.20809165 -9.99238496] [ 0.27716072 0.96037075 0.02949493 -5.25371127] [ 0.19201994 -0.08544255 0.97766452 0.03959938] [ 0. 0. 0. 1. ]] SLAMing on 193.352414037 meters Centerline goodness : 0.842563 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.25, Z:0.04 [[ 0.94144308 -0.26508546 -0.20836177 -9.9923335 ] [ 0.2768898 0.96045967 0.02914203 -5.25148389] [ 0.19239795 -0.08512881 0.97761757 0.03943335] [ 0. 0. 0. 1. ]] SLAMing on 193.382414037 meters Centerline goodness : 0.838840 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.25, Z:0.04 [[ 0.94145641 -0.2651186 -0.20825932 -9.9926705 ] [ 0.2767855 0.9605094 0.02848648 -5.24973947] [ 0.19248274 -0.08446194 0.97765872 0.03918506] [ 0. 0. 0. 1. ]] SLAMing on 193.412414037 meters Centerline goodness : 0.849109 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.25, Z:0.04 [[ 0.94144602 -0.26519902 -0.20820392 -9.99284362] [ 0.27671038 0.96055367 0.0277132 -5.24722476] [ 0.19264152 -0.08370267 0.97769275 0.03862561] [ 0. 0. 0. 1. ]] SLAMing on 193.442414037 meters Centerline goodness : 0.846529 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.25, Z:0.04 [[ 0.94132099 -0.26543557 -0.20846761 -9.99200428] [ 0.27692979 0.96049699 0.02748511 -5.24590478] [ 0.19293699 -0.0836032 0.97764299 0.03811151] [ 0. 0. 0. 1. ]] SLAMing on 193.472414037 meters Centerline goodness : 0.840519 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.24, Z:0.04 [[ 0.94117313 -0.26577837 -0.20869835 -9.99112637] [ 0.27722891 0.96042088 0.02712678 -5.24463258] [ 0.19322854 -0.08338821 0.97760377 0.03758776] [ 0. 0. 0. 1. ]] SLAMing on 193.502414037 meters Centerline goodness : 0.842633 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.24, Z:0.04 [[ 0.94094984 -0.26668744 -0.20854543 -9.99157334] [ 0.27790025 0.96026079 0.02589701 -5.24211455] [ 0.1933516 -0.08232261 0.97766975 0.0374403 ] [ 0. 0. 0. 1. ]] SLAMing on 193.532414037 meters Centerline goodness : 0.842633 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.24, Z:0.04 [[ 0.94094984 -0.26668744 -0.20854543 -9.99157334] [ 0.27790025 0.96026079 0.02589701 -5.24211455] [ 0.1933516 -0.08232261 0.97766975 0.0374403 ] [ 0. 0. 0. 1. ]] SLAMing on 193.562414037 meters Centerline goodness : 0.845106 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.24, Z:0.04 [[ 0.94079968 -0.26696824 -0.20886341 -9.99144403] [ 0.27817341 0.96018723 0.02569126 -5.24083363] [ 0.19368923 -0.08227057 0.9776073 0.03778666] [ 0. 0. 0. 1. ]] SLAMing on 193.592414037 meters Centerline goodness : 0.844025 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.24, Z:0.04 [[ 0.94082972 -0.26694703 -0.20875515 -9.99169776] [ 0.27806806 0.96022772 0.02531558 -5.23970951] [ 0.19369456 -0.08186579 0.97764023 0.03758866] [ 0. 0. 0. 1. ]] SLAMing on 193.622414037 meters Centerline goodness : 0.843281 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.24, Z:0.04 [[ 0.94082818 -0.26685508 -0.20887965 -9.99165893] [ 0.27791143 0.96028275 0.02494533 -5.23824955] [ 0.19392673 -0.08151932 0.97762315 0.03748005] [ 0. 0. 0. 1. ]] SLAMing on 193.652414037 meters Centerline goodness : 0.844076 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.24, Z:0.04 [[ 0.94122463 -0.26449485 -0.21009203 -9.99128434] [ 0.27606885 0.96075093 0.0272696 -5.23613164] [ 0.19463344 -0.08366668 0.97730124 0.03762375] [ 0. 0. 0. 1. ]] SLAMing on 193.682414037 meters Centerline goodness : 0.841649 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.23, Z:0.04 [[ 0.94102943 -0.26497501 -0.21036124 -9.99107049] [ 0.27644717 0.96066117 0.026591 -5.2338266 ] [ 0.19503992 -0.08317668 0.97726203 0.03760216] [ 0. 0. 0. 1. ]] SLAMing on 193.71241403699997 meters Centerline goodness : 0.841607 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.23, Z:0.04 [[ 0.94090874 -0.265301 -0.21049018 -9.99102869] [ 0.27668245 0.96060835 0.02604671 -5.23197336] [ 0.1952884 -0.08274651 0.97724892 0.0374889 ] [ 0. 0. 0. 1. ]] SLAMing on 193.74241403699997 meters Centerline goodness : 0.838417 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.23, Z:0.04 [[ 0.94048337 -0.2663987 -0.21100417 -9.98995766] [ 0.27765658 0.96035263 0.02509289 -5.22905955] [ 0.19595369 -0.08218614 0.97716303 0.03719592] [ 0. 0. 0. 1. ]] SLAMing on 193.77241403699998 meters Centerline goodness : 0.840586 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.23, Z:0.04 [[ 0.94011766 -0.26755061 -0.21117637 -9.98953127] [ 0.27870457 0.96006738 0.02437998 -5.22807528] [ 0.19622067 -0.08177587 0.97714388 0.03735412] [ 0. 0. 0. 1. ]] SLAMing on 193.80241403699998 meters Centerline goodness : 0.838952 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.23, Z:0.04 [[ 0.93969191 -0.26842989 -0.21195401 -9.98772329] [ 0.27963387 0.95980156 0.02420458 -5.22721027] [ 0.19693656 -0.08201437 0.97697985 0.03737812] [ 0. 0. 0. 1. ]] SLAMing on 193.83241403699998 meters Centerline goodness : 0.839953 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.23, Z:0.04 [[ 0.93907365 -0.27020527 -0.21243775 -9.98638991] [ 0.2813533 0.95931565 0.0235331 -5.22636621] [ 0.19743609 -0.08186938 0.97689119 0.03754783] [ 0. 0. 0. 1. ]] SLAMing on 193.86241403699998 meters Centerline goodness : 0.839370 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.23, Z:0.04 [[ 0.93878978 -0.27084099 -0.21288237 -9.98574039] [ 0.28204317 0.95911277 0.02354445 -5.22604816] [ 0.1978014 -0.08214531 0.97679412 0.03799889] [ 0. 0. 0. 1. ]] SLAMing on 193.89241403699998 meters Centerline goodness : 0.838772 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.22, Z:0.04 [[ 0.93853434 -0.27133441 -0.2133798 -9.98512375] [ 0.28255394 0.95896678 0.02336626 -5.22495604] [ 0.19828407 -0.08222134 0.97668986 0.03841991] [ 0. 0. 0. 1. ]] SLAMing on 193.92241403699998 meters Centerline goodness : 0.839398 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.22, Z:0.04 [[ 0.93819038 -0.27196721 -0.2140856 -9.98436324] [ 0.28317331 0.95879451 0.02293385 -5.22272284] [ 0.19902684 -0.08213965 0.97654564 0.03880725] [ 0. 0. 0. 1. ]] SLAMing on 193.95241403699998 meters Centerline goodness : 0.836603 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.22, Z:0.04 [[ 0.93853965 -0.26939973 -0.21579414 -9.98293387] [ 0.28119249 0.95931647 0.02535149 -5.21958589] [ 0.20018519 -0.08447307 0.97610972 0.03857686] [ 0. 0. 0. 1. ]] SLAMing on 193.98241403699998 meters Centerline goodness : 0.837518 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.22, Z:0.04 [[ 0.93839553 -0.2700623 -0.21559265 -9.98373679] [ 0.28159404 0.95923109 0.02409373 -5.21702722] [ 0.20029636 -0.08331905 0.9761861 0.03860469] [ 0. 0. 0. 1. ]] SLAMing on 194.01241403699999 meters Centerline goodness : 0.839198 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.22, Z:0.04 [[ 0.93891148 -0.26703211 -0.21711539 -9.98232044] [ 0.27931165 0.95980948 0.0274 -5.21731263] [ 0.20107273 -0.08636903 0.97576132 0.03882137] [ 0. 0. 0. 1. ]] SLAMing on 194.042414037 meters Centerline goodness : 0.841235 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.22, Z:0.04 [[ 0.93986426 -0.26360076 -0.21718611 -9.98400031] [ 0.27632435 0.96059939 0.0298944 -5.216849 ] [ 0.20074866 -0.08811049 0.97567234 0.03870543] [ 0. 0. 0. 1. ]] SLAMing on 194.072414037 meters Centerline goodness : 0.841077 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.22, Z:0.04 [[ 0.94004391 -0.26325973 -0.21682195 -9.98538357] [ 0.27583327 0.96075687 0.02936416 -5.21535593] [ 0.20058278 -0.0874103 0.97576943 0.03890425] [ 0. 0. 0. 1. ]] SLAMing on 194.102414037 meters Centerline goodness : 0.792435 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.22, Z:0.04 [[ 0.94058277 -0.25984529 -0.21859659 -9.98437609] [ 0.27329217 0.96135926 0.03316259 -5.21527153] [ 0.20153272 -0.0909329 0.97525165 0.03967292] [ 0. 0. 0. 1. ]] SLAMing on 194.132414037 meters Centerline goodness : 0.792507 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.21, Z:0.04 [[ 0.94065797 -0.25989331 -0.21821559 -9.98545425] [ 0.27312571 0.96143614 0.03229401 -5.21321629] [ 0.20140735 -0.08997791 0.97536611 0.03947548] [ 0. 0. 0. 1. ]] SLAMing on 194.162414037 meters Centerline goodness : 0.838895 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.21, Z:0.04 [[ 0.94052562 -0.26060777 -0.21793381 -9.98543358] [ 0.27340037 0.96142563 0.03021591 -5.20934905] [ 0.20165265 -0.08800203 0.9754957 0.03831614] [ 0. 0. 0. 1. ]] SLAMing on 194.192414037 meters Centerline goodness : 0.789255 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.21, Z:0.04 [[ 0.94045113 -0.2606271 -0.21823195 -9.98409749] [ 0.27340469 0.9614309 0.03000845 -5.20825032] [ 0.20199392 -0.08788712 0.97543545 0.03741923] [ 0. 0. 0. 1. ]] SLAMing on 194.222414037 meters Centerline goodness : 0.792034 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.21, Z:0.04 [[ 0.94040624 -0.26102538 -0.21794919 -9.98417693] [ 0.27361881 0.96139484 0.02920119 -5.20716649] [ 0.20191297 -0.08709598 0.97552316 0.03686681] [ 0. 0. 0. 1. ]] SLAMing on 194.252414037 meters Centerline goodness : 0.790546 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.21, Z:0.04 [[ 0.94022626 -0.26174754 -0.2178596 -9.98422917] [ 0.27415538 0.96126992 0.02826616 -5.20561985] [ 0.20202328 -0.08630396 0.97557072 0.03669738] [ 0. 0. 0. 1. ]] SLAMing on 194.282414037 meters Centerline goodness : 0.835386 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.20, Z:0.04 [[ 0.93968072 -0.26335217 -0.21827914 -9.98467304] [ 0.27552368 0.96092144 0.02677093 -5.2012772 ] [ 0.20269892 -0.0852972 0.97551911 0.03754877] [ 0. 0. 0. 1. ]] SLAMing on 194.312414037 meters Centerline goodness : 0.835986 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.20, Z:0.04 [[ 0.9394001 -0.26418514 -0.21848036 -9.98502747] [ 0.27622931 0.96074051 0.02598164 -5.19903078] [ 0.20303897 -0.08475783 0.97549541 0.03807054] [ 0. 0. 0. 1. ]] SLAMing on 194.342414037 meters Centerline goodness : 0.787068 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.20, Z:0.04 [[ 0.93896527 -0.26544827 -0.21881827 -9.98494086] [ 0.277332 0.96045065 0.02493005 -5.19644416] [ 0.20354651 -0.08409376 0.97544711 0.03854388] [ 0. 0. 0. 1. ]] SLAMing on 194.372414037 meters Centerline goodness : 0.787459 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.19, Z:0.04 [[ 0.93827936 -0.26711186 -0.21973415 -9.98335929] [ 0.27895003 0.96000207 0.02414336 -5.19392641] [ 0.20449626 -0.08394806 0.97526099 0.03875169] [ 0. 0. 0. 1. ]] SLAMing on 194.402414037 meters Centerline goodness : 0.787136 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.19, Z:0.04 [[ 0.93800727 -0.26782723 -0.22002485 -9.98279042] [ 0.27961531 0.95981947 0.02370368 -5.19338644] [ 0.20483564 -0.08375654 0.97520624 0.03903609] [ 0. 0. 0. 1. ]] SLAMing on 194.432414037 meters Centerline goodness : 0.835896 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.19, Z:0.04 [[ 0.93774359 -0.26877503 -0.21999304 -9.98349816] [ 0.2804113 0.95960699 0.02288935 -5.19203216] [ 0.20495478 -0.08315288 0.97523286 0.03967503] [ 0. 0. 0. 1. ]] SLAMing on 194.46241403699997 meters Centerline goodness : 0.787928 Centerline is valid? [False, False] Translation: X:-9.98, Y:-5.19, Z:0.04 [[ 0.93749051 -0.26915576 -0.22060536 -9.98339175] [ 0.28079906 0.95949983 0.02262657 -5.18993673] [ 0.20558074 -0.08315797 0.97510067 0.04048111] [ 0. 0. 0. 1. ]] SLAMing on 194.49241403699997 meters Centerline goodness : 0.787047 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.18, Z:0.04 [[ 0.9372604 -0.2703688 -0.2200992 -9.98634057] [ 0.28158225 0.95931466 0.02065948 -5.182649 ] [ 0.20555871 -0.08133934 0.9752587 0.04105996] [ 0. 0. 0. 1. ]] SLAMing on 194.52241403699998 meters Centerline goodness : 0.785971 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.18, Z:0.04 [[ 0.93709464 -0.27102038 -0.22000362 -9.98729497] [ 0.28198035 0.95922356 0.01942302 -5.17893432] [ 0.20576862 -0.08023791 0.97530567 0.04143486] [ 0. 0. 0. 1. ]] SLAMing on 194.55241403699998 meters Centerline goodness : 0.787669 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.18, Z:0.04 [[ 0.93699981 -0.2714107 -0.21992633 -9.98775831] [ 0.28217521 0.95918481 0.01848388 -5.17581653] [ 0.20593327 -0.07937716 0.97534135 0.04145432] [ 0. 0. 0. 1. ]] SLAMing on 194.58241403699998 meters Centerline goodness : 0.784920 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.17, Z:0.04 [[ 0.93703987 -0.27149297 -0.21965392 -9.98793064] [ 0.28204096 0.95924172 0.017556 -5.17161213] [ 0.20593487 -0.07840207 0.97541988 0.04069425] [ 0. 0. 0. 1. ]] SLAMing on 194.61241403699998 meters Centerline goodness : 0.784269 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.17, Z:0.04 [[ 0.93698794 -0.27168159 -0.21964226 -9.98781543] [ 0.28211382 0.95923047 0.0169912 -5.16972801] [ 0.20607136 -0.07788467 0.97543251 0.04042493] [ 0. 0. 0. 1. ]] SLAMing on 194.64241403699998 meters Centerline goodness : 0.785326 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.17, Z:0.04 [[ 0.93694188 -0.2718902 -0.21958058 -9.98798486] [ 0.28219515 0.95921702 0.01638919 -5.16780754] [ 0.20616937 -0.0773203 0.97545669 0.04035175] [ 0. 0. 0. 1. ]] SLAMing on 194.67241403699998 meters Centerline goodness : 0.785142 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.17, Z:0.04 [[ 0.93685777 -0.27227671 -0.21946051 -9.98863298] [ 0.28241027 0.95916718 0.01558082 -5.16520389] [ 0.20625702 -0.07657491 0.97549696 0.04050109] [ 0. 0. 0. 1. ]] SLAMing on 194.70241403699998 meters Centerline goodness : 0.787894 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.16, Z:0.04 [[ 0.93766868 -0.26922112 -0.21976678 -9.99122905] [ 0.27984494 0.95987409 0.01812585 -5.16229084] [ 0.20606858 -0.07849666 0.97538403 0.04064277] [ 0. 0. 0. 1. ]] SLAMing on 194.73241403699998 meters Centerline goodness : 0.785701 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.16, Z:0.04 [[ 0.93764124 -0.26925366 -0.21984396 -9.99121169] [ 0.27978114 0.9599018 0.0176364 -5.16025981] [ 0.20627995 -0.07804481 0.97537561 0.04066492] [ 0. 0. 0. 1. ]] SLAMing on 194.76241403699999 meters Centerline goodness : 0.785890 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.16, Z:0.04 [[ 0.93757202 -0.26936662 -0.22000077 -9.99105025] [ 0.27979775 0.95990652 0.01710797 -5.1583232 ] [ 0.20657186 -0.07759567 0.97534967 0.04071469] [ 0. 0. 0. 1. ]] SLAMing on 194.792414037 meters Centerline goodness : 0.785952 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.16, Z:0.04 [[ 0.93754334 -0.26938939 -0.22009509 -9.9907482 ] [ 0.27976242 0.95992235 0.016795 -5.1569047 ] [ 0.20674981 -0.07732037 0.97533383 0.04051562] [ 0. 0. 0. 1. ]] SLAMing on 194.822414037 meters Centerline goodness : 0.785442 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.15, Z:0.04 [[ 0.93751583 -0.26959611 -0.21995909 -9.99080171] [ 0.27982647 0.95991474 0.01615057 -5.15424844] [ 0.20678784 -0.07669179 0.97537539 0.04007756] [ 0. 0. 0. 1. ]] SLAMing on 194.852414037 meters Centerline goodness : 0.786918 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.15, Z:0.04 [[ 0.93741041 -0.27001617 -0.21989314 -9.99105321] [ 0.28013348 0.95983437 0.01559502 -5.15289848] [ 0.20685008 -0.07621837 0.9753993 0.04012893] [ 0. 0. 0. 1. ]] SLAMing on 194.882414037 meters Centerline goodness : 0.785645 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.15, Z:0.04 [[ 0.93733935 -0.27040001 -0.21972433 -9.99150283] [ 0.28041249 0.95976049 0.01512081 -5.15180985] [ 0.20679406 -0.07578678 0.97544481 0.04014993] [ 0. 0. 0. 1. ]] SLAMing on 194.912414037 meters Centerline goodness : 0.788964 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.15, Z:0.04 [[ 0.93714532 -0.27155919 -0.21912154 -9.99382702] [ 0.28127716 0.95952699 0.01382429 -5.14956703] [ 0.20649892 -0.07458926 0.97559963 0.04102195] [ 0. 0. 0. 1. ]] SLAMing on 194.942414037 meters Centerline goodness : 0.837264 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.15, Z:0.04 [[ 0.93703569 -0.27215405 -0.21885222 -9.99498769] [ 0.28170712 0.95941133 0.01307706 -5.14777239] [ 0.20641032 -0.0739059 0.97567038 0.04136421] [ 0. 0. 0. 1. ]] SLAMing on 194.972414037 meters Centerline goodness : 0.789826 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.15, Z:0.04 [[ 0.9369723 -0.27240358 -0.21881317 -9.9953941 ] [ 0.28182638 0.95938467 0.01244753 -5.14582836] [ 0.20653525 -0.07333031 0.97568738 0.04156652] [ 0. 0. 0. 1. ]] SLAMing on 195.002414037 meters Centerline goodness : 0.789873 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.14, Z:0.04 [[ 0.93693443 -0.27240829 -0.21896939 -9.9950027 ] [ 0.28173522 0.95941792 0.01193791 -5.14383708] [ 0.20683117 -0.07287643 0.9756587 0.04149777] [ 0. 0. 0. 1. ]] SLAMing on 195.032414037 meters Centerline goodness : 0.786250 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.14, Z:0.04 [[ 0.93706565 -0.27177661 -0.21919268 -9.99362249] [ 0.28106746 0.95961597 0.01175897 -5.14067562] [ 0.20714499 -0.07262686 0.97561073 0.04033895] [ 0. 0. 0. 1. ]] SLAMing on 195.062414037 meters Centerline goodness : 0.788737 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.14, Z:0.04 [[ 0.93702564 -0.27185639 -0.21926482 -9.99326722] [ 0.28108989 0.95961309 0.01145411 -5.13914298] [ 0.20729552 -0.07236592 0.97559814 0.03996183] [ 0. 0. 0. 1. ]] SLAMing on 195.092414037 meters Centerline goodness : 0.787763 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.14, Z:0.04 [[ 0.93696165 -0.27212628 -0.21920344 -9.9935653 ] [ 0.28125641 0.95957008 0.01095895 -5.13775765] [ 0.20735884 -0.07192048 0.97561763 0.04007025] [ 0. 0. 0. 1. ]] SLAMing on 195.122414037 meters Centerline goodness : 0.788473 Centerline is valid? [False, False] Translation: X:-9.99, Y:-5.14, Z:0.04 [[ 9.36871442e-01 -2.72674643e-01 -2.18907377e-01 -9.99488259e+00] [ 2.81571515e-01 9.59489136e-01 9.90352106e-03 -5.13520094e+00] [ 2.07338811e-01 -7.09164080e-02 9.75695383e-01 4.07415485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.152414037 meters Centerline goodness : 0.788629 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36817898e-01 -2.72940907e-01 -2.18804679e-01 -9.99553577e+00] [ 2.81724737e-01 9.59449447e-01 9.37719431e-03 -5.13377527e+00] [ 2.07372608e-01 -7.04274142e-02 9.75723619e-01 4.11006271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182414037 meters Centerline goodness : 0.786962 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36718509e-01 -2.73332268e-01 -2.18741642e-01 -9.99623831e+00] [ 2.81967287e-01 9.59384985e-01 8.65451237e-03 -5.13192853e+00] [ 2.07491889e-01 -6.97848291e-02 9.75744430e-01 4.15829106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21241403699997 meters Centerline goodness : 0.787250 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36688361e-01 -2.73432679e-01 -2.18745250e-01 -9.99618955e+00] [ 2.81971052e-01 9.59387977e-01 8.18750330e-03 -5.12994830e+00] [ 2.07622832e-01 -6.93489673e-02 9.75747652e-01 4.13984483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24241403699997 meters Centerline goodness : 0.786132 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36643695e-01 -2.73618455e-01 -2.18704205e-01 -9.99614478e+00] [ 2.82117999e-01 9.59346375e-01 7.99789342e-03 -5.12955731e+00] [ 2.07624715e-01 -6.91915692e-02 9.75758425e-01 4.12965416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27241403699998 meters Centerline goodness : 0.786451 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36588506e-01 -2.74036668e-01 -2.18416748e-01 -9.99668178e+00] [ 2.82475047e-01 9.59243254e-01 7.76065628e-03 -5.12970185e+00] [ 2.07388087e-01 -6.89658225e-02 9.75824726e-01 4.12724004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30241403699998 meters Centerline goodness : 0.786133 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36525312e-01 -2.74442416e-01 -2.18178137e-01 -9.99738142e+00] [ 2.82812390e-01 9.59146129e-01 7.47361996e-03 -5.12981902e+00] [ 2.07213637e-01 -6.87027146e-02 9.75880344e-01 4.15366784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33241403699998 meters Centerline goodness : 0.786128 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36430993e-01 -2.74908601e-01 -2.17996003e-01 -9.99827697e+00] [ 2.83189362e-01 9.59038014e-01 7.06203865e-03 -5.12966327e+00] [ 2.07125038e-01 -6.83472608e-02 9.75924111e-01 4.20858395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36241403699998 meters Centerline goodness : 0.787854 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36331053e-01 -2.75500638e-01 -2.17677647e-01 -9.99971978e+00] [ 2.83656307e-01 9.58903900e-01 6.51225837e-03 -5.12868295e+00] [ 2.06937814e-01 -6.78432674e-02 9.75998992e-01 4.27167589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39241403699998 meters Centerline goodness : 0.788841 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36254162e-01 -2.75837637e-01 -2.17581575e-01 -1.00003616e+01] [ 2.83919482e-01 9.58828351e-01 6.15792018e-03 -5.12787587e+00] [ 2.06924797e-01 -6.75410265e-02 9.76022714e-01 4.30645018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42241403699998 meters Centerline goodness : 0.788841 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36254162e-01 -2.75837637e-01 -2.17581575e-01 -1.00003616e+01] [ 2.83919482e-01 9.58828351e-01 6.15792018e-03 -5.12787587e+00] [ 2.06924797e-01 -6.75410265e-02 9.76022714e-01 4.30645018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45241403699998 meters Centerline goodness : 0.787698 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.36100220e-01 -2.76629369e-01 -2.17238511e-01 -1.00017526e+01] [ 2.84609697e-01 9.58626514e-01 5.70318910e-03 -5.12725011e+00] [ 2.06672927e-01 -6.71669434e-02 9.76101892e-01 4.34552407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48241403699998 meters Centerline goodness : 0.788978 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.35975398e-01 -2.77223333e-01 -2.17019074e-01 -1.00024570e+01] [ 2.85128567e-01 9.58474328e-01 5.35379723e-03 -5.12739200e+00] [ 2.06523013e-01 -6.68893600e-02 9.76152682e-01 4.37685760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51241403699999 meters Centerline goodness : 0.789265 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.35891413e-01 -2.77642227e-01 -2.16845697e-01 -1.00026116e+01] [ 2.85540173e-01 9.58351923e-01 5.32929027e-03 -5.12818719e+00] [ 2.06334854e-01 -6.69057947e-02 9.76191345e-01 4.35779171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542414037 meters Centerline goodness : 0.788583 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.35775597e-01 -2.78267770e-01 -2.16543485e-01 -1.00030654e+01] [ 2.86108818e-01 9.58183617e-01 5.08919022e-03 -5.12869507e+00] [ 2.06072262e-01 -6.67173405e-02 9.76259709e-01 4.34691538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.572414037 meters Centerline goodness : 0.786788 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.34659185e-01 -2.82727705e-01 -2.15585835e-01 -1.00025313e+01] [ 2.89706218e-01 9.57115280e-01 8.05114978e-04 -5.12657654e+00] [ 2.06112868e-01 -6.32090650e-02 9.76484562e-01 4.34345440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602414037 meters Centerline goodness : 0.784269 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.34562698e-01 -2.83218831e-01 -2.15359366e-01 -1.00029692e+01] [ 2.90125905e-01 9.56988363e-01 4.81630231e-04 -5.12610236e+00] [ 2.05960001e-01 -6.29314448e-02 9.76534747e-01 4.33106133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.632414037 meters Centerline goodness : 0.784263 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.34494323e-01 -2.83456845e-01 -2.15342931e-01 -1.00028727e+01] [ 2.90326485e-01 9.56927611e-01 2.82205456e-04 -5.12577139e+00] [ 2.05987603e-01 -6.27834756e-02 9.76538449e-01 4.31794951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662414037 meters Centerline goodness : 0.786390 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.13, Z:0.04 [[ 9.34455354e-01 -2.83680816e-01 -2.15217069e-01 -1.00029787e+01] [ 2.90502707e-01 9.56874168e-01 6.95350087e-05 -5.12551966e+00] [ 2.05915928e-01 -6.25861185e-02 9.76566233e-01 4.31153494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.692414037 meters Centerline goodness : 0.784632 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.12, Z:0.04 [[ 9.34376575e-01 -2.84025098e-01 -2.15104996e-01 -1.00035849e+01] [ 2.90719736e-01 9.56808103e-01 -5.38358578e-04 -5.12403795e+00] [ 2.05967110e-01 -6.20322380e-02 9.76590780e-01 4.34679024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722414037 meters Centerline goodness : 0.786551 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.12, Z:0.04 [[ 9.34313625e-01 -2.84186387e-01 -2.15165396e-01 -1.00040026e+01] [ 2.90766015e-01 9.56793536e-01 -1.12029580e-03 -5.12233681e+00] [ 2.06187232e-01 -6.15160769e-02 9.76576980e-01 4.40148135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.752414037 meters Centerline goodness : 0.834585 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.12, Z:0.04 [[ 9.34265944e-01 -2.84381201e-01 -2.15115034e-01 -1.00046868e+01] [ 2.90812068e-01 9.56778442e-01 -1.83153789e-03 -5.12024591e+00] [ 2.06338282e-01 -6.08469043e-02 9.76587000e-01 4.45988058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782414037 meters Centerline goodness : 0.835331 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.35300253e-01 -2.80399952e-01 -2.15845553e-01 -1.00059165e+01] [ 2.87491097e-01 9.57782101e-01 1.52164445e-03 -5.11964504e+00] [ 2.06306339e-01 -6.34768693e-02 9.76426332e-01 4.47546499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812414037 meters Centerline goodness : 0.834661 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.35327175e-01 -2.80236902e-01 -2.15940625e-01 -1.00056537e+01] [ 2.87287844e-01 9.57843386e-01 1.32010605e-03 -5.11896029e+00] [ 2.06467357e-01 -6.32718479e-02 9.76405604e-01 4.48647130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842414037 meters Centerline goodness : 0.788366 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.35354619e-01 -2.80093211e-01 -2.16008169e-01 -1.00053322e+01] [ 2.87117378e-01 9.57894670e-01 1.18871297e-03 -5.11860964e+00] [ 2.06580123e-01 -6.31315672e-02 9.76390833e-01 4.49015487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872414037 meters Centerline goodness : 0.788626 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.35423635e-01 -2.80013147e-01 -2.15813021e-01 -1.00057486e+01] [ 2.87019283e-01 9.57924086e-01 1.17362044e-03 -5.11851510e+00] [ 2.06403862e-01 -6.30403309e-02 9.76434003e-01 4.49613342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902414037 meters Centerline goodness : 0.789268 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.05 [[ 9.35521024e-01 -2.79666431e-01 -2.15840452e-01 -1.00058380e+01] [ 2.86606356e-01 9.58048017e-01 8.91411779e-04 -5.11676363e+00] [ 2.06536219e-01 -6.26951799e-02 9.76428238e-01 4.52024088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932414037 meters Centerline goodness : 0.788395 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.05 [[ 9.35550011e-01 -2.79402357e-01 -2.16056703e-01 -1.00054817e+01] [ 2.86302207e-01 9.58139136e-01 6.65100379e-04 -5.11534768e+00] [ 2.06826552e-01 -6.24797455e-02 9.76380591e-01 4.53608749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96241403699997 meters Centerline goodness : 0.837276 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35618413e-01 -2.78912060e-01 -2.16393736e-01 -1.00046271e+01] [ 2.85793388e-01 9.58291114e-01 5.29625113e-04 -5.11384753e+00] [ 2.07220475e-01 -6.23394259e-02 9.76306033e-01 4.53758617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99241403699997 meters Centerline goodness : 0.789725 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35687336e-01 -2.78441790e-01 -2.16701129e-01 -1.00036560e+01] [ 2.85319595e-01 9.58432317e-01 4.72183129e-04 -5.11275438e+00] [ 2.07561889e-01 -6.22708941e-02 9.76237880e-01 4.52581016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02241403699998 meters Centerline goodness : 0.786827 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.04 [[ 9.35873498e-01 -2.77572656e-01 -2.17012018e-01 -1.00016320e+01] [ 2.84546027e-01 9.58661934e-01 9.25048242e-04 -5.11221106e+00] [ 2.07784392e-01 -6.26156355e-02 9.76168494e-01 4.40232466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05241403699998 meters Centerline goodness : 0.789014 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.04 [[ 9.35910608e-01 -2.77294913e-01 -2.17206963e-01 -1.00006476e+01] [ 2.84297778e-01 9.58735470e-01 1.03513204e-03 -5.11221490e+00] [ 2.07956983e-01 -6.27202479e-02 9.76125025e-01 4.36488792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08241403699998 meters Centerline goodness : 0.832405 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.04 [[ 9.35926208e-01 -2.77203104e-01 -2.17256927e-01 -1.00003616e+01] [ 2.84184689e-01 9.58769105e-01 9.30354808e-04 -5.11209638e+00] [ 2.08041333e-01 -6.26118357e-02 9.76114011e-01 4.37139014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11241403699998 meters Centerline goodness : 0.789921 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.04 [[ 9.35887309e-01 -2.77439231e-01 -2.17123047e-01 -1.00016781e+01] [ 2.84254462e-01 9.58748859e-01 1.63953235e-04 -5.11044178e+00] [ 2.08120986e-01 -6.18716367e-02 9.76144229e-01 4.49253524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14241403699998 meters Centerline goodness : 0.792239 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35828888e-01 -2.77665666e-01 -2.17085398e-01 -1.00027571e+01] [ 2.84310025e-01 9.58732176e-01 -6.51694230e-04 -5.10853975e+00] [ 2.08307709e-01 -6.11096806e-02 9.76152399e-01 4.60928229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17241403699998 meters Centerline goodness : 0.790865 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35811004e-01 -2.77660947e-01 -2.17168514e-01 -1.00032067e+01] [ 2.84171960e-01 9.58772447e-01 -1.30045837e-03 -5.10661993e+00] [ 2.08576274e-01 -6.04962189e-02 9.76133262e-01 4.69218012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20241403699998 meters Centerline goodness : 0.791176 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35802449e-01 -2.77546164e-01 -2.17352027e-01 -1.00031422e+01] [ 2.83964515e-01 9.58833147e-01 -1.77487638e-03 -5.10505985e+00] [ 2.08896939e-01 -6.00593295e-02 9.76091669e-01 4.74149235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23241403699998 meters Centerline goodness : 0.791914 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.10, Z:0.05 [[ 9.35948516e-01 -2.76882894e-01 -2.17568930e-01 -1.00016536e+01] [ 2.83336662e-01 9.59019179e-01 -1.59709267e-03 -5.10410604e+00] [ 2.09094984e-01 -6.01504578e-02 9.76043652e-01 4.65177769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26241403699999 meters Centerline goodness : 0.787763 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.10, Z:0.05 [[ 9.35973081e-01 -2.76703889e-01 -2.17690948e-01 -1.00004893e+01] [ 2.83214322e-01 9.59055697e-01 -1.34805854e-03 -5.10473132e+00] [ 2.09150757e-01 -6.03914478e-02 9.76016820e-01 4.57985040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292414037 meters Centerline goodness : 0.788194 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35929839e-01 -2.76864729e-01 -2.17672364e-01 -1.00000313e+01] [ 2.83399570e-01 9.59001110e-01 -1.24713984e-03 -5.10584067e+00] [ 2.09093327e-01 -6.05210190e-02 9.76021099e-01 4.55040391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322414037 meters Centerline goodness : 0.786868 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35782544e-01 -2.77712778e-01 -2.17224867e-01 -1.00008286e+01] [ 2.84221183e-01 9.58757809e-01 -1.33535848e-03 -5.10710792e+00] [ 2.08636883e-01 -6.04903034e-02 9.76120676e-01 4.52572445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.352414037 meters Centerline goodness : 0.786770 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35699957e-01 -2.78153572e-01 -2.17016546e-01 -1.00016491e+01] [ 2.84589772e-01 9.58647954e-01 -1.66215770e-03 -5.10676651e+00] [ 2.08504803e-01 -6.02054085e-02 9.76166510e-01 4.55844422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382414037 meters Centerline goodness : 0.788322 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35650354e-01 -2.78364242e-01 -2.16960284e-01 -1.00021026e+01] [ 2.84745856e-01 9.58601111e-01 -1.92528467e-03 -5.10595462e+00] [ 2.08514299e-01 -5.99771484e-02 9.76178533e-01 4.58295172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.412414037 meters Centerline goodness : 0.789319 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.10, Z:0.05 [[ 9.35599361e-01 -2.78667645e-01 -2.16790635e-01 -1.00027973e+01] [ 2.84968916e-01 9.58534031e-01 -2.28646943e-03 -5.10451763e+00] [ 2.08438366e-01 -5.96393729e-02 9.76215444e-01 4.59042668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442414037 meters Centerline goodness : 0.789420 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.10, Z:0.05 [[ 9.35596874e-01 -2.78758916e-01 -2.16684001e-01 -1.00028492e+01] [ 2.85044003e-01 9.58511572e-01 -2.34151516e-03 -5.10462443e+00] [ 2.08346841e-01 -5.95737608e-02 9.76238988e-01 4.58261377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.472414037 meters Centerline goodness : 0.787095 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.10, Z:0.05 [[ 9.35567634e-01 -2.78942706e-01 -2.16573705e-01 -1.00032267e+01] [ 2.85192989e-01 9.58466870e-01 -2.49343426e-03 -5.10490820e+00] [ 2.08274247e-01 -5.94325259e-02 9.76263086e-01 4.61287387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502414037 meters Centerline goodness : 0.830736 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.11, Z:0.05 [[ 9.35500065e-01 -2.79393237e-01 -2.16284645e-01 -1.00043217e+01] [ 2.85558646e-01 9.58356973e-01 -2.85884730e-03 -5.10509084e+00] [ 2.08076640e-01 -5.90874984e-02 9.76326165e-01 4.67338894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.532414037 meters Centerline goodness : 0.830401 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 9.35481270e-01 -2.80224999e-01 -2.15287584e-01 -1.00077082e+01] [ 2.86212357e-01 9.58159809e-01 -3.50244492e-03 -5.10536344e+00] [ 2.07261383e-01 -5.83414951e-02 9.76544412e-01 4.81653595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562414037 meters Centerline goodness : 0.833503 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 9.35462723e-01 -2.80296385e-01 -2.15275245e-01 -1.00078185e+01] [ 2.86266576e-01 9.58143295e-01 -3.58792265e-03 -5.10561341e+00] [ 2.07270214e-01 -5.82697393e-02 9.76546822e-01 4.84121845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592414037 meters Centerline goodness : 0.831195 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 9.35475623e-01 -2.80259752e-01 -2.15266883e-01 -1.00074841e+01] [ 2.86279198e-01 9.58140388e-01 -3.34922024e-03 -5.10646784e+00] [ 2.07194547e-01 -5.84933169e-02 9.76549513e-01 4.81403913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622414037 meters Centerline goodness : 0.832629 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 9.35489272e-01 -2.80041002e-01 -2.15492132e-01 -1.00063601e+01] [ 2.86155572e-01 9.58178656e-01 -2.94137642e-03 -5.10766190e+00] [ 2.07303668e-01 -5.89126482e-02 9.76501147e-01 4.76690133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652414037 meters Centerline goodness : 0.830040 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37381406e-01 -2.78604428e-01 -2.09035097e-01 -1.00128040e+01] [ 2.83018952e-01 9.59071032e-01 -9.11202454e-03 -5.11222172e+00] [ 2.03018157e-01 -5.06194518e-02 9.77865686e-01 4.28744227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682414037 meters Centerline goodness : 0.784957 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37451001e-01 -2.78226586e-01 -2.09226164e-01 -1.00119213e+01] [ 2.82726461e-01 9.59161051e-01 -8.70780332e-03 -5.11288133e+00] [ 2.03104330e-01 -5.09906340e-02 9.77828506e-01 4.25099469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71241403699997 meters Centerline goodness : 0.785829 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37674967e-01 -2.77052563e-01 -2.09779724e-01 -1.00102678e+01] [ 2.81656440e-01 9.59480116e-01 -8.21925186e-03 -5.11252198e+00] [ 2.03556639e-01 -5.13788236e-02 9.77714126e-01 4.23922000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74241403699997 meters Centerline goodness : 0.832216 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37761619e-01 -2.76475759e-01 -2.10153042e-01 -1.00092640e+01] [ 2.81098045e-01 9.59644339e-01 -8.16281047e-03 -5.11156626e+00] [ 2.03928996e-01 -5.14188389e-02 9.77634424e-01 4.23128823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77241403699998 meters Centerline goodness : 0.786774 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37861354e-01 -2.75914408e-01 -2.10445528e-01 -1.00083772e+01] [ 2.80548894e-01 9.59805414e-01 -8.11695451e-03 -5.11062553e+00] [ 2.04226342e-01 -5.14276822e-02 9.77571887e-01 4.21979802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80241403699998 meters Centerline goodness : 0.784655 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38513452e-01 -2.74052095e-01 -2.09971305e-01 -1.00080355e+01] [ 2.78864832e-01 9.60305351e-01 -6.93093101e-03 -5.11094998e+00] [ 2.03536004e-01 -5.20488409e-02 9.77682982e-01 4.12090382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83241403699998 meters Centerline goodness : 0.829273 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38562836e-01 -2.73697796e-01 -2.10212560e-01 -1.00072244e+01] [ 2.78516581e-01 9.60406452e-01 -6.92545158e-03 -5.11097431e+00] [ 2.03784979e-01 -5.20477119e-02 9.77631177e-01 4.12672837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86241403699998 meters Centerline goodness : 0.785400 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38606359e-01 -2.73526507e-01 -2.10241177e-01 -1.00070045e+01] [ 2.78350657e-01 9.60454822e-01 -6.88806829e-03 -5.11116165e+00] [ 2.03811222e-01 -5.20555852e-02 9.77625287e-01 4.12578687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89241403699998 meters Centerline goodness : 0.782737 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38630480e-01 -2.73531393e-01 -2.10127101e-01 -1.00078034e+01] [ 2.78259752e-01 9.60477981e-01 -7.31840259e-03 -5.11077016e+00] [ 2.03824266e-01 -5.16006393e-02 9.77646686e-01 4.21994508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92241403699998 meters Centerline goodness : 0.782312 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38603853e-01 -2.73673657e-01 -2.10060792e-01 -1.00083299e+01] [ 2.78325237e-01 9.60456140e-01 -7.68541546e-03 -5.11016948e+00] [ 2.03857473e-01 -5.12516591e-02 9.77658119e-01 4.27551213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95241403699998 meters Centerline goodness : 0.830439 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38576443e-01 -2.73811415e-01 -2.10003738e-01 -1.00088128e+01] [ 2.78395515e-01 9.60433122e-01 -8.00976297e-03 -5.10956463e+00] [ 2.03887711e-01 -5.09463241e-02 9.77667773e-01 4.32071614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98241403699998 meters Centerline goodness : 0.832926 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38573280e-01 -2.73762370e-01 -2.10081799e-01 -1.00089536e+01] [ 2.78279622e-01 9.60463857e-01 -8.34457868e-03 -5.10869117e+00] [ 2.04060407e-01 -5.06294852e-02 9.77648201e-01 4.37297504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01241403699999 meters Centerline goodness : 0.783889 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38583669e-01 -2.73684717e-01 -2.10136556e-01 -1.00087750e+01] [ 2.78168554e-01 9.60494580e-01 -8.50982247e-03 -5.10827156e+00] [ 2.04164031e-01 -5.04662016e-02 9.77635009e-01 4.38562064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042414037 meters Centerline goodness : 0.832158 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38645211e-01 -2.73308736e-01 -2.10350902e-01 -1.00079178e+01] [ 2.77823287e-01 9.60595690e-01 -8.37503115e-03 -5.10831330e+00] [ 2.04351139e-01 -5.05791962e-02 9.77590076e-01 4.36682437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.072414037 meters Centerline goodness : 0.833174 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38724064e-01 -2.72948860e-01 -2.10466270e-01 -1.00070329e+01] [ 2.77538335e-01 9.60681207e-01 -8.00568299e-03 -5.10958000e+00] [ 2.04376132e-01 -5.08973309e-02 9.77568339e-01 4.33418895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102414037 meters Centerline goodness : 0.831379 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38733519e-01 -2.73034214e-01 -2.10313334e-01 -1.00072173e+01] [ 2.77630572e-01 9.60655073e-01 -7.94328864e-03 -5.11035567e+00] [ 2.04207361e-01 -5.09327798e-02 9.77601762e-01 4.33630320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.132414037 meters Centerline goodness : 0.835435 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38728652e-01 -2.73105331e-01 -2.10242710e-01 -1.00072973e+01] [ 2.77727881e-01 9.60628057e-01 -7.80775724e-03 -5.11119920e+00] [ 2.04097386e-01 -5.10608968e-02 9.77618045e-01 4.33934177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162414037 meters Centerline goodness : 0.831057 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38697524e-01 -2.73257051e-01 -2.10184542e-01 -1.00072492e+01] [ 2.77947580e-01 9.60567089e-01 -7.48401758e-03 -5.11262555e+00] [ 2.03941414e-01 -5.13950560e-02 9.77633084e-01 4.32204843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.192414037 meters Centerline goodness : 0.833666 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38704167e-01 -2.73125333e-01 -2.10326031e-01 -1.00065649e+01] [ 2.77875664e-01 9.60589922e-01 -7.21925803e-03 -5.11347336e+00] [ 2.04008828e-01 -5.16677379e-02 9.77604646e-01 4.29882975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222414037 meters Centerline goodness : 0.835832 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38752937e-01 -2.72795261e-01 -2.10536624e-01 -1.00054800e+01] [ 2.77645899e-01 9.60659723e-01 -6.75662158e-03 -5.11440730e+00] [ 2.04097229e-01 -5.21118318e-02 9.77562621e-01 4.24403565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.252414037 meters Centerline goodness : 0.828378 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.12, Z:0.04 [[ 9.38756838e-01 -2.72686509e-01 -2.10660076e-01 -1.00043755e+01] [ 2.77649996e-01 9.60662057e-01 -6.23635430e-03 -5.11577829e+00] [ 2.04073711e-01 -5.26353489e-02 9.77539483e-01 4.16354491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282414037 meters Centerline goodness : 0.834820 Centerline is valid? [False, False] Translation: X:-10.00, Y:-5.12, Z:0.04 [[ 9.38720967e-01 -2.72847411e-01 -2.10611576e-01 -1.00044812e+01] [ 2.77799091e-01 9.60618550e-01 -6.29810063e-03 -5.11593275e+00] [ 2.04035807e-01 -5.25955454e-02 9.77549537e-01 4.16815302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312414037 meters Centerline goodness : 0.835480 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.38672075e-01 -2.73189585e-01 -2.10385802e-01 -1.00051250e+01] [ 2.78092022e-01 9.60532357e-01 -6.51289877e-03 -5.11597749e+00] [ 2.03861627e-01 -5.23931369e-02 9.77596745e-01 4.18991873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342414037 meters Centerline goodness : 0.835480 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.38672075e-01 -2.73189585e-01 -2.10385802e-01 -1.00051250e+01] [ 2.78092022e-01 9.60532357e-01 -6.51289877e-03 -5.11597749e+00] [ 2.03861627e-01 -5.23931369e-02 9.77596745e-01 4.18991873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372414037 meters Centerline goodness : 0.834069 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.38582964e-01 -2.73738242e-01 -2.10069977e-01 -1.00062823e+01] [ 2.78554043e-01 9.60395720e-01 -6.90701622e-03 -5.11594395e+00] [ 2.03641022e-01 -5.20330337e-02 9.77661955e-01 4.23985763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402414037 meters Centerline goodness : 0.783384 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.38456555e-01 -2.74491928e-01 -2.09650844e-01 -1.00078444e+01] [ 2.79173232e-01 9.60211244e-01 -7.52816340e-03 -5.11556774e+00] [ 2.03375518e-01 -5.14640493e-02 9.77747335e-01 4.30768977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432414037 meters Centerline goodness : 0.838159 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.04 [[ 9.38366291e-01 -2.74936089e-01 -2.09472792e-01 -1.00085524e+01] [ 2.79527739e-01 9.60104597e-01 -7.96282487e-03 -5.11505581e+00] [ 2.03305059e-01 -5.10814095e-02 9.77782053e-01 4.34319821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46241403699997 meters Centerline goodness : 0.785555 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38237942e-01 -2.75581001e-01 -2.09200085e-01 -1.00093417e+01] [ 2.80051285e-01 9.59946976e-01 -8.54878772e-03 -5.11425225e+00] [ 2.03176872e-01 -5.05659557e-02 9.77835489e-01 4.36143704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49241403699997 meters Centerline goodness : 0.784540 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38139346e-01 -2.76015237e-01 -2.09069739e-01 -1.00095849e+01] [ 2.80426970e-01 9.59834603e-01 -8.84585555e-03 -5.11393458e+00] [ 2.03113961e-01 -5.03301483e-02 9.77860724e-01 4.35566507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52241403699998 meters Centerline goodness : 0.786084 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.38036509e-01 -2.76439210e-01 -2.08970982e-01 -1.00098021e+01] [ 2.80810029e-01 9.59720559e-01 -9.06505580e-03 -5.11384502e+00] [ 2.03059684e-01 -5.01777942e-02 9.77879826e-01 4.35318153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55241403699998 meters Centerline goodness : 0.839374 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37929242e-01 -2.76949416e-01 -2.08776814e-01 -1.00102038e+01] [ 2.81271160e-01 9.59583176e-01 -9.30924406e-03 -5.11390745e+00] [ 2.02916908e-01 -4.99914846e-02 9.77919005e-01 4.35170610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58241403699998 meters Centerline goodness : 0.837827 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37744701e-01 -2.77799983e-01 -2.08475529e-01 -1.00108798e+01] [ 2.82071402e-01 9.59345676e-01 -9.57066759e-03 -5.11435548e+00] [ 2.02658829e-01 -4.98301419e-02 9.77980754e-01 4.34065333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61241403699998 meters Centerline goodness : 0.785110 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 9.37650845e-01 -2.78342432e-01 -2.08173927e-01 -1.00117113e+01] [ 2.82544523e-01 9.59203201e-01 -9.89000898e-03 -5.11415551e+00] [ 2.02433907e-01 -4.95450277e-02 9.78041821e-01 4.35511579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64241403699998 meters Centerline goodness : 0.840144 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 0.9375489 -0.27886999 -0.2079269 -10.01277837] [ 0.28296088 0.9590748 -0.01042444 -5.11313473] [ 0.20232451 -0.04906176 0.97808882 0.04404897] [ 0. 0. 0. 1. ]] SLAMing on 197.67241403699998 meters Centerline goodness : 0.839398 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 0.93751403 -0.27911491 -0.2077554 -10.01337202] [ 0.28314187 0.95901814 -0.0107183 -5.11261428] [ 0.20223283 -0.0487757 0.97812208 0.04427291] [ 0. 0. 0. 1. ]] SLAMing on 197.70241403699998 meters Centerline goodness : 0.840830 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 0.93747861 -0.27933952 -0.2076133 -10.01399778] [ 0.28329291 0.95896961 -0.01106413 -5.11203409] [ 0.2021855 -0.04844299 0.9781484 0.04466543] [ 0. 0. 0. 1. ]] SLAMing on 197.73241403699998 meters Centerline goodness : 0.841967 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 0.93744506 -0.27950797 -0.2075381 -10.01449728] [ 0.28341226 0.95893157 -0.01130196 -5.11183315] [ 0.20217382 -0.04822387 0.97816165 0.04507048] [ 0. 0. 0. 1. ]] SLAMing on 197.76241403699999 meters Centerline goodness : 0.786880 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 0.93741423 -0.27967965 -0.20744601 -10.01452652] [ 0.28357641 0.95888265 -0.01133504 -5.11240411] [ 0.20208656 -0.04820117 0.9781808 0.04504265] [ 0. 0. 0. 1. ]] SLAMing on 197.792414037 meters Centerline goodness : 0.839774 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 0.93737685 -0.27987573 -0.20735047 -10.01458958] [ 0.28376349 0.95882681 -0.01137697 -5.11299594] [ 0.20199732 -0.04817399 0.97820057 0.0450755 ] [ 0. 0. 0. 1. ]] SLAMing on 197.822414037 meters Centerline goodness : 0.843838 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 0.93735279 -0.27995141 -0.20735708 -10.01453044] [ 0.28384682 0.95880246 -0.01134991 -5.113373 ] [ 0.2019919 -0.04821877 0.97819948 0.04512384] [ 0. 0. 0. 1. ]] SLAMing on 197.852414037 meters Centerline goodness : 0.843011 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93721427 -0.28061377 -0.2070877 -10.01580076] [ 0.28440999 0.95862965 -0.01183834 -5.11253002] [ 0.20184241 -0.04780275 0.97825075 0.04567019] [ 0. 0. 0. 1. ]] SLAMing on 197.882414037 meters Centerline goodness : 0.845204 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93716109 -0.28085801 -0.20699726 -10.01604023] [ 0.28461324 0.95856679 -0.01204224 -5.11218429] [ 0.20180286 -0.04762864 0.97826741 0.04573146] [ 0. 0. 0. 1. ]] SLAMing on 197.912414037 meters Centerline goodness : 0.787291 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93714633 -0.28083935 -0.2070894 -10.01541492] [ 0.28462812 0.95856415 -0.01189983 -5.11235381] [ 0.20185041 -0.04779158 0.97824965 0.04530119] [ 0. 0. 0. 1. ]] SLAMing on 197.942414037 meters Centerline goodness : 0.787600 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 0.93712963 -0.28092469 -0.20704922 -10.0147524 ] [ 0.284749 0.95853037 -0.01172725 -5.11297009] [ 0.20175744 -0.04796711 0.97826024 0.04462634] [ 0. 0. 0. 1. ]] SLAMing on 197.972414037 meters Centerline goodness : 0.784214 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.04 [[ 0.93698792 -0.28153196 -0.20686565 -10.01472774] [ 0.28532059 0.95835797 -0.01192297 -5.11360585] [ 0.20160804 -0.04785135 0.97829671 0.04430479] [ 0. 0. 0. 1. ]] SLAMing on 198.002414037 meters Centerline goodness : 0.786630 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.04 [[ 0.93690002 -0.28201114 -0.20661091 -10.01554168] [ 0.28572418 0.9582332 -0.01228125 -5.1130902 ] [ 0.20144488 -0.04752743 0.97834611 0.04448468] [ 0. 0. 0. 1. ]] SLAMing on 198.032414037 meters Centerline goodness : 0.842992 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.04 [[ 0.93681299 -0.28244412 -0.206414 -10.01638847] [ 0.28605837 0.95812721 -0.01276173 -5.11200889] [ 0.20137534 -0.0470911 0.97838152 0.04481094] [ 0. 0. 0. 1. ]] SLAMing on 198.062414037 meters Centerline goodness : 0.844665 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93672141 -0.2828937 -0.20621386 -10.01740732] [ 0.28632241 0.95803588 -0.01366536 -5.10937891] [ 0.20142612 -0.04624301 0.97841152 0.04535635] [ 0. 0. 0. 1. ]] SLAMing on 198.092414037 meters Centerline goodness : 0.785657 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93667132 -0.28316313 -0.20607152 -10.01786863] [ 0.28650762 0.95797463 -0.01407098 -5.10850665] [ 0.20139567 -0.04586118 0.97843576 0.04550062] [ 0. 0. 0. 1. ]] SLAMing on 198.122414037 meters Centerline goodness : 0.845561 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93662822 -0.28338971 -0.20595592 -10.01826123] [ 0.28665829 0.95792409 -0.01443797 -5.10833198] [ 0.20138171 -0.04551596 0.97845475 0.04590007] [ 0. 0. 0. 1. ]] SLAMing on 198.152414037 meters Centerline goodness : 0.783167 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93654871 -0.2838176 -0.20572817 -10.01912994] [ 0.28699912 0.95781564 -0.01485592 -5.10836976] [ 0.20126603 -0.04513051 0.97849641 0.04648613] [ 0. 0. 0. 1. ]] SLAMing on 198.182414037 meters Centerline goodness : 0.845170 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.936515 -0.28403825 -0.20557708 -10.01997449] [ 0.28715162 0.9577649 -0.01517711 -5.10865447] [ 0.20120539 -0.0448182 0.97852323 0.04733616] [ 0. 0. 0. 1. ]] SLAMing on 198.21241403699997 meters Centerline goodness : 0.844453 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93651406 -0.28393602 -0.2057225 -10.01996153] [ 0.28701493 0.95780285 -0.01536638 -5.10812208] [ 0.20140467 -0.0446546 0.97848972 0.04781221] [ 0. 0. 0. 1. ]] SLAMing on 198.24241403699997 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.9376442 -0.27930186 -0.20691501 -10.01968535] [ 0.28318876 0.95899866 -0.01121146 -5.10907526] [ 0.2015626 -0.04808365 0.97829468 0.04760779] [ 0. 0. 0. 1. ]] SLAMing on 198.27241403699998 meters Centerline goodness : 0.842299 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93773863 -0.2786583 -0.20735433 -10.01822928] [ 0.28259368 0.95917649 -0.01101249 -5.10856893] [ 0.20195812 -0.04827019 0.97820392 0.04727811] [ 0. 0. 0. 1. ]] SLAMing on 198.30241403699998 meters Centerline goodness : 0.841141 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 0.93786163 -0.27791721 -0.20779215 -10.01663211] [ 0.28192689 0.95937647 -0.01067806 -5.10865291] [ 0.20231852 -0.04856766 0.97811472 0.04693362] [ 0. 0. 0. 1. ]] SLAMing on 198.33241403699998 meters Centerline goodness : 0.840946 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.04 [[ 9.38889461e-01 -2.75705326e-01 -2.06090157e-01 -1.00173167e+01] [ 2.79962201e-01 9.59970608e-01 -8.80900738e-03 -5.11130814e+00] [ 2.00269184e-01 -4.94267697e-02 9.78493356e-01 4.48214462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36241403699998 meters Centerline goodness : 0.842344 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 9.38943192e-01 -2.75366295e-01 -2.06298538e-01 -1.00169693e+01] [ 2.79611031e-01 9.60072265e-01 -8.88357326e-03 -5.11128861e+00] [ 2.00507741e-01 -4.93421763e-02 9.78448770e-01 4.53087732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39241403699998 meters Centerline goodness : 0.840796 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 9.39020955e-01 -2.75021861e-01 -2.06404028e-01 -1.00168843e+01] [ 2.79264595e-01 9.60173107e-01 -8.88203662e-03 -5.11108708e+00] [ 2.00626351e-01 -4.93009188e-02 9.78426536e-01 4.56661322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42241403699998 meters Centerline goodness : 0.842004 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 9.40007279e-01 -2.71258507e-01 -2.06894024e-01 -1.00189006e+01] [ 2.76140641e-01 9.61101643e-01 -5.47518676e-03 -5.11265229e+00] [ 2.00331377e-01 -5.19851331e-02 9.78348039e-01 4.67522387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45241403699998 meters Centerline goodness : 0.840615 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 9.40016088e-01 -2.70999619e-01 -2.07193051e-01 -1.00185116e+01] [ 2.75859550e-01 9.61181441e-01 -5.63430800e-03 -5.11216120e+00] [ 2.00677011e-01 -5.18598416e-02 9.78283852e-01 4.72559669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48241403699998 meters Centerline goodness : 0.839450 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 9.40046788e-01 -2.70623572e-01 -2.07544981e-01 -1.00176812e+01] [ 2.75499041e-01 9.61284975e-01 -5.61027822e-03 -5.11181390e+00] [ 2.01028145e-01 -5.19045192e-02 9.78209387e-01 4.73671105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51241403699999 meters Centerline goodness : 0.838494 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.11, Z:0.05 [[ 9.40189207e-01 -2.69657758e-01 -2.08156066e-01 -1.00152646e+01] [ 2.74675877e-01 9.61524016e-01 -4.97278699e-03 -5.11235622e+00] [ 2.01488008e-01 -5.25000894e-02 9.78082984e-01 4.65274193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542414037 meters Centerline goodness : 0.837276 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 9.40205390e-01 -2.69525927e-01 -2.08253691e-01 -1.00144283e+01] [ 2.74590851e-01 9.61549392e-01 -4.75714632e-03 -5.11303082e+00] [ 2.01528384e-01 -5.27118635e-02 9.78063275e-01 4.60374779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572414037 meters Centerline goodness : 0.837733 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 9.40207227e-01 -2.69439897e-01 -2.08356693e-01 -1.00137698e+01] [ 2.74547960e-01 9.61562567e-01 -4.56593320e-03 -5.11381954e+00] [ 2.01578241e-01 -5.29109816e-02 9.78042249e-01 4.57691084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602414037 meters Centerline goodness : 0.838277 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.11, Z:0.05 [[ 9.40192852e-01 -2.69452057e-01 -2.08405829e-01 -1.00134364e+01] [ 2.74584933e-01 9.61552506e-01 -4.46009611e-03 -5.11448083e+00] [ 2.01594929e-01 -5.30317500e-02 9.78032268e-01 4.56840079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632414037 meters Centerline goodness : 0.838557 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.05 [[ 9.40196374e-01 -2.69603458e-01 -2.08194029e-01 -1.00138036e+01] [ 2.74753310e-01 9.61504970e-01 -4.33729488e-03 -5.11535571e+00] [ 2.01348944e-01 -5.31240898e-02 9.78077928e-01 4.56600538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662414037 meters Centerline goodness : 0.837113 Centerline is valid? [False, False] Translation: X:-10.01, Y:-5.12, Z:0.05 [[ 9.40173474e-01 -2.69757223e-01 -2.08098244e-01 -1.00142711e+01] [ 2.74886459e-01 9.61466496e-01 -4.42855722e-03 -5.11557326e+00] [ 2.01274125e-01 -5.30397773e-02 9.78097903e-01 4.59827814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692414037 meters Centerline goodness : 0.838673 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.40136208e-01 -2.70027436e-01 -2.07916075e-01 -1.00150341e+01] [ 2.75108624e-01 9.61401939e-01 -4.64284401e-03 -5.11569625e+00] [ 2.01144613e-01 -5.28345996e-02 9.78135650e-01 4.64644101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722414037 meters Centerline goodness : 0.840518 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.40071239e-01 -2.70402823e-01 -2.07721877e-01 -1.00160655e+01] [ 2.75403774e-01 9.61315524e-01 -5.02240732e-03 -5.11555195e+00] [ 2.01044338e-01 -5.24859682e-02 9.78175034e-01 4.71912989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752414037 meters Centerline goodness : 0.839531 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39971746e-01 -2.71058495e-01 -2.07317171e-01 -1.00175244e+01] [ 2.75990168e-01 9.61145713e-01 -5.32396643e-03 -5.11624423e+00] [ 2.00705117e-01 -5.22131230e-02 9.78259294e-01 4.78932024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782414037 meters Centerline goodness : 0.839179 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39903372e-01 -2.71286314e-01 -2.07329179e-01 -1.00175718e+01] [ 2.76222356e-01 9.61078973e-01 -5.33088244e-03 -5.11723574e+00] [ 2.00705909e-01 -5.22584399e-02 9.78256711e-01 4.81420130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812414037 meters Centerline goodness : 0.838731 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39848495e-01 -2.71545045e-01 -2.07239221e-01 -1.00175040e+01] [ 2.76503059e-01 9.60998816e-01 -5.22817663e-03 -5.11851877e+00] [ 2.00576332e-01 -5.23885847e-02 9.78276327e-01 4.80201691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842414037 meters Centerline goodness : 0.840716 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39629024e-01 -2.72728168e-01 -2.06680050e-01 -1.00185418e+01] [ 2.77570047e-01 9.60688037e-01 -5.77615609e-03 -5.12026414e+00] [ 2.00130372e-01 -5.19407473e-02 9.78391534e-01 4.83835475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872414037 meters Centerline goodness : 0.840370 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39579198e-01 -2.73000856e-01 -2.06546515e-01 -1.00189467e+01] [ 2.77833078e-01 9.60611750e-01 -5.81781311e-03 -5.12068152e+00] [ 1.99999277e-01 -5.19191579e-02 9.78419486e-01 4.85126051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902414037 meters Centerline goodness : 0.840138 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39490354e-01 -2.73392456e-01 -2.06432651e-01 -1.00193830e+01] [ 2.78190747e-01 9.60507132e-01 -5.99653798e-03 -5.12074230e+00] [ 1.99919441e-01 -5.17939636e-02 9.78442437e-01 4.86642433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932414037 meters Centerline goodness : 0.838613 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39400882e-01 -2.73818757e-01 -2.06274746e-01 -1.00193362e+01] [ 2.78644326e-01 9.60376442e-01 -5.86770179e-03 -5.12186469e+00] [ 1.99708094e-01 -5.19651634e-02 9.78476519e-01 4.82716548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96241403699997 meters Centerline goodness : 0.836395 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39352654e-01 -2.74077702e-01 -2.06150440e-01 -1.00193550e+01] [ 2.78914623e-01 9.60298343e-01 -5.80727225e-03 -5.12264681e+00] [ 1.99557569e-01 -5.20432956e-02 9.78503077e-01 4.81072376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99241403699997 meters Centerline goodness : 0.835860 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.39295879e-01 -2.74508705e-01 -2.05835425e-01 -1.00198913e+01] [ 2.79346133e-01 9.60173146e-01 -5.76778673e-03 -5.12348052e+00] [ 1.99220955e-01 -5.20816717e-02 9.78569625e-01 4.79195843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02241403699998 meters Centerline goodness : 0.835458 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.38985531e-01 -2.75949824e-01 -2.05323809e-01 -1.00214279e+01] [ 2.80693001e-01 9.59777240e-01 -6.25204722e-03 -5.12469484e+00] [ 1.98790370e-01 -5.17623743e-02 9.78674126e-01 4.82209726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05241403699998 meters Centerline goodness : 0.835065 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 9.38857024e-01 -2.76643653e-01 -2.04977504e-01 -1.00223128e+01] [ 2.81322647e-01 9.59590872e-01 -6.55184486e-03 -5.12490678e+00] [ 1.98507068e-01 -5.15135685e-02 9.78744755e-01 4.83257783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08241403699998 meters Centerline goodness : 0.833934 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.13, Z:0.05 [[ 9.38694855e-01 -2.77458006e-01 -2.04619218e-01 -1.00232801e+01] [ 2.82068228e-01 9.59369643e-01 -6.88495074e-03 -5.12512132e+00] [ 1.98215751e-01 -5.12537124e-02 9.78817436e-01 4.84073156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11241403699998 meters Centerline goodness : 0.837041 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 0.93743267 -0.28255084 -0.20343304 -10.02389334] [ 0.28628547 0.95807581 -0.01146209 -5.12344338] [ 0.1981429 -0.04749499 0.97902177 0.0489737 ] [ 0. 0. 0. 1. ]] SLAMing on 199.14241403699998 meters Centerline goodness : 0.835942 Centerline is valid? [False, False] Translation: X:-10.02, Y:-5.12, Z:0.05 [[ 0.93733327 -0.28308526 -0.20314794 -10.02451084] [ 0.28678733 0.9579239 -0.01161137 -5.12414106] [ 0.19788728 -0.04737654 0.9790792 0.0490642 ] [ 0. 0. 0. 1. ]] SLAMing on 199.17241403699998 meters Centerline goodness : 0.837113 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93716985 -0.28385694 -0.20282485 -10.02546893] [ 0.28745783 0.95771664 -0.01211738 -5.12400056] [ 0.19768834 -0.04694755 0.97914006 0.04936603] [ 0. 0. 0. 1. ]] SLAMing on 199.20241403699998 meters Centerline goodness : 0.836426 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93706348 -0.28443586 -0.20250498 -10.02642753] [ 0.28795874 0.95756137 -0.01248942 -5.12365681] [ 0.19746339 -0.0466097 0.97920159 0.04957275] [ 0. 0. 0. 1. ]] SLAMing on 199.23241403699998 meters Centerline goodness : 0.836426 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93706348 -0.28443586 -0.20250498 -10.02642753] [ 0.28795874 0.95756137 -0.01248942 -5.12365681] [ 0.19746339 -0.0466097 0.97920159 0.04957275] [ 0. 0. 0. 1. ]] SLAMing on 199.26241403699999 meters Centerline goodness : 0.842065 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93680356 -0.28560567 -0.20206063 -10.02841854] [ 0.28889219 0.95726385 -0.0136828 -5.12094598] [ 0.19733322 -0.04555565 0.97927743 0.05032128] [ 0. 0. 0. 1. ]] SLAMing on 199.292414037 meters Centerline goodness : 0.842643 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93666873 -0.28620902 -0.20183182 -10.02944192] [ 0.28936694 0.95711094 -0.01433283 -5.11961092] [ 0.19727762 -0.04497834 0.97931532 0.05073206] [ 0. 0. 0. 1. ]] SLAMing on 199.322414037 meters Centerline goodness : 0.844709 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93650952 -0.2869587 -0.2015059 -10.03024679] [ 0.28997096 0.95691691 -0.01506192 -5.11792621] [ 0.19714655 -0.04432523 0.97937149 0.05066 ] [ 0. 0. 0. 1. ]] SLAMing on 199.352414037 meters Centerline goodness : 0.842569 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93643375 -0.28728597 -0.20139166 -10.03049766] [ 0.29023523 0.95683167 -0.01538419 -5.11763139] [ 0.19711758 -0.04404468 0.97938998 0.05077931] [ 0. 0. 0. 1. ]] SLAMing on 199.382414037 meters Centerline goodness : 0.843437 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93633251 -0.28772063 -0.20124181 -10.03093057] [ 0.2905852 0.95671837 -0.015818 -5.11694615] [ 0.1970829 -0.04366698 0.97941387 0.05089888] [ 0. 0. 0. 1. ]] SLAMing on 199.412414037 meters Centerline goodness : 0.845559 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.12, Z:0.05 [[ 0.93624806 -0.28809386 -0.2011007 -10.03149131] [ 0.29087377 0.95662348 -0.01624731 -5.11612874] [ 0.1970584 -0.04328341 0.97943582 0.05116041] [ 0. 0. 0. 1. ]] SLAMing on 199.442414037 meters Centerline goodness : 0.844202 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.11, Z:0.05 [[ 0.93612975 -0.28862911 -0.20088386 -10.03253476] [ 0.29123509 0.95649829 -0.01712139 -5.11331988] [ 0.1970868 -0.04247659 0.97946543 0.05152408] [ 0. 0. 0. 1. ]] SLAMing on 199.472414037 meters Centerline goodness : 0.845823 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.11, Z:0.05 [[ 0.93606817 -0.28885511 -0.20084597 -10.03309179] [ 0.29135756 0.95645135 -0.01765194 -5.11165341] [ 0.19719826 -0.04199457 0.97946378 0.0519592 ] [ 0. 0. 0. 1. ]] SLAMing on 199.502414037 meters Centerline goodness : 0.845213 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.11, Z:0.05 [[ 0.93601259 -0.28897798 -0.20092826 -10.03347943] [ 0.29136494 0.95643776 -0.01825629 -5.10987607] [ 0.19745104 -0.04145534 0.97943583 0.05259852] [ 0. 0. 0. 1. ]] SLAMing on 199.532414037 meters Centerline goodness : 0.846963 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.11, Z:0.05 [[ 0.93600463 -0.2889356 -0.20102626 -10.03347074] [ 0.29123734 0.95646814 -0.01869508 -5.10813101] [ 0.19767688 -0.04104767 0.97940744 0.05284129] [ 0. 0. 0. 1. ]] SLAMing on 199.562414037 meters Centerline goodness : 0.845703 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.11, Z:0.05 [[ 0.93612907 -0.28839486 -0.2012232 -10.0327813 ] [ 0.29064402 0.95664382 -0.01893838 -5.10559786] [ 0.19796066 -0.04075555 0.97936232 0.05255513] [ 0. 0. 0. 1. ]] SLAMing on 199.592414037 meters Centerline goodness : 0.846727 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.10, Z:0.05 [[ 0.93612214 -0.28833657 -0.20133891 -10.0325406 ] [ 0.29053386 0.95667181 -0.01921285 -5.10447125] [ 0.19815503 -0.04051019 0.9793332 0.05260368] [ 0. 0. 0. 1. ]] SLAMing on 199.622414037 meters Centerline goodness : 0.843721 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.10, Z:0.05 [[ 0.93607089 -0.28866505 -0.20110639 -10.03356656] [ 0.29070849 0.95660344 -0.01996072 -5.10214869] [ 0.19814103 -0.03977868 0.97936601 0.05308523] [ 0. 0. 0. 1. ]] SLAMing on 199.652414037 meters Centerline goodness : 0.840831 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.10, Z:0.05 [[ 0.93600827 -0.28901016 -0.2009021 -10.03435267] [ 0.29096446 0.95651641 -0.0203971 -5.10087913] [ 0.19806113 -0.03936351 0.97939895 0.05331837] [ 0. 0. 0. 1. ]] SLAMing on 199.682414037 meters Centerline goodness : 0.843353 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.10, Z:0.05 [[ 0.93596436 -0.28916228 -0.20088777 -10.03451348] [ 0.29106607 0.95647984 -0.02066041 -5.09987153] [ 0.19811932 -0.0391342 0.97939637 0.05337024] [ 0. 0. 0. 1. ]] SLAMing on 199.71241403699997 meters Centerline goodness : 0.841225 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.10, Z:0.05 [[ 0.93582954 -0.28979088 -0.20060985 -10.03531212] [ 0.29160047 0.95630661 -0.02113853 -5.09877686] [ 0.19797028 -0.03871587 0.97944313 0.05340587] [ 0. 0. 0. 1. ]] SLAMing on 199.74241403699997 meters Centerline goodness : 0.840504 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.10, Z:0.05 [[ 0.93578096 -0.28998162 -0.20056085 -10.03517759] [ 0.29178907 0.9562486 -0.02115998 -5.0986905 ] [ 0.19792203 -0.03872036 0.97945271 0.05307913] [ 0. 0. 0. 1. ]] SLAMing on 199.77241403699998 meters Centerline goodness : 0.842267 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.10, Z:0.05 [[ 0.93575067 -0.290164 -0.20043836 -10.03504721] [ 0.29195716 0.95619583 -0.02122599 -5.09820684] [ 0.19781735 -0.03865718 0.97947635 0.05255205] [ 0. 0. 0. 1. ]] SLAMing on 199.80241403699998 meters Centerline goodness : 0.842473 Centerline is valid? [False, False] Translation: X:-10.03, Y:-5.10, Z:0.05 [[ 0.93566922 -0.29050983 -0.20031764 -10.03498307] [ 0.29223623 0.95610288 -0.02156991 -5.09569932] [ 0.19779055 -0.03835777 0.97949353 0.0517186 ] [ 0. 0. 0. 1. ]] SLAMing on 199.83241403699998 meters Centerline goodness : 0.842367 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.09, Z:0.05 [[ 0.93559166 -0.29085623 -0.20017715 -10.03544697] [ 0.29250191 0.95601231 -0.02197946 -5.09411254] [ 0.19776468 -0.0379884 0.97951315 0.05164115] [ 0. 0. 0. 1. ]] SLAMing on 199.86241403699998 meters Centerline goodness : 0.796708 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.09, Z:0.05 [[ 0.93535942 -0.29204439 -0.19953152 -10.03762589] [ 0.29345959 0.95569173 -0.02312526 -5.09110756] [ 0.19744422 -0.03692401 0.9796185 0.0520388 ] [ 0. 0. 0. 1. ]] SLAMing on 199.89241403699998 meters Centerline goodness : 0.796428 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.09, Z:0.05 [[ 0.93523165 -0.29267161 -0.19921118 -10.03873711] [ 0.29395029 0.95552411 -0.02380978 -5.08995486] [ 0.19731953 -0.03629053 0.97966729 0.0524875 ] [ 0. 0. 0. 1. ]] SLAMing on 199.92241403699998 meters Centerline goodness : 0.797206 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.09, Z:0.05 [[ 0.93519143 -0.29321503 -0.19859995 -10.04031678] [ 0.29440001 0.95537534 -0.02421974 -5.0892158 ] [ 0.19683908 -0.03581773 0.97978134 0.0526375 ] [ 0. 0. 0. 1. ]] SLAMing on 199.95241403699998 meters Centerline goodness : 0.797693 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.09, Z:0.05 [[ 0.93496854 -0.29437202 -0.19793672 -10.04274663] [ 0.29528719 0.9550664 -0.02556671 -5.08667107] [ 0.19656883 -0.03454411 0.97988132 0.05363877] [ 0. 0. 0. 1. ]] SLAMing on 199.98241403699998 meters Centerline goodness : 0.800883 Centerline is valid? [False, False] Translation: X:-10.04, Y:-5.08, Z:0.05 [[ 0.93483437 -0.29500247 -0.1976316 -10.04418243] [ 0.29576025 0.9548983 -0.02636477 -5.08462352] [ 0.19649575 -0.03380487 0.97992176 0.0542866 ] [ 0. 0. 0. 1. ]] SLAMing on 200.01241403699999 meters Centerline goodness : 0.802699 Centerline is valid? [False, False] Translation: X:-10.06, Y:-5.09, Z:0.05 [[ 0.93658312 -0.29204742 -0.19370172 -10.06473026] [ 0.29218145 0.95593719 -0.0285324 -5.08802236] [ 0.19349949 -0.02987309 0.98064547 0.05168759] [ 0. 0. 0. 1. ]] SLAMing on 200.042414037 meters Centerline goodness : 0.802320 Centerline is valid? [False, False] Translation: X:-10.07, Y:-5.09, Z:0.05 [[ 0.93647531 -0.29254274 -0.19347544 -10.06588272] [ 0.29254468 0.95580536 -0.02921842 -5.08613216] [ 0.1934725 -0.02923788 0.98066994 0.05224709] [ 0. 0. 0. 1. ]] SLAMing on 200.072414037 meters Centerline goodness : 0.803853 Centerline is valid? [False, False] Translation: X:-10.07, Y:-5.08, Z:0.05 [[ 0.9363986 -0.29287656 -0.19334163 -10.06654864] [ 0.29279216 0.95571565 -0.02967054 -5.08484757] [ 0.19346943 -0.02882546 0.98068276 0.05254369] [ 0. 0. 0. 1. ]] SLAMing on 200.102414037 meters Centerline goodness : 0.804302 Centerline is valid? [False, False] Translation: X:-10.07, Y:-5.08, Z:0.05 [[ 0.93633706 -0.29334338 -0.1929315 -10.0673799 ] [ 0.29318339 0.95558414 -0.03004075 -5.08341332] [ 0.19317453 -0.02843605 0.98075226 0.05225662] [ 0. 0. 0. 1. ]] SLAMing on 200.132414037 meters Centerline goodness : 0.802746 Centerline is valid? [False, False] Translation: X:-10.07, Y:-5.08, Z:0.05 [[ 0.93627877 -0.29368246 -0.1926984 -10.06775973] [ 0.29348379 0.95548571 -0.03023768 -5.0829364 ] [ 0.19300084 -0.02824296 0.98079203 0.05203173] [ 0. 0. 0. 1. ]] SLAMing on 200.162414037 meters Centerline goodness : 0.802732 Centerline is valid? [False, False] Translation: X:-10.08, Y:-5.09, Z:0.05 [[ 0.93872501 -0.29097239 -0.18474424 -10.07782484] [ 0.2902861 0.95642572 -0.03136582 -5.08653793] [ 0.18582073 -0.02418481 0.98228598 0.04628584] [ 0. 0. 0. 1. ]] SLAMing on 200.192414037 meters Centerline goodness : 0.801791 Centerline is valid? [False, False] Translation: X:-10.09, Y:-5.09, Z:0.04 [[ 0.94098535 -0.28882048 -0.17643499 -10.0886853 ] [ 0.28763238 0.9571776 -0.0328429 -5.09021168] [ 0.17836532 -0.01984372 0.98376422 0.04047863] [ 0. 0. 0. 1. ]] SLAMing on 200.222414037 meters Centerline goodness : 0.803180 Centerline is valid? [False, False] Translation: X:-10.09, Y:-5.09, Z:0.04 [[ 0.9409582 -0.28901641 -0.17625887 -10.08895578] [ 0.28783667 0.95711782 -0.03279542 -5.09016318] [ 0.17817892 -0.01987465 0.98379737 0.04019756] [ 0. 0. 0. 1. ]] SLAMing on 200.252414037 meters Centerline goodness : 0.799847 Centerline is valid? [False, False] Translation: X:-10.09, Y:-5.09, Z:0.04 [[ 0.94132553 -0.288659 -0.17487775 -10.09116764] [ 0.28760293 0.95721778 -0.03191686 -5.09055853] [ 0.17660918 -0.0202512 0.9840727 0.03907348] [ 0. 0. 0. 1. ]] SLAMing on 200.282414037 meters Centerline goodness : 0.804088 Centerline is valid? [False, False] Translation: X:-10.11, Y:-5.10, Z:0.03 [[ 0.94303005 -0.28500744 -0.17165398 -10.11425485] [ 0.28435948 0.95828252 -0.02888435 -5.09631877] [ 0.17272527 -0.02157262 0.98473377 0.03077404] [ 0. 0. 0. 1. ]] SLAMing on 200.312414037 meters Centerline goodness : 0.802359 Centerline is valid? [False, False] Translation: X:-10.11, Y:-5.10, Z:0.03 [[ 0.94299947 -0.28515927 -0.17156978 -10.11455484] [ 0.28446317 0.95824333 -0.02916216 -5.09527094] [ 0.17272145 -0.02130538 0.98474026 0.03084837] [ 0. 0. 0. 1. ]] SLAMing on 200.342414037 meters Centerline goodness : 0.804202 Centerline is valid? [False, False] Translation: X:-10.11, Y:-5.09, Z:0.03 [[ 0.94297724 -0.28524932 -0.17154227 -10.11464009] [ 0.28451413 0.95822124 -0.02938989 -5.09438612] [ 0.17275889 -0.0210922 0.98473828 0.03087489] [ 0. 0. 0. 1. ]] SLAMing on 200.372414037 meters Centerline goodness : 0.804565 Centerline is valid? [False, False] Translation: X:-10.12, Y:-5.09, Z:0.03 [[ 0.9429124 -0.28575959 -0.17104872 -10.1158777 ] [ 0.28492487 0.95808202 -0.02994431 -5.09289177] [ 0.17243558 -0.02050118 0.98480743 0.03105736] [ 0. 0. 0. 1. ]] SLAMing on 200.402414037 meters Centerline goodness : 0.805628 Centerline is valid? [False, False] Translation: X:-10.12, Y:-5.09, Z:0.03 [[ 0.94285466 -0.28614454 -0.17072314 -10.11656618] [ 0.28525288 0.9579743 -0.03026604 -5.09206903] [ 0.17220885 -0.02016279 0.98485409 0.03096838] [ 0. 0. 0. 1. ]] SLAMing on 200.43241403699997 meters Centerline goodness : 0.807045 Centerline is valid? [False, False] Translation: X:-10.12, Y:-5.09, Z:0.03 [[ 0.94277497 -0.28654459 -0.17049211 -10.11719231] [ 0.28558644 0.95786252 -0.03065585 -5.09138246] [ 0.17209227 -0.01978867 0.98488205 0.03115003] [ 0. 0. 0. 1. ]] SLAMing on 200.46241403699997 meters Centerline goodness : 0.806331 Centerline is valid? [False, False] Translation: X:-10.12, Y:-5.09, Z:0.03 [[ 0.94268952 -0.28705379 -0.1701076 -10.11783719] [ 0.28602182 0.95771891 -0.03108071 -5.0902586 ] [ 0.1718371 -0.01935503 0.98493522 0.03090194] [ 0. 0. 0. 1. ]] SLAMing on 200.49241403699997 meters Centerline goodness : 0.808176 Centerline is valid? [False, False] Translation: X:-10.12, Y:-5.09, Z:0.03 [[ 0.94261594 -0.2873953 -0.1699386 -10.11830607] [ 0.28629581 0.957624 -0.03147984 -5.08916567] [ 0.17178444 -0.01897931 0.98495172 0.03096314] [ 0. 0. 0. 1. ]] SLAMing on 200.52241403699998 meters Centerline goodness : 0.809231 Centerline is valid? [False, False] Translation: X:-10.13, Y:-5.09, Z:0.03 [[ 0.94490269 -0.28390589 -0.16296121 -10.12712473] [ 0.28264768 0.95871128 -0.03135243 -5.09157556] [ 0.16513389 -0.01643561 0.9861342 0.02568113] [ 0. 0. 0. 1. ]] SLAMing on 200.55241403699998 meters Centerline goodness : 0.810503 Centerline is valid? [False, False] Translation: X:-10.13, Y:-5.09, Z:0.03 [[ 0.94575887 -0.28109125 -0.16287378 -10.13037688] [ 0.28032307 0.9594925 -0.02816239 -5.09094527] [ 0.16419237 -0.01902245 0.98624491 0.02569749] [ 0. 0. 0. 1. ]] SLAMing on 200.58241403699998 meters Centerline goodness : 0.810503 Centerline is valid? [False, False] Translation: X:-10.13, Y:-5.09, Z:0.03 [[ 0.94575887 -0.28109125 -0.16287378 -10.13037688] [ 0.28032307 0.9594925 -0.02816239 -5.09094527] [ 0.16419237 -0.01902245 0.98624491 0.02569749] [ 0. 0. 0. 1. ]] SLAMing on 200.61241403699998 meters Centerline goodness : 0.814452 Centerline is valid? [False, False] Translation: X:-10.13, Y:-5.09, Z:0.03 [[ 0.94563365 -0.28176576 -0.1624348 -10.13169568] [ 0.28090596 0.95930545 -0.02872108 -5.08947282] [ 0.16391721 -0.01846928 0.98630119 0.02589741] [ 0. 0. 0. 1. ]] SLAMing on 200.64241403699998 meters Centerline goodness : 0.811514 Centerline is valid? [False, False] Translation: X:-10.14, Y:-5.09, Z:0.02 [[ 0.94800956 -0.27834496 -0.15427884 -10.14249782] [ 0.27704787 0.96037869 -0.03028633 -5.09391057] [ 0.15659616 -0.0140309 0.98756305 0.02032258] [ 0. 0. 0. 1. ]] SLAMing on 200.67241403699998 meters Centerline goodness : 0.809946 Centerline is valid? [False, False] Translation: X:-10.14, Y:-5.10, Z:0.02 [[ 0.94782953 -0.27927791 -0.15369786 -10.14345343] [ 0.27798941 0.96010753 -0.03025582 -5.09606849] [ 0.15601625 -0.01404902 0.98765457 0.02005394] [ 0. 0. 0. 1. ]] SLAMing on 200.70241403699998 meters Centerline goodness : 0.809667 Centerline is valid? [False, False] Translation: X:-10.14, Y:-5.10, Z:0.02 [[ 0.94773224 -0.27985391 -0.15324942 -10.14447224] [ 0.2785819 0.95993888 -0.03015742 -5.09721364] [ 0.15554975 -0.01411135 0.98772726 0.01995375] [ 0. 0. 0. 1. ]] SLAMing on 200.73241403699998 meters Centerline goodness : 0.808063 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.11, Z:0.01 [[ 0.94882073 -0.27864313 -0.14865135 -10.17272932] [ 0.27793752 0.96024922 -0.02592619 -5.1058467 ] [ 0.14996649 -0.01671648 0.98854975 0.01045759] [ 0. 0. 0. 1. ]] SLAMing on 200.76241403699999 meters Centerline goodness : 0.809405 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.11, Z:0.01 [[ 0.94876842 -0.27891932 -0.14846718 -10.17309276] [ 0.2782431 0.96016591 -0.02573335 -5.10675339] [ 0.14973065 -0.01689498 0.98858247 0.0103229 ] [ 0. 0. 0. 1. ]] SLAMing on 200.792414037 meters Centerline goodness : 0.809095 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.11, Z:0.01 [[ 9.50738286e-01 -2.76186263e-01 -1.40775922e-01 -1.01859058e+01] [ 2.75022656e-01 9.61028570e-01 -2.80468495e-02 -5.11287297e+00] [ 1.43035837e-01 -1.20513543e-02 9.89644135e-01 5.82223902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822414037 meters Centerline goodness : 0.808615 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.11, Z:0.01 [[ 9.50721676e-01 -2.76301361e-01 -1.40662195e-01 -1.01860825e+01] [ 2.75169627e-01 9.60992947e-01 -2.78250309e-02 -5.11388589e+00] [ 1.42863471e-01 -1.22521036e-02 9.89666567e-01 5.76084280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.852414037 meters Centerline goodness : 0.808118 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.12, Z:0.00 [[ 9.52973974e-01 -2.72367068e-01 -1.32878837e-01 -1.01965567e+01] [ 2.70920905e-01 9.62158693e-01 -2.91978045e-02 -5.11892617e+00] [ 1.35803048e-01 -8.17490696e-03 9.90702126e-01 6.30516748e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882414037 meters Centerline goodness : 0.807404 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.12, Z:-0.00 [[ 9.54703880e-01 -2.68834777e-01 -1.27547500e-01 -1.02137040e+01] [ 2.67037968e-01 9.63177283e-01 -3.13088522e-02 -5.12447297e+00] [ 1.31267763e-01 -4.16934250e-03 9.91338182e-01 -2.45629712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.912414037 meters Centerline goodness : 0.809292 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.13, Z:-0.01 [[ 9.56909387e-01 -2.64519547e-01 -1.19807490e-01 -1.02251534e+01] [ 2.62467297e-01 9.64380324e-01 -3.28863081e-02 -5.12902894e+00] [ 1.24239057e-01 2.36689586e-05 9.92252315e-01 -7.08483595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942414037 meters Centerline goodness : 0.807026 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.13, Z:-0.01 [[ 9.56960379e-01 -2.64355048e-01 -1.19763270e-01 -1.02247818e+01] [ 2.62362541e-01 9.64425339e-01 -3.23984949e-02 -5.13035210e+00] [ 1.24067438e-01 -4.17319918e-04 9.92273700e-01 -7.52353423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972414037 meters Centerline goodness : 0.805434 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.13, Z:-0.01 [[ 9.56990543e-01 -2.64329558e-01 -1.19578362e-01 -1.02246542e+01] [ 2.62382713e-01 9.64432145e-01 -3.20304426e-02 -5.13128746e+00] [ 1.23791808e-01 -7.22464271e-04 9.92307949e-01 -8.13991774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002414037 meters Centerline goodness : 0.823492 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.14, Z:-0.01 [[ 9.58625307e-01 -2.61537617e-01 -1.12408161e-01 -1.02315355e+01] [ 2.59449287e-01 9.65189915e-01 -3.30831713e-02 -5.13627078e+00] [ 1.17147717e-01 2.55014800e-03 9.93111227e-01 -1.37137807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032414037 meters Centerline goodness : 0.802383 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.14, Z:-0.01 [[ 9.58638214e-01 -2.61522541e-01 -1.12333146e-01 -1.02315966e+01] [ 2.59453908e-01 9.65194360e-01 -3.29168214e-02 -5.13673786e+00] [ 1.17031810e-01 2.41004910e-03 9.93125242e-01 -1.38043986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062414037 meters Centerline goodness : 0.822206 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.14, Z:-0.01 [[ 9.58617801e-01 -2.61565423e-01 -1.12407475e-01 -1.02316641e+01] [ 2.59477890e-01 9.65182401e-01 -3.30780440e-02 -5.13651209e+00] [ 1.17145789e-01 2.54194730e-03 9.93111475e-01 -1.33939173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092414037 meters Centerline goodness : 0.822385 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.14, Z:-0.01 [[ 9.59369349e-01 -2.58625511e-01 -1.12797595e-01 -1.02337662e+01] [ 2.56907600e-01 9.65977569e-01 -2.97627379e-02 -5.13787226e+00] [ 1.16657350e-01 -4.25101012e-04 9.93172131e-01 -1.26094590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122414037 meters Centerline goodness : 0.805913 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.14, Z:-0.01 [[ 9.59745445e-01 -2.57942608e-01 -1.11149866e-01 -1.02363868e+01] [ 2.56321376e-01 9.66159936e-01 -2.88847933e-02 -5.13880894e+00] [ 1.14839166e-01 -7.68037684e-04 9.93383801e-01 -1.31249341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152414037 meters Centerline goodness : 0.805913 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.14, Z:-0.01 [[ 9.59745445e-01 -2.57942608e-01 -1.11149866e-01 -1.02363868e+01] [ 2.56321376e-01 9.66159936e-01 -2.88847933e-02 -5.13880894e+00] [ 1.14839166e-01 -7.68037684e-04 9.93383801e-01 -1.31249341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18241403699997 meters Centerline goodness : 0.790190 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.14, Z:-0.01 [[ 9.59746580e-01 -2.58001352e-01 -1.11003624e-01 -1.02369542e+01] [ 2.56338794e-01 9.66144478e-01 -2.92449948e-02 -5.13907937e+00] [ 1.14790786e-01 -3.86751373e-04 9.93389614e-01 -1.21306852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21241403699997 meters Centerline goodness : 0.803542 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.14, Z:-0.01 [[ 9.59760324e-01 -2.57931604e-01 -1.11046874e-01 -1.02368718e+01] [ 2.56271564e-01 9.66163090e-01 -2.92193357e-02 -5.13972020e+00] [ 1.14825981e-01 -4.14597124e-04 9.93385536e-01 -1.18279916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24241403699997 meters Centerline goodness : 0.788308 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.14, Z:-0.01 [[ 9.59777934e-01 -2.57871874e-01 -1.11033391e-01 -1.02367882e+01] [ 2.56234026e-01 9.66178940e-01 -2.90237943e-02 -5.14059434e+00] [ 1.14762544e-01 -5.94135412e-04 9.93392775e-01 -1.18415860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27241403699998 meters Centerline goodness : 0.790794 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.14, Z:-0.01 [[ 9.59810709e-01 -2.57711181e-01 -1.11123130e-01 -1.02364153e+01] [ 2.56106570e-01 9.66221590e-01 -2.87273992e-02 -5.14163784e+00] [ 1.14772939e-01 -8.86498171e-04 9.93391356e-01 -1.19313621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30241403699998 meters Centerline goodness : 0.801805 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.14, Z:-0.01 [[ 9.59926926e-01 -2.57168225e-01 -1.11376844e-01 -1.02350660e+01] [ 2.55661873e-01 9.66365080e-01 -2.78484865e-02 -5.14391748e+00] [ 1.14792439e-01 -1.74230061e-03 9.93387971e-01 -1.27227114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33241403699998 meters Centerline goodness : 0.800720 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.15, Z:-0.01 [[ 9.60033871e-01 -2.56583469e-01 -1.11802907e-01 -1.02334570e+01] [ 2.55158783e-01 9.66518856e-01 -2.71163447e-02 -5.14530175e+00] [ 1.15017223e-01 -2.49488425e-03 9.93360365e-01 -1.35191990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36241403699998 meters Centerline goodness : 0.799313 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.15, Z:-0.01 [[ 9.60098878e-01 -2.56272718e-01 -1.11957310e-01 -1.02326447e+01] [ 2.54910010e-01 9.66599761e-01 -2.65666779e-02 -5.14666255e+00] [ 1.15026224e-01 -3.03240136e-03 9.93357827e-01 -1.40526562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39241403699998 meters Centerline goodness : 0.824302 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.15, Z:-0.01 [[ 9.60175096e-01 -2.55946935e-01 -1.12048878e-01 -1.02321399e+01] [ 2.54673933e-01 9.66683415e-01 -2.57752597e-02 -5.14933827e+00] [ 1.14912891e-01 -3.78716593e-03 9.93368353e-01 -1.41954980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42241403699998 meters Centerline goodness : 0.798942 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.15, Z:-0.01 [[ 9.60183297e-01 -2.55936604e-01 -1.12002191e-01 -1.02324314e+01] [ 2.54692181e-01 9.66685224e-01 -2.55258796e-02 -5.15070025e+00] [ 1.14803870e-01 -4.01655923e-03 9.93380057e-01 -1.37990470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45241403699998 meters Centerline goodness : 0.825390 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.15, Z:-0.01 [[ 9.60187651e-01 -2.55963947e-01 -1.11902333e-01 -1.02327295e+01] [ 2.54744466e-01 9.66677178e-01 -2.53079277e-02 -5.15186835e+00] [ 1.14651349e-01 -4.20614050e-03 9.93396888e-01 -1.35659138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48241403699998 meters Centerline goodness : 0.797150 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.15, Z:-0.01 [[ 9.60222468e-01 -2.55820469e-01 -1.11931672e-01 -1.02325549e+01] [ 2.54639092e-01 9.66713718e-01 -2.49704012e-02 -5.15304536e+00] [ 1.14593822e-01 -4.52503899e-03 9.93402124e-01 -1.35790360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51241403699999 meters Centerline goodness : 0.829563 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.16, Z:-0.02 [[ 9.61369996e-01 -2.52355508e-01 -1.09929194e-01 -1.02469757e+01] [ 2.50690419e-01 9.67634552e-01 -2.89428234e-02 -5.15850528e+00] [ 1.13675167e-01 2.66566388e-04 9.93517934e-01 -1.56000011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542414037 meters Centerline goodness : 0.831891 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.16, Z:-0.02 [[ 9.61381331e-01 -2.52310904e-01 -1.09932455e-01 -1.02467314e+01] [ 2.50674973e-01 9.67646220e-01 -2.86853725e-02 -5.15942155e+00] [ 1.13613357e-01 2.02662933e-05 9.93525040e-01 -1.58345548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572414037 meters Centerline goodness : 0.793675 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.16, Z:-0.02 [[ 9.61395688e-01 -2.52231752e-01 -1.09988516e-01 -1.02463527e+01] [ 2.50626248e-01 9.67666824e-01 -2.84148229e-02 -5.16055411e+00] [ 1.13599358e-01 -2.48120810e-04 9.93526610e-01 -1.60278550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602414037 meters Centerline goodness : 0.828842 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.16, Z:-0.02 [[ 9.61329187e-01 -2.52561457e-01 -1.09813048e-01 -1.02469102e+01] [ 2.50962580e-01 9.67580814e-01 -2.83751983e-02 -5.16246873e+00] [ 1.13419480e-01 -2.81059577e-04 9.93547152e-01 -1.54446438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632414037 meters Centerline goodness : 0.830853 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.16, Z:-0.02 [[ 9.61319251e-01 -2.52585934e-01 -1.09843724e-01 -1.02469792e+01] [ 2.50985457e-01 9.67574426e-01 -2.83906878e-02 -5.16293920e+00] [ 1.13453067e-01 -2.76662638e-04 9.93543318e-01 -1.51212890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662414037 meters Centerline goodness : 0.836317 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.16, Z:-0.01 [[ 9.61317628e-01 -2.52497837e-01 -1.10060259e-01 -1.02466897e+01] [ 2.50891826e-01 9.67597419e-01 -2.84346052e-02 -5.16314127e+00] [ 1.13673699e-01 -2.78532226e-04 9.93518099e-01 -1.47415608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692414037 meters Centerline goodness : 0.834162 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.16, Z:-0.01 [[ 9.61341150e-01 -2.52257753e-01 -1.10404798e-01 -1.02459850e+01] [ 2.50667981e-01 9.67659955e-01 -2.82802956e-02 -5.16393354e+00] [ 1.13968226e-01 -4.87936048e-04 9.93484275e-01 -1.44032183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722414037 meters Centerline goodness : 0.792270 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.17, Z:-0.01 [[ 9.61383410e-01 -2.52118508e-01 -1.10354871e-01 -1.02456931e+01] [ 2.50579269e-01 9.67695951e-01 -2.78311915e-02 -5.16509470e+00] [ 1.13806720e-01 -8.96197150e-04 9.93502505e-01 -1.48723232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752414037 meters Centerline goodness : 0.792227 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.17, Z:-0.01 [[ 9.61374719e-01 -2.52126290e-01 -1.10412783e-01 -1.02453482e+01] [ 2.50646159e-01 9.67693307e-01 -2.73160645e-02 -5.16797141e+00] [ 1.13732809e-01 -1.41356618e-03 9.93510367e-01 -1.48623316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782414037 meters Centerline goodness : 0.793587 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.17, Z:-0.01 [[ 9.61347284e-01 -2.52261404e-01 -1.10343028e-01 -1.02456756e+01] [ 2.50799120e-01 9.67657873e-01 -2.71669262e-02 -5.16908692e+00] [ 1.13627467e-01 -1.55708364e-03 9.93522206e-01 -1.45707687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812414037 meters Centerline goodness : 0.836622 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.17, Z:-0.01 [[ 9.61332119e-01 -2.52365374e-01 -1.10237361e-01 -1.02461762e+01] [ 2.50917165e-01 9.67630595e-01 -2.70482414e-02 -5.17030315e+00] [ 1.13495082e-01 -1.65810280e-03 9.93537174e-01 -1.40527601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842414037 meters Centerline goodness : 0.792245 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.17, Z:-0.01 [[ 9.61327351e-01 -2.52373476e-01 -1.10260384e-01 -1.02461469e+01] [ 2.50985768e-01 9.67627447e-01 -2.65192147e-02 -5.17252096e+00] [ 1.13383720e-01 -2.18014076e-03 9.93548881e-01 -1.39007577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872414037 meters Centerline goodness : 0.837888 Centerline is valid? [False, False] Translation: X:-10.25, Y:-5.17, Z:-0.01 [[ 9.61357916e-01 -2.52217694e-01 -1.10350314e-01 -1.02456290e+01] [ 2.50877635e-01 9.67667032e-01 -2.60945953e-02 -5.17375690e+00] [ 1.13363880e-01 -2.59818008e-03 9.93550140e-01 -1.42298508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902414037 meters Centerline goodness : 0.788276 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.18, Z:-0.01 [[ 9.61404854e-01 -2.52001634e-01 -1.10434975e-01 -1.02449766e+01] [ 2.50722633e-01 9.67721761e-01 -2.55490574e-02 -5.17534348e+00] [ 1.13308733e-01 -3.12555993e-03 9.93554911e-01 -1.47209609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93241403699997 meters Centerline goodness : 0.790740 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.18, Z:-0.02 [[ 9.60641489e-01 -2.54960609e-01 -1.10286072e-01 -1.02421077e+01] [ 2.53380509e-01 9.66951180e-01 -2.83501955e-02 -5.17782316e+00] [ 1.13869430e-01 -7.09966997e-04 9.93495470e-01 -1.53043742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96241403699997 meters Centerline goodness : 0.788308 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.18, Z:-0.02 [[ 9.60632777e-01 -2.55034249e-01 -1.10191652e-01 -1.02421320e+01] [ 2.53506680e-01 9.66931351e-01 -2.78949038e-02 -5.18057318e+00] [ 1.13661919e-01 -1.13756086e-03 9.93518834e-01 -1.52053729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99241403699997 meters Centerline goodness : 0.790947 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.18, Z:-0.02 [[ 9.60642278e-01 -2.55000857e-01 -1.10186103e-01 -1.02421126e+01] [ 2.53521791e-01 9.66939589e-01 -2.74687412e-02 -5.18260467e+00] [ 1.13547857e-01 -1.54694397e-03 9.93531324e-01 -1.50463206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02241403699998 meters Centerline goodness : 0.790649 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.18, Z:-0.01 [[ 9.60635765e-01 -2.55009282e-01 -1.10223380e-01 -1.02421814e+01] [ 2.53562192e-01 9.66936876e-01 -2.71899508e-02 -5.18382134e+00] [ 1.13512740e-01 -1.82884253e-03 9.93534858e-01 -1.47891423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05241403699998 meters Centerline goodness : 0.792240 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.18, Z:-0.01 [[ 9.60643626e-01 -2.54867521e-01 -1.10482447e-01 -1.02418724e+01] [ 2.53441114e-01 9.66973790e-01 -2.70054001e-02 -5.18427467e+00] [ 1.13716430e-01 -2.05822886e-03 9.93511116e-01 -1.44664537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08241403699998 meters Centerline goodness : 0.792985 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.01 [[ 9.60721655e-01 -2.54406605e-01 -1.10865599e-01 -1.02410135e+01] [ 2.53045310e-01 9.67093653e-01 -2.64185059e-02 -5.18560772e+00] [ 1.13938459e-01 -2.67318905e-03 9.93484213e-01 -1.44121200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11241403699998 meters Centerline goodness : 0.837145 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.01 [[ 9.60755080e-01 -2.54259029e-01 -1.10914485e-01 -1.02406575e+01] [ 2.52929863e-01 9.67131664e-01 -2.61310111e-02 -5.18669963e+00] [ 1.13912955e-01 -2.94808372e-03 9.93486360e-01 -1.45577290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14241403699998 meters Centerline goodness : 0.791854 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.01 [[ 9.60772255e-01 -2.54189736e-01 -1.10924536e-01 -1.02403049e+01] [ 2.52900711e-01 9.67148786e-01 -2.57770533e-02 -5.18825916e+00] [ 1.13832792e-01 -3.28701643e-03 9.93494485e-01 -1.47844754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17241403699998 meters Centerline goodness : 0.792424 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.02 [[ 9.59972662e-01 -2.57356619e-01 -1.10544372e-01 -1.02380141e+01] [ 2.55707564e-01 9.66316436e-01 -2.90893144e-02 -5.18951241e+00] [ 1.14307171e-01 -3.42085479e-04 9.93445395e-01 -1.51281126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20241403699998 meters Centerline goodness : 0.838732 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.02 [[ 9.59966975e-01 -2.57450365e-01 -1.10375344e-01 -1.02380824e+01] [ 2.55828177e-01 9.66291378e-01 -2.88603024e-02 -5.19059824e+00] [ 1.14084839e-01 -5.32185975e-04 9.93470868e-01 -1.53815707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23241403699998 meters Centerline goodness : 0.792854 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.02 [[ 9.59958562e-01 -2.57497187e-01 -1.10339288e-01 -1.02381070e+01] [ 2.55893344e-01 9.66278808e-01 -2.87029937e-02 -5.19107916e+00] [ 1.14009456e-01 -6.81404958e-04 9.93479431e-01 -1.54317566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26241403699999 meters Centerline goodness : 0.791997 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.02 [[ 9.59995692e-01 -2.57278366e-01 -1.10526532e-01 -1.02376675e+01] [ 2.55692633e-01 9.66336944e-01 -2.85339962e-02 -5.19164707e+00] [ 1.14147051e-01 -8.68306469e-04 9.93463485e-01 -1.53223501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292414037 meters Centerline goodness : 0.794589 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.02 [[ 9.60022202e-01 -2.57154808e-01 -1.10583799e-01 -1.02374707e+01] [ 2.55595031e-01 9.66369601e-01 -2.83014762e-02 -5.19259086e+00] [ 1.14142682e-01 -1.09462393e-03 9.93463764e-01 -1.52838654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322414037 meters Centerline goodness : 0.793350 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.02 [[ 9.60090189e-01 -2.56819818e-01 -1.10771883e-01 -1.02368885e+01] [ 2.55320995e-01 9.66457917e-01 -2.77540073e-02 -5.19497424e+00] [ 1.14184143e-01 -1.63603734e-03 9.93458255e-01 -1.51184263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352414037 meters Centerline goodness : 0.843448 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.02 [[ 9.60098709e-01 -2.56772589e-01 -1.10807517e-01 -1.02368514e+01] [ 2.55284622e-01 9.66470295e-01 -2.76573676e-02 -5.19529365e+00] [ 1.14193827e-01 -1.73365203e-03 9.93456977e-01 -1.50348134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382414037 meters Centerline goodness : 0.794338 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60101213e-01 -2.56679970e-01 -1.11000243e-01 -1.02366790e+01] [ 2.55183990e-01 9.66494945e-01 -2.77245809e-02 -5.19524933e+00] [ 1.14397518e-01 -1.70708110e-03 9.93433588e-01 -1.46091498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412414037 meters Centerline goodness : 0.791558 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.19, Z:-0.01 [[ 9.60099788e-01 -2.56641314e-01 -1.11101901e-01 -1.02366369e+01] [ 2.55139083e-01 9.66505264e-01 -2.77781115e-02 -5.19496770e+00] [ 1.14509583e-01 -1.67667821e-03 9.93420729e-01 -1.43747404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442414037 meters Centerline goodness : 0.793108 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60168142e-01 -2.56331132e-01 -1.11227200e-01 -1.02361175e+01] [ 2.54880257e-01 9.66586702e-01 -2.73167051e-02 -5.19650250e+00] [ 1.14512855e-01 -2.12098737e-03 9.93419502e-01 -1.44817941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472414037 meters Centerline goodness : 0.791310 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60162340e-01 -2.56385160e-01 -1.11152732e-01 -1.02361573e+01] [ 2.54967179e-01 9.66571758e-01 -2.70328244e-02 -5.19835645e+00] [ 1.14367907e-01 -2.38439855e-03 9.93435603e-01 -1.44212536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502414037 meters Centerline goodness : 0.792065 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60139824e-01 -2.56515351e-01 -1.11046802e-01 -1.02364715e+01] [ 2.55130412e-01 9.66536532e-01 -2.67507867e-02 -5.20167710e+00] [ 1.14192779e-01 -2.64692073e-03 9.93455084e-01 -1.36507551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532414037 meters Centerline goodness : 0.793009 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60158508e-01 -2.56403944e-01 -1.11142509e-01 -1.02363630e+01] [ 2.55019615e-01 9.66566035e-01 -2.67412651e-02 -5.20185553e+00] [ 1.14283140e-01 -2.66766663e-03 9.93444637e-01 -1.33988378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562414037 meters Centerline goodness : 0.792060 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60182762e-01 -2.56222489e-01 -1.11351244e-01 -1.02359149e+01] [ 2.54833506e-01 9.66614157e-01 -2.67760476e-02 -5.20132905e+00] [ 1.14494314e-01 -2.66612850e-03 9.93420326e-01 -1.33482381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592414037 meters Centerline goodness : 0.793561 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60199405e-01 -2.56043878e-01 -1.11618258e-01 -1.02354624e+01] [ 2.54688396e-01 9.66660505e-01 -2.64818555e-02 -5.20204724e+00] [ 1.14677478e-01 -3.00001301e-03 9.93398246e-01 -1.32118642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622414037 meters Centerline goodness : 0.792654 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.20, Z:-0.01 [[ 9.60238172e-01 -2.55924396e-01 -1.11558761e-01 -1.02352209e+01] [ 2.54622906e-01 9.66690700e-01 -2.60051282e-02 -5.20379579e+00] [ 1.14498163e-01 -3.43429906e-03 9.93417524e-01 -1.34953795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652414037 meters Centerline goodness : 0.791273 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60256374e-01 -2.55879825e-01 -1.11504313e-01 -1.02349527e+01] [ 2.54632888e-01 9.66700812e-01 -2.55270991e-02 -5.20586865e+00] [ 1.14323180e-01 -3.88010554e-03 9.93436035e-01 -1.37694289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68241403699997 meters Centerline goodness : 0.792636 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60157246e-01 -2.56262325e-01 -1.11479517e-01 -1.02347802e+01] [ 2.55063064e-01 9.66597701e-01 -2.51339926e-02 -5.20929299e+00] [ 1.14196740e-01 -4.30172195e-03 9.93448841e-01 -1.36846042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71241403699997 meters Centerline goodness : 0.791804 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60136856e-01 -2.56361824e-01 -1.11426353e-01 -1.02349777e+01] [ 2.55167634e-01 9.66571150e-01 -2.50936440e-02 -5.20983028e+00] [ 1.14134550e-01 -4.33906629e-03 9.93455825e-01 -1.34792750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74241403699997 meters Centerline goodness : 0.841793 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.21, Z:-0.01 [[ 9.60113339e-01 -2.56446557e-01 -1.11434011e-01 -1.02352319e+01] [ 2.55243961e-01 9.66548958e-01 -2.51720361e-02 -5.20983417e+00] [ 1.14161709e-01 -4.27485062e-03 9.93452983e-01 -1.31191558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77241403699998 meters Centerline goodness : 0.840636 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.21, Z:-0.01 [[ 9.60090799e-01 -2.56546657e-01 -1.11397801e-01 -1.02354926e+01] [ 2.55339844e-01 9.66522559e-01 -2.52132117e-02 -5.20981420e+00] [ 1.14136853e-01 -4.23732456e-03 9.93456000e-01 -1.29231531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80241403699998 meters Centerline goodness : 0.841182 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.21, Z:-0.01 [[ 9.60104789e-01 -2.56448169e-01 -1.11503946e-01 -1.02353235e+01] [ 2.55254920e-01 9.66548107e-01 -2.50934753e-02 -5.21045023e+00] [ 1.14209103e-01 -4.36956488e-03 9.93447124e-01 -1.26891977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83241403699998 meters Centerline goodness : 0.791935 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60149929e-01 -2.56187100e-01 -1.11715189e-01 -1.02346027e+01] [ 2.55026804e-01 9.66615891e-01 -2.48001522e-02 -5.21139601e+00] [ 1.14339156e-01 -4.67850312e-03 9.93430757e-01 -1.28689723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86241403699998 meters Centerline goodness : 0.838284 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60180367e-01 -2.56083366e-01 -1.11691412e-01 -1.02343109e+01] [ 2.54958137e-01 9.66641957e-01 -2.44882662e-02 -5.21251859e+00] [ 1.14236643e-01 -4.96348185e-03 9.93441167e-01 -1.31793274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89241403699998 meters Centerline goodness : 0.840217 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60246597e-01 -2.55851840e-01 -1.11652624e-01 -1.02338700e+01] [ 2.54790285e-01 9.66700473e-01 -2.39187441e-02 -5.21448926e+00] [ 1.14054299e-01 -5.48011140e-03 9.93459403e-01 -1.35936270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92241403699998 meters Centerline goodness : 0.844168 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60275239e-01 -2.55674340e-01 -1.11812780e-01 -1.02336589e+01] [ 2.54619703e-01 9.66746969e-01 -2.38559253e-02 -5.21471558e+00] [ 1.14194014e-01 -5.56148259e-03 9.93442901e-01 -1.33358753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95241403699998 meters Centerline goodness : 0.840711 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60283572e-01 -2.55650091e-01 -1.11796657e-01 -1.02339197e+01] [ 2.54585965e-01 9.66753868e-01 -2.39362668e-02 -5.21454117e+00] [ 1.14199159e-01 -5.47625597e-03 9.93442783e-01 -1.29987439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98241403699998 meters Centerline goodness : 0.841688 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60310163e-01 -2.55502793e-01 -1.11904934e-01 -1.02338114e+01] [ 2.54441840e-01 9.66792577e-01 -2.39052761e-02 -5.21448327e+00] [ 1.14296724e-01 -5.51681775e-03 9.93431338e-01 -1.27886933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01241403699999 meters Centerline goodness : 0.845690 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60388686e-01 -2.55146164e-01 -1.12044667e-01 -1.02333782e+01] [ 2.54107981e-01 9.66885596e-01 -2.36934089e-02 -5.21489075e+00] [ 1.14379657e-01 -5.71656236e-03 9.93420664e-01 -1.27561425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042414037 meters Centerline goodness : 0.845690 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.21, Z:-0.01 [[ 9.60388686e-01 -2.55146164e-01 -1.12044667e-01 -1.02333782e+01] [ 2.54107981e-01 9.66885596e-01 -2.36934089e-02 -5.21489075e+00] [ 1.14379657e-01 -5.71656236e-03 9.93420664e-01 -1.27561425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.072414037 meters Centerline goodness : 0.841432 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.22, Z:-0.01 [[ 9.60435044e-01 -2.54942373e-01 -1.12111165e-01 -1.02330301e+01] [ 2.53938078e-01 9.66937607e-01 -2.33905236e-02 -5.21580030e+00] [ 1.14367738e-01 -6.00421525e-03 9.93420339e-01 -1.29038617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102414037 meters Centerline goodness : 0.840287 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.22, Z:-0.01 [[ 9.60474762e-01 -2.54776348e-01 -1.12148315e-01 -1.02327848e+01] [ 2.53805088e-01 9.66979608e-01 -2.30957738e-02 -5.21686654e+00] [ 1.14329390e-01 -6.28090495e-03 9.93423042e-01 -1.29417525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.132414037 meters Centerline goodness : 0.841227 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.22, Z:-0.01 [[ 9.60534968e-01 -2.54572439e-01 -1.12095711e-01 -1.02325837e+01] [ 2.53649501e-01 9.67030728e-01 -2.26605988e-02 -5.21864941e+00] [ 1.14168761e-01 -6.66672356e-03 9.93439001e-01 -1.30101912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162414037 meters Centerline goodness : 0.841907 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.22, Z:-0.01 [[ 9.60611598e-01 -2.54193202e-01 -1.12299480e-01 -1.02322099e+01] [ 2.53288288e-01 9.67129298e-01 -2.24936521e-02 -5.21871599e+00] [ 1.14325850e-01 -6.83647987e-03 9.93419782e-01 -1.27878425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.192414037 meters Centerline goodness : 0.842962 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.22, Z:-0.01 [[ 9.60656908e-01 -2.53951270e-01 -1.12459136e-01 -1.02318360e+01] [ 2.53060553e-01 9.67191878e-01 -2.23657845e-02 -5.21861062e+00] [ 1.14449382e-01 -6.97312572e-03 9.93404608e-01 -1.28222446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222414037 meters Centerline goodness : 0.838605 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.22, Z:-0.01 [[ 9.60700891e-01 -2.53711002e-01 -1.12625600e-01 -1.02313237e+01] [ 2.52840988e-01 9.67253524e-01 -2.21823304e-02 -5.21871481e+00] [ 1.14565409e-01 -7.16578328e-03 9.93389862e-01 -1.29904643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.252414037 meters Centerline goodness : 0.839802 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.22, Z:-0.02 [[ 9.62379842e-01 -2.50044996e-01 -1.06313407e-01 -1.02381768e+01] [ 2.49062169e-01 9.68222854e-01 -2.26393695e-02 -5.22219274e+00] [ 1.08595932e-01 -4.69097502e-03 9.94074906e-01 -1.77931529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282414037 meters Centerline goodness : 0.838422 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.22, Z:-0.02 [[ 9.62509089e-01 -2.49489513e-01 -1.06448283e-01 -1.02365149e+01] [ 2.48621641e-01 9.68360656e-01 -2.15620083e-02 -5.22448664e+00] [ 1.08459824e-01 -5.71171779e-03 9.94084424e-01 -1.93870275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312414037 meters Centerline goodness : 0.840271 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62559943e-01 -2.49238255e-01 -1.06576955e-01 -1.02358828e+01] [ 2.48412026e-01 9.68423023e-01 -2.11734212e-02 -5.22559162e+00] [ 1.08488804e-01 -6.09431030e-03 9.94078990e-01 -1.97030757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342414037 meters Centerline goodness : 0.841285 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62589909e-01 -2.49215036e-01 -1.06360389e-01 -1.02360372e+01] [ 2.48412267e-01 9.68427940e-01 -2.09444760e-02 -5.22622599e+00] [ 1.08222051e-01 -6.26028411e-03 9.94107035e-01 -2.00053071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372414037 meters Centerline goodness : 0.785337 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62572126e-01 -2.49358513e-01 -1.06184910e-01 -1.02367620e+01] [ 2.48543560e-01 9.68391870e-01 -2.10543404e-02 -5.22629922e+00] [ 1.08078682e-01 -6.12525435e-03 9.94123473e-01 -1.94382376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402414037 meters Centerline goodness : 0.836082 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62567762e-01 -2.49409252e-01 -1.06105273e-01 -1.02370710e+01] [ 2.48588632e-01 9.68379203e-01 -2.11047892e-02 -5.22614492e+00] [ 1.08013870e-01 -6.06177507e-03 9.94130906e-01 -1.92811005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43241403699997 meters Centerline goodness : 0.831927 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62565739e-01 -2.49402832e-01 -1.06138708e-01 -1.02371160e+01] [ 2.48580964e-01 9.68380887e-01 -2.11178002e-02 -5.22605504e+00] [ 1.08049536e-01 -6.05679157e-03 9.94127061e-01 -1.91298415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46241403699997 meters Centerline goodness : 0.837079 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62570564e-01 -2.49348885e-01 -1.06221665e-01 -1.02369224e+01] [ 2.48532418e-01 9.68394393e-01 -2.10698328e-02 -5.22626824e+00] [ 1.08118204e-01 -6.11832635e-03 9.94119218e-01 -1.90660833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49241403699997 meters Centerline goodness : 0.781866 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62563628e-01 -2.49471827e-01 -1.05995612e-01 -1.02371715e+01] [ 2.48676733e-01 9.68361739e-01 -2.08668453e-02 -5.22746061e+00] [ 1.07847786e-01 -6.27297624e-03 9.94147627e-01 -1.91411291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52241403699998 meters Centerline goodness : 0.834760 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62561547e-01 -2.49516589e-01 -1.05909111e-01 -1.02371995e+01] [ 2.48740322e-01 9.68349190e-01 -2.06905531e-02 -5.22844530e+00] [ 1.07719638e-01 -6.42793553e-03 9.94160531e-01 -1.91924857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55241403699998 meters Centerline goodness : 0.834992 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62557276e-01 -2.49534571e-01 -1.05905565e-01 -1.02370396e+01] [ 2.48780714e-01 9.68343195e-01 -2.04844451e-02 -5.22961947e+00] [ 1.07664510e-01 -6.62981034e-03 9.94165177e-01 -1.92483415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58241403699998 meters Centerline goodness : 0.835849 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62573035e-01 -2.49488592e-01 -1.05870652e-01 -1.02367520e+01] [ 2.48761276e-01 9.68353444e-01 -2.02345080e-02 -5.23061096e+00] [ 1.07568489e-01 -6.85932665e-03 9.94174014e-01 -1.95532782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61241403699998 meters Centerline goodness : 0.778343 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62695583e-01 -2.48917750e-01 -1.06099802e-01 -1.02353284e+01] [ 2.48269679e-01 9.68494947e-01 -1.94859913e-02 -5.23182966e+00] [ 1.07607531e-01 -7.58228598e-03 9.94164538e-01 -2.06278122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64241403699998 meters Centerline goodness : 0.779641 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.23, Z:-0.02 [[ 9.62722486e-01 -2.48788572e-01 -1.06158665e-01 -1.02350433e+01] [ 2.48155218e-01 9.68527067e-01 -1.93470552e-02 -5.23190427e+00] [ 1.07630867e-01 -7.71798155e-03 9.94160967e-01 -2.08178526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67241403699998 meters Centerline goodness : 0.779604 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.23, Z:-0.02 [[ 9.62818097e-01 -2.48360480e-01 -1.06293853e-01 -1.02345715e+01] [ 2.47775297e-01 9.68633384e-01 -1.88883191e-02 -5.23289714e+00] [ 1.07650886e-01 -8.15097547e-03 9.94155344e-01 -2.09284445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70241403699998 meters Centerline goodness : 0.779248 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.23, Z:-0.02 [[ 9.62875642e-01 -2.48128284e-01 -1.06314874e-01 -1.02342639e+01] [ 2.47576658e-01 9.68690386e-01 -1.85670107e-02 -5.23386961e+00] [ 1.07593197e-01 -8.44335899e-03 9.94159149e-01 -2.10682252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73241403699998 meters Centerline goodness : 0.778598 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.24, Z:-0.02 [[ 9.62945266e-01 -2.47837750e-01 -1.06361952e-01 -1.02337475e+01] [ 2.47336634e-01 9.68760767e-01 -1.80877465e-02 -5.23515732e+00] [ 1.07522113e-01 -8.88969728e-03 9.94162949e-01 -2.14346507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76241403699999 meters Centerline goodness : 0.777938 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.24, Z:-0.02 [[ 0.96334357 -0.24148517 -0.11685066 -10.23515455] [ 0.24124871 0.97032512 -0.01637761 -5.24175519] [ 0.11733808 -0.01241281 0.99301445 -0.01835554] [ 0. 0. 0. 1. ]] SLAMing on 203.792414037 meters Centerline goodness : 0.778263 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.25, Z:-0.01 [[ 0.96357075 -0.23463472 -0.1283665 -10.23672165] [ 0.23506686 0.97190524 -0.01199039 -5.24855771] [ 0.12757344 -0.01862112 0.99165431 -0.01475269] [ 0. 0. 0. 1. ]] SLAMing on 203.822414037 meters Centerline goodness : 0.825560 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.25, Z:-0.01 [[ 9.63594300e-01 -2.28117376e-01 -1.39457836e-01 -1.02387359e+01] [ 2.29146807e-01 9.73351663e-01 -8.84762363e-03 -5.25438387e+00] [ 1.37759813e-01 -2.34307981e-02 9.90188483e-01 -1.07458044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852414037 meters Centerline goodness : 0.822756 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.26, Z:-0.01 [[ 9.63700741e-01 -2.27532636e-01 -1.39677418e-01 -1.02382423e+01] [ 2.28648721e-01 9.73474285e-01 -8.22057193e-03 -5.25504572e+00] [ 1.37842823e-01 -2.40148917e-02 9.90162937e-01 -1.07619022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882414037 meters Centerline goodness : 0.822965 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.26, Z:-0.01 [[ 9.63396458e-01 -2.21183316e-01 -1.51476751e-01 -1.02391059e+01] [ 2.22882873e-01 9.74827485e-01 -5.88212222e-03 -5.26035056e+00] [ 1.48964727e-01 -2.80947577e-02 9.88443319e-01 -7.28784285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912414037 meters Centerline goodness : 0.820516 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.26, Z:-0.01 [[ 9.63430009e-01 -2.20737381e-01 -1.51913221e-01 -1.02373583e+01] [ 2.22537033e-01 9.74910007e-01 -5.26765324e-03 -5.26142472e+00] [ 1.49264487e-01 -2.87313023e-02 9.88379798e-01 -8.08277774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942414037 meters Centerline goodness : 0.821288 Centerline is valid? [False, False] Translation: X:-10.24, Y:-5.26, Z:-0.01 [[ 9.63388357e-01 -2.20539826e-01 -1.52463306e-01 -1.02352949e+01] [ 2.22405000e-01 9.74941918e-01 -4.92664749e-03 -5.26214754e+00] [ 1.49729390e-01 -2.91623268e-02 9.88296852e-01 -8.92104980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972414037 meters Centerline goodness : 0.773533 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.26, Z:-0.01 [[ 9.63342170e-01 -2.20467017e-01 -1.52859928e-01 -1.02332195e+01] [ 2.22391329e-01 9.74946588e-01 -4.60958762e-03 -5.26304996e+00] [ 1.50046527e-01 -2.95541124e-02 9.88237114e-01 -1.00318393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002414037 meters Centerline goodness : 0.819533 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.26, Z:-0.01 [[ 9.63292949e-01 -2.20283652e-01 -1.53433394e-01 -1.02319396e+01] [ 2.22301832e-01 9.74969303e-01 -4.09305589e-03 -5.26334357e+00] [ 1.50494483e-01 -3.01657128e-02 9.88150515e-01 -1.00964234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032414037 meters Centerline goodness : 0.775620 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.26, Z:-0.01 [[ 9.63194415e-01 -2.20272513e-01 -1.54066672e-01 -1.02309939e+01] [ 2.22412681e-01 9.74946607e-01 -3.42246048e-03 -5.26368878e+00] [ 1.50960653e-01 -3.09698868e-02 9.88054526e-01 -9.60366688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062414037 meters Centerline goodness : 0.776046 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.26, Z:-0.01 [[ 9.63162063e-01 -2.20054488e-01 -1.54579632e-01 -1.02298773e+01] [ 2.22313996e-01 9.74971292e-01 -2.73258691e-03 -5.26414915e+00] [ 1.51312022e-01 -3.17332917e-02 9.87976553e-01 -9.69471460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092414037 meters Centerline goodness : 0.777967 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.27, Z:-0.01 [[ 9.63110342e-01 -2.20110128e-01 -1.54822484e-01 -1.02288129e+01] [ 2.22453939e-01 9.74940630e-01 -2.23880854e-03 -5.26604338e+00] [ 1.51435514e-01 -3.22846516e-02 9.87939769e-01 -9.78706579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122414037 meters Centerline goodness : 0.777594 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.27, Z:-0.01 [[ 9.63049032e-01 -2.20039885e-01 -1.55302966e-01 -1.02271574e+01] [ 2.22497920e-01 9.74931862e-01 -1.59358117e-03 -5.26714852e+00] [ 1.51760461e-01 -3.30198901e-02 9.87865603e-01 -1.03137402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152414037 meters Centerline goodness : 0.778335 Centerline is valid? [False, False] Translation: X:-10.23, Y:-5.27, Z:-0.01 [[ 9.62964559e-01 -2.19984433e-01 -1.55904160e-01 -1.02253826e+01] [ 2.22560180e-01 9.74918483e-01 -9.57797274e-04 -5.26815881e+00] [ 1.52204548e-01 -3.37757331e-02 9.87771722e-01 -1.07017353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18241403699997 meters Centerline goodness : 0.778943 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.27, Z:-0.01 [[ 9.62803081e-01 -2.20111111e-01 -1.56720534e-01 -1.02230848e+01] [ 2.22780081e-01 9.74868573e-01 -5.49108264e-04 -5.26835850e+00] [ 1.52902788e-01 -3.43855302e-02 9.87642837e-01 -1.12093951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21241403699997 meters Centerline goodness : 0.780547 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.27, Z:-0.01 [[ 9.62619713e-01 -2.20214718e-01 -1.57698340e-01 -1.02208598e+01] [ 2.23030311e-01 9.74811497e-01 1.61927413e-04 -5.26876723e+00] [ 1.53690496e-01 -3.53273843e-02 9.87487320e-01 -1.13684276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24241403699997 meters Centerline goodness : 0.775717 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.27, Z:-0.01 [[ 9.62661434e-01 -2.19764371e-01 -1.58071455e-01 -1.02199246e+01] [ 2.22666654e-01 9.74894412e-01 6.67694637e-04 -5.26889823e+00] [ 1.53956243e-01 -3.58400058e-02 9.87427450e-01 -1.16136455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27241403699998 meters Centerline goodness : 0.779779 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.27, Z:-0.01 [[ 9.63171974e-01 -2.16583520e-01 -1.59346562e-01 -1.02185631e+01] [ 2.20096084e-01 9.75467728e-01 4.51937013e-03 -5.27103600e+00] [ 1.54458608e-01 -3.94244850e-02 9.87212362e-01 -1.14045557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30241403699998 meters Centerline goodness : 0.778251 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.27, Z:-0.01 [[ 9.63279521e-01 -2.15929070e-01 -1.59584464e-01 -1.02175825e+01] [ 2.19517607e-01 9.75595745e-01 4.99631038e-03 -5.27145191e+00] [ 1.54611075e-01 -3.98444430e-02 9.87171634e-01 -1.19277312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33241403699998 meters Centerline goodness : 0.779516 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.27, Z:-0.01 [[ 9.63364623e-01 -2.15407319e-01 -1.59775750e-01 -1.02166433e+01] [ 2.19047145e-01 9.75699793e-01 5.31616135e-03 -5.27166025e+00] [ 1.54748026e-01 -4.01198236e-02 9.87139022e-01 -1.25893159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36241403699998 meters Centerline goodness : 0.779350 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.01 [[ 9.63390282e-01 -2.15004634e-01 -1.60162951e-01 -1.02145642e+01] [ 2.18668220e-01 9.75784332e-01 5.39877855e-03 -5.27171850e+00] [ 1.55123736e-01 -4.02236782e-02 9.87075824e-01 -1.40041000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39241403699998 meters Centerline goodness : 0.778163 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.01 [[ 9.63329552e-01 -2.14902653e-01 -1.60664323e-01 -1.02128441e+01] [ 2.18629638e-01 9.75791393e-01 5.67787810e-03 -5.27188781e+00] [ 1.55554672e-01 -4.05956506e-02 9.86992775e-01 -1.46429240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42241403699998 meters Centerline goodness : 0.779823 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.02 [[ 9.63253803e-01 -2.14862526e-01 -1.61171354e-01 -1.02112181e+01] [ 2.18651089e-01 9.75785045e-01 5.93687476e-03 -5.27187293e+00] [ 1.55992985e-01 -4.09590092e-02 9.86908582e-01 -1.51997950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45241403699998 meters Centerline goodness : 0.781322 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.01 [[ 9.63206518e-01 -2.14622941e-01 -1.61772051e-01 -1.02101487e+01] [ 2.18553912e-01 9.75801908e-01 6.69508221e-03 -5.27246864e+00] [ 1.56420557e-01 -4.18046614e-02 9.86805442e-01 -1.49483249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48241403699998 meters Centerline goodness : 0.780018 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.01 [[ 9.63138103e-01 -2.14529621e-01 -1.62302298e-01 -1.02091303e+01] [ 2.18537824e-01 9.75803046e-01 7.04516752e-03 -5.27216238e+00] [ 1.56863680e-01 -4.22546604e-02 9.86715932e-01 -1.48632503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51241403699999 meters Centerline goodness : 0.782378 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.01 [[ 9.63062778e-01 -2.14511262e-01 -1.62772862e-01 -1.02081672e+01] [ 2.18564946e-01 9.75795814e-01 7.20373082e-03 -5.27172035e+00] [ 1.57287796e-01 -4.25140867e-02 9.86637270e-01 -1.48544925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542414037 meters Centerline goodness : 0.780671 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.01 [[ 0.9633318 -0.21195588 -0.16451916 -10.20611368] [ 0.21663013 0.97619402 0.01079895 -5.27205199] [ 0.15831372 -0.04604278 0.98631477 -0.01458381] [ 0. 0. 0. 1. ]] SLAMing on 204.572414037 meters Centerline goodness : 0.780654 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.27, Z:-0.01 [[ 0.96330863 -0.21175342 -0.16491506 -10.20514846] [ 0.21646107 0.97623032 0.01090684 -5.27168185] [ 0.15868553 -0.04620435 0.98624746 -0.01480413] [ 0. 0. 0. 1. ]] SLAMing on 204.602414037 meters Centerline goodness : 0.779737 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:-0.02 [[ 0.96317121 -0.21194165 -0.16547497 -10.20361197] [ 0.21667614 0.97618277 0.01089253 -5.27100417] [ 0.15922523 -0.04634585 0.98615384 -0.01520059] [ 0. 0. 0. 1. ]] SLAMing on 204.632414037 meters Centerline goodness : 0.779508 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:-0.02 [[ 0.96303756 -0.21231311 -0.16577637 -10.20260855] [ 0.21701864 0.97610998 0.01059352 -5.27064851] [ 0.15956682 -0.04617852 0.98610647 -0.01545702] [ 0. 0. 0. 1. ]] SLAMing on 204.662414037 meters Centerline goodness : 0.778962 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:-0.02 [[ 0.96278579 -0.21277203 -0.16664806 -10.19965612] [ 0.21754785 0.97599065 0.01073202 -5.27057469] [ 0.16036348 -0.04658656 0.98595804 -0.01653777] [ 0. 0. 0. 1. ]] SLAMing on 204.692414037 meters Centerline goodness : 0.779305 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:-0.02 [[ 0.96266709 -0.21297912 -0.16706874 -10.19832639] [ 0.21780999 0.97593001 0.01092846 -5.27115958] [ 0.16071986 -0.04690971 0.98588468 -0.01680847] [ 0. 0. 0. 1. ]] SLAMing on 204.722414037 meters Centerline goodness : 0.779061 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:-0.02 [[ 0.96235273 -0.2136636 -0.16800322 -10.19631874] [ 0.21862641 0.97574205 0.01139962 -5.27170558] [ 0.16149213 -0.0477004 0.98572053 -0.01656376] [ 0. 0. 0. 1. ]] SLAMing on 204.752414037 meters Centerline goodness : 0.779927 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:-0.02 [[ 0.962179 -0.21406286 -0.16848936 -10.19593283] [ 0.21910879 0.97562997 0.01172619 -5.27180509] [ 0.16187313 -0.04820019 0.98563372 -0.01577987] [ 0. 0. 0. 1. ]] SLAMing on 204.782414037 meters Centerline goodness : 0.778470 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:-0.02 [[ 0.9620042 -0.21419669 -0.16931538 -10.19467565] [ 0.21937759 0.9755627 0.01228398 -5.27184423] [ 0.16254658 -0.04896124 0.98548537 -0.01522967] [ 0. 0. 0. 1. ]] SLAMing on 204.812414037 meters Centerline goodness : 0.777894 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:-0.01 [[ 0.96170385 -0.21489071 -0.17014021 -10.19365841] [ 0.22025417 0.97535488 0.01307496 -5.2733046 ] [ 0.1631374 -0.05004833 0.98533312 -0.0140704 ] [ 0. 0. 0. 1. ]] SLAMing on 204.842414037 meters Centerline goodness : 0.778451 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:-0.01 [[ 0.96152029 -0.21507718 -0.17094018 -10.19175931] [ 0.22063636 0.97525583 0.01398772 -5.27480913] [ 0.16370197 -0.05116509 0.98518212 -0.01398876] [ 0. 0. 0. 1. ]] SLAMing on 204.872414037 meters Centerline goodness : 0.777897 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:-0.01 [[ 0.96131916 -0.21554821 -0.17147723 -10.19023083] [ 0.22122602 0.97511493 0.01448901 -5.27651841] [ 0.16408693 -0.05186379 0.98508153 -0.01387527] [ 0. 0. 0. 1. ]] SLAMing on 204.902414037 meters Centerline goodness : 0.779349 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:-0.01 [[ 0.96106196 -0.21645973 -0.17177047 -10.18941858] [ 0.2221459 0.97490759 0.01436649 -5.27745305] [ 0.16435057 -0.0519652 0.98503224 -0.01352886] [ 0. 0. 0. 1. ]] SLAMing on 204.93241403699997 meters Centerline goodness : 0.777820 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:-0.01 [[ 0.9606712 -0.21700202 -0.1732656 -10.18676723] [ 0.22298926 0.97469556 0.01563184 -5.27864029] [ 0.16548907 -0.05365342 0.98475107 -0.01286351] [ 0. 0. 0. 1. ]] SLAMing on 204.96241403699997 meters Centerline goodness : 0.777820 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:-0.01 [[ 0.9606712 -0.21700202 -0.1732656 -10.18676723] [ 0.22298926 0.97469556 0.01563184 -5.27864029] [ 0.16548907 -0.05365342 0.98475107 -0.01286351] [ 0. 0. 0. 1. ]] SLAMing on 204.99241403699997 meters Centerline goodness : 0.777891 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:-0.01 [[ 0.96048419 -0.2171164 -0.17415678 -10.18528409] [ 0.22321838 0.974637 0.01600883 -5.27797516] [ 0.16626386 -0.05425122 0.9845878 -0.0125645 ] [ 0. 0. 0. 1. ]] SLAMing on 205.02241403699998 meters Centerline goodness : 0.779219 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.28, Z:-0.01 [[ 0.96079829 -0.21429715 -0.17590728 -10.18352107] [ 0.22114448 0.9750348 0.02005638 -5.27915771] [ 0.16721769 -0.05817106 0.9842024 -0.01188846] [ 0. 0. 0. 1. ]] SLAMing on 205.05241403699998 meters Centerline goodness : 0.780489 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.28, Z:-0.01 [[ 0.96130487 -0.21100183 -0.17711912 -10.18286661] [ 0.21848776 0.97555292 0.02365582 -5.27945098] [ 0.16779765 -0.06143881 0.98390509 -0.01152787] [ 0. 0. 0. 1. ]] SLAMing on 205.08241403699998 meters Centerline goodness : 0.781061 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.28, Z:-0.01 [[ 0.96139739 -0.21087496 -0.17676768 -10.1835879 ] [ 0.21823482 0.97562387 0.02305707 -5.27844818] [ 0.16759661 -0.06074387 0.9839825 -0.01164121] [ 0. 0. 0. 1. ]] SLAMing on 205.11241403699998 meters Centerline goodness : 0.779579 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.28, Z:-0.01 [[ 0.96213034 -0.20647207 -0.17797331 -10.18265124] [ 0.21455491 0.97633256 0.02721972 -5.27897372] [ 0.16814102 -0.06437396 0.98365878 -0.01187533] [ 0. 0. 0. 1. ]] SLAMing on 205.14241403699998 meters Centerline goodness : 0.779912 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.28, Z:-0.01 [[ 0.96269091 -0.20307523 -0.17884816 -10.1818839 ] [ 0.21174726 0.97684506 0.03060766 -5.2794046 ] [ 0.16849128 -0.06733632 0.98340048 -0.01212816] [ 0. 0. 0. 1. ]] SLAMing on 205.17241403699998 meters Centerline goodness : 0.777011 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.28, Z:-0.01 [[ 0.96278328 -0.20247722 -0.17902885 -10.18122874] [ 0.21109494 0.97699677 0.03026939 -5.27756087] [ 0.16878175 -0.06693495 0.98337807 -0.01280633] [ 0. 0. 0. 1. ]] SLAMing on 205.20241403699998 meters Centerline goodness : 0.776012 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.28, Z:-0.01 [[ 0.9629252 -0.20203196 -0.17876842 -10.18115765] [ 0.21049762 0.9771484 0.02952567 -5.27566776] [ 0.16871815 -0.06606134 0.98344806 -0.01387412] [ 0. 0. 0. 1. ]] SLAMing on 205.23241403699998 meters Centerline goodness : 0.777022 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.27, Z:-0.02 [[ 0.96332761 -0.20059251 -0.17822054 -10.18113742] [ 0.20882653 0.97753692 0.02851397 -5.27265654] [ 0.16849747 -0.06468547 0.98357734 -0.01591691] [ 0. 0. 0. 1. ]] SLAMing on 205.26241403699999 meters Centerline goodness : 0.777006 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.27, Z:-0.02 [[ 0.96347308 -0.20011687 -0.1779687 -10.18131723] [ 0.2082427 0.97767572 0.02802084 -5.27112108] [ 0.16838824 -0.06405801 0.98363711 -0.01660777] [ 0. 0. 0. 1. ]] SLAMing on 205.292414037 meters Centerline goodness : 0.776515 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.27, Z:-0.02 [[ 0.9636482 -0.19942421 -0.17779799 -10.18169859] [ 0.20749674 0.97783962 0.02783478 -5.26957543] [ 0.16830699 -0.06371544 0.98367327 -0.01703294] [ 0. 0. 0. 1. ]] SLAMing on 205.322414037 meters Centerline goodness : 0.779534 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.27, Z:-0.02 [[ 0.96415892 -0.19625497 -0.17855411 -10.18324447] [ 0.20485454 0.97830495 0.03088771 -5.26805728] [ 0.1686185 -0.06635828 0.98344516 -0.01546952] [ 0. 0. 0. 1. ]] SLAMing on 205.352414037 meters Centerline goodness : 0.779367 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.27, Z:-0.02 [[ 0.96420296 -0.19616191 -0.1784185 -10.18408782] [ 0.20467495 0.97835642 0.03044486 -5.26624208] [ 0.16858476 -0.06587283 0.98348358 -0.01522347] [ 0. 0. 0. 1. ]] SLAMing on 205.382414037 meters Centerline goodness : 0.779008 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.26, Z:-0.01 [[ 0.96413967 -0.19652465 -0.17836134 -10.18482031] [ 0.20493607 0.97832028 0.02984359 -5.2646359 ] [ 0.16862951 -0.06532606 0.98351238 -0.01474812] [ 0. 0. 0. 1. ]] SLAMing on 205.412414037 meters Centerline goodness : 0.779986 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.26, Z:-0.01 [[ 0.96405347 -0.19687513 -0.17844073 -10.18472403] [ 0.20522489 0.97827248 0.0294229 -5.26341378] [ 0.16877102 -0.06498573 0.98351065 -0.01479601] [ 0. 0. 0. 1. ]] SLAMing on 205.442414037 meters Centerline goodness : 0.778089 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.26, Z:-0.02 [[ 0.96393895 -0.19699149 -0.17893029 -10.18357012] [ 0.20538609 0.97823685 0.02948252 -5.26268539] [ 0.1692284 -0.06516914 0.98341992 -0.01506232] [ 0. 0. 0. 1. ]] SLAMing on 205.472414037 meters Centerline goodness : 0.779381 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.26, Z:-0.02 [[ 0.96329894 -0.2007576 -0.17818958 -10.1834712 ] [ 0.20835191 0.97773983 0.02478523 -5.25881769] [ 0.16924723 -0.06100173 0.98368398 -0.01568674] [ 0. 0. 0. 1. ]] SLAMing on 205.502414037 meters Centerline goodness : 0.779291 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.26, Z:-0.02 [[ 0.96320659 -0.20132337 -0.17805047 -10.1839392 ] [ 0.20882194 0.97765347 0.02423007 -5.25793975] [ 0.16919358 -0.06051941 0.983723 -0.01553057] [ 0. 0. 0. 1. ]] SLAMing on 205.532414037 meters Centerline goodness : 0.779343 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.26, Z:-0.02 [[ 0.96309533 -0.20200722 -0.1778777 -10.18448413] [ 0.20940046 0.97754464 0.02362032 -5.25711505] [ 0.16911192 -0.05999629 0.98376908 -0.01537535] [ 0. 0. 0. 1. ]] SLAMing on 205.562414037 meters Centerline goodness : 0.777145 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:-0.02 [[ 0.96230965 -0.20611204 -0.17742027 -10.18310128] [ 0.21284028 0.97689133 0.01955349 -5.25477649] [ 0.16929012 -0.05657869 0.98394091 -0.01599992] [ 0. 0. 0. 1. ]] SLAMing on 205.592414037 meters Centerline goodness : 0.777367 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:-0.02 [[ 0.96220849 -0.20670316 -0.17728121 -10.1835725 ] [ 0.21334442 0.97679145 0.01904281 -5.25421386] [ 0.16923056 -0.05614511 0.98397599 -0.01582124] [ 0. 0. 0. 1. ]] SLAMing on 205.622414037 meters Centerline goodness : 0.778751 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:-0.02 [[ 0.96206905 -0.20763309 -0.17695095 -10.18494809] [ 0.21410463 0.97664332 0.01808392 -5.25226934] [ 0.16906314 -0.055284 0.98405352 -0.01527394] [ 0. 0. 0. 1. ]] SLAMing on 205.652414037 meters Centerline goodness : 0.779830 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96199152 -0.20825645 -0.17663967 -10.18608168] [ 0.21461546 0.97654226 0.01747642 -5.25126216] [ 0.16885652 -0.05472177 0.98412042 -0.01486498] [ 0. 0. 0. 1. ]] SLAMing on 205.68241403699997 meters Centerline goodness : 0.779980 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96188074 -0.20903228 -0.17632626 -10.1875358 ] [ 0.21525683 0.97641422 0.01672643 -5.2503469 ] [ 0.16867111 -0.05404426 0.98418965 -0.01407307] [ 0. 0. 0. 1. ]] SLAMing on 205.71241403699997 meters Centerline goodness : 0.779024 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.9618007 -0.20958821 -0.17610279 -10.18855336] [ 0.21571073 0.97632368 0.01615417 -5.24967941] [ 0.1685476 -0.05352436 0.98423922 -0.01350899] [ 0. 0. 0. 1. ]] SLAMing on 205.74241403699997 meters Centerline goodness : 0.780969 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96163452 -0.21071476 -0.17566544 -10.19039655] [ 0.21667391 0.97612507 0.01524002 -5.24870602] [ 0.16826014 -0.05271745 0.98433195 -0.01268552] [ 0. 0. 0. 1. ]] SLAMing on 205.77241403699998 meters Centerline goodness : 0.780186 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96157449 -0.2111624 -0.17545639 -10.19069621] [ 0.21706686 0.9760423 0.01494688 -5.24843317] [ 0.16809663 -0.05245831 0.98437373 -0.01287369] [ 0. 0. 0. 1. ]] SLAMing on 205.80241403699998 meters Centerline goodness : 0.780933 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96149576 -0.21152141 -0.17545539 -10.19078357] [ 0.21738905 0.97597434 0.01469994 -5.24850783] [ 0.16813061 -0.05227601 0.98437763 -0.01273019] [ 0. 0. 0. 1. ]] SLAMing on 205.83241403699998 meters Centerline goodness : 0.779180 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96137824 -0.21222461 -0.17525008 -10.19117794] [ 0.21802996 0.97583675 0.01433773 -5.24868761] [ 0.16797265 -0.05199376 0.98441954 -0.01273861] [ 0. 0. 0. 1. ]] SLAMing on 205.86241403699998 meters Centerline goodness : 0.780408 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96132072 -0.21253917 -0.1751844 -10.19141481] [ 0.21829891 0.97578062 0.01406328 -5.24849286] [ 0.16795254 -0.05176189 0.98443519 -0.01256331] [ 0. 0. 0. 1. ]] SLAMing on 205.89241403699998 meters Centerline goodness : 0.779352 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96125431 -0.2129676 -0.17502844 -10.19199848] [ 0.21866268 0.9757044 0.01369501 -5.24805257] [ 0.16785943 -0.05143657 0.98446813 -0.01231082] [ 0. 0. 0. 1. ]] SLAMing on 205.92241403699998 meters Centerline goodness : 0.778509 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96119746 -0.21337002 -0.17485043 -10.19275565] [ 0.21898606 0.975638 0.01325103 -5.24745222] [ 0.16776335 -0.05102666 0.98450583 -0.0118425 ] [ 0. 0. 0. 1. ]] SLAMing on 205.95241403699998 meters Centerline goodness : 0.779100 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.9611597 -0.21356118 -0.17482463 -10.1928585 ] [ 0.21914153 0.97560604 0.01303267 -5.24744412] [ 0.16777669 -0.05083781 0.98451333 -0.01162748] [ 0. 0. 0. 1. ]] SLAMing on 205.98241403699998 meters Centerline goodness : 0.780566 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96113681 -0.21380981 -0.17464647 -10.19316841] [ 0.21937333 0.97555482 0.01296673 -5.24781509] [ 0.1676048 -0.05077558 0.98454582 -0.0116773 ] [ 0. 0. 0. 1. ]] SLAMing on 206.01241403699999 meters Centerline goodness : 0.780902 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96107893 -0.21424674 -0.1744294 -10.19374912] [ 0.21980094 0.97545892 0.01294021 -5.24961007] [ 0.16737632 -0.05077631 0.98458465 -0.01130732] [ 0. 0. 0. 1. ]] SLAMing on 206.042414037 meters Centerline goodness : 0.780902 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96107893 -0.21424674 -0.1744294 -10.19374912] [ 0.21980094 0.97545892 0.01294021 -5.24961007] [ 0.16737632 -0.05077631 0.98458465 -0.01130732] [ 0. 0. 0. 1. ]] SLAMing on 206.072414037 meters Centerline goodness : 0.778671 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96106876 -0.21428346 -0.17444034 -10.19378231] [ 0.21986153 0.97544348 0.01307404 -5.25078621] [ 0.16735514 -0.05091777 0.98458095 -0.011024 ] [ 0. 0. 0. 1. ]] SLAMing on 206.102414037 meters Centerline goodness : 0.781431 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96106639 -0.21423931 -0.17450766 -10.19364844] [ 0.21983015 0.97544977 0.0131323 -5.25108653] [ 0.16741 -0.05098305 0.98456824 -0.01091543] [ 0. 0. 0. 1. ]] SLAMing on 206.132414037 meters Centerline goodness : 0.833931 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.9610467 -0.21423182 -0.17462525 -10.19353938] [ 0.21982084 0.97545249 0.01308593 -5.25108781] [ 0.16753521 -0.05096246 0.98454801 -0.01069356] [ 0. 0. 0. 1. ]] SLAMing on 206.162414037 meters Centerline goodness : 0.832204 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96109197 -0.21393149 -0.17474424 -10.19305927] [ 0.21958034 0.97550202 0.01342708 -5.25167382] [ 0.16759089 -0.05127506 0.9845223 -0.01086679] [ 0. 0. 0. 1. ]] SLAMing on 206.192414037 meters Centerline goodness : 0.780437 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96108911 -0.21394892 -0.17473858 -10.19299898] [ 0.2196068 0.97549533 0.01348028 -5.25225881] [ 0.16757258 -0.05132953 0.98452258 -0.0108024 ] [ 0. 0. 0. 1. ]] SLAMing on 206.222414037 meters Centerline goodness : 0.779839 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96108444 -0.21396383 -0.17474601 -10.19290318] [ 0.21963685 0.97548738 0.01356563 -5.25291154] [ 0.16755998 -0.05141838 0.98452009 -0.01079049] [ 0. 0. 0. 1. ]] SLAMing on 206.252414037 meters Centerline goodness : 0.833307 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96109756 -0.21382188 -0.1748476 -10.19273638] [ 0.21949595 0.97551927 0.01355268 -5.25344422] [ 0.16766935 -0.05140379 0.98450223 -0.01045982] [ 0. 0. 0. 1. ]] SLAMing on 206.282414037 meters Centerline goodness : 0.830121 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96110179 -0.21378837 -0.17486533 -10.19266525] [ 0.2194361 0.97553491 0.0133955 -5.25299978] [ 0.16772343 -0.05124621 0.98450123 -0.01037715] [ 0. 0. 0. 1. ]] SLAMing on 206.312414037 meters Centerline goodness : 0.833745 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 0.96110246 -0.21360562 -0.17508485 -10.19222965] [ 0.21924398 0.97557956 0.01328872 -5.25235102] [ 0.16797066 -0.05115812 0.98446366 -0.0102609 ] [ 0. 0. 0. 1. ]] SLAMing on 206.342414037 meters Centerline goodness : 0.833569 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.61113683e-01 -2.13546460e-01 -1.75095394e-01 -1.01925504e+01] [ 2.19107202e-01 9.75616355e-01 1.28359255e-02 -5.25066026e+00] [ 1.68084864e-01 -5.07014456e-02 9.84467796e-01 -9.83445894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.372414037 meters Centerline goodness : 0.832850 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.61066826e-01 -2.13769333e-01 -1.75080631e-01 -1.01930726e+01] [ 2.19261916e-01 9.75586960e-01 1.24215920e-02 -5.24988541e+00] [ 1.68151025e-01 -5.03264947e-02 9.84475737e-01 -9.28723573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402414037 meters Centerline goodness : 0.780356 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60998012e-01 -2.14191605e-01 -1.74942210e-01 -1.01940746e+01] [ 2.19567534e-01 9.75526627e-01 1.17430218e-02 -5.24943536e+00] [ 1.68145527e-01 -4.96966502e-02 9.84508672e-01 -8.24893078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43241403699997 meters Centerline goodness : 0.833614 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60953676e-01 -2.14488403e-01 -1.74822076e-01 -1.01944661e+01] [ 2.19809962e-01 9.75475698e-01 1.14342889e-02 -5.24945120e+00] [ 1.68082164e-01 -4.94154557e-02 9.84533645e-01 -7.94446628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46241403699997 meters Centerline goodness : 0.834847 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60938136e-01 -2.14628300e-01 -1.74735778e-01 -1.01945635e+01] [ 2.19921155e-01 9.75452438e-01 1.12794649e-02 -5.24959386e+00] [ 1.68025548e-01 -4.92669620e-02 9.84550751e-01 -7.88383913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49241403699997 meters Centerline goodness : 0.834329 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60942989e-01 -2.14538762e-01 -1.74819025e-01 -1.01939020e+01] [ 2.19829010e-01 9.75473579e-01 1.12473535e-02 -5.24936311e+00] [ 1.68118347e-01 -4.92383586e-02 9.84536340e-01 -8.29265859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52241403699998 meters Centerline goodness : 0.832939 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60942737e-01 -2.14376207e-01 -1.75019706e-01 -1.01933622e+01] [ 2.19682242e-01 9.75506098e-01 1.12944883e-02 -5.24912798e+00] [ 1.68311521e-01 -4.93020781e-02 9.84500146e-01 -8.38798688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55241403699998 meters Centerline goodness : 0.833691 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.61008129e-01 -2.13971844e-01 -1.75155436e-01 -1.01931053e+01] [ 2.19273698e-01 9.75598346e-01 1.12655894e-02 -5.24805432e+00] [ 1.68470834e-01 -4.92333031e-02 9.84476338e-01 -8.30436456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58241403699998 meters Centerline goodness : 0.832644 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.61006538e-01 -2.13893421e-01 -1.75259916e-01 -1.01931879e+01] [ 2.19169373e-01 9.75623796e-01 1.10903228e-02 -5.24731378e+00] [ 1.68615597e-01 -4.90694786e-02 9.84459733e-01 -7.94056989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61241403699998 meters Centerline goodness : 0.835792 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.61006881e-01 -2.13728846e-01 -1.75458700e-01 -1.01929122e+01] [ 2.18989575e-01 9.75665670e-01 1.09575124e-02 -5.24675887e+00] [ 1.68847094e-01 -4.89538711e-02 9.84425811e-01 -7.66008564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64241403699998 meters Centerline goodness : 0.834815 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.61003637e-01 -2.13671258e-01 -1.75546584e-01 -1.01927871e+01] [ 2.18916554e-01 9.75683293e-01 1.08468534e-02 -5.24633493e+00] [ 1.68960209e-01 -4.88539190e-02 9.84411369e-01 -7.54936059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67241403699998 meters Centerline goodness : 0.833817 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60991633e-01 -2.13822758e-01 -1.75427792e-01 -1.01928845e+01] [ 2.19039766e-01 9.75657224e-01 1.07033448e-02 -5.24650620e+00] [ 1.68868774e-01 -4.87114874e-02 9.84434116e-01 -7.57138552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70241403699998 meters Centerline goodness : 0.833314 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60964253e-01 -2.14013732e-01 -1.75344877e-01 -1.01930417e+01] [ 2.19209898e-01 9.75620260e-01 1.05890919e-02 -5.24692670e+00] [ 1.68803803e-01 -4.86130715e-02 9.84450123e-01 -7.43565039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73241403699998 meters Centerline goodness : 0.838946 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60910942e-01 -2.14388458e-01 -1.75179195e-01 -1.01935567e+01] [ 2.19533769e-01 9.75550451e-01 1.03074093e-02 -5.24722169e+00] [ 1.68686353e-01 -4.83622512e-02 9.84482609e-01 -7.14233229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76241403699999 meters Centerline goodness : 0.837542 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.01 [[ 9.60861028e-01 -2.14787060e-01 -1.74964577e-01 -1.01941700e+01] [ 2.19885393e-01 9.75473839e-01 1.00600202e-02 -5.24769914e+00] [ 1.68512605e-01 -4.81384362e-02 9.84523333e-01 -6.82259788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.792414037 meters Centerline goodness : 0.834952 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.01 [[ 9.60754994e-01 -2.15492521e-01 -1.74679178e-01 -1.01953986e+01] [ 2.20514123e-01 9.75336229e-01 9.63126785e-03 -5.24817691e+00] [ 1.68295465e-01 -4.77725145e-02 9.84578297e-01 -6.08597989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822414037 meters Centerline goodness : 0.834611 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.01 [[ 9.60702110e-01 -2.15809411e-01 -1.74578789e-01 -1.01959707e+01] [ 2.20781761e-01 9.75278477e-01 9.34380229e-03 -5.24811055e+00] [ 1.68246455e-01 -4.75204230e-02 9.84598873e-01 -5.60564306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.852414037 meters Centerline goodness : 0.834611 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.01 [[ 9.60702110e-01 -2.15809411e-01 -1.74578789e-01 -1.01959707e+01] [ 2.20781761e-01 9.75278477e-01 9.34380229e-03 -5.24811055e+00] [ 1.68246455e-01 -4.75204230e-02 9.84598873e-01 -5.60564306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882414037 meters Centerline goodness : 0.836688 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60643783e-01 -2.16154527e-01 -1.74472758e-01 -1.01967911e+01] [ 2.21061003e-01 9.75218841e-01 8.95790705e-03 -5.24767487e+00] [ 1.68212829e-01 -4.71744806e-02 9.84621253e-01 -4.91668039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.912414037 meters Centerline goodness : 0.832859 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60580645e-01 -2.16481714e-01 -1.74414712e-01 -1.01974163e+01] [ 2.21314378e-01 9.75165355e-01 8.51327727e-03 -5.24709515e+00] [ 1.68240216e-01 -4.67781728e-02 9.84635482e-01 -4.28207004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942414037 meters Centerline goodness : 0.838397 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60536926e-01 -2.16829519e-01 -1.74223341e-01 -1.01979706e+01] [ 2.21605095e-01 9.75101999e-01 8.20199753e-03 -5.24675072e+00] [ 1.68107093e-01 -4.64871016e-02 9.84672004e-01 -4.09646660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.972414037 meters Centerline goodness : 0.838558 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60515092e-01 -2.16882724e-01 -1.74277486e-01 -1.01975104e+01] [ 2.21659376e-01 9.75089776e-01 8.18837229e-03 -5.24721996e+00] [ 1.68160279e-01 -4.64952941e-02 9.84662535e-01 -4.27035836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002414037 meters Centerline goodness : 0.839491 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60488043e-01 -2.17073256e-01 -1.74189324e-01 -1.01972247e+01] [ 2.21851997e-01 9.75045800e-01 8.20844766e-03 -5.24785125e+00] [ 1.68060734e-01 -4.65283652e-02 9.84677968e-01 -4.66692027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.032414037 meters Centerline goodness : 0.839685 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60445904e-01 -2.17309050e-01 -1.74127658e-01 -1.01969723e+01] [ 2.22095884e-01 9.74989907e-01 8.25229155e-03 -5.24888963e+00] [ 1.67979411e-01 -4.65989158e-02 9.84688508e-01 -4.92828762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062414037 meters Centerline goodness : 0.839425 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60413315e-01 -2.17486357e-01 -1.74086041e-01 -1.01970671e+01] [ 2.22249742e-01 9.74956034e-01 8.11078661e-03 -5.24892360e+00] [ 1.67962250e-01 -4.64802850e-02 9.84697043e-01 -4.83891263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092414037 meters Centerline goodness : 0.840139 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60374675e-01 -2.17627307e-01 -1.74123059e-01 -1.01973412e+01] [ 2.22349184e-01 9.74935537e-01 7.84462383e-03 -5.24860737e+00] [ 1.68051554e-01 -4.62498983e-02 9.84692654e-01 -4.35674104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122414037 meters Centerline goodness : 0.786225 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60334506e-01 -2.17796462e-01 -1.74133104e-01 -1.01977579e+01] [ 2.22455112e-01 9.74914419e-01 7.45641298e-03 -5.24775185e+00] [ 1.68140893e-01 -4.58974498e-02 9.84693894e-01 -3.83271754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152414037 meters Centerline goodness : 0.786750 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60365628e-01 -2.17489836e-01 -1.74344578e-01 -1.01978411e+01] [ 2.22115849e-01 9.74993443e-01 7.23431048e-03 -5.24656037e+00] [ 1.68411431e-01 -4.56722770e-02 9.84658130e-01 -3.17783149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18241403699997 meters Centerline goodness : 0.785082 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60356889e-01 -2.17580044e-01 -1.74280149e-01 -1.01982440e+01] [ 2.22159489e-01 9.74985414e-01 6.97168601e-03 -5.24596670e+00] [ 1.68403703e-01 -4.54132954e-02 9.84671430e-01 -2.82725487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21241403699997 meters Centerline goodness : 0.785096 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60321076e-01 -2.17829544e-01 -1.74165786e-01 -1.01992141e+01] [ 2.22335919e-01 9.74948097e-01 6.55334983e-03 -5.24584494e+00] [ 1.68375089e-01 -4.50166302e-02 9.84694538e-01 -1.87833383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24241403699997 meters Centerline goodness : 0.787922 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60291946e-01 -2.18012950e-01 -1.74096906e-01 -1.01995116e+01] [ 2.22489189e-01 9.74914285e-01 6.37941606e-03 -5.24603456e+00] [ 1.68338766e-01 -4.48607814e-02 9.84707860e-01 -1.58677431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27241403699998 meters Centerline goodness : 0.786972 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60270518e-01 -2.18131316e-01 -1.74066832e-01 -1.01993942e+01] [ 2.22592143e-01 9.74891385e-01 6.28684957e-03 -5.24624179e+00] [ 1.68324896e-01 -4.47829854e-02 9.84713772e-01 -1.67085669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30241403699998 meters Centerline goodness : 0.787806 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60255666e-01 -2.18120478e-01 -1.74162317e-01 -1.01988784e+01] [ 2.22593241e-01 9.74890844e-01 6.33182123e-03 -5.24662129e+00] [ 1.68408148e-01 -4.48475218e-02 9.84696601e-01 -1.87168485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33241403699998 meters Centerline goodness : 0.786026 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60264102e-01 -2.17966363e-01 -1.74308687e-01 -1.01978803e+01] [ 2.22484467e-01 9.74914091e-01 6.57091818e-03 -5.24690655e+00] [ 1.68503756e-01 -4.50907921e-02 9.84669135e-01 -2.58478542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36241403699998 meters Centerline goodness : 0.784847 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:-0.00 [[ 9.60189453e-01 -2.17814394e-01 -1.74908843e-01 -1.01965676e+01] [ 2.22399572e-01 9.74931804e-01 6.81236705e-03 -5.24627314e+00] [ 1.69040362e-01 -4.54408148e-02 9.84561064e-01 -2.73166738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39241403699998 meters Centerline goodness : 0.786241 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.00 [[ 9.60453856e-01 -2.15037641e-01 -1.76881890e-01 -1.01941218e+01] [ 2.20373469e-01 9.75355141e-01 1.08574101e-02 -5.24725945e+00] [ 1.70187909e-01 -4.94081172e-02 9.84172197e-01 -2.35222473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42241403699998 meters Centerline goodness : 0.784651 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:-0.00 [[ 9.60432036e-01 -2.14994847e-01 -1.77052311e-01 -1.01939273e+01] [ 2.20292182e-01 9.75376457e-01 1.05887157e-02 -5.24609801e+00] [ 1.70416137e-01 -4.91729817e-02 9.84144480e-01 -2.16918540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45241403699998 meters Centerline goodness : 0.784054 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:-0.00 [[ 9.60418433e-01 -2.14947736e-01 -1.77183253e-01 -1.01940428e+01] [ 2.20168750e-01 9.75409361e-01 1.01143415e-02 -5.24423272e+00] [ 1.70652148e-01 -4.87242153e-02 9.84125904e-01 -1.74095642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48241403699998 meters Centerline goodness : 0.783402 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:-0.00 [[ 9.60437886e-01 -2.14613702e-01 -1.77482465e-01 -1.01932544e+01] [ 2.19887163e-01 9.75470303e-01 1.03597231e-02 -5.24371122e+00] [ 1.70905536e-01 -4.89759863e-02 9.84069434e-01 -2.13341331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51241403699999 meters Centerline goodness : 0.838576 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:-0.00 [[ 9.60395124e-01 -2.14992766e-01 -1.77254950e-01 -1.01940516e+01] [ 2.20169283e-01 9.75412117e-01 9.83305127e-03 -5.24307040e+00] [ 1.70782591e-01 -4.84697097e-02 9.84115844e-01 -1.72700994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542414037 meters Centerline goodness : 0.836191 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:-0.00 [[ 9.60354958e-01 -2.15408046e-01 -1.76968154e-01 -1.01949566e+01] [ 2.20512773e-01 9.75338171e-01 9.46410125e-03 -5.24277367e+00] [ 1.70565152e-01 -4.81126348e-02 9.84171074e-01 -1.40787308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.572414037 meters Centerline goodness : 0.837678 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:-0.00 [[ 9.60290744e-01 -2.15842584e-01 -1.76787065e-01 -1.01957896e+01] [ 2.20840696e-01 9.75269637e-01 8.86127184e-03 -5.24179432e+00] [ 1.70502417e-01 -4.75511758e-02 9.84209232e-01 -8.72776400e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602414037 meters Centerline goodness : 0.838126 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:-0.00 [[ 9.60222292e-01 -2.16078931e-01 -1.76870138e-01 -1.01962819e+01] [ 2.20966122e-01 9.75247206e-01 8.17674519e-03 -5.24001918e+00] [ 1.70725286e-01 -4.69338016e-02 9.84200231e-01 -8.33159199e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.632414037 meters Centerline goodness : 0.838126 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:-0.00 [[ 9.60222292e-01 -2.16078931e-01 -1.76870138e-01 -1.01962819e+01] [ 2.20966122e-01 9.75247206e-01 8.17674519e-03 -5.24001918e+00] [ 1.70725286e-01 -4.69338016e-02 9.84200231e-01 -8.33159199e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662414037 meters Centerline goodness : 0.837973 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.60156536e-01 -2.16244114e-01 -1.77025164e-01 -1.01964129e+01] [ 2.21039853e-01 9.75235225e-01 7.59204035e-03 -5.23826123e+00] [ 1.70999442e-01 -4.64191635e-02 9.84177043e-01 4.42296981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692414037 meters Centerline goodness : 0.836868 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.60107030e-01 -2.16304232e-01 -1.77220118e-01 -1.01961444e+01] [ 2.21064247e-01 9.75231719e-01 7.32754880e-03 -5.23756280e+00] [ 1.71245700e-01 -4.62122630e-02 9.84143961e-01 6.77532789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722414037 meters Centerline goodness : 0.837165 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.60076599e-01 -2.16388040e-01 -1.77282659e-01 -1.01960864e+01] [ 2.21113659e-01 9.75222162e-01 7.10525008e-03 -5.23688563e+00] [ 1.71352487e-01 -4.60212018e-02 9.84134327e-01 7.75551071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752414037 meters Centerline goodness : 0.834888 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.60030465e-01 -2.16620625e-01 -1.77248445e-01 -1.01960604e+01] [ 2.21313470e-01 9.75178274e-01 6.90525734e-03 -5.23620825e+00] [ 1.71353011e-01 -4.58567257e-02 9.84141914e-01 5.76516195e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782414037 meters Centerline goodness : 0.835462 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59976651e-01 -2.16944758e-01 -1.77143449e-01 -1.01962258e+01] [ 2.21593041e-01 9.75116569e-01 6.64838584e-03 -5.23617840e+00] [ 1.71293180e-01 -4.56360509e-02 9.84162587e-01 6.35043998e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812414037 meters Centerline goodness : 0.836804 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59935708e-01 -2.17274372e-01 -1.76961248e-01 -1.01964450e+01] [ 2.21894856e-01 9.75048880e-01 6.50799216e-03 -5.23666134e+00] [ 1.71131847e-01 -4.55140446e-02 9.84196303e-01 5.68652569e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842414037 meters Centerline goodness : 0.837863 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59878944e-01 -2.17644375e-01 -1.76814421e-01 -1.01967405e+01] [ 2.22232742e-01 9.74973101e-01 6.32933706e-03 -5.23695994e+00] [ 1.71011759e-01 -4.53693508e-02 9.84223857e-01 6.23894936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872414037 meters Centerline goodness : 0.838216 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59719989e-01 -2.18743181e-01 -1.76320629e-01 -1.01983548e+01] [ 2.23222042e-01 9.74750774e-01 5.73143708e-03 -5.23708847e+00] [ 1.70614956e-01 -4.48592255e-02 9.84316101e-01 1.14251825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902414037 meters Centerline goodness : 0.837186 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59627389e-01 -2.19305344e-01 -1.76126207e-01 -1.01993579e+01] [ 2.23689685e-01 9.74646614e-01 5.18683503e-03 -5.23656112e+00] [ 1.70523311e-01 -4.43750448e-02 9.84353928e-01 1.81795207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93241403699997 meters Centerline goodness : 0.839237 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59542221e-01 -2.19876998e-01 -1.75877319e-01 -1.02005180e+01] [ 2.24172231e-01 9.74538276e-01 4.68605245e-03 -5.23608006e+00] [ 1.70368824e-01 -4.39232761e-02 9.84400939e-01 2.46484030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96241403699997 meters Centerline goodness : 0.839102 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59444571e-01 -2.20508154e-01 -1.75619673e-01 -1.02014126e+01] [ 2.24712798e-01 9.74416106e-01 4.17252146e-03 -5.23574519e+00] [ 1.70206563e-01 -4.34672912e-02 9.84449247e-01 2.86789073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99241403699997 meters Centerline goodness : 0.836788 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59425348e-01 -2.20664854e-01 -1.75527841e-01 -1.02014319e+01] [ 2.24869851e-01 9.74379824e-01 4.18425241e-03 -5.23624537e+00] [ 1.70107470e-01 -4.34853973e-02 9.84465575e-01 2.73797590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02241403699998 meters Centerline goodness : 0.836279 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59304439e-01 -2.21501517e-01 -1.75134440e-01 -1.02025140e+01] [ 2.25629618e-01 9.74205881e-01 3.76518661e-03 -5.23715321e+00] [ 1.69783007e-01 -4.31274771e-02 9.84537329e-01 3.14875069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05241403699998 meters Centerline goodness : 0.838072 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59235507e-01 -2.21914277e-01 -1.74989416e-01 -1.02032866e+01] [ 2.25990414e-01 9.74123367e-01 3.46390183e-03 -5.23743854e+00] [ 1.69692590e-01 -4.28686282e-02 9.84564221e-01 3.75185343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08241403699998 meters Centerline goodness : 0.838253 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59199985e-01 -2.22205928e-01 -1.74813943e-01 -1.02039330e+01] [ 2.26249427e-01 9.74063834e-01 3.29315229e-03 -5.23763988e+00] [ 1.69548181e-01 -4.27103460e-02 9.84595978e-01 4.10868627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11241403699998 meters Centerline goodness : 0.839531 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59139308e-01 -2.22589124e-01 -1.74659298e-01 -1.02047297e+01] [ 2.26569088e-01 9.73990692e-01 2.92903622e-03 -5.23722821e+00] [ 1.69464559e-01 -4.23817517e-02 9.84624573e-01 4.68001183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14241403699998 meters Centerline goodness : 0.840041 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59102492e-01 -2.22749333e-01 -1.74657219e-01 -1.02048998e+01] [ 2.26705884e-01 9.73959300e-01 2.77912498e-03 -5.23702575e+00] [ 1.69489974e-01 -4.22612849e-02 9.84625377e-01 4.87526911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17241403699998 meters Centerline goodness : 0.839119 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59071144e-01 -2.22823814e-01 -1.74734340e-01 -1.02047133e+01] [ 2.26767579e-01 9.73945219e-01 2.67865808e-03 -5.23714017e+00] [ 1.69584806e-01 -4.21931069e-02 9.84611972e-01 4.98042826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20241403699998 meters Centerline goodness : 0.839752 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.00 [[ 9.59060980e-01 -2.22971020e-01 -1.74602292e-01 -1.02047277e+01] [ 2.26922830e-01 9.73908872e-01 2.74553547e-03 -5.23791560e+00] [ 1.69434546e-01 -4.22543820e-02 9.84635213e-01 4.82489934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23241403699998 meters Centerline goodness : 0.839672 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.00 [[ 9.59001697e-01 -2.23352566e-01 -1.74440181e-01 -1.02050113e+01] [ 2.27287903e-01 9.73823984e-01 2.65649394e-03 -5.23896989e+00] [ 1.69280698e-01 -4.21957253e-02 9.84664190e-01 4.94019718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26241403699999 meters Centerline goodness : 0.838948 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.01 [[ 9.58946939e-01 -2.23734182e-01 -1.74252073e-01 -1.02053745e+01] [ 2.27680723e-01 9.73732000e-01 2.73511678e-03 -5.24065122e+00] [ 1.69062880e-01 -4.22966697e-02 9.84697281e-01 5.08703450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292414037 meters Centerline goodness : 0.781344 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.01 [[ 9.58786115e-01 -2.24653240e-01 -1.73954325e-01 -1.02063679e+01] [ 2.28578313e-01 9.73522048e-01 2.60315302e-03 -5.24310952e+00] [ 1.68763564e-01 -4.22580530e-02 9.84750281e-01 5.71802864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322414037 meters Centerline goodness : 0.837486 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.01 [[ 9.58744344e-01 -2.24943676e-01 -1.73809163e-01 -1.02069489e+01] [ 2.28848088e-01 9.73458954e-01 2.49339491e-03 -5.24375715e+00] [ 1.68635212e-01 -4.21664229e-02 9.84776197e-01 6.15569859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352414037 meters Centerline goodness : 0.838666 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.01 [[ 9.58726310e-01 -2.25094457e-01 -1.73713406e-01 -1.02072711e+01] [ 2.28999672e-01 9.73423266e-01 2.50889475e-03 -5.24434886e+00] [ 1.68531933e-01 -4.21856565e-02 9.84793053e-01 6.36801409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382414037 meters Centerline goodness : 0.838349 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.01 [[ 9.58705203e-01 -2.25167394e-01 -1.73735369e-01 -1.02072808e+01] [ 2.29083471e-01 9.73403415e-01 2.56024719e-03 -5.24483898e+00] [ 1.68538118e-01 -4.22544237e-02 9.84789047e-01 6.51881576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412414037 meters Centerline goodness : 0.840711 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.25, Z:0.01 [[ 9.58709239e-01 -2.25105023e-01 -1.73793909e-01 -1.02071229e+01] [ 2.29081805e-01 9.73402837e-01 2.90559760e-03 -5.24654105e+00] [ 1.68517420e-01 -4.25986457e-02 9.84777759e-01 6.69340516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442414037 meters Centerline goodness : 0.835990 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.25, Z:0.01 [[ 9.58691182e-01 -2.25264739e-01 -1.73686543e-01 -1.02074798e+01] [ 2.29235416e-01 9.73366740e-01 2.88316480e-03 -5.24715280e+00] [ 1.68411229e-01 -4.25791717e-02 9.84796767e-01 6.94290854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472414037 meters Centerline goodness : 0.783086 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.25, Z:0.01 [[ 9.58691041e-01 -2.25321425e-01 -1.73613777e-01 -1.02077534e+01] [ 2.29297591e-01 9.73351959e-01 2.92888903e-03 -5.24790441e+00] [ 1.68327369e-01 -4.26171205e-02 9.84809463e-01 7.22201152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502414037 meters Centerline goodness : 0.842384 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.25, Z:0.01 [[ 9.58659040e-01 -2.25506036e-01 -1.73550781e-01 -1.02081293e+01] [ 2.29477057e-01 9.73309755e-01 2.89846153e-03 -5.24871787e+00] [ 1.68265047e-01 -4.26045588e-02 9.84820656e-01 7.63706698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532414037 meters Centerline goodness : 0.840456 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.25, Z:0.01 [[ 9.58589770e-01 -2.25956985e-01 -1.73346746e-01 -1.02091078e+01] [ 2.29924329e-01 9.73204221e-01 2.88911272e-03 -5.25085383e+00] [ 1.68048969e-01 -4.26261081e-02 9.84856618e-01 8.52405093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562414037 meters Centerline goodness : 0.842357 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.25, Z:0.01 [[ 9.58556702e-01 -2.26097358e-01 -1.73346571e-01 -1.02091870e+01] [ 2.30079634e-01 9.73167291e-01 2.96412556e-03 -5.25215545e+00] [ 1.68025032e-01 -4.27247979e-02 9.84856426e-01 8.84443919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592414037 meters Centerline goodness : 0.843658 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.25, Z:0.01 [[ 9.58563495e-01 -2.26088333e-01 -1.73320779e-01 -1.02090491e+01] [ 2.30121068e-01 9.73156523e-01 3.26746339e-03 -5.25368270e+00] [ 1.67929511e-01 -4.30168339e-02 9.84860006e-01 8.82334029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622414037 meters Centerline goodness : 0.842211 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.58567746e-01 -2.25989952e-01 -1.73425542e-01 -1.02085655e+01] [ 2.30101907e-01 9.73159454e-01 3.71345602e-03 -5.25603148e+00] [ 1.67931502e-01 -4.34651471e-02 9.84839983e-01 8.87254825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652414037 meters Centerline goodness : 0.841278 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.58880285e-01 -2.23003904e-01 -1.75550160e-01 -1.02062692e+01] [ 2.28026414e-01 9.73615945e-01 8.71475176e-03 -5.25889642e+00] [ 1.68975011e-01 -4.83864771e-02 9.84431915e-01 9.75339158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68241403699997 meters Centerline goodness : 0.838889 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.58900923e-01 -2.22768620e-01 -1.75736058e-01 -1.02058496e+01] [ 2.27827430e-01 9.73660914e-01 8.89307835e-03 -5.25930135e+00] [ 1.69126232e-01 -4.85650756e-02 9.84397151e-01 9.84523503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71241403699997 meters Centerline goodness : 0.782736 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.58920384e-01 -2.22565810e-01 -1.75886776e-01 -1.02054607e+01] [ 2.27650282e-01 9.73701212e-01 9.01657706e-03 -5.25977837e+00] [ 1.69254385e-01 -4.86868537e-02 9.84369109e-01 9.98604463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74241403699997 meters Centerline goodness : 0.837554 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.58970414e-01 -2.22348341e-01 -1.75889057e-01 -1.02053354e+01] [ 2.27462555e-01 9.73743288e-01 9.20839638e-03 -5.26042657e+00] [ 1.69223317e-01 -4.88387540e-02 9.84366926e-01 1.00139329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77241403699998 meters Centerline goodness : 0.837554 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.58970414e-01 -2.22348341e-01 -1.75889057e-01 -1.02053354e+01] [ 2.27462555e-01 9.73743288e-01 9.20839638e-03 -5.26042657e+00] [ 1.69223317e-01 -4.88387540e-02 9.84366926e-01 1.00139329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80241403699998 meters Centerline goodness : 0.836979 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.26, Z:0.01 [[ 9.59055635e-01 -2.21833733e-01 -1.76074085e-01 -1.02049879e+01] [ 2.27011727e-01 9.73844994e-01 9.57100289e-03 -5.26175908e+00] [ 1.69345695e-01 -4.91500064e-02 9.84330388e-01 1.04539899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83241403699998 meters Centerline goodness : 0.836863 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.59067232e-01 -2.21780815e-01 -1.76077580e-01 -1.02051865e+01] [ 2.26947771e-01 9.73860492e-01 9.51056396e-03 -5.26195590e+00] [ 1.69365738e-01 -4.90816845e-02 9.84330349e-01 1.08436827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86241403699998 meters Centerline goodness : 0.834602 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.59073829e-01 -2.21676230e-01 -1.76173321e-01 -1.02052774e+01] [ 2.26840038e-01 9.73885953e-01 9.47349476e-03 -5.26206972e+00] [ 1.69472674e-01 -4.90489438e-02 9.84313575e-01 1.12876713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89241403699998 meters Centerline goodness : 0.837419 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.59074492e-01 -2.21696960e-01 -1.76143624e-01 -1.02058502e+01] [ 2.26843375e-01 9.73886087e-01 9.37933492e-03 -5.26227023e+00] [ 1.69464455e-01 -4.89524950e-02 9.84319791e-01 1.19524375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92241403699998 meters Centerline goodness : 0.835846 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.59119651e-01 -2.21315340e-01 -1.76377478e-01 -1.02057641e+01] [ 2.26557760e-01 9.73947396e-01 9.90205978e-03 -5.26268640e+00] [ 1.69590907e-01 -4.94569463e-02 9.84272795e-01 1.23706878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95241403699998 meters Centerline goodness : 0.836720 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.26, Z:0.01 [[ 9.59122492e-01 -2.21224625e-01 -1.76475806e-01 -1.02057410e+01] [ 2.26472210e-01 9.73967201e-01 9.91105700e-03 -5.26317953e+00] [ 1.69689077e-01 -4.94727834e-02 9.84255079e-01 1.27703420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98241403699998 meters Centerline goodness : 0.834982 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.26, Z:0.01 [[ 0.95916848 -0.22085508 -0.17668861 -10.20485376] [ 0.22619821 0.9740254 0.01043494 -5.26497167] [ 0.16979458 -0.04997551 0.98421149 0.01254874] [ 0. 0. 0. 1. ]] SLAMing on 209.01241403699999 meters Centerline goodness : 0.835585 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:0.01 [[ 0.95916862 -0.22054975 -0.17706882 -10.20309796] [ 0.22601369 0.97406148 0.01104782 -5.26631003] [ 0.17003932 -0.0506167 0.98413646 0.01180595] [ 0. 0. 0. 1. ]] SLAMing on 209.042414037 meters Centerline goodness : 0.836597 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:0.01 [[ 0.95916478 -0.22049177 -0.17716182 -10.2028098 ] [ 0.22599553 0.97406331 0.01125531 -5.26760648] [ 0.17008512 -0.05083348 0.98411738 0.01193495] [ 0. 0. 0. 1. ]] SLAMing on 209.072414037 meters Centerline goodness : 0.835551 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:0.01 [[ 0.95914434 -0.22026792 -0.17755047 -10.201565 ] [ 0.22590687 0.97407575 0.01193829 -5.26890852] [ 0.17031798 -0.05156042 0.98403928 0.01167501] [ 0. 0. 0. 1. ]] SLAMing on 209.102414037 meters Centerline goodness : 0.839765 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:0.01 [[ 0.95921648 -0.21969927 -0.17786503 -10.20095199] [ 0.22557884 0.97413438 0.01328155 -5.27171061] [ 0.17034649 -0.05286247 0.98396526 0.01211498] [ 0. 0. 0. 1. ]] SLAMing on 209.132414037 meters Centerline goodness : 0.840561 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:0.01 [[ 0.95926772 -0.2192036 -0.17819993 -10.20024053] [ 0.22524166 0.97420039 0.01413477 -5.27315543] [ 0.17050405 -0.05369707 0.98389278 0.01230923] [ 0. 0. 0. 1. ]] SLAMing on 209.162414037 meters Centerline goodness : 0.841272 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.27, Z:0.01 [[ 0.95933219 -0.21855109 -0.17865377 -10.19941351] [ 0.22477908 0.97429209 0.01514216 -5.2744603 ] [ 0.17075162 -0.05468399 0.98379548 0.0124854 ] [ 0. 0. 0. 1. ]] SLAMing on 209.192414037 meters Centerline goodness : 0.834731 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.28, Z:0.01 [[ 0.95938873 -0.21802856 -0.17898833 -10.19854913] [ 0.22438508 0.97437214 0.01581982 -5.2755584 ] [ 0.17095207 -0.05533967 0.983724 0.01249438] [ 0. 0. 0. 1. ]] SLAMing on 209.222414037 meters Centerline goodness : 0.841027 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.28, Z:0.01 [[ 0.95944983 -0.21758769 -0.17919718 -10.19791476] [ 0.22406612 0.9744344 0.01649171 -5.27682891] [ 0.1710275 -0.05597499 0.98367494 0.01241696] [ 0. 0. 0. 1. ]] SLAMing on 209.252414037 meters Centerline goodness : 0.832682 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.28, Z:0.01 [[ 0.95936705 -0.21733481 -0.17994566 -10.19643457] [ 0.22407834 0.97440883 0.01778551 -5.2788423 ] [ 0.17147523 -0.05738476 0.98351575 0.01269772] [ 0. 0. 0. 1. ]] SLAMing on 209.282414037 meters Centerline goodness : 0.840254 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.28, Z:0.01 [[ 0.95930013 -0.21709498 -0.18059075 -10.19501713] [ 0.22401877 0.97440696 0.01861877 -5.27972592] [ 0.17192685 -0.05831671 0.98338208 0.01277655] [ 0. 0. 0. 1. ]] SLAMing on 209.312414037 meters Centerline goodness : 0.840839 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.9590946 -0.21781222 -0.18081865 -10.1944968 ] [ 0.2247164 0.97425116 0.01836361 -5.27977144] [ 0.17216296 -0.05824535 0.983345 0.01300429] [ 0. 0. 0. 1. ]] SLAMing on 209.342414037 meters Centerline goodness : 0.837798 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.95902527 -0.21764428 -0.18138769 -10.1931535 ] [ 0.22469102 0.9742449 0.01899545 -5.28078047] [ 0.17258178 -0.0589733 0.98322819 0.01304259] [ 0. 0. 0. 1. ]] SLAMing on 209.372414037 meters Centerline goodness : 0.835115 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.95912754 -0.21703852 -0.1815727 -10.19248578] [ 0.2242708 0.97432074 0.0200425 -5.28272381] [ 0.17256005 -0.05994477 0.98317326 0.0129726 ] [ 0. 0. 0. 1. ]] SLAMing on 209.402414037 meters Centerline goodness : 0.833263 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.95915729 -0.21666078 -0.18186641 -10.19198616] [ 0.22399328 0.97437415 0.02054325 -5.28318006] [ 0.17275502 -0.06044107 0.98310863 0.01312394] [ 0. 0. 0. 1. ]] SLAMing on 209.43241403699997 meters Centerline goodness : 0.834826 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.95918725 -0.21628272 -0.18215818 -10.1916798 ] [ 0.2237291 0.97442249 0.02112095 -5.28361211] [ 0.17293094 -0.06101303 0.98304237 0.0134369 ] [ 0. 0. 0. 1. ]] SLAMing on 209.46241403699997 meters Centerline goodness : 0.833788 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.95913322 -0.21659249 -0.18207462 -10.19213415] [ 0.22397265 0.97437459 0.02074636 -5.28316066] [ 0.17291537 -0.06067826 0.98306583 0.01379983] [ 0. 0. 0. 1. ]] SLAMing on 209.49241403699997 meters Centerline goodness : 0.838080 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.95918978 -0.2159885 -0.18249365 -10.19121004] [ 0.2235109 0.97446519 0.02145881 -5.28368275] [ 0.17319885 -0.06137239 0.98297283 0.01375056] [ 0. 0. 0. 1. ]] SLAMing on 209.52241403699998 meters Centerline goodness : 0.834427 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.95925026 -0.21576187 -0.18244383 -10.19136666] [ 0.2233301 0.97450001 0.02175747 -5.28435627] [ 0.17309709 -0.06161606 0.98297551 0.01387256] [ 0. 0. 0. 1. ]] SLAMing on 209.55241403699998 meters Centerline goodness : 0.833960 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.95923665 -0.21549515 -0.18283025 -10.19028566] [ 0.2231584 0.97452981 0.02218052 -5.28508362] [ 0.17339373 -0.06207647 0.98289426 0.01377362] [ 0. 0. 0. 1. ]] SLAMing on 209.58241403699998 meters Centerline goodness : 0.834646 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.9596175 -0.21218069 -0.18469868 -10.18809655] [ 0.22083587 0.97492654 0.02738178 -5.28800694] [ 0.17425776 -0.06706413 0.98241368 0.01438289] [ 0. 0. 0. 1. ]] SLAMing on 209.61241403699998 meters Centerline goodness : 0.831783 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.95955932 -0.21247036 -0.18466797 -10.1883377 ] [ 0.22107993 0.9748788 0.02711056 -5.28770534] [ 0.1742687 -0.06684057 0.98242697 0.01463039] [ 0. 0. 0. 1. ]] SLAMing on 209.64241403699998 meters Centerline goodness : 0.830317 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.95957268 -0.21210815 -0.18501463 -10.1876891 ] [ 0.22081739 0.97492544 0.0275692 -5.28776814] [ 0.17452782 -0.0673091 0.98234898 0.01465554] [ 0. 0. 0. 1. ]] SLAMing on 209.67241403699998 meters Centerline goodness : 0.833167 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.95979528 -0.21165235 -0.18438088 -10.18921589] [ 0.22025471 0.97506154 0.02725534 -5.28750088] [ 0.17401405 -0.06677031 0.98247689 0.01484247] [ 0. 0. 0. 1. ]] SLAMing on 209.70241403699998 meters Centerline goodness : 0.835244 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.02 [[ 0.96033588 -0.20798214 -0.18573754 -10.18801038] [ 0.21743705 0.97555476 0.03184405 -5.28959884] [ 0.17457415 -0.0709672 0.98208326 0.01528228] [ 0. 0. 0. 1. ]] SLAMing on 209.73241403699998 meters Centerline goodness : 0.834254 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.02 [[ 0.96042029 -0.20799359 -0.18528767 -10.18902263] [ 0.21730525 0.97560425 0.03122139 -5.28881599] [ 0.17427359 -0.07024964 0.98218822 0.01526432] [ 0. 0. 0. 1. ]] SLAMing on 209.76241403699999 meters Centerline goodness : 0.828901 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.96052868 -0.20761292 -0.18515269 -10.18890495] [ 0.2168715 0.97570746 0.03101126 -5.28814758] [ 0.17421653 -0.06994155 0.98222033 0.01465043] [ 0. 0. 0. 1. ]] SLAMing on 209.792414037 meters Centerline goodness : 0.834442 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.96058786 -0.20749922 -0.18497306 -10.18873785] [ 0.21665293 0.97577204 0.03050304 -5.28721932] [ 0.17416218 -0.06937581 0.98227009 0.01396769] [ 0. 0. 0. 1. ]] SLAMing on 209.822414037 meters Centerline goodness : 0.833005 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.29, Z:0.01 [[ 0.96073742 -0.20649904 -0.18531531 -10.18700699] [ 0.21561828 0.97600875 0.03026022 -5.28503025] [ 0.17462065 -0.06902949 0.98221309 0.01228724] [ 0. 0. 0. 1. ]] SLAMing on 209.852414037 meters Centerline goodness : 0.836116 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.96077489 -0.20597032 -0.18570901 -10.18616764] [ 0.21511651 0.9761182 0.030301 -5.28371898] [ 0.17503284 -0.06906151 0.98213747 0.01189028] [ 0. 0. 0. 1. ]] SLAMing on 209.882414037 meters Centerline goodness : 0.833223 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.96087806 -0.20541061 -0.18579515 -10.1860684 ] [ 0.21453809 0.97624826 0.0302117 -5.28259399] [ 0.17517639 -0.06888989 0.98212393 0.0116535 ] [ 0. 0. 0. 1. ]] SLAMing on 209.912414037 meters Centerline goodness : 0.835459 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.9611623 -0.20480826 -0.18498815 -10.18854765] [ 0.21372501 0.97645128 0.02940259 -5.28024098] [ 0.17461002 -0.06779725 0.98230081 0.01185921] [ 0. 0. 0. 1. ]] SLAMing on 209.942414037 meters Centerline goodness : 0.832698 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.9612949 -0.20456482 -0.18456801 -10.18974276] [ 0.2133797 0.97653836 0.02901597 -5.27953222] [ 0.17430209 -0.06727597 0.98239133 0.01208441] [ 0. 0. 0. 1. ]] SLAMing on 209.972414037 meters Centerline goodness : 0.838750 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.96140545 -0.20420729 -0.18438802 -10.18998653] [ 0.21300795 0.97661886 0.02903829 -5.27933078] [ 0.17414698 -0.06719368 0.98242447 0.0118712 ] [ 0. 0. 0. 1. ]] SLAMing on 210.002414037 meters Centerline goodness : 0.837548 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.96146984 -0.20418627 -0.18407529 -10.19064804] [ 0.21289963 0.97665337 0.0286696 -5.27868446] [ 0.17392382 -0.06675452 0.98249394 0.01174693] [ 0. 0. 0. 1. ]] SLAMing on 210.032414037 meters Centerline goodness : 0.839916 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.96150985 -0.2039154 -0.18416654 -10.19016362] [ 0.21252451 0.97675248 0.02806993 -5.27646679] [ 0.17416123 -0.06612941 0.98249416 0.01102615] [ 0. 0. 0. 1. ]] SLAMing on 210.062414037 meters Centerline goodness : 0.838732 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96136822 -0.20445298 -0.18430987 -10.19020252] [ 0.21292289 0.97669083 0.02718221 -5.27433694] [ 0.17445628 -0.0653759 0.98249224 0.01118577] [ 0. 0. 0. 1. ]] SLAMing on 210.092414037 meters Centerline goodness : 0.840769 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.28, Z:0.01 [[ 0.96179973 -0.20115915 -0.18567787 -10.18848539] [ 0.21038479 0.977121 0.03118955 -5.27508295] [ 0.17515568 -0.0690619 0.98211554 0.01091822] [ 0. 0. 0. 1. ]] SLAMing on 210.122414037 meters Centerline goodness : 0.838748 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 9.61903387e-01 -2.01192356e-01 -1.85104052e-01 -1.01893965e+01] [ 2.10116328e-01 9.77224530e-01 2.97211331e-02 -5.27226221e+00] [ 1.74908556e-01 -6.74822423e-02 9.82269385e-01 1.01130488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152414037 meters Centerline goodness : 0.839366 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 9.61975406e-01 -2.01149059e-01 -1.84776553e-01 -1.01899765e+01] [ 2.09949134e-01 9.77277469e-01 2.91566245e-02 -5.27159154e+00] [ 1.74713134e-01 -6.68416330e-02 9.82347961e-01 9.91756347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18241403699997 meters Centerline goodness : 0.839772 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 9.62115193e-01 -2.00898349e-01 -1.84320938e-01 -1.01907119e+01] [ 2.09573066e-01 9.77373170e-01 2.86498913e-02 -5.27061496e+00] [ 1.74394624e-01 -6.61931999e-02 9.82448459e-01 9.55929370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21241403699997 meters Centerline goodness : 0.837952 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 9.62153620e-01 -2.00688961e-01 -1.84348455e-01 -1.01909623e+01] [ 2.09417371e-01 9.77397389e-01 2.89604567e-02 -5.27018511e+00] [ 1.74369655e-01 -6.64701771e-02 9.82434191e-01 9.69084866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24241403699997 meters Centerline goodness : 0.837804 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96206947 -0.20108954 -0.18435113 -10.19171191] [ 0.20977001 0.97733081 0.02865353 -5.26964896] [ 0.17441011 -0.06623802 0.98244269 0.01052107] [ 0. 0. 0. 1. ]] SLAMing on 210.27241403699998 meters Centerline goodness : 0.841873 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96191208 -0.20181803 -0.18437632 -10.1925923 ] [ 0.2104811 0.97718297 0.0284807 -5.26943997] [ 0.17442149 -0.06620366 0.98244299 0.01170311] [ 0. 0. 0. 1. ]] SLAMing on 210.30241403699998 meters Centerline goodness : 0.785960 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96155475 -0.20433899 -0.18346129 -10.19290043] [ 0.21236939 0.97686879 0.02503206 -5.2680414 ] [ 0.17410259 -0.06303126 0.98270817 0.01119022] [ 0. 0. 0. 1. ]] SLAMing on 210.33241403699998 meters Centerline goodness : 0.785786 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96142801 -0.20473991 -0.1836784 -10.19217965] [ 0.2128124 0.97676926 0.02515348 -5.26847722] [ 0.1742615 -0.06327231 0.98266451 0.01115555] [ 0. 0. 0. 1. ]] SLAMing on 210.36241403699998 meters Centerline goodness : 0.838248 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96110267 -0.20586337 -0.18412478 -10.19089188] [ 0.21391018 0.97653992 0.02474326 -5.26836032] [ 0.17471146 -0.06316698 0.98259139 0.01117704] [ 0. 0. 0. 1. ]] SLAMing on 210.39241403699998 meters Centerline goodness : 0.838787 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96099396 -0.20594374 -0.18460172 -10.18984244] [ 0.21408139 0.97649404 0.02507068 -5.26812199] [ 0.17509933 -0.06361256 0.9824936 0.01114919] [ 0. 0. 0. 1. ]] SLAMing on 210.42241403699998 meters Centerline goodness : 0.837844 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96087532 -0.20641666 -0.18469105 -10.18991123] [ 0.2144963 0.97641321 0.02466953 -5.26731025] [ 0.17524258 -0.06331989 0.98248696 0.01143555] [ 0. 0. 0. 1. ]] SLAMing on 210.45241403699998 meters Centerline goodness : 0.836663 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96080051 -0.20648032 -0.1850088 -10.18911733] [ 0.21461834 0.9763812 0.02487395 -5.26698408] [ 0.17550313 -0.06360518 0.98242202 0.01131024] [ 0. 0. 0. 1. ]] SLAMing on 210.48241403699998 meters Centerline goodness : 0.837462 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96078251 -0.20697675 -0.18454698 -10.18967798] [ 0.21493802 0.97633256 0.02400775 -5.26629141] [ 0.17521018 -0.06273239 0.98253043 0.01103555] [ 0. 0. 0. 1. ]] SLAMing on 210.51241403699999 meters Centerline goodness : 0.838907 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96078958 -0.20679183 -0.18471742 -10.18875408] [ 0.21476117 0.97637148 0.02400778 -5.26617264] [ 0.17538821 -0.06273655 0.9824984 0.01046877] [ 0. 0. 0. 1. ]] SLAMing on 210.542414037 meters Centerline goodness : 0.838575 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96078212 -0.20670204 -0.18485668 -10.18840731] [ 0.2146819 0.97638851 0.02402423 -5.26570742] [ 0.17552608 -0.06276744 0.9824718 0.010343 ] [ 0. 0. 0. 1. ]] SLAMing on 210.572414037 meters Centerline goodness : 0.837353 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.27, Z:0.01 [[ 0.96099762 -0.20465138 -0.18601446 -10.1879083 ] [ 0.21318777 0.97664112 0.0268903 -5.26506145] [ 0.17616623 -0.06549752 0.98217897 0.01097456] [ 0. 0. 0. 1. ]] SLAMing on 210.602414037 meters Centerline goodness : 0.840261 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96093668 -0.20504154 -0.18589962 -10.18844196] [ 0.21345558 0.97660096 0.02621593 -5.26343775] [ 0.17617439 -0.06487316 0.98221894 0.01110243] [ 0. 0. 0. 1. ]] SLAMing on 210.632414037 meters Centerline goodness : 0.839166 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96096313 -0.20475665 -0.18607683 -10.18783801] [ 0.21316933 0.97666477 0.02616801 -5.2625657 ] [ 0.17637661 -0.06481236 0.98218667 0.01075238] [ 0. 0. 0. 1. ]] SLAMing on 210.662414037 meters Centerline goodness : 0.839166 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96096313 -0.20475665 -0.18607683 -10.18783801] [ 0.21316933 0.97666477 0.02616801 -5.2625657 ] [ 0.17637661 -0.06481236 0.98218667 0.01075238] [ 0. 0. 0. 1. ]] SLAMing on 210.692414037 meters Centerline goodness : 0.842662 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.9609118 -0.2051917 -0.18586254 -10.18862671] [ 0.2134551 0.97662324 0.02537649 -5.26051477] [ 0.17631063 -0.06405788 0.98224801 0.01100846] [ 0. 0. 0. 1. ]] SLAMing on 210.722414037 meters Centerline goodness : 0.840146 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96093198 -0.20527984 -0.18566074 -10.18896577] [ 0.2134628 0.97663141 0.02499445 -5.26021721] [ 0.17619125 -0.06364962 0.98229597 0.01097998] [ 0. 0. 0. 1. ]] SLAMing on 210.752414037 meters Centerline goodness : 0.789015 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96117173 -0.20319086 -0.18671472 -10.18803483] [ 0.21190332 0.97689694 0.02773724 -5.26015238] [ 0.17676508 -0.06622572 0.98202254 0.0110079 ] [ 0. 0. 0. 1. ]] SLAMing on 210.782414037 meters Centerline goodness : 0.841912 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96112376 -0.20354836 -0.18657221 -10.18837899] [ 0.21217165 0.97685203 0.02726339 -5.25875478] [ 0.17670403 -0.06578882 0.98206289 0.01091313] [ 0. 0. 0. 1. ]] SLAMing on 210.812414037 meters Centerline goodness : 0.789059 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96107709 -0.2034602 -0.18690845 -10.18772779] [ 0.21212794 0.97685796 0.02739089 -5.25782143] [ 0.17701005 -0.06597326 0.9819954 0.01075168] [ 0. 0. 0. 1. ]] SLAMing on 210.842414037 meters Centerline goodness : 0.840710 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96102224 -0.20359152 -0.18704746 -10.18701549] [ 0.21224026 0.97683831 0.02722096 -5.25703862] [ 0.17717317 -0.06585895 0.98197366 0.01025374] [ 0. 0. 0. 1. ]] SLAMing on 210.872414037 meters Centerline goodness : 0.787727 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96092774 -0.20419999 -0.18686958 -10.18743452] [ 0.21272475 0.97675152 0.02654508 -5.25573316] [ 0.17710465 -0.06525969 0.98202603 0.01023288] [ 0. 0. 0. 1. ]] SLAMing on 210.902414037 meters Centerline goodness : 0.844053 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.26, Z:0.01 [[ 0.96086786 -0.20461786 -0.18672036 -10.1879321 ] [ 0.21306507 0.97668847 0.0261325 -5.25512035] [ 0.17702044 -0.06489347 0.98206548 0.01039899] [ 0. 0. 0. 1. ]] SLAMing on 210.93241403699997 meters Centerline goodness : 0.842079 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96079619 -0.20505706 -0.18660732 -10.18822228] [ 0.21341921 0.97662361 0.02566242 -5.254432 ] [ 0.17698286 -0.06448194 0.98209936 0.01047917] [ 0. 0. 0. 1. ]] SLAMing on 210.96241403699997 meters Centerline goodness : 0.840860 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96073718 -0.20537748 -0.18655872 -10.18831976] [ 0.21367873 0.97657598 0.02531312 -5.25372935] [ 0.17699002 -0.06418289 0.98211766 0.01047725] [ 0. 0. 0. 1. ]] SLAMing on 210.99241403699997 meters Centerline goodness : 0.840766 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96061139 -0.20623931 -0.18625548 -10.18909002] [ 0.21441023 0.97643331 0.02462193 -5.25244784] [ 0.17678805 -0.06358718 0.98219278 0.0104167 ] [ 0. 0. 0. 1. ]] SLAMing on 211.02241403699998 meters Centerline goodness : 0.840726 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96052513 -0.20682349 -0.18605246 -10.18961637] [ 0.2148958 0.97633972 0.02409446 -5.25191421] [ 0.1766671 -0.06312523 0.98224434 0.01059023] [ 0. 0. 0. 1. ]] SLAMing on 211.05241403699998 meters Centerline goodness : 0.787681 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96038297 -0.20782499 -0.18566991 -10.19067283] [ 0.2157632 0.97616542 0.0233949 -5.25177231] [ 0.1763825 -0.0625288 0.98233363 0.01085317] [ 0. 0. 0. 1. ]] SLAMing on 211.08241403699998 meters Centerline goodness : 0.788734 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96028882 -0.20844285 -0.1854642 -10.19147061] [ 0.21628833 0.97606104 0.02289561 -5.2516173 ] [ 0.17625195 -0.06210014 0.98238425 0.01126707] [ 0. 0. 0. 1. ]] SLAMing on 211.11241403699998 meters Centerline goodness : 0.788597 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96022029 -0.20899556 -0.18519681 -10.19237147] [ 0.21675282 0.97596838 0.02244855 -5.25134601] [ 0.17605458 -0.06169748 0.98244501 0.01164417] [ 0. 0. 0. 1. ]] SLAMing on 211.14241403699998 meters Centerline goodness : 0.837636 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96007864 -0.209893 -0.18491601 -10.19373735] [ 0.21748665 0.97582532 0.02155238 -5.2499964 ] [ 0.17592204 -0.06090874 0.98251797 0.01238573] [ 0. 0. 0. 1. ]] SLAMing on 211.17241403699998 meters Centerline goodness : 0.837876 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.01 [[ 0.96001063 -0.2102733 -0.18483706 -10.19419775] [ 0.21779137 0.97576674 0.02112312 -5.24929506] [ 0.17591622 -0.06053433 0.98254215 0.01269411] [ 0. 0. 0. 1. ]] SLAMing on 211.20241403699998 meters Centerline goodness : 0.838579 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95991746 -0.21089289 -0.18461492 -10.19528313] [ 0.21828581 0.97567071 0.02044444 -5.24821765] [ 0.17581178 -0.05992379 0.98259827 0.01328826] [ 0. 0. 0. 1. ]] SLAMing on 211.23241403699998 meters Centerline goodness : 0.837589 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95986962 -0.21118818 -0.18452603 -10.19563887] [ 0.21852277 0.97562437 0.02012198 -5.24766158] [ 0.17577857 -0.05963762 0.98262162 0.01344131] [ 0. 0. 0. 1. ]] SLAMing on 211.26241403699999 meters Centerline goodness : 0.839411 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95981428 -0.21149249 -0.18446537 -10.19596938] [ 0.21876959 0.97557577 0.01979357 -5.24741234] [ 0.17577375 -0.05935356 0.98263968 0.01374693] [ 0. 0. 0. 1. ]] SLAMing on 211.292414037 meters Centerline goodness : 0.840384 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95979774 -0.21160696 -0.18442015 -10.195784 ] [ 0.21887111 0.97555436 0.01972619 -5.24736726] [ 0.17573769 -0.05929739 0.98264952 0.01348863] [ 0. 0. 0. 1. ]] SLAMing on 211.322414037 meters Centerline goodness : 0.840042 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95975796 -0.21180742 -0.18439704 -10.1955879 ] [ 0.21903128 0.97552315 0.01949039 -5.24703611] [ 0.17575537 -0.05909478 0.98265857 0.01330299] [ 0. 0. 0. 1. ]] SLAMing on 211.352414037 meters Centerline goodness : 0.837565 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95973604 -0.21193033 -0.18436992 -10.19504505] [ 0.21915456 0.97549546 0.01949045 -5.24717754] [ 0.1757214 -0.0591112 0.98266365 0.01271699] [ 0. 0. 0. 1. ]] SLAMing on 211.382414037 meters Centerline goodness : 0.789450 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95968424 -0.21230618 -0.18420706 -10.19554511] [ 0.21946765 0.97543161 0.01916045 -5.24709567] [ 0.1756135 -0.05881547 0.98270069 0.01293741] [ 0. 0. 0. 1. ]] SLAMing on 211.412414037 meters Centerline goodness : 0.839170 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95961605 -0.21286665 -0.18391525 -10.19685052] [ 0.21994421 0.97533247 0.01873821 -5.24730759] [ 0.17538978 -0.05843258 0.98276348 0.01375408] [ 0. 0. 0. 1. ]] SLAMing on 211.442414037 meters Centerline goodness : 0.841163 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.01 [[ 0.95956651 -0.21314361 -0.18385298 -10.19740472] [ 0.22016573 0.97528849 0.01842317 -5.24720769] [ 0.17538291 -0.05815638 0.98278109 0.01432002] [ 0. 0. 0. 1. ]] SLAMing on 211.472414037 meters Centerline goodness : 0.842428 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95950225 -0.21347848 -0.18379982 -10.19836691] [ 0.22043085 0.97523615 0.0180194 -5.24670832] [ 0.17540147 -0.05780481 0.98279852 0.01522744] [ 0. 0. 0. 1. ]] SLAMing on 211.502414037 meters Centerline goodness : 0.843572 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95947475 -0.2135083 -0.1839087 -10.19833047] [ 0.22044916 0.97523392 0.01791577 -5.24658539] [ 0.17552884 -0.05773225 0.98278004 0.01550256] [ 0. 0. 0. 1. ]] SLAMing on 211.532414037 meters Centerline goodness : 0.842777 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95943465 -0.21361454 -0.18399452 -10.19827151] [ 0.22052142 0.97522175 0.01768722 -5.2463219 ] [ 0.17565721 -0.05754447 0.98276812 0.01574657] [ 0. 0. 0. 1. ]] SLAMing on 211.562414037 meters Centerline goodness : 0.792314 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95942959 -0.2136072 -0.1840294 -10.19806963] [ 0.2205095 0.97522511 0.01765062 -5.24611825] [ 0.1756998 -0.05751476 0.98276225 0.01562037] [ 0. 0. 0. 1. ]] SLAMing on 211.592414037 meters Centerline goodness : 0.840021 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95944548 -0.21339268 -0.18419538 -10.19734872] [ 0.22030336 0.97527149 0.01766201 -5.24594908] [ 0.17587156 -0.0575246 0.98273095 0.01538402] [ 0. 0. 0. 1. ]] SLAMing on 211.622414037 meters Centerline goodness : 0.839079 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95941976 -0.21348414 -0.18422338 -10.19715131] [ 0.2203821 0.97525531 0.01757322 -5.24615601] [ 0.17591322 -0.05745963 0.98272729 0.01538293] [ 0. 0. 0. 1. ]] SLAMing on 211.652414037 meters Centerline goodness : 0.790943 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95941752 -0.21352314 -0.18418981 -10.19705688] [ 0.22042122 0.97524632 0.01758144 -5.24661194] [ 0.17587639 -0.05746729 0.98273344 0.01533575] [ 0. 0. 0. 1. ]] SLAMing on 211.68241403699997 meters Centerline goodness : 0.789971 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95942193 -0.2135896 -0.18408974 -10.19716906] [ 0.22048819 0.97523064 0.01761143 -5.24705658] [ 0.17576834 -0.0574864 0.98275165 0.01529518] [ 0. 0. 0. 1. ]] SLAMing on 211.71241403699997 meters Centerline goodness : 0.836773 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95940294 -0.21365665 -0.18411091 -10.19733025] [ 0.22052609 0.97522523 0.01743529 -5.24684348] [ 0.17582444 -0.05732873 0.98275083 0.01560437] [ 0. 0. 0. 1. ]] SLAMing on 211.74241403699997 meters Centerline goodness : 0.791062 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95937438 -0.21370457 -0.18420413 -10.19744611] [ 0.22054679 0.97522388 0.01724794 -5.24655973] [ 0.1759543 -0.05717286 0.98273666 0.01600969] [ 0. 0. 0. 1. ]] SLAMing on 211.77241403699998 meters Centerline goodness : 0.793862 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95934763 -0.21382268 -0.18420634 -10.19799153] [ 0.22061552 0.97521338 0.01696052 -5.24599105] [ 0.17601394 -0.05690981 0.98274125 0.01665191] [ 0. 0. 0. 1. ]] SLAMing on 211.80241403699998 meters Centerline goodness : 0.792875 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95932717 -0.21389577 -0.18422805 -10.19801988] [ 0.22066627 0.9752043 0.01682193 -5.24582209] [ 0.17606185 -0.05679065 0.98273956 0.01681047] [ 0. 0. 0. 1. ]] SLAMing on 211.83241403699998 meters Centerline goodness : 0.793967 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95933942 -0.2137988 -0.18427685 -10.19785012] [ 0.22058195 0.97522227 0.01688553 -5.24646982] [ 0.17610078 -0.0568471 0.98272932 0.01695773] [ 0. 0. 0. 1. ]] SLAMing on 211.86241403699998 meters Centerline goodness : 0.792685 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95933233 -0.21385234 -0.18425163 -10.19767332] [ 0.22064919 0.97520568 0.01696532 -5.24727653] [ 0.17605517 -0.05693036 0.98273268 0.01688337] [ 0. 0. 0. 1. ]] SLAMing on 211.89241403699998 meters Centerline goodness : 0.792085 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95931696 -0.21393686 -0.1842335 -10.19754706] [ 0.22073443 0.97518635 0.0169675 -5.24800574] [ 0.17603203 -0.05694389 0.98273604 0.01689631] [ 0. 0. 0. 1. ]] SLAMing on 211.92241403699998 meters Centerline goodness : 0.835352 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95934229 -0.21373749 -0.18433303 -10.19706324] [ 0.22057192 0.97521977 0.01715888 -5.24875202] [ 0.17609772 -0.05711993 0.98271405 0.01680099] [ 0. 0. 0. 1. ]] SLAMing on 211.95241403699998 meters Centerline goodness : 0.834280 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95933128 -0.21382177 -0.18429257 -10.19718276] [ 0.22063146 0.97520863 0.01702631 -5.24848549] [ 0.17608311 -0.05699461 0.98272395 0.01686637] [ 0. 0. 0. 1. ]] SLAMing on 211.98241403699998 meters Centerline goodness : 0.834256 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.9593239 -0.21368834 -0.18448566 -10.19679754] [ 0.22050862 0.97523627 0.0170342 -5.24829302] [ 0.1762771 -0.05702199 0.98268758 0.01695745] [ 0. 0. 0. 1. ]] SLAMing on 212.01241403699999 meters Centerline goodness : 0.834698 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95930678 -0.21369569 -0.1845661 -10.1966742 ] [ 0.22050154 0.97523974 0.01692669 -5.24790074] [ 0.17637903 -0.05693499 0.98267433 0.01701009] [ 0. 0. 0. 1. ]] SLAMing on 212.042414037 meters Centerline goodness : 0.792594 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95933435 -0.213626 -0.1845035 -10.19693905] [ 0.22039559 0.97526671 0.01675165 -5.24734007] [ 0.17636153 -0.0567342 0.98268909 0.0172442 ] [ 0. 0. 0. 1. ]] SLAMing on 212.072414037 meters Centerline goodness : 0.837397 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95932782 -0.21376997 -0.18437066 -10.19737592] [ 0.2204921 0.9752489 0.01651716 -5.24700262] [ 0.17627641 -0.05649765 0.98271799 0.0174583 ] [ 0. 0. 0. 1. ]] SLAMing on 212.102414037 meters Centerline goodness : 0.839841 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95929886 -0.21392398 -0.18434267 -10.19769783] [ 0.2205949 0.97523053 0.01622649 -5.24662391] [ 0.17630537 -0.05623111 0.98272808 0.01781127] [ 0. 0. 0. 1. ]] SLAMing on 212.132414037 meters Centerline goodness : 0.790779 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95926877 -0.21411142 -0.18428165 -10.19803935] [ 0.22073361 0.97520359 0.01595728 -5.24636673] [ 0.17629549 -0.05598447 0.98274393 0.01812475] [ 0. 0. 0. 1. ]] SLAMing on 212.162414037 meters Centerline goodness : 0.839250 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95920197 -0.21457059 -0.18409518 -10.19868762] [ 0.22110235 0.9751279 0.01547045 -5.24576496] [ 0.17619684 -0.05554316 0.98278667 0.01841615] [ 0. 0. 0. 1. ]] SLAMing on 212.192414037 meters Centerline goodness : 0.791015 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.9591548 -0.21482114 -0.18404877 -10.19883009] [ 0.22130173 0.97508729 0.01517667 -5.2455646 ] [ 0.17620335 -0.05528709 0.98279994 0.01861455] [ 0. 0. 0. 1. ]] SLAMing on 212.222414037 meters Centerline goodness : 0.837705 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95909344 -0.21516638 -0.1839652 -10.19896811] [ 0.22161289 0.97501964 0.01498121 -5.24602425] [ 0.17614623 -0.05513744 0.98281858 0.01872094] [ 0. 0. 0. 1. ]] SLAMing on 212.252414037 meters Centerline goodness : 0.789307 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95905023 -0.2154427 -0.18386705 -10.19923011] [ 0.22184988 0.974969 0.01476737 -5.24616379] [ 0.17608316 -0.05495353 0.98284019 0.01891107] [ 0. 0. 0. 1. ]] SLAMing on 212.282414037 meters Centerline goodness : 0.841008 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.02 [[ 0.95902323 -0.21556742 -0.18386172 -10.19920716] [ 0.2219501 0.9749484 0.01462072 -5.24606158] [ 0.17610394 -0.05482973 0.98284338 0.01895944] [ 0. 0. 0. 1. ]] SLAMing on 212.312414037 meters Centerline goodness : 0.839198 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95897311 -0.21567638 -0.18399531 -10.1993761 ] [ 0.22199381 0.9749446 0.01420456 -5.2448697 ] [ 0.17632165 -0.05446761 0.98282448 0.01945384] [ 0. 0. 0. 1. ]] SLAMing on 212.342414037 meters Centerline goodness : 0.841307 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95895047 -0.21570792 -0.18407633 -10.19935204] [ 0.22198121 0.97495143 0.01393033 -5.24369338] [ 0.1764606 -0.05421998 0.98281323 0.01956491] [ 0. 0. 0. 1. ]] SLAMing on 212.372414037 meters Centerline goodness : 0.839582 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95896899 -0.21546174 -0.18426805 -10.19889163] [ 0.22168149 0.97502435 0.01359563 -5.24169744] [ 0.1767365 -0.0538866 0.98278199 0.01949168] [ 0. 0. 0. 1. ]] SLAMing on 212.402414037 meters Centerline goodness : 0.789254 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95896172 -0.21545451 -0.18431435 -10.19856389] [ 0.22165652 0.97503158 0.0134833 -5.24133179] [ 0.17680727 -0.05378445 0.98277486 0.01930679] [ 0. 0. 0. 1. ]] SLAMing on 212.43241403699997 meters Centerline goodness : 0.842491 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95897954 -0.21533723 -0.18435868 -10.1980504 ] [ 0.22154243 0.97505731 0.01349823 -5.2415319 ] [ 0.17685361 -0.0537878 0.98276634 0.01907801] [ 0. 0. 0. 1. ]] SLAMing on 212.46241403699997 meters Centerline goodness : 0.843027 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95895622 -0.21546379 -0.1843321 -10.19787904] [ 0.22164509 0.97503585 0.01336187 -5.2414946 ] [ 0.17685141 -0.05366975 0.98277319 0.0189031 ] [ 0. 0. 0. 1. ]] SLAMing on 212.49241403699997 meters Centerline goodness : 0.841227 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.9589392 -0.21562216 -0.18423542 -10.19803343] [ 0.22176695 0.9750107 0.01317398 -5.24132286] [ 0.17679091 -0.05349038 0.98279385 0.01894359] [ 0. 0. 0. 1. ]] SLAMing on 212.52241403699998 meters Centerline goodness : 0.844870 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95890584 -0.21580384 -0.18419636 -10.19855124] [ 0.22184672 0.97500011 0.01260259 -5.2393864 ] [ 0.17687178 -0.05294806 0.98280867 0.01932484] [ 0. 0. 0. 1. ]] SLAMing on 212.55241403699998 meters Centerline goodness : 0.844849 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.9588638 -0.2159942 -0.18419208 -10.19886145] [ 0.221968 0.97497759 0.01220235 -5.23802023] [ 0.17694751 -0.05258514 0.98281452 0.0195219 ] [ 0. 0. 0. 1. ]] SLAMing on 212.58241403699998 meters Centerline goodness : 0.844849 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.9588638 -0.2159942 -0.18419208 -10.19886145] [ 0.221968 0.97497759 0.01220235 -5.23802023] [ 0.17694751 -0.05258514 0.98281452 0.0195219 ] [ 0. 0. 0. 1. ]] SLAMing on 212.61241403699998 meters Centerline goodness : 0.842640 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95883492 -0.21614203 -0.18416898 -10.19915911] [ 0.22205042 0.97496339 0.01183223 -5.2370189 ] [ 0.17700057 -0.05223996 0.98282337 0.01981373] [ 0. 0. 0. 1. ]] SLAMing on 212.64241403699998 meters Centerline goodness : 0.842659 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.24, Z:0.02 [[ 0.95878801 -0.21625754 -0.18427756 -10.19932615] [ 0.22207814 0.97496337 0.01130186 -5.23534326] [ 0.17721976 -0.05176011 0.98280926 0.02024077] [ 0. 0. 0. 1. ]] SLAMing on 212.67241403699998 meters Centerline goodness : 0.841109 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 0.95877212 -0.21632837 -0.18427711 -10.19936938] [ 0.22210284 0.97496075 0.01103955 -5.23458961] [ 0.17727478 -0.05151288 0.98281233 0.02031792] [ 0. 0. 0. 1. ]] SLAMing on 212.70241403699998 meters Centerline goodness : 0.841231 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 0.95874949 -0.21642893 -0.18427676 -10.19924982] [ 0.22216596 0.9749488 0.01082273 -5.23380761] [ 0.17731805 -0.05131631 0.98281481 0.02017941] [ 0. 0. 0. 1. ]] SLAMing on 212.73241403699998 meters Centerline goodness : 0.784886 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 0.95871875 -0.2166834 -0.18413761 -10.19940345] [ 0.22235532 0.97490938 0.0104788 -5.23263713] [ 0.1772469 -0.0509902 0.98284461 0.0199038 ] [ 0. 0. 0. 1. ]] SLAMing on 212.76241403699999 meters Centerline goodness : 0.785429 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 9.58672286e-01 -2.16948075e-01 -1.84067870e-01 -1.01995907e+01] [ 2.22567545e-01 9.74864085e-01 1.01834742e-02 -5.23191583e+00] [ 1.77231871e-01 -5.07301486e-02 9.82860782e-01 1.98848301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792414037 meters Centerline goodness : 0.839448 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 9.58569337e-01 -2.17569706e-01 -1.83870197e-01 -1.02004447e+01] [ 2.23076666e-01 9.74754040e-01 9.55838412e-03 -5.23095499e+00] [ 1.77148603e-01 -5.01795245e-02 9.82904058e-01 2.02536832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822414037 meters Centerline goodness : 0.837460 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 9.58532316e-01 -2.17859894e-01 -1.83719530e-01 -1.02009466e+01] [ 2.23311854e-01 9.74702979e-01 9.26924680e-03 -5.23047610e+00] [ 1.77052576e-01 -4.99116216e-02 9.82935001e-01 2.03983616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852414037 meters Centerline goodness : 0.784200 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 9.58475973e-01 -2.18249724e-01 -1.83550722e-01 -1.02016334e+01] [ 2.23623598e-01 9.74635425e-01 8.84732405e-03 -5.22946697e+00] [ 1.76964110e-01 -4.95262202e-02 9.82970426e-01 2.06116631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882414037 meters Centerline goodness : 0.786710 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.02 [[ 9.58356384e-01 -2.18880971e-01 -1.83423449e-01 -1.02029358e+01] [ 2.24052520e-01 9.74546649e-01 7.70046571e-03 -5.22620741e+00] [ 1.77069222e-01 -4.84762764e-02 9.83003836e-01 2.15223661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912414037 meters Centerline goodness : 0.786036 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.02 [[ 9.58307613e-01 -2.19136579e-01 -1.83373060e-01 -1.02033392e+01] [ 2.24215860e-01 9.74513068e-01 7.17829234e-03 -5.22465493e+00] [ 1.77126417e-01 -4.79941604e-02 9.83017189e-01 2.17608361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942414037 meters Centerline goodness : 0.786892 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.02 [[ 9.58279629e-01 -2.19218319e-01 -1.83421597e-01 -1.02033509e+01] [ 2.24235645e-01 9.74511134e-01 6.81358190e-03 -5.22356648e+00] [ 1.77252726e-01 -4.76589768e-02 9.83010729e-01 2.19198212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972414037 meters Centerline goodness : 0.784162 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.02 [[ 9.58236742e-01 -2.19496691e-01 -1.83312710e-01 -1.02036298e+01] [ 2.24430767e-01 9.74469312e-01 6.35535060e-03 -5.22241199e+00] [ 1.77237632e-01 -4.72309424e-02 9.83034109e-01 2.19470493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002414037 meters Centerline goodness : 0.784744 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.02 [[ 9.58174559e-01 -2.19902013e-01 -1.83151901e-01 -1.02041243e+01] [ 2.24727848e-01 9.74404544e-01 5.76016944e-03 -5.22128493e+00] [ 1.77197371e-01 -4.66785803e-02 9.83067750e-01 2.21112963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032414037 meters Centerline goodness : 0.785468 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.02 [[ 9.58117517e-01 -2.20280344e-01 -1.82995611e-01 -1.02046570e+01] [ 2.25039320e-01 9.74334745e-01 5.39533362e-03 -5.22057324e+00] [ 1.77110496e-01 -4.63505716e-02 9.83098925e-01 2.22303624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062414037 meters Centerline goodness : 0.787563 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.22, Z:0.02 [[ 9.58054303e-01 -2.20679780e-01 -1.82845256e-01 -1.02052022e+01] [ 2.25353421e-01 9.74264641e-01 4.92388136e-03 -5.21950313e+00] [ 1.77053066e-01 -4.59221497e-02 9.83129375e-01 2.24065688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092414037 meters Centerline goodness : 0.788048 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.22, Z:0.02 [[ 9.57946395e-01 -2.21242054e-01 -1.82731110e-01 -1.02060352e+01] [ 2.25771914e-01 9.74171551e-01 4.10262306e-03 -5.21689327e+00] [ 1.77103776e-01 -4.51856455e-02 9.83154367e-01 2.28147371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122414037 meters Centerline goodness : 0.840631 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.22, Z:0.02 [[ 9.57881250e-01 -2.21626982e-01 -1.82606109e-01 -1.02066801e+01] [ 2.26067160e-01 9.74105063e-01 3.60080062e-03 -5.21540464e+00] [ 1.77079500e-01 -4.47303837e-02 9.83179558e-01 2.30347425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152414037 meters Centerline goodness : 0.786380 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57798403e-01 -2.22123639e-01 -1.82437135e-01 -1.02072510e+01] [ 2.26447216e-01 9.74018972e-01 2.94975071e-03 -5.21363224e+00] [ 1.77042021e-01 -4.41376478e-02 9.83213095e-01 2.31211100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18241403699997 meters Centerline goodness : 0.784924 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57768518e-01 -2.22404375e-01 -1.82251914e-01 -1.02074823e+01] [ 2.26673443e-01 9.73967163e-01 2.66735246e-03 -5.21333969e+00] [ 1.76914149e-01 -4.38663751e-02 9.83248252e-01 2.30317998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21241403699997 meters Centerline goodness : 0.785015 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57716626e-01 -2.22869494e-01 -1.81956182e-01 -1.02079927e+01] [ 2.27053567e-01 9.73879729e-01 2.22522502e-03 -5.21250236e+00] [ 1.76707503e-01 -4.34449352e-02 9.83304122e-01 2.28651758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24241403699997 meters Centerline goodness : 0.784966 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57665239e-01 -2.23283812e-01 -1.81718545e-01 -1.02083290e+01] [ 2.27406569e-01 9.73798042e-01 1.90419524e-03 -5.21172838e+00] [ 1.76531988e-01 -4.31475726e-02 9.83348740e-01 2.25835561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27241403699998 meters Centerline goodness : 0.782506 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57561863e-01 -2.24038759e-01 -1.81333707e-01 -1.02090382e+01] [ 2.28038468e-01 9.73651331e-01 1.24248392e-03 -5.20981348e+00] [ 1.76277440e-01 -4.25408158e-02 9.83420837e-01 2.21509835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30241403699998 meters Centerline goodness : 0.834693 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57503971e-01 -2.24519404e-01 -1.81044700e-01 -1.02097305e+01] [ 2.28445242e-01 9.73556387e-01 8.55736526e-04 -5.20878768e+00] [ 1.76065095e-01 -4.21781714e-02 9.83474496e-01 2.20424784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33241403699998 meters Centerline goodness : 0.836371 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57415572e-01 -2.25103824e-01 -1.80786311e-01 -1.02107352e+01] [ 2.28934156e-01 9.73441854e-01 3.29901591e-04 -5.20771896e+00] [ 1.75910700e-01 -4.17040144e-02 9.83522344e-01 2.23334611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36241403699998 meters Centerline goodness : 0.834544 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57220090e-01 -2.26393494e-01 -1.80210116e-01 -1.02130897e+01] [ 2.30004814e-01 9.73189094e-01 -8.79254521e-04 -5.20599826e+00] [ 1.75577577e-01 -4.06075541e-02 9.83627745e-01 2.33936855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39241403699998 meters Centerline goodness : 0.833385 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.21, Z:0.02 [[ 9.57124515e-01 -2.27042964e-01 -1.79900403e-01 -1.02142819e+01] [ 2.30541783e-01 9.73061273e-01 -1.49818369e-03 -5.20520694e+00] [ 1.75394268e-01 -4.00406114e-02 9.83683689e-01 2.39232060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42241403699998 meters Centerline goodness : 0.783348 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.57051922e-01 -2.27565012e-01 -1.79626792e-01 -1.02152025e+01] [ 2.30975696e-01 9.72957509e-01 -1.97828948e-03 -5.20432331e+00] [ 1.75219426e-01 -3.95960976e-02 9.83732841e-01 2.41856674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45241403699998 meters Centerline goodness : 0.832511 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56963383e-01 -2.28113757e-01 -1.79402335e-01 -1.02156082e+01] [ 2.31428664e-01 9.72848623e-01 -2.51611462e-03 -5.20275492e+00] [ 1.75105275e-01 -3.91110132e-02 9.83772571e-01 2.39069180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48241403699998 meters Centerline goodness : 0.782442 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56919828e-01 -2.28323937e-01 -1.79367283e-01 -1.02154654e+01] [ 2.31592806e-01 9.72808824e-01 -2.78642310e-03 -5.20198090e+00] [ 1.75126282e-01 -3.88737887e-02 9.83778234e-01 2.36782074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51241403699999 meters Centerline goodness : 0.828629 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.02 [[ 9.56911283e-01 -2.28397181e-01 -1.79319613e-01 -1.02149809e+01] [ 2.31629019e-01 9.72799596e-01 -2.99054736e-03 -5.20052588e+00] [ 1.75125080e-01 -3.86739376e-02 9.83786325e-01 2.29071600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542414037 meters Centerline goodness : 0.782711 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56893271e-01 -2.28580932e-01 -1.79181542e-01 -1.02152570e+01] [ 2.31756508e-01 9.72768255e-01 -3.29292234e-03 -5.19951537e+00] [ 1.75054815e-01 -3.83755133e-02 9.83810516e-01 2.28139239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572414037 meters Centerline goodness : 0.782431 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56847721e-01 -2.28749859e-01 -1.79209211e-01 -1.02153866e+01] [ 2.31866435e-01 9.72740798e-01 -3.64629648e-03 -5.19842511e+00] [ 1.75158200e-01 -3.80636504e-02 9.83804230e-01 2.29915996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602414037 meters Centerline goodness : 0.780483 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56819467e-01 -2.28933623e-01 -1.79125387e-01 -1.02157921e+01] [ 2.31965897e-01 9.72715200e-01 -4.11850593e-03 -5.19661382e+00] [ 1.75180852e-01 -3.76103145e-02 9.83817632e-01 2.31210465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632414037 meters Centerline goodness : 0.781783 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56759437e-01 -2.29282751e-01 -1.78999443e-01 -1.02164069e+01] [ 2.32249594e-01 9.72645853e-01 -4.49122092e-03 -5.19584348e+00] [ 1.75132825e-01 -3.72755300e-02 9.83838924e-01 2.34195529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662414037 meters Centerline goodness : 0.782186 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56703172e-01 -2.29655761e-01 -1.78821902e-01 -1.02170335e+01] [ 2.32570446e-01 9.72567803e-01 -4.78082149e-03 -5.19544644e+00] [ 1.75014368e-01 -3.70148624e-02 9.83869845e-01 2.36292929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692414037 meters Centerline goodness : 0.783457 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56642930e-01 -2.30071233e-01 -1.78610003e-01 -1.02178011e+01] [ 2.32923492e-01 9.72481557e-01 -5.12523835e-03 -5.19537315e+00] [ 1.74874104e-01 -3.66994427e-02 9.83906601e-01 2.40552457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722414037 meters Centerline goodness : 0.784875 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56520555e-01 -2.30930321e-01 -1.78156155e-01 -1.02190686e+01] [ 2.33704268e-01 9.72291887e-01 -5.54986109e-03 -5.19600521e+00] [ 1.74501416e-01 -3.63272976e-02 9.83986577e-01 2.44311132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752414037 meters Centerline goodness : 0.784658 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56476952e-01 -2.31290300e-01 -1.77923124e-01 -1.02194492e+01] [ 2.34045061e-01 9.72209378e-01 -5.64227874e-03 -5.19666906e+00] [ 1.74283534e-01 -3.62453189e-02 9.84028214e-01 2.44096766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782414037 meters Centerline goodness : 0.782599 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56443983e-01 -2.31543202e-01 -1.77771352e-01 -1.02195927e+01] [ 2.34295611e-01 9.72149000e-01 -5.64694675e-03 -5.19727236e+00] [ 1.74127754e-01 -3.62500592e-02 9.84055618e-01 2.42670961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812414037 meters Centerline goodness : 0.783030 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56350650e-01 -2.32137030e-01 -1.77498827e-01 -1.02202244e+01] [ 2.34868724e-01 9.72010024e-01 -5.76152131e-03 -5.19810057e+00] [ 1.73868102e-01 -3.61788884e-02 9.84104147e-01 2.43020739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842414037 meters Centerline goodness : 0.785268 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.02 [[ 9.56303097e-01 -2.32504041e-01 -1.77274523e-01 -1.02207912e+01] [ 2.35222947e-01 9.71924013e-01 -5.82051203e-03 -5.19849888e+00] [ 1.73650659e-01 -3.61328621e-02 9.84144230e-01 2.43258793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872414037 meters Centerline goodness : 0.784980 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.03 [[ 9.56187094e-01 -2.33230778e-01 -1.76945318e-01 -1.02222408e+01] [ 2.35885716e-01 9.71761144e-01 -6.18117370e-03 -5.19933519e+00] [ 1.73390225e-01 -3.58285146e-02 9.84201274e-01 2.52191263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902414037 meters Centerline goodness : 0.786452 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.03 [[ 9.56170972e-01 -2.33401454e-01 -1.76807335e-01 -1.02226621e+01] [ 2.36054126e-01 9.71720251e-01 -6.18083211e-03 -5.19997176e+00] [ 1.73249883e-01 -3.58261687e-02 9.84226073e-01 2.54333912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93241403699997 meters Centerline goodness : 0.786228 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.03 [[ 9.56167234e-01 -2.33410747e-01 -1.76815280e-01 -1.02226007e+01] [ 2.36073715e-01 9.71715847e-01 -6.12487181e-03 -5.20071330e+00] [ 1.73243821e-01 -3.58850383e-02 9.84224996e-01 2.55774359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96241403699997 meters Centerline goodness : 0.835375 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.03 [[ 9.56176997e-01 -2.33342971e-01 -1.76851939e-01 -1.02223555e+01] [ 2.36041952e-01 9.71724822e-01 -5.92174654e-03 -5.20176954e+00] [ 1.73233217e-01 -3.60822391e-02 9.84219653e-01 2.55758137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99241403699997 meters Centerline goodness : 0.837236 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.20, Z:0.03 [[ 9.56191000e-01 -2.33275377e-01 -1.76865402e-01 -1.02219811e+01] [ 2.36064549e-01 9.71722340e-01 -5.40579743e-03 -5.20445560e+00] [ 1.73125101e-01 -3.65826764e-02 9.84220203e-01 2.55007543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02241403699998 meters Centerline goodness : 0.786685 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.21, Z:0.03 [[ 9.56181760e-01 -2.33325849e-01 -1.76848776e-01 -1.02220882e+01] [ 2.36138019e-01 9.71705202e-01 -5.27611368e-03 -5.20575321e+00] [ 1.73075929e-01 -3.67157959e-02 9.84223894e-01 2.58310824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05241403699998 meters Centerline goodness : 0.837234 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.21, Z:0.03 [[ 9.56184326e-01 -2.33309534e-01 -1.76856428e-01 -1.02224645e+01] [ 2.36182149e-01 9.71696281e-01 -4.93246050e-03 -5.20780145e+00] [ 1.73001523e-01 -3.70539898e-02 9.84224301e-01 2.64574327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08241403699998 meters Centerline goodness : 0.839366 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.21, Z:0.03 [[ 9.56184705e-01 -2.33240922e-01 -1.76944857e-01 -1.02226182e+01] [ 2.36122962e-01 9.71710871e-01 -4.89178111e-03 -5.20849672e+00] [ 1.73080204e-01 -3.71032973e-02 9.84208610e-01 2.70240850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11241403699998 meters Centerline goodness : 0.790383 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.21, Z:0.03 [[ 9.56189188e-01 -2.33132144e-01 -1.77063945e-01 -1.02226894e+01] [ 2.36031826e-01 9.71733433e-01 -4.80740978e-03 -5.20922388e+00] [ 1.73179717e-01 -3.71959331e-02 9.84187608e-01 2.75928497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14241403699998 meters Centerline goodness : 0.837468 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.21, Z:0.03 [[ 9.56218381e-01 -2.32931901e-01 -1.77169800e-01 -1.02225252e+01] [ 2.35868998e-01 9.71773976e-01 -4.59947723e-03 -5.21040536e+00] [ 1.73240366e-01 -3.73907586e-02 9.84169552e-01 2.79478097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17241403699998 meters Centerline goodness : 0.791979 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.21, Z:0.03 [[ 9.56305458e-01 -2.32388364e-01 -1.77413416e-01 -1.02216107e+01] [ 2.35456165e-01 9.71877301e-01 -3.86081358e-03 -5.21373423e+00] [ 1.73321280e-01 -3.80809655e-02 9.84128840e-01 2.81319701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20241403699998 meters Centerline goodness : 0.839487 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.22, Z:0.03 [[ 9.56354595e-01 -2.32118087e-01 -1.77502346e-01 -1.02210835e+01] [ 2.35262774e-01 9.71925787e-01 -3.41922232e-03 -5.21568211e+00] [ 1.73312771e-01 -3.84897053e-02 9.84114437e-01 2.81087369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23241403699998 meters Centerline goodness : 0.839186 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.22, Z:0.03 [[ 9.56460211e-01 -2.31379317e-01 -1.77897378e-01 -1.02196448e+01] [ 2.34696704e-01 9.72065533e-01 -2.46096872e-03 -5.21905544e+00] [ 1.73497326e-01 -3.93981095e-02 9.84045968e-01 2.80080629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26241403699999 meters Centerline goodness : 0.840225 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.22, Z:0.03 [[ 9.56532108e-01 -2.30807087e-01 -1.78253791e-01 -1.02186337e+01] [ 2.34225750e-01 9.72180346e-01 -1.91672569e-03 -5.22030825e+00] [ 1.73737226e-01 -3.99182183e-02 9.83982679e-01 2.79404315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292414037 meters Centerline goodness : 0.789016 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.22, Z:0.03 [[ 9.56597596e-01 -2.30273325e-01 -1.78592369e-01 -1.02178142e+01] [ 2.33778511e-01 9.72288787e-01 -1.45700375e-03 -5.22131693e+00] [ 1.73978867e-01 -4.03572919e-02 9.83922071e-01 2.80205505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322414037 meters Centerline goodness : 0.792374 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.22, Z:0.03 [[ 9.57228828e-01 -2.27309628e-01 -1.79006436e-01 -1.02179337e+01] [ 2.31239807e-01 9.72896137e-01 1.12147337e-03 -5.22443676e+00] [ 1.73899749e-01 -4.24669205e-02 9.83847264e-01 2.86885691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352414037 meters Centerline goodness : 0.790917 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.23, Z:0.03 [[ 9.57306029e-01 -2.26717435e-01 -1.79344284e-01 -1.02171228e+01] [ 2.30717428e-01 9.73019659e-01 1.48687971e-03 -5.22519929e+00] [ 1.74168412e-01 -4.28012508e-02 9.83785249e-01 2.88494760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382414037 meters Centerline goodness : 0.845142 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.23, Z:0.03 [[ 9.57385870e-01 -2.26139791e-01 -1.79647131e-01 -1.02163496e+01] [ 2.30215048e-01 9.73137946e-01 1.88938054e-03 -5.22618934e+00] [ 1.74394176e-01 -4.31663390e-02 9.83729301e-01 2.90093537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412414037 meters Centerline goodness : 0.845134 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.23, Z:0.03 [[ 9.57431567e-01 -2.25793888e-01 -1.79838580e-01 -1.02159576e+01] [ 2.29905380e-01 9.73210769e-01 2.07755901e-03 -5.22719237e+00] [ 1.74551743e-01 -4.33349777e-02 9.83693941e-01 2.93840661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442414037 meters Centerline goodness : 0.845366 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.23, Z:0.03 [[ 9.57560186e-01 -2.24935410e-01 -1.80229166e-01 -1.02152045e+01] [ 2.29176761e-01 9.73380826e-01 2.78937407e-03 -5.22938924e+00] [ 1.74804185e-01 -4.39753300e-02 9.83620693e-01 2.99010049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.472414037 meters Centerline goodness : 0.845366 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.23, Z:0.03 [[ 9.57560186e-01 -2.24935410e-01 -1.80229166e-01 -1.02152045e+01] [ 2.29176761e-01 9.73380826e-01 2.78937407e-03 -5.22938924e+00] [ 1.74804185e-01 -4.39753300e-02 9.83620693e-01 2.99010049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502414037 meters Centerline goodness : 0.843519 Centerline is valid? [False, False] Translation: X:-10.22, Y:-5.23, Z:0.03 [[ 9.57581725e-01 -2.24745414e-01 -1.80351708e-01 -1.02150907e+01] [ 2.29012556e-01 9.73419087e-01 2.92075156e-03 -5.23024378e+00] [ 1.74901369e-01 -4.40996638e-02 9.83597850e-01 3.02958765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532414037 meters Centerline goodness : 0.842378 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.23, Z:0.03 [[ 9.57715176e-01 -2.23787190e-01 -1.80834001e-01 -1.02135767e+01] [ 2.28213961e-01 9.73603658e-01 3.78218025e-03 -5.23278084e+00] [ 1.75214242e-01 -4.48910950e-02 9.83506359e-01 3.02757777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562414037 meters Centerline goodness : 0.841849 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.23, Z:0.03 [[ 9.57781393e-01 -2.23343992e-01 -1.81031113e-01 -1.02127773e+01] [ 2.27843606e-01 9.73688766e-01 4.18066863e-03 -5.23395257e+00] [ 1.75334234e-01 -4.52509483e-02 9.83468484e-01 3.01537880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592414037 meters Centerline goodness : 0.841112 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.23, Z:0.03 [[ 9.57875252e-01 -2.22615812e-01 -1.81430981e-01 -1.02109206e+01] [ 2.27242395e-01 9.73826128e-01 4.85458162e-03 -5.23497222e+00] [ 1.75601523e-01 -4.58788942e-02 9.83391698e-01 2.92180970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622414037 meters Centerline goodness : 0.846998 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.03 [[ 9.58289742e-01 -2.21138658e-01 -1.81048237e-01 -1.02104339e+01] [ 2.25848894e-01 9.74146460e-01 5.56336710e-03 -5.23649697e+00] [ 1.75137224e-01 -4.62208618e-02 9.83458481e-01 2.78535859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652414037 meters Centerline goodness : 0.844021 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.03 [[ 9.58385053e-01 -2.20379054e-01 -1.81469454e-01 -1.02093175e+01] [ 2.25223694e-01 9.74286878e-01 6.27434553e-03 -5.23708681e+00] [ 1.75420573e-01 -4.68844597e-02 9.83376566e-01 2.75822952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68241403699997 meters Centerline goodness : 0.843449 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.03 [[ 9.58491492e-01 -2.19571594e-01 -1.81885609e-01 -1.02086741e+01] [ 2.24575875e-01 9.74430522e-01 7.12976697e-03 -5.23769801e+00] [ 1.75669395e-01 -4.76809408e-02 9.83293848e-01 2.77645954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71241403699997 meters Centerline goodness : 0.846540 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.03 [[ 9.58713295e-01 -2.18545108e-01 -1.81952887e-01 -1.02090503e+01] [ 2.23824359e-01 9.74590250e-01 8.74653512e-03 -5.24017183e+00] [ 1.75417997e-01 -4.91109076e-02 9.83268349e-01 2.83943195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74241403699997 meters Centerline goodness : 0.843786 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.03 [[ 9.58772404e-01 -2.18072169e-01 -1.82208689e-01 -1.02081634e+01] [ 2.23538968e-01 9.74646046e-01 9.76800769e-03 -5.24187692e+00] [ 1.75458848e-01 -5.00960385e-02 9.83211361e-01 2.82033876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77241403699998 meters Centerline goodness : 0.845798 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.24, Z:0.03 [[ 0.95879908 -0.21785329 -0.18233009 -10.20729911] [ 0.22342313 0.97466681 0.01033028 -5.24361146] [ 0.1754606 -0.05064142 0.98318311 0.02794189] [ 0. 0. 0. 1. ]] SLAMing on 214.80241403699998 meters Centerline goodness : 0.846930 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95857868 -0.21836104 -0.18288077 -10.2046741 ] [ 0.22410998 0.97450039 0.01112271 -5.24629762] [ 0.17578861 -0.0516474 0.98307218 0.02710855] [ 0. 0. 0. 1. ]] SLAMing on 214.83241403699998 meters Centerline goodness : 0.844474 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95836539 -0.21871429 -0.18357515 -10.20233633] [ 0.2245964 0.97438253 0.01162487 -5.24744056] [ 0.17632989 -0.05237119 0.98293694 0.02655221] [ 0. 0. 0. 1. ]] SLAMing on 214.86241403699998 meters Centerline goodness : 0.795569 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95816186 -0.21944103 -0.18377019 -10.20121791] [ 0.22531054 0.97421998 0.01142803 -5.24804192] [ 0.17652481 -0.05235526 0.9829028 0.02622386] [ 0. 0. 0. 1. ]] SLAMing on 214.89241403699998 meters Centerline goodness : 0.843229 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.9579256 -0.21996285 -0.18437704 -10.19934737] [ 0.22598916 0.97405508 0.01206692 -5.24973559] [ 0.17693912 -0.05322642 0.98278151 0.02612632] [ 0. 0. 0. 1. ]] SLAMing on 214.92241403699998 meters Centerline goodness : 0.842837 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95782696 -0.22024436 -0.18455334 -10.19932827] [ 0.22634088 0.97396952 0.01237641 -5.25011 ] [ 0.1770235 -0.05362643 0.98274457 0.02663103] [ 0. 0. 0. 1. ]] SLAMing on 214.95241403699998 meters Centerline goodness : 0.842941 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95791508 -0.21968292 -0.18476504 -10.19991069] [ 0.22593748 0.97405182 0.01324042 -5.2506361 ] [ 0.17706202 -0.05442855 0.98269353 0.02767853] [ 0. 0. 0. 1. ]] SLAMing on 214.98241403699998 meters Centerline goodness : 0.844397 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95792072 -0.21946332 -0.18499662 -10.19978841] [ 0.22575185 0.97409299 0.01337697 -5.25025466] [ 0.17726816 -0.05457741 0.98264811 0.02797195] [ 0. 0. 0. 1. ]] SLAMing on 215.01241403699999 meters Centerline goodness : 0.843870 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.9584087 -0.21601893 -0.18651701 -10.19813795] [ 0.22314884 0.97462075 0.01786033 -5.25199019] [ 0.17792518 -0.05873854 0.98228937 0.02814182] [ 0. 0. 0. 1. ]] SLAMing on 215.042414037 meters Centerline goodness : 0.799231 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95837556 -0.21584594 -0.18688717 -10.19758806] [ 0.22301845 0.97464826 0.0179871 -5.25141059] [ 0.17826682 -0.05891768 0.9822167 0.02826071] [ 0. 0. 0. 1. ]] SLAMing on 215.072414037 meters Centerline goodness : 0.798383 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95842031 -0.21566431 -0.18686739 -10.19759648] [ 0.22277987 0.97470813 0.01769699 -5.25020929] [ 0.17832455 -0.05859145 0.98222574 0.02795611] [ 0. 0. 0. 1. ]] SLAMing on 215.102414037 meters Centerline goodness : 0.796555 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95842137 -0.2153942 -0.18717324 -10.19691527] [ 0.22252654 0.97476572 0.01771252 -5.24974152] [ 0.17863488 -0.05862707 0.98216722 0.02782582] [ 0. 0. 0. 1. ]] SLAMing on 215.132414037 meters Centerline goodness : 0.843812 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95841562 -0.21528172 -0.18733201 -10.19627648] [ 0.22233727 0.97481723 0.01724846 -5.24803554] [ 0.17890119 -0.05818208 0.98214521 0.02716034] [ 0. 0. 0. 1. ]] SLAMing on 215.162414037 meters Centerline goodness : 0.797813 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.25, Z:0.03 [[ 0.95840625 -0.2151008 -0.18758761 -10.19503973] [ 0.22211714 0.97487237 0.01696609 -5.24716959] [ 0.17922456 -0.05792683 0.98210134 0.02635992] [ 0. 0. 0. 1. ]] SLAMing on 215.192414037 meters Centerline goodness : 0.797031 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.03 [[ 0.95841188 -0.21516357 -0.1874868 -10.19465861] [ 0.22212248 0.97487611 0.01667849 -5.24660604] [ 0.1791878 -0.0576299 0.98212551 0.02564667] [ 0. 0. 0. 1. ]] SLAMing on 215.222414037 meters Centerline goodness : 0.844734 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.02 [[ 0.95844409 -0.21483699 -0.18769656 -10.19358583] [ 0.22179463 0.97495152 0.01663379 -5.24552425] [ 0.17942149 -0.05757265 0.98208621 0.02477356] [ 0. 0. 0. 1. ]] SLAMing on 215.252414037 meters Centerline goodness : 0.845930 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.9583752 -0.2152499 -0.18757522 -10.1941253 ] [ 0.22211341 0.97488759 0.01611901 -5.24459995] [ 0.17939514 -0.05711104 0.98211797 0.0250835 ] [ 0. 0. 0. 1. ]] SLAMing on 215.282414037 meters Centerline goodness : 0.845652 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.03 [[ 0.95878984 -0.21210601 -0.18903197 -10.19283424] [ 0.2198025 0.97532942 0.02047889 -5.2462399 ] [ 0.18002475 -0.06118465 0.98175737 0.02556755] [ 0. 0. 0. 1. ]] SLAMing on 215.312414037 meters Centerline goodness : 0.849030 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.03 [[ 0.95877384 -0.2123039 -0.18889091 -10.19344395] [ 0.21994406 0.97530329 0.02020175 -5.24580267] [ 0.17993701 -0.06091435 0.98179026 0.02594196] [ 0. 0. 0. 1. ]] SLAMing on 215.342414037 meters Centerline goodness : 0.846245 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.03 [[ 0.95875063 -0.21201832 -0.18932901 -10.19272916] [ 0.21982426 0.97531385 0.02098065 -5.24623603] [ 0.18020692 -0.06173432 0.98168953 0.02612394] [ 0. 0. 0. 1. ]] SLAMing on 215.372414037 meters Centerline goodness : 0.847572 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.03 [[ 0.9587248 -0.21213078 -0.18933382 -10.19257499] [ 0.21996904 0.97527767 0.02114444 -5.2466703 ] [ 0.18016766 -0.06191928 0.98168509 0.026096 ] [ 0. 0. 0. 1. ]] SLAMing on 215.402414037 meters Centerline goodness : 0.846953 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.25, Z:0.03 [[ 0.95857681 -0.21269311 -0.18945219 -10.19232424] [ 0.22053309 0.97515212 0.02105952 -5.24667477] [ 0.18026548 -0.06196765 0.98166408 0.02620051] [ 0. 0. 0. 1. ]] SLAMing on 215.43241403699997 meters Centerline goodness : 0.849239 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.95777041 -0.21703932 -0.18859951 -10.19368881] [ 0.22410187 0.97442258 0.01670271 -5.24382793] [ 0.18015048 -0.05826286 0.98191203 0.02716798] [ 0. 0. 0. 1. ]] SLAMing on 215.46241403699997 meters Centerline goodness : 0.847928 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.95760648 -0.21717422 -0.18927543 -10.19243043] [ 0.22432245 0.97436785 0.01693329 -5.2430822 ] [ 0.18074642 -0.05867415 0.98177802 0.02722606] [ 0. 0. 0. 1. ]] SLAMing on 215.49241403699997 meters Centerline goodness : 0.847041 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.95726432 -0.21782602 -0.19025469 -10.19081539] [ 0.2249945 0.97421763 0.01665797 -5.24108737] [ 0.18172093 -0.05875233 0.98159343 0.02741583] [ 0. 0. 0. 1. ]] SLAMing on 215.52241403699998 meters Centerline goodness : 0.845967 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.9571359 -0.21808037 -0.19060907 -10.18984208] [ 0.22523754 0.9741649 0.01645617 -5.24011773] [ 0.1820959 -0.05868311 0.98152808 0.02709354] [ 0. 0. 0. 1. ]] SLAMing on 215.55241403699998 meters Centerline goodness : 0.794122 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.95707825 -0.21829906 -0.19064824 -10.18946496] [ 0.22536799 0.97414319 0.01594694 -5.23914925] [ 0.18223748 -0.05822848 0.98152888 0.02680303] [ 0. 0. 0. 1. ]] SLAMing on 215.58241403699998 meters Centerline goodness : 0.845055 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.95699789 -0.21852089 -0.19079744 -10.18896989] [ 0.22545789 0.97413484 0.01516749 -5.23682852] [ 0.18254802 -0.05753205 0.98151224 0.02630229] [ 0. 0. 0. 1. ]] SLAMing on 215.61241403699998 meters Centerline goodness : 0.793194 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.03 [[ 0.95695519 -0.21835311 -0.19120327 -10.18824077] [ 0.2252717 0.9741812 0.01495488 -5.23516756] [ 0.18300119 -0.05738383 0.98143653 0.02616733] [ 0. 0. 0. 1. ]] SLAMing on 215.64241403699998 meters Centerline goodness : 0.846318 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.03 [[ 0.95691957 -0.21847024 -0.19124774 -10.18834244] [ 0.22530237 0.97418149 0.01446596 -5.23341615] [ 0.18314963 -0.05693133 0.98143519 0.02633402] [ 0. 0. 0. 1. ]] SLAMing on 215.67241403699998 meters Centerline goodness : 0.792144 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.03 [[ 0.95743185 -0.21537583 -0.19219131 -10.18791568] [ 0.22280611 0.97470279 0.01766074 -5.23311542] [ 0.18352571 -0.05973035 0.98119855 0.02635243] [ 0. 0. 0. 1. ]] SLAMing on 215.70241403699998 meters Centerline goodness : 0.791443 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.03 [[ 0.95741325 -0.21547919 -0.19216814 -10.18800079] [ 0.22286501 0.97469365 0.01742077 -5.23247674] [ 0.18355125 -0.05950643 0.98120738 0.02638475] [ 0. 0. 0. 1. ]] SLAMing on 215.73241403699998 meters Centerline goodness : 0.790553 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.03 [[ 0.95739559 -0.21560613 -0.19211373 -10.18809397] [ 0.22294056 0.97468114 0.01715172 -5.23179106] [ 0.18355162 -0.05925092 0.98122277 0.02637619] [ 0. 0. 0. 1. ]] SLAMing on 215.76241403699999 meters Centerline goodness : 0.791821 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.03 [[ 0.95736635 -0.21578133 -0.19206271 -10.18833191] [ 0.22305427 0.97466086 0.01682281 -5.230915 ] [ 0.18356596 -0.058946 0.98123846 0.02648754] [ 0. 0. 0. 1. ]] SLAMing on 215.792414037 meters Centerline goodness : 0.840301 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.03 [[ 0.95732597 -0.21605302 -0.19195856 -10.18895517] [ 0.22317087 0.974648 0.0160015 -5.22812537] [ 0.18363485 -0.05815821 0.98127257 0.02680185] [ 0. 0. 0. 1. ]] SLAMing on 215.822414037 meters Centerline goodness : 0.838257 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.03 [[ 0.95728199 -0.21621342 -0.19199725 -10.18912953] [ 0.22325734 0.97463504 0.01557865 -5.22671818] [ 0.18375893 -0.05777796 0.98127181 0.02699709] [ 0. 0. 0. 1. ]] SLAMing on 215.852414037 meters Centerline goodness : 0.789155 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.95721475 -0.21654076 -0.19196361 -10.18957319] [ 0.2234511 0.97460209 0.01484457 -5.2247353 ] [ 0.18387368 -0.05710392 0.98128977 0.02735583] [ 0. 0. 0. 1. ]] SLAMing on 215.882414037 meters Centerline goodness : 0.788122 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.95718519 -0.21670776 -0.19192255 -10.18956322] [ 0.22356562 0.97458011 0.01456121 -5.22400843] [ 0.18388838 -0.05684506 0.98130205 0.02728605] [ 0. 0. 0. 1. ]] SLAMing on 215.912414037 meters Centerline goodness : 0.787311 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.95714377 -0.21688909 -0.19192425 -10.1894627 ] [ 0.22371297 0.97454925 0.01436177 -5.22372095] [ 0.18392472 -0.05668222 0.98130465 0.02721811] [ 0. 0. 0. 1. ]] SLAMing on 215.942414037 meters Centerline goodness : 0.787365 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.9570394 -0.21757178 -0.19167188 -10.19011258] [ 0.22428006 0.97442762 0.01375742 -5.22244732] [ 0.18377715 -0.05615457 0.98136264 0.02714622] [ 0. 0. 0. 1. ]] SLAMing on 215.972414037 meters Centerline goodness : 0.786518 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.95693706 -0.21826878 -0.19139017 -10.19109779] [ 0.22485041 0.97430523 0.01310036 -5.22125103] [ 0.18361305 -0.05557038 0.98142661 0.02739377] [ 0. 0. 0. 1. ]] SLAMing on 216.002414037 meters Centerline goodness : 0.838264 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.95683477 -0.21883702 -0.19125266 -10.19173054] [ 0.22530662 0.97420787 0.01248851 -5.22002116] [ 0.1835869 -0.05503993 0.98146139 0.02766679] [ 0. 0. 0. 1. ]] SLAMing on 216.032414037 meters Centerline goodness : 0.837361 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.95665698 -0.219941 -0.1908753 -10.19326207] [ 0.22619649 0.97401557 0.01135028 -5.21767475] [ 0.18341912 -0.05403365 0.98154867 0.02816805] [ 0. 0. 0. 1. ]] SLAMing on 216.062414037 meters Centerline goodness : 0.837213 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.03 [[ 0.95658714 -0.22042264 -0.19066963 -10.19399908] [ 0.22657082 0.97393492 0.01079049 -5.21642644] [ 0.18332134 -0.05352222 0.98159496 0.02838132] [ 0. 0. 0. 1. ]] SLAMing on 216.092414037 meters Centerline goodness : 0.838130 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.56467270e-01 -2.21164878e-01 -1.90411289e-01 -1.01951740e+01] [ 2.27088476e-01 9.73826895e-01 9.59180687e-03 -5.21317453e+00] [ 1.83306264e-01 -5.24144588e-02 9.81657546e-01 2.88431363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122414037 meters Centerline goodness : 0.836271 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.56406353e-01 -2.21516079e-01 -1.90308995e-01 -1.01956939e+01] [ 2.27302258e-01 9.73784030e-01 8.85141120e-03 -5.21100570e+00] [ 1.83359130e-01 -5.17232102e-02 9.81684338e-01 2.90815201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152414037 meters Centerline goodness : 0.835002 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.56379589e-01 -2.21638155e-01 -1.90301366e-01 -1.01958524e+01] [ 2.27323950e-01 9.73783784e-01 8.30443249e-03 -5.20889882e+00] [ 1.83471805e-01 -5.12022480e-02 9.81690596e-01 2.91515022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18241403699997 meters Centerline goodness : 0.836726 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.56395290e-01 -2.21753718e-01 -1.90087712e-01 -1.01966198e+01] [ 2.27255125e-01 9.73807393e-01 7.36671447e-03 -5.20501050e+00] [ 1.83475223e-01 -5.02438979e-02 9.81739473e-01 2.93212117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21241403699997 meters Centerline goodness : 0.836099 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.03 [[ 9.56343340e-01 -2.22029570e-01 -1.90027066e-01 -1.01971117e+01] [ 2.27419038e-01 9.73773543e-01 6.75777857e-03 -5.20340283e+00] [ 1.83542903e-01 -4.96785291e-02 9.81755594e-01 2.96738544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24241403699997 meters Centerline goodness : 0.839160 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.03 [[ 9.56310027e-01 -2.22276459e-01 -1.89906049e-01 -1.01976038e+01] [ 2.27595147e-01 9.73734891e-01 6.38830257e-03 -5.20239274e+00] [ 1.83498177e-01 -4.93308929e-02 9.81781484e-01 2.98245682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27241403699998 meters Centerline goodness : 0.838669 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.03 [[ 9.56244910e-01 -2.22868287e-01 -1.89539965e-01 -1.01987573e+01] [ 2.28084470e-01 9.73623583e-01 5.88157399e-03 -5.20185337e+00] [ 1.83229764e-01 -4.88553478e-02 9.81855391e-01 3.01944508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30241403699998 meters Centerline goodness : 0.785998 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.03 [[ 9.56172078e-01 -2.23278022e-01 -1.89425135e-01 -1.01992710e+01] [ 2.28437888e-01 9.73542550e-01 5.57093404e-03 -5.20190317e+00] [ 1.83169562e-01 -4.85986495e-02 9.81879363e-01 3.05738305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33241403699998 meters Centerline goodness : 0.785246 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.03 [[ 9.55986819e-01 -2.24351004e-01 -1.89092117e-01 -1.02007031e+01] [ 2.29449385e-01 9.73306562e-01 5.22646484e-03 -5.20327615e+00] [ 1.82872036e-01 -4.83835015e-02 9.81945444e-01 3.13118304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36241403699998 meters Centerline goodness : 0.784100 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.03 [[ 9.55923357e-01 -2.24721140e-01 -1.88973394e-01 -1.02010371e+01] [ 2.29824395e-01 9.73217961e-01 5.24865925e-03 -5.20417311e+00] [ 1.82732817e-01 -4.84480119e-02 9.81968181e-01 3.14152720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39241403699998 meters Centerline goodness : 0.784100 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.03 [[ 9.55923357e-01 -2.24721140e-01 -1.88973394e-01 -1.02010371e+01] [ 2.29824395e-01 9.73217961e-01 5.24865925e-03 -5.20417311e+00] [ 1.82732817e-01 -4.84480119e-02 9.81968181e-01 3.14152720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42241403699998 meters Centerline goodness : 0.784473 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.55859714e-01 -2.25104257e-01 -1.88839296e-01 -1.02013822e+01] [ 2.30209792e-01 9.73126808e-01 5.25991798e-03 -5.20524827e+00] [ 1.82580552e-01 -4.85003989e-02 9.81993917e-01 3.15441602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45241403699998 meters Centerline goodness : 0.838188 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.54988856e-01 -2.29195544e-01 -1.88323361e-01 -1.02002106e+01] [ 2.33687060e-01 9.72310384e-01 1.69564610e-03 -5.20541060e+00] [ 1.82720125e-01 -4.56280555e-02 9.82105614e-01 3.14164806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48241403699998 meters Centerline goodness : 0.782970 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.54912457e-01 -2.29646951e-01 -1.88160777e-01 -1.02005176e+01] [ 2.34129883e-01 9.72203932e-01 1.64685565e-03 -5.20639435e+00] [ 1.82552452e-01 -4.56266638e-02 9.82136859e-01 3.14579816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51241403699999 meters Centerline goodness : 0.782427 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.54021751e-01 -2.33779978e-01 -1.87588432e-01 -1.01994699e+01] [ 2.37628019e-01 9.71354108e-01 -2.03020516e-03 -5.20635829e+00] [ 1.82689416e-01 -4.26394077e-02 9.82245620e-01 3.13869362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542414037 meters Centerline goodness : 0.782188 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53979798e-01 -2.34078455e-01 -1.87429513e-01 -1.01998439e+01] [ 2.37915237e-01 9.71283689e-01 -2.08214746e-03 -5.20703186e+00] [ 1.82534615e-01 -4.26060104e-02 9.82275848e-01 3.15206995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572414037 meters Centerline goodness : 0.782788 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53902220e-01 -2.34599849e-01 -1.87172286e-01 -1.02007817e+01] [ 2.38362407e-01 9.71173133e-01 -2.47173819e-03 -5.20721769e+00] [ 1.82356565e-01 -4.22570401e-02 9.82323992e-01 3.20362331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602414037 meters Centerline goodness : 0.783234 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53822628e-01 -2.35034467e-01 -1.87032602e-01 -1.02017294e+01] [ 2.38731560e-01 9.71081465e-01 -2.83400106e-03 -5.20782482e+00] [ 1.82289981e-01 -4.19474505e-02 9.82349619e-01 3.29414211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632414037 meters Centerline goodness : 0.834934 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53808557e-01 -2.35117828e-01 -1.86999583e-01 -1.02018400e+01] [ 2.38795559e-01 9.71065417e-01 -2.93874462e-03 -5.20801804e+00] [ 1.82279779e-01 -4.18516702e-02 9.82355597e-01 3.31240252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662414037 meters Centerline goodness : 0.784314 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53816525e-01 -2.35025804e-01 -1.87074605e-01 -1.02015731e+01] [ 2.38706797e-01 9.71087268e-01 -2.92973091e-03 -5.20819773e+00] [ 1.82354330e-01 -4.18615541e-02 9.82341340e-01 3.31475041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692414037 meters Centerline goodness : 0.833745 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53875747e-01 -2.34609787e-01 -1.87294709e-01 -1.02009210e+01] [ 2.38319714e-01 9.71182763e-01 -2.78484256e-03 -5.20807579e+00] [ 1.82550744e-01 -4.19796277e-02 9.82299820e-01 3.30986060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722414037 meters Centerline goodness : 0.831405 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53891793e-01 -2.34500606e-01 -1.87349709e-01 -1.02009046e+01] [ 2.38207310e-01 9.71210283e-01 -2.80439294e-03 -5.20784961e+00] [ 1.82613596e-01 -4.19529829e-02 9.82289276e-01 3.32482382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752414037 meters Centerline goodness : 0.831119 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53952961e-01 -2.34155306e-01 -1.87470106e-01 -1.02011222e+01] [ 2.37854840e-01 9.71296569e-01 -2.83734123e-03 -5.20786378e+00] [ 1.82753450e-01 -4.18839820e-02 9.82266211e-01 3.39970367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782414037 meters Centerline goodness : 0.833260 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53941721e-01 -2.34133668e-01 -1.87554310e-01 -1.02011968e+01] [ 2.37830555e-01 9.71302422e-01 -2.86908810e-03 -5.20835375e+00] [ 1.82843706e-01 -4.18692029e-02 9.82250044e-01 3.44565076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812414037 meters Centerline goodness : 0.834204 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.53981396e-01 -2.33916611e-01 -1.87623331e-01 -1.02010011e+01] [ 2.37647126e-01 9.71347849e-01 -2.68334967e-03 -5.20928109e+00] [ 1.82875199e-01 -4.20282799e-02 9.82237387e-01 3.46702070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842414037 meters Centerline goodness : 0.836502 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.54036600e-01 -2.33490785e-01 -1.87872880e-01 -1.02001201e+01] [ 2.37339301e-01 9.71424616e-01 -2.06691145e-03 -5.21156874e+00] [ 1.82986945e-01 -4.26177088e-02 9.82191177e-01 3.46549064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872414037 meters Centerline goodness : 0.832990 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.54074160e-01 -2.33281907e-01 -1.87941613e-01 -1.01995778e+01] [ 2.37192638e-01 9.71461097e-01 -1.72889202e-03 -5.21258715e+00] [ 1.82981285e-01 -4.29288758e-02 9.82178681e-01 3.44056870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902414037 meters Centerline goodness : 0.833877 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.03 [[ 9.54096343e-01 -2.33028331e-01 -1.88143471e-01 -1.01988020e+01] [ 2.37002325e-01 9.71508055e-01 -1.41301471e-03 -5.21351954e+00] [ 1.83112170e-01 -4.32422880e-02 9.82140539e-01 3.42058186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93241403699997 meters Centerline goodness : 0.830853 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.03 [[ 9.54163904e-01 -2.32628779e-01 -1.88295235e-01 -1.01978420e+01] [ 2.36738132e-01 9.71573254e-01 -6.84664731e-04 -5.21572786e+00] [ 1.83101887e-01 -4.39233798e-02 9.82112232e-01 3.37835827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96241403699997 meters Centerline goodness : 0.833253 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.03 [[ 9.54173457e-01 -2.32626116e-01 -1.88250112e-01 -1.01979473e+01] [ 2.36772947e-01 9.71564897e-01 -4.72280947e-04 -5.21693547e+00] [ 1.83007065e-01 -4.41218958e-02 9.82121007e-01 3.39533471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99241403699997 meters Centerline goodness : 0.832561 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.03 [[ 9.54169581e-01 -2.32740651e-01 -1.88128146e-01 -1.01983432e+01] [ 2.36946023e-01 9.71522806e-01 -1.39066736e-04 -5.21943487e+00] [ 1.82803151e-01 -4.44435228e-02 9.82144481e-01 3.44103846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02241403699998 meters Centerline goodness : 0.836893 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.03 [[ 9.54141007e-01 -2.32944725e-01 -1.88020462e-01 -1.01987606e+01] [ 2.37137289e-01 9.71476127e-01 -2.01186788e-04 -5.22025226e+00] [ 1.82704256e-01 -4.43947022e-02 9.82165091e-01 3.47754459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05241403699998 meters Centerline goodness : 0.838787 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.03 [[ 9.54143208e-01 -2.32989490e-01 -1.87953812e-01 -1.01990010e+01] [ 2.37209112e-01 9.71458612e-01 -4.35389603e-05 -5.22110979e+00] [ 1.82599494e-01 -4.45428144e-02 9.82177867e-01 3.49196826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08241403699998 meters Centerline goodness : 0.780895 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.04 [[ 9.54118072e-01 -2.33121476e-01 -1.87917756e-01 -1.01993024e+01] [ 2.37332440e-01 9.71428486e-01 -9.40438704e-05 -5.22152930e+00] [ 1.82570585e-01 -4.45092506e-02 9.82184763e-01 3.52456156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11241403699998 meters Centerline goodness : 0.781172 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.04 [[ 9.54135079e-01 -2.32978585e-01 -1.88008590e-01 -1.01989251e+01] [ 2.37225609e-01 9.71454580e-01 9.12854077e-05 -5.22224169e+00] [ 1.82620539e-01 -4.46875510e-02 9.82167380e-01 3.51936009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14241403699998 meters Centerline goodness : 0.837310 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.04 [[ 9.54155209e-01 -2.32921056e-01 -1.87977706e-01 -1.01987499e+01] [ 2.37197708e-01 9.71461362e-01 2.63977100e-04 -5.22308799e+00] [ 1.82551593e-01 -4.48397562e-02 9.82173260e-01 3.50696983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17241403699998 meters Centerline goodness : 0.837653 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.22, Z:0.04 [[ 9.54134147e-01 -2.33044381e-01 -1.87931761e-01 -1.01989323e+01] [ 2.37343680e-01 9.71425668e-01 3.85330279e-04 -5.22491470e+00] [ 1.82471937e-01 -4.49720724e-02 9.82182012e-01 3.54763534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20241403699998 meters Centerline goodness : 0.836549 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.04 [[ 9.54103918e-01 -2.33153641e-01 -1.87949707e-01 -1.01991094e+01] [ 2.37438626e-01 9.71402498e-01 2.93130461e-04 -5.22532857e+00] [ 1.82506470e-01 -4.49061971e-02 9.82178610e-01 3.58346213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23241403699998 meters Centerline goodness : 0.838907 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.04 [[ 9.54106896e-01 -2.33094959e-01 -1.88007371e-01 -1.01990207e+01] [ 2.37388904e-01 9.71414637e-01 3.32623430e-04 -5.22551978e+00] [ 1.82555579e-01 -4.49482220e-02 9.82167561e-01 3.59277958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26241403699999 meters Centerline goodness : 0.839927 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.04 [[ 9.54152417e-01 -2.32813177e-01 -1.88125462e-01 -1.01989799e+01] [ 2.37143859e-01 9.71474401e-01 5.28078287e-04 -5.22568479e+00] [ 1.82636127e-01 -4.51166652e-02 9.82144863e-01 3.62187119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292414037 meters Centerline goodness : 0.841238 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.04 [[ 9.54165443e-01 -2.32771307e-01 -1.88111206e-01 -1.01990064e+01] [ 2.37117108e-01 9.71480878e-01 6.17067627e-04 -5.22625865e+00] [ 1.82602804e-01 -4.51931698e-02 9.82147542e-01 3.63317093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322414037 meters Centerline goodness : 0.840206 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.04 [[ 9.54135796e-01 -2.32570298e-01 -1.88509783e-01 -1.01977203e+01] [ 2.37021754e-01 9.71503716e-01 1.10355823e-03 -5.22738004e+00] [ 1.82881300e-01 -4.57338639e-02 9.82070692e-01 3.61195433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352414037 meters Centerline goodness : 0.841927 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.23, Z:0.04 [[ 9.53342611e-01 -2.36168730e-01 -1.88048389e-01 -1.01962961e+01] [ 2.40101741e-01 9.70745835e-01 -1.91753663e-03 -5.22963267e+00] [ 1.83000053e-01 -4.33226763e-02 9.82157893e-01 3.62066431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382414037 meters Centerline goodness : 0.839619 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.04 [[ 9.53234788e-01 -2.35998635e-01 -1.88806998e-01 -1.01945012e+01] [ 2.40220970e-01 9.70718084e-01 -5.35768144e-04 -5.23213619e+00] [ 1.83404808e-01 -4.48446874e-02 9.82014068e-01 3.63536872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412414037 meters Centerline goodness : 0.847106 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.23, Z:0.04 [[ 9.52413080e-01 -2.39500661e-01 -1.88543782e-01 -1.01937644e+01] [ 2.43348662e-01 9.69934781e-01 -2.81935652e-03 -5.23368501e+00] [ 1.83550410e-01 -4.31966851e-02 9.82060738e-01 3.71479815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442414037 meters Centerline goodness : 0.845017 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.04 [[ 9.52273913e-01 -2.39339371e-01 -1.89449362e-01 -1.01918792e+01] [ 2.43422018e-01 9.69918857e-01 -1.77003327e-03 -5.23549602e+00] [ 1.84174147e-01 -4.44305894e-02 9.81888897e-01 3.74937687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472414037 meters Centerline goodness : 0.843487 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.04 [[ 9.52153927e-01 -2.39099826e-01 -1.90352756e-01 -1.01899686e+01] [ 2.43485745e-01 9.69904410e-01 -3.57587484e-04 -5.23762304e+00] [ 1.84709477e-01 -4.60077042e-02 9.81715692e-01 3.77281807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502414037 meters Centerline goodness : 0.843501 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.04 [[ 9.52055696e-01 -2.39022854e-01 -1.90939851e-01 -1.01878511e+01] [ 2.43707287e-01 9.69848227e-01 1.08421433e-03 -5.24144556e+00] [ 1.84923524e-01 -4.75656655e-02 9.81601140e-01 3.74757094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.532414037 meters Centerline goodness : 0.843361 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.04 [[ 9.52034338e-01 -2.38573755e-01 -1.91606847e-01 -1.01860977e+01] [ 2.43458252e-01 9.69909288e-01 2.01305549e-03 -5.24304852e+00] [ 1.85360998e-01 -4.85647660e-02 9.81469696e-01 3.73424915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562414037 meters Centerline goodness : 0.844201 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.24, Z:0.04 [[ 9.52049582e-01 -2.38201266e-01 -1.91994144e-01 -1.01851406e+01] [ 2.43225703e-01 9.69965999e-01 2.68653955e-03 -5.24422234e+00] [ 1.85587855e-01 -4.92556294e-02 9.81392394e-01 3.73815465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592414037 meters Centerline goodness : 0.843386 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 9.52159153e-01 -2.37546872e-01 -1.92261362e-01 -1.01849829e+01] [ 2.42786512e-01 9.70072236e-01 3.81654455e-03 -5.24599775e+00] [ 1.85600801e-01 -5.03124233e-02 9.81336335e-01 3.79904040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622414037 meters Centerline goodness : 0.845170 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 9.52164045e-01 -2.37046745e-01 -1.92853501e-01 -1.01838855e+01] [ 2.42478477e-01 9.70145323e-01 4.71599210e-03 -5.24683841e+00] [ 1.85978011e-01 -5.12532212e-02 9.81216228e-01 3.81029761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652414037 meters Centerline goodness : 0.841920 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 9.52041989e-01 -2.37084417e-01 -1.93408971e-01 -1.01818581e+01] [ 2.42653294e-01 9.70098717e-01 5.27812026e-03 -5.24821879e+00] [ 1.86374434e-01 -5.19563160e-02 9.81104027e-01 3.75835633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68241403699997 meters Centerline goodness : 0.785163 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 9.52013854e-01 -2.36764286e-01 -1.93938895e-01 -1.01800374e+01] [ 2.42451963e-01 9.70146172e-01 5.78358381e-03 -5.24919138e+00] [ 1.86779731e-01 -5.25269177e-02 9.80996562e-01 3.71278152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71241403699997 meters Centerline goodness : 0.840681 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 9.51992079e-01 -2.36587578e-01 -1.94261163e-01 -1.01789345e+01] [ 2.42357542e-01 9.70167571e-01 6.14052035e-03 -5.25013014e+00] [ 1.87013110e-01 -5.29263847e-02 9.80930627e-01 3.69344376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74241403699997 meters Centerline goodness : 0.784851 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 9.52078930e-01 -2.35966097e-01 -1.94591141e-01 -1.01781201e+01] [ 2.41877637e-01 9.70282586e-01 6.84926830e-03 -5.25087314e+00] [ 1.87192200e-01 -5.35882893e-02 9.80860528e-01 3.68408836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77241403699998 meters Centerline goodness : 0.786979 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 0.95271552 -0.23255114 -0.19558403 -10.1783082 ] [ 0.23918176 0.97091632 0.01065769 -5.25255434] [ 0.18741727 -0.05693388 0.98062903 0.0376964 ] [ 0. 0. 0. 1. ]] SLAMing on 217.80241403699998 meters Centerline goodness : 0.786082 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.25, Z:0.04 [[ 0.95328517 -0.22880752 -0.19721687 -10.17676112] [ 0.23630289 0.97156328 0.01502434 -5.25430519] [ 0.18817099 -0.06092539 0.98024475 0.03812049] [ 0. 0. 0. 1. ]] SLAMing on 217.83241403699998 meters Centerline goodness : 0.788274 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95383554 -0.22498247 -0.19894885 -10.17489906] [ 0.23344099 0.97216893 0.01982092 -5.25636961] [ 0.18895253 -0.06534871 0.97980941 0.03846957] [ 0. 0. 0. 1. ]] SLAMing on 217.86241403699998 meters Centerline goodness : 0.784923 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95418369 -0.22395136 -0.19844212 -10.1746539 ] [ 0.23232207 0.97244049 0.0196458 -5.25585483] [ 0.18857344 -0.06484819 0.97991569 0.03687565] [ 0. 0. 0. 1. ]] SLAMing on 217.89241403699998 meters Centerline goodness : 0.784357 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95433235 -0.22349934 -0.19823675 -10.17421767] [ 0.23185339 0.97255173 0.01967607 -5.25613958] [ 0.18839791 -0.06473938 0.97995665 0.03606491] [ 0. 0. 0. 1. ]] SLAMing on 217.92241403699998 meters Centerline goodness : 0.786122 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95463069 -0.2223792 -0.19805992 -10.17386758] [ 0.23079068 0.9727948 0.02014811 -5.25674162] [ 0.18819114 -0.06494439 0.97998282 0.03515689] [ 0. 0. 0. 1. ]] SLAMing on 217.95241403699998 meters Centerline goodness : 0.787632 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95463647 -0.22203103 -0.19842238 -10.17301699] [ 0.23054916 0.97284239 0.02060977 -5.25686079] [ 0.1884577 -0.06542095 0.97989989 0.03508718] [ 0. 0. 0. 1. ]] SLAMing on 217.98241403699998 meters Centerline goodness : 0.785447 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95457082 -0.2223316 -0.19840164 -10.17331651] [ 0.23079211 0.97279156 0.0202877 -5.25646451] [ 0.18849284 -0.06515558 0.97991081 0.03543908] [ 0. 0. 0. 1. ]] SLAMing on 218.01241403699999 meters Centerline goodness : 0.785855 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95482836 -0.21940882 -0.20040602 -10.17094712] [ 0.22887079 0.97313473 0.02503907 -5.25896177] [ 0.18952827 -0.0697751 0.97939291 0.03621819] [ 0. 0. 0. 1. ]] SLAMing on 218.042414037 meters Centerline goodness : 0.786457 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.9548206 -0.21926238 -0.20060316 -10.16986646] [ 0.2287928 0.97314546 0.02533304 -5.2595534 ] [ 0.18966147 -0.07008507 0.97934499 0.03573652] [ 0. 0. 0. 1. ]] SLAMing on 218.072414037 meters Centerline goodness : 0.786010 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95472024 -0.21952789 -0.20079034 -10.16922 ] [ 0.22908387 0.97307607 0.02536811 -5.2601579 ] [ 0.18981527 -0.07021727 0.97930572 0.03577715] [ 0. 0. 0. 1. ]] SLAMing on 218.102414037 meters Centerline goodness : 0.788111 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95406136 -0.22318983 -0.19988301 -10.16912549] [ 0.23202636 0.97246912 0.02162349 -5.25959621] [ 0.18955391 -0.06700826 0.97958114 0.03554669] [ 0. 0. 0. 1. ]] SLAMing on 218.132414037 meters Centerline goodness : 0.788372 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95395995 -0.2230857 -0.20048237 -10.16783173] [ 0.23208598 0.97244048 0.02226211 -5.26024171] [ 0.18999082 -0.06776631 0.97944434 0.03561563] [ 0. 0. 0. 1. ]] SLAMing on 218.162414037 meters Centerline goodness : 0.787978 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.9537057 -0.22390545 -0.20077798 -10.16743395] [ 0.23288305 0.97225687 0.02195599 -5.25955788] [ 0.1902917 -0.06769734 0.9793907 0.03596354] [ 0. 0. 0. 1. ]] SLAMing on 218.192414037 meters Centerline goodness : 0.836850 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95366191 -0.22378064 -0.20112482 -10.16680931] [ 0.23281939 0.97226755 0.02215703 -5.25934417] [ 0.19058883 -0.06795607 0.979315 0.03602831] [ 0. 0. 0. 1. ]] SLAMing on 218.222414037 meters Centerline goodness : 0.836802 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95369065 -0.22366074 -0.20112191 -10.16690204] [ 0.23269015 0.97229929 0.02212209 -5.25899861] [ 0.19060285 -0.06789671 0.97931639 0.03605643] [ 0. 0. 0. 1. ]] SLAMing on 218.252414037 meters Centerline goodness : 0.839941 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95368864 -0.22379244 -0.20098488 -10.16756885] [ 0.23266913 0.97232106 0.02137379 -5.25704406] [ 0.19063853 -0.06714692 0.97936114 0.03617866] [ 0. 0. 0. 1. ]] SLAMing on 218.282414037 meters Centerline goodness : 0.839941 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95368864 -0.22379244 -0.20098488 -10.16756885] [ 0.23266913 0.97232106 0.02137379 -5.25704406] [ 0.19063853 -0.06714692 0.97936114 0.03617866] [ 0. 0. 0. 1. ]] SLAMing on 218.312414037 meters Centerline goodness : 0.838276 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.26, Z:0.04 [[ 0.95368209 -0.22355753 -0.20127718 -10.1668429 ] [ 0.23242807 0.97238118 0.02126099 -5.25589625] [ 0.19096509 -0.06705869 0.97930356 0.03578264] [ 0. 0. 0. 1. ]] SLAMing on 218.342414037 meters Centerline goodness : 0.838702 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95418791 -0.22006446 -0.20272412 -10.16546697] [ 0.22963291 0.97296501 0.02465383 -5.25485594] [ 0.19181805 -0.07007651 0.97892549 0.03557349] [ 0. 0. 0. 1. ]] SLAMing on 218.372414037 meters Centerline goodness : 0.841699 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95422121 -0.2201355 -0.2024901 -10.16596439] [ 0.22952677 0.97301061 0.02382896 -5.25305151] [ 0.19177941 -0.069215 0.97899435 0.03530346] [ 0. 0. 0. 1. ]] SLAMing on 218.402414037 meters Centerline goodness : 0.790206 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.9542807 -0.2200596 -0.20229219 -10.1664314 ] [ 0.22934899 0.9730632 0.02338904 -5.25185748] [ 0.1916961 -0.06871522 0.97904587 0.03514308] [ 0. 0. 0. 1. ]] SLAMing on 218.43241403699997 meters Centerline goodness : 0.843876 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95449391 -0.21953628 -0.20185441 -10.16764543] [ 0.22876992 0.97320125 0.02331638 -5.25096716] [ 0.19132618 -0.06843356 0.97913796 0.03510383] [ 0. 0. 0. 1. ]] SLAMing on 218.46241403699997 meters Centerline goodness : 0.844655 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95485379 -0.2166287 -0.20328858 -10.16652378] [ 0.2267041 0.97357902 0.02737049 -5.25232093] [ 0.19198826 -0.07222117 0.97873623 0.03576567] [ 0. 0. 0. 1. ]] SLAMing on 218.49241403699997 meters Centerline goodness : 0.793294 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95480155 -0.21689378 -0.20325129 -10.16707303] [ 0.22684966 0.97356238 0.02674908 -5.25074403] [ 0.1920761 -0.07164755 0.97876116 0.03622157] [ 0. 0. 0. 1. ]] SLAMing on 218.52241403699998 meters Centerline goodness : 0.844494 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95520695 -0.21339761 -0.20503934 -10.16543637] [ 0.22441141 0.97397632 0.03177495 -5.25288464] [ 0.19292277 -0.07636483 0.97823781 0.03706635] [ 0. 0. 0. 1. ]] SLAMing on 218.55241403699998 meters Centerline goodness : 0.791048 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95513203 -0.21375246 -0.20501876 -10.16582721] [ 0.22467873 0.97392993 0.03130415 -5.25220842] [ 0.19298256 -0.07596295 0.97825731 0.03746339] [ 0. 0. 0. 1. ]] SLAMing on 218.58241403699998 meters Centerline goodness : 0.791222 Centerline is valid? [False, False] Translation: X:-10.16, Y:-5.25, Z:0.04 [[ 0.95491026 -0.21387205 -0.20592507 -10.16420547] [ 0.2249368 0.97385989 0.03162828 -5.25152116] [ 0.19377776 -0.0765223 0.9780565 0.03771942] [ 0. 0. 0. 1. ]] SLAMing on 218.61241403699998 meters Centerline goodness : 0.791669 Centerline is valid? [False, False] Translation: X:-10.16, Y:-5.25, Z:0.04 [[ 0.95485197 -0.21429925 -0.20575119 -10.16435069] [ 0.22524232 0.97380817 0.03104097 -5.25087287] [ 0.19371013 -0.07598341 0.97811191 0.03750857] [ 0. 0. 0. 1. ]] SLAMing on 218.64241403699998 meters Centerline goodness : 0.791153 Centerline is valid? [False, False] Translation: X:-10.16, Y:-5.25, Z:0.04 [[ 0.95482352 -0.21456639 -0.20560472 -10.16458159] [ 0.22543585 0.97377417 0.03070083 -5.25034098] [ 0.1936252 -0.07566455 0.97815344 0.03743476] [ 0. 0. 0. 1. ]] SLAMing on 218.67241403699998 meters Centerline goodness : 0.790402 Centerline is valid? [False, False] Translation: X:-10.16, Y:-5.25, Z:0.04 [[ 0.95462692 -0.21528146 -0.20577012 -10.16448315] [ 0.22601394 0.97366594 0.02987204 -5.24838759] [ 0.19392046 -0.07502357 0.97814432 0.03755011] [ 0. 0. 0. 1. ]] SLAMing on 218.70241403699998 meters Centerline goodness : 0.789590 Centerline is valid? [False, False] Translation: X:-10.16, Y:-5.25, Z:0.04 [[ 0.95459813 -0.21510821 -0.20608462 -10.16363063] [ 0.22591343 0.97368126 0.03013182 -5.24810142] [ 0.19417913 -0.07532107 0.97807014 0.03723001] [ 0. 0. 0. 1. ]] SLAMing on 218.73241403699998 meters Centerline goodness : 0.841654 Centerline is valid? [False, False] Translation: X:-10.16, Y:-5.25, Z:0.04 [[ 0.9545599 -0.21538612 -0.20597139 -10.16384416] [ 0.22614084 0.9736358 0.02989416 -5.24796757] [ 0.19410233 -0.07511431 0.97810129 0.03725072] [ 0. 0. 0. 1. ]] SLAMing on 218.76241403699999 meters Centerline goodness : 0.841457 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95446567 -0.21627749 -0.20547345 -10.16542243] [ 0.22686015 0.97349154 0.02913228 -5.24785311] [ 0.19372601 -0.07441949 0.978229 0.03796442] [ 0. 0. 0. 1. ]] SLAMing on 218.792414037 meters Centerline goodness : 0.786791 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.9545267 -0.21576119 -0.20573257 -10.16513058] [ 0.22651353 0.97354778 0.0299388 -5.24842067] [ 0.19383086 -0.0751786 0.97815018 0.03821103] [ 0. 0. 0. 1. ]] SLAMing on 218.822414037 meters Centerline goodness : 0.837467 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.25, Z:0.04 [[ 0.95442333 -0.21648918 -0.20544718 -10.16640495] [ 0.22704382 0.97345327 0.02897978 -5.24629059] [ 0.19371942 -0.07430449 0.97823904 0.038811 ] [ 0. 0. 0. 1. ]] SLAMing on 218.852414037 meters Centerline goodness : 0.786894 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95436491 -0.2168546 -0.20533313 -10.16682087] [ 0.22729343 0.97341204 0.0284026 -5.24455256] [ 0.19371451 -0.07377731 0.97827992 0.03886313] [ 0. 0. 0. 1. ]] SLAMing on 218.882414037 meters Centerline goodness : 0.785319 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95431336 -0.21702051 -0.20539743 -10.16682218] [ 0.22737323 0.97340718 0.02792633 -5.24319152] [ 0.19387475 -0.07335235 0.97828013 0.03901481] [ 0. 0. 0. 1. ]] SLAMing on 218.912414037 meters Centerline goodness : 0.784665 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95430631 -0.21704602 -0.20540325 -10.16666959] [ 0.22730309 0.97343742 0.02743899 -5.24184415] [ 0.19399169 -0.07287399 0.9782927 0.03902445] [ 0. 0. 0. 1. ]] SLAMing on 218.942414037 meters Centerline goodness : 0.784712 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95427882 -0.217203 -0.205365 -10.16681243] [ 0.22737832 0.97343142 0.02702549 -5.24125194] [ 0.19403872 -0.0724854 0.97831224 0.03925414] [ 0. 0. 0. 1. ]] SLAMing on 218.972414037 meters Centerline goodness : 0.783371 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95492642 -0.21348628 -0.2062502 -10.16664061] [ 0.22441544 0.97400502 0.03085342 -5.24156826] [ 0.19430195 -0.07574847 0.97801274 0.03929152] [ 0. 0. 0. 1. ]] SLAMing on 219.002414037 meters Centerline goodness : 0.784460 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95489899 -0.21352642 -0.20633564 -10.16663121] [ 0.2243708 0.97402991 0.03038898 -5.23970908] [ 0.19448823 -0.07531409 0.97800926 0.03935632] [ 0. 0. 0. 1. ]] SLAMing on 219.032414037 meters Centerline goodness : 0.784298 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95486508 -0.21357744 -0.20643971 -10.16650663] [ 0.22432962 0.97405515 0.02987947 -5.23765169] [ 0.19470209 -0.07484141 0.978003 0.03936674] [ 0. 0. 0. 1. ]] SLAMing on 219.062414037 meters Centerline goodness : 0.783318 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.24, Z:0.04 [[ 0.95484168 -0.21366033 -0.20646219 -10.16645285] [ 0.22433672 0.97406564 0.02948173 -5.23608466] [ 0.19480865 -0.07446743 0.97801032 0.03928557] [ 0. 0. 0. 1. ]] SLAMing on 219.092414037 meters Centerline goodness : 0.836662 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95490479 -0.21350278 -0.20633324 -10.16599129] [ 0.22409778 0.97413094 0.0291392 -5.23415031] [ 0.1947743 -0.07406399 0.9780478 0.03857667] [ 0. 0. 0. 1. ]] SLAMing on 219.122414037 meters Centerline goodness : 0.782344 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95491633 -0.21371581 -0.20605911 -10.16613574] [ 0.22419295 0.9741241 0.02863154 -5.23354493] [ 0.19460814 -0.07353772 0.97812058 0.03806384] [ 0. 0. 0. 1. ]] SLAMing on 219.152414037 meters Centerline goodness : 0.837252 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95455244 -0.21679132 -0.20452667 -10.16744722] [ 0.22632528 0.97375248 0.02414482 -5.23121707] [ 0.19392396 -0.06933705 0.97856317 0.0373669 ] [ 0. 0. 0. 1. ]] SLAMing on 219.18241403699997 meters Centerline goodness : 0.838620 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95441338 -0.2175014 -0.20442171 -10.16832553] [ 0.22692418 0.97362766 0.02354979 -5.23018227] [ 0.19390852 -0.06886447 0.9785996 0.03803666] [ 0. 0. 0. 1. ]] SLAMing on 219.21241403699997 meters Centerline goodness : 0.781996 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95433535 -0.21810608 -0.20414156 -10.16931302] [ 0.22740665 0.97352888 0.02297246 -5.22903237] [ 0.19372727 -0.06834658 0.9786718 0.0383119 ] [ 0. 0. 0. 1. ]] SLAMing on 219.24241403699997 meters Centerline goodness : 0.783555 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95416346 -0.21929591 -0.20366983 -10.17099432] [ 0.22840617 0.97331601 0.02205824 -5.22787263] [ 0.19339782 -0.06756661 0.97879111 0.03885364] [ 0. 0. 0. 1. ]] SLAMing on 219.27241403699998 meters Centerline goodness : 0.782005 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95408002 -0.21984123 -0.20347272 -10.17145555] [ 0.22888853 0.97320953 0.02175422 -5.22803309] [ 0.19323912 -0.06732784 0.97883891 0.03894585] [ 0. 0. 0. 1. ]] SLAMing on 219.30241403699998 meters Centerline goodness : 0.783524 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95397895 -0.22047415 -0.20326168 -10.17191442] [ 0.22946488 0.97307993 0.02147819 -5.22840181] [ 0.19305447 -0.06713116 0.97888885 0.03896359] [ 0. 0. 0. 1. ]] SLAMing on 219.33241403699998 meters Centerline goodness : 0.781321 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95303679 -0.22529744 -0.20239054 -10.17180678] [ 0.23344496 0.97222122 0.01701008 -5.22651112] [ 0.19293605 -0.06345828 0.97915715 0.03903913] [ 0. 0. 0. 1. ]] SLAMing on 219.36241403699998 meters Centerline goodness : 0.784021 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.23, Z:0.04 [[ 0.95290899 -0.22607662 -0.20212326 -10.17273023] [ 0.23409107 0.97207728 0.01634419 -5.22566066] [ 0.19278439 -0.06288978 0.9792237 0.03937378] [ 0. 0. 0. 1. ]] SLAMing on 219.39241403699998 meters Centerline goodness : 0.782611 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.22, Z:0.04 [[ 0.95275582 -0.22701136 -0.2017974 -10.17405328] [ 0.23486017 0.97190534 0.01551478 -5.2242742 ] [ 0.19260594 -0.06217597 0.9793044 0.0398679 ] [ 0. 0. 0. 1. ]] SLAMing on 219.42241403699998 meters Centerline goodness : 0.783906 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.04 [[ 0.95254587 -0.2282252 -0.20141901 -10.17559093] [ 0.23583486 0.97168796 0.01429776 -5.22177925] [ 0.19245332 -0.0611209 0.97940081 0.04038531] [ 0. 0. 0. 1. ]] SLAMing on 219.45241403699998 meters Centerline goodness : 0.783616 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.04 [[ 0.95247143 -0.22869887 -0.2012337 -10.17603783] [ 0.23621915 0.97160104 0.01385422 -5.22105635] [ 0.19235043 -0.060731 0.97944528 0.04042698] [ 0. 0. 0. 1. ]] SLAMing on 219.48241403699998 meters Centerline goodness : 0.784547 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.04 [[ 0.95239031 -0.22918681 -0.20106245 -10.17628833] [ 0.23662058 0.97150947 0.01341866 -5.22047647] [ 0.1922587 -0.06035531 0.97948651 0.04030818] [ 0. 0. 0. 1. ]] SLAMing on 219.51241403699999 meters Centerline goodness : 0.782463 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.04 [[ 0.95223817 -0.23002276 -0.20082827 -10.1767063 ] [ 0.23731028 0.97135137 0.01266247 -5.21963673] [ 0.19216215 -0.0597163 0.97954462 0.04030722] [ 0. 0. 0. 1. ]] SLAMing on 219.542414037 meters Centerline goodness : 0.784779 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.04 [[ 0.9521621 -0.23052407 -0.20061402 -10.17733196] [ 0.23771625 0.97125811 0.01219272 -5.21875642] [ 0.19203728 -0.05929865 0.97959448 0.04040613] [ 0. 0. 0. 1. ]] SLAMing on 219.572414037 meters Centerline goodness : 0.782996 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.04 [[ 0.95205634 -0.23113295 -0.20041531 -10.17852936] [ 0.2381355 0.97116707 0.01122522 -5.21617919] [ 0.19204223 -0.05841304 0.97964672 0.04105708] [ 0. 0. 0. 1. ]] SLAMing on 219.602414037 meters Centerline goodness : 0.782605 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 0.95199861 -0.23148429 -0.20028398 -10.1791886 ] [ 0.23838363 0.97111209 0.01070322 -5.21490425] [ 0.19202057 -0.05793387 0.97967942 0.04139909] [ 0. 0. 0. 1. ]] SLAMing on 219.632414037 meters Centerline goodness : 0.782322 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51918580e-01 -2.31831840e-01 -2.00262368e-01 -1.01797286e+01] [ 2.38625948e-01 9.71058643e-01 1.01375082e-02 -5.21376024e+00] [ 1.92116306e-01 -5.74378797e-02 9.79689856e-01 4.19435925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662414037 meters Centerline goodness : 0.782732 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51880830e-01 -2.32038085e-01 -2.00202930e-01 -1.01802317e+01] [ 2.38765404e-01 9.71027890e-01 9.79385643e-03 -5.21316637e+00] [ 1.92130081e-01 -5.71241177e-02 9.79705500e-01 4.23932695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.692414037 meters Centerline goodness : 0.782089 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51830316e-01 -2.32404852e-01 -2.00017584e-01 -1.01813668e+01] [ 2.39019626e-01 9.70970789e-01 9.23820476e-03 -5.21233829e+00] [ 1.92064228e-01 -5.66013314e-02 9.79748754e-01 4.32727122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722414037 meters Centerline goodness : 0.782660 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51771775e-01 -2.32655347e-01 -2.00004943e-01 -1.01817989e+01] [ 2.39195602e-01 9.70931195e-01 8.83622668e-03 -5.21186944e+00] [ 1.92135243e-01 -5.62503739e-02 9.79755043e-01 4.37910371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.752414037 meters Centerline goodness : 0.780638 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51764087e-01 -2.32579170e-01 -2.00130088e-01 -1.01816108e+01] [ 2.39090739e-01 9.70958606e-01 8.66053067e-03 -5.21105997e+00] [ 1.92303772e-01 -5.60920326e-02 9.79731057e-01 4.39172254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782414037 meters Centerline goodness : 0.780543 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51761822e-01 -2.32416206e-01 -2.00330080e-01 -1.01810638e+01] [ 2.38930826e-01 9.70998211e-01 8.63334081e-03 -5.21045335e+00] [ 1.92513621e-01 -5.60819157e-02 9.79690423e-01 4.38098342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.812414037 meters Centerline goodness : 0.780658 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51777157e-01 -2.32060181e-01 -2.00669668e-01 -1.01800948e+01] [ 2.38595493e-01 9.71080299e-01 8.67430677e-03 -5.20993580e+00] [ 1.92853400e-01 -5.61348854e-02 9.79620560e-01 4.36696861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842414037 meters Centerline goodness : 0.778692 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51881174e-01 -2.31043764e-01 -2.01347982e-01 -1.01778152e+01] [ 2.37666039e-01 9.71305061e-01 9.01847326e-03 -5.20887047e+00] [ 1.93486651e-01 -5.64380922e-02 9.79478258e-01 4.29826759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872414037 meters Centerline goodness : 0.779414 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51901248e-01 -2.30640119e-01 -2.01715516e-01 -1.01766816e+01] [ 2.37280300e-01 9.71399151e-01 9.04143739e-03 -5.20839943e+00] [ 1.93860963e-01 -5.64696738e-02 9.79402421e-01 4.28311160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902414037 meters Centerline goodness : 0.779263 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51980413e-01 -2.29893180e-01 -2.02194013e-01 -1.01751491e+01] [ 2.36575663e-01 9.71569606e-01 9.19004059e-03 -5.20756379e+00] [ 1.94332830e-01 -5.65829213e-02 9.79302366e-01 4.25391836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93241403699997 meters Centerline goodness : 0.776632 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.21, Z:0.04 [[ 9.51968625e-01 -2.29764286e-01 -2.02395924e-01 -1.01747138e+01] [ 2.36440378e-01 9.71603279e-01 9.11128883e-03 -5.20701798e+00] [ 1.94555094e-01 -5.65282297e-02 9.79261392e-01 4.25882840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96241403699997 meters Centerline goodness : 0.778440 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.21, Z:0.04 [[ 9.51946108e-01 -2.29784425e-01 -2.02478951e-01 -1.01747197e+01] [ 2.36430706e-01 9.71607273e-01 8.93461840e-03 -5.20653241e+00] [ 1.94676985e-01 -5.63775167e-02 9.79245856e-01 4.28242086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99241403699997 meters Centerline goodness : 0.778989 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51908790e-01 -2.29981299e-01 -2.02430872e-01 -1.01753886e+01] [ 2.36557473e-01 9.71579651e-01 8.57570557e-03 -5.20629564e+00] [ 1.94705464e-01 -5.60498251e-02 9.79259005e-01 4.35853775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02241403699998 meters Centerline goodness : 0.780895 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51865736e-01 -2.30178561e-01 -2.02409117e-01 -1.01758012e+01] [ 2.36710654e-01 9.71544396e-01 8.33988986e-03 -5.20641222e+00] [ 1.94729779e-01 -5.58508498e-02 9.79265539e-01 4.41301697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05241403699998 meters Centerline goodness : 0.778782 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51827582e-01 -2.30329587e-01 -2.02416739e-01 -1.01761833e+01] [ 2.36814598e-01 9.71521217e-01 8.08522998e-03 -5.20664907e+00] [ 1.94789889e-01 -5.56309835e-02 9.79266099e-01 4.48529338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08241403699998 meters Centerline goodness : 0.779102 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.04 [[ 9.51812610e-01 -2.30467420e-01 -2.02330236e-01 -1.01763603e+01] [ 2.36922183e-01 9.71496151e-01 7.94399169e-03 -5.20671119e+00] [ 1.94732214e-01 -5.54977125e-02 9.79285132e-01 4.49764292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11241403699998 meters Centerline goodness : 0.777840 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51778550e-01 -2.30674034e-01 -2.02254993e-01 -1.01766898e+01] [ 2.37097607e-01 9.71454620e-01 7.78749704e-03 -5.20711783e+00] [ 1.94685174e-01 -5.53661474e-02 9.79301931e-01 4.53551410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14241403699998 meters Centerline goodness : 0.835079 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51726753e-01 -2.30826095e-01 -2.02325238e-01 -1.01767987e+01] [ 2.37249005e-01 9.71417973e-01 7.74795818e-03 -5.20821596e+00] [ 1.94753941e-01 -5.53754004e-02 9.79287735e-01 4.59386049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17241403699998 meters Centerline goodness : 0.832353 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51678496e-01 -2.31078076e-01 -2.02264584e-01 -1.01768803e+01] [ 2.37485010e-01 9.71361009e-01 7.65899547e-03 -5.20893262e+00] [ 1.94702105e-01 -5.53237081e-02 9.79300964e-01 4.61041564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20241403699998 meters Centerline goodness : 0.832353 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51678496e-01 -2.31078076e-01 -2.02264584e-01 -1.01768803e+01] [ 2.37485010e-01 9.71361009e-01 7.65899547e-03 -5.20893262e+00] [ 1.94702105e-01 -5.53237081e-02 9.79300964e-01 4.61041564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23241403699998 meters Centerline goodness : 0.833187 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51626951e-01 -2.31097688e-01 -2.02484577e-01 -1.01760983e+01] [ 2.37569740e-01 9.71338194e-01 7.92038692e-03 -5.21070280e+00] [ 1.94850620e-01 -5.56414619e-02 9.79253422e-01 4.61567710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26241403699999 meters Centerline goodness : 0.831313 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51592699e-01 -2.31183500e-01 -2.02547586e-01 -1.01757464e+01] [ 2.37689422e-01 9.71307738e-01 8.06326903e-03 -5.21164452e+00] [ 1.94871943e-01 -5.58163664e-02 9.79239225e-01 4.60836253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.292414037 meters Centerline goodness : 0.773205 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51605158e-01 -2.31104468e-01 -2.02579238e-01 -1.01752867e+01] [ 2.37658244e-01 9.71313350e-01 8.30270372e-03 -5.21243523e+00] [ 1.94849127e-01 -5.60455217e-02 9.79230676e-01 4.58550704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322414037 meters Centerline goodness : 0.836955 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51603729e-01 -2.31083525e-01 -2.02609841e-01 -1.01750212e+01] [ 2.37660767e-01 9.71311777e-01 8.41382146e-03 -5.21276661e+00] [ 1.94853029e-01 -5.61590341e-02 9.79223396e-01 4.57911899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.352414037 meters Centerline goodness : 0.833245 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.21, Z:0.05 [[ 9.51592492e-01 -2.31086567e-01 -2.02659140e-01 -1.01748847e+01] [ 2.37650854e-01 9.71314891e-01 8.33391736e-03 -5.21265370e+00] [ 1.94919984e-01 -5.60926108e-02 9.79213878e-01 4.58852661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382414037 meters Centerline goodness : 0.834903 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51558470e-01 -2.31427625e-01 -2.02429574e-01 -1.01757644e+01] [ 2.37934139e-01 9.71247720e-01 8.07535903e-03 -5.21269887e+00] [ 1.94740401e-01 -5.58490826e-02 9.79263527e-01 4.63405136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.412414037 meters Centerline goodness : 0.835575 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51507608e-01 -2.31871751e-01 -2.02160241e-01 -1.01766331e+01] [ 2.38296777e-01 9.71161876e-01 7.69781540e-03 -5.21264111e+00] [ 1.94545413e-01 -5.54986640e-02 9.79322205e-01 4.67427360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442414037 meters Centerline goodness : 0.834683 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51446167e-01 -2.32398056e-01 -2.01844831e-01 -1.01775991e+01] [ 2.38728050e-01 9.71059354e-01 7.25598230e-03 -5.21259186e+00] [ 1.94317035e-01 -5.50896995e-02 9.79390634e-01 4.72159728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472414037 meters Centerline goodness : 0.831937 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51395783e-01 -2.32772028e-01 -2.01651302e-01 -1.01782951e+01] [ 2.39039246e-01 9.70984987e-01 6.95649349e-03 -5.21264259e+00] [ 1.94181110e-01 -5.48209539e-02 9.79432672e-01 4.76114084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502414037 meters Centerline goodness : 0.833368 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51299584e-01 -2.33378078e-01 -2.01404503e-01 -1.01791959e+01] [ 2.39524677e-01 9.70869473e-01 6.35573643e-03 -5.21222202e+00] [ 1.94054194e-01 -5.42875580e-02 9.79487535e-01 4.81753498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532414037 meters Centerline goodness : 0.833241 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51248075e-01 -2.33676730e-01 -2.01301480e-01 -1.01794899e+01] [ 2.39753997e-01 9.70815107e-01 6.00407384e-03 -5.21174199e+00] [ 1.94023506e-01 -5.39741982e-02 9.79510932e-01 4.83554263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562414037 meters Centerline goodness : 0.835133 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51195954e-01 -2.33885329e-01 -2.01305514e-01 -1.01796835e+01] [ 2.39884791e-01 9.70785278e-01 5.58856271e-03 -5.21070123e+00] [ 1.94117346e-01 -5.36059493e-02 9.79512562e-01 4.86898031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592414037 meters Centerline goodness : 0.831869 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51159818e-01 -2.33897768e-01 -2.01461746e-01 -1.01794642e+01] [ 2.39862066e-01 9.70792148e-01 5.36599507e-03 -5.20989914e+00] [ 1.94322387e-01 -5.34269495e-02 9.79481685e-01 4.88360852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622414037 meters Centerline goodness : 0.830437 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51130385e-01 -2.33943975e-01 -2.01547033e-01 -1.01793654e+01] [ 2.39862987e-01 9.70793307e-01 5.10913125e-03 -5.20913544e+00] [ 1.94465260e-01 -5.32031235e-02 9.79465513e-01 4.90003719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652414037 meters Centerline goodness : 0.832510 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51167202e-01 -2.33783042e-01 -2.01560022e-01 -1.01787131e+01] [ 2.39709799e-01 9.70830868e-01 5.16127090e-03 -5.20887416e+00] [ 1.94474073e-01 -5.32251439e-02 9.79462566e-01 4.84756827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68241403699997 meters Centerline goodness : 0.831348 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51159684e-01 -2.33870877e-01 -2.01493596e-01 -1.01785726e+01] [ 2.39787879e-01 9.70811796e-01 5.12153774e-03 -5.20887539e+00] [ 1.94414581e-01 -5.31871222e-02 9.79476442e-01 4.82335661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71241403699997 meters Centerline goodness : 0.831204 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51143156e-01 -2.33965303e-01 -2.01461989e-01 -1.01784357e+01] [ 2.39882189e-01 9.70788505e-01 5.11995346e-03 -5.20903796e+00] [ 1.94379092e-01 -5.31969517e-02 9.79482952e-01 4.80892390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74241403699997 meters Centerline goodness : 0.830102 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51062701e-01 -2.34537096e-01 -2.01176759e-01 -1.01792260e+01] [ 2.40386496e-01 9.70665388e-01 4.79970132e-03 -5.20922028e+00] [ 1.94149609e-01 -5.29249930e-02 9.79543197e-01 4.83655809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77241403699998 meters Centerline goodness : 0.831375 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.51030787e-01 -2.34806892e-01 -2.01012849e-01 -1.01796579e+01] [ 2.40606228e-01 9.70612079e-01 4.56450959e-03 -5.20909137e+00] [ 1.94033721e-01 -5.27059326e-02 9.79577970e-01 4.85296486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80241403699998 meters Centerline goodness : 0.828696 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50986575e-01 -2.35097781e-01 -2.00881973e-01 -1.01800731e+01] [ 2.40849624e-01 9.70552783e-01 4.33066723e-03 -5.20906348e+00] [ 1.93948428e-01 -5.25007540e-02 9.79605879e-01 4.87725686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83241403699998 meters Centerline goodness : 0.829558 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50945746e-01 -2.35406605e-01 -2.00713524e-01 -1.01804608e+01] [ 2.41107088e-01 9.70489918e-01 4.08553941e-03 -5.20905047e+00] [ 1.93828688e-01 -5.22785796e-02 9.79641460e-01 4.89447032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86241403699998 meters Centerline goodness : 0.830264 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50912051e-01 -2.35698852e-01 -2.00530103e-01 -1.01809062e+01] [ 2.41347673e-01 9.70431101e-01 3.84437854e-03 -5.20890342e+00] [ 1.93694533e-01 -5.20531396e-02 9.79679998e-01 4.90566918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89241403699998 meters Centerline goodness : 0.830818 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50874961e-01 -2.36002973e-01 -2.00348211e-01 -1.01814836e+01] [ 2.41593121e-01 9.70371089e-01 3.56573036e-03 -5.20874702e+00] [ 1.93570589e-01 -5.17933133e-02 9.79718266e-01 4.93427567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92241403699998 meters Centerline goodness : 0.830318 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50837042e-01 -2.36198489e-01 -2.00297761e-01 -1.01817706e+01] [ 2.41751112e-01 9.70332442e-01 3.36926086e-03 -5.20867782e+00] [ 1.93559601e-01 -5.16258244e-02 9.79729276e-01 4.96231121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95241403699998 meters Centerline goodness : 0.830345 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50790208e-01 -2.36478112e-01 -2.00190117e-01 -1.01820748e+01] [ 2.41975734e-01 9.70277378e-01 3.09104292e-03 -5.20829856e+00] [ 1.93508978e-01 -5.13800839e-02 9.79752194e-01 4.97672815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98241403699998 meters Centerline goodness : 0.830251 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50764034e-01 -2.36593015e-01 -2.00178663e-01 -1.01820695e+01] [ 2.42076851e-01 9.70252402e-01 3.01241865e-03 -5.20810754e+00] [ 1.93511112e-01 -5.13227197e-02 9.79754780e-01 4.97717204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01241403699999 meters Centerline goodness : 0.834641 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50715594e-01 -2.36806892e-01 -2.00155827e-01 -1.01819158e+01] [ 2.42268035e-01 9.70205079e-01 2.88150101e-03 -5.20813868e+00] [ 1.93509841e-01 -5.12308470e-02 9.79759839e-01 4.96525086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042414037 meters Centerline goodness : 0.830878 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50672648e-01 -2.36995604e-01 -2.00136454e-01 -1.01818499e+01] [ 2.42448015e-01 9.70160291e-01 2.82293503e-03 -5.20864115e+00] [ 1.93495417e-01 -5.12063731e-02 9.79763967e-01 4.97114283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072414037 meters Centerline goodness : 0.833460 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50618832e-01 -2.37415720e-01 -1.99894001e-01 -1.01823013e+01] [ 2.42829255e-01 9.70065432e-01 2.64780621e-03 -5.20926522e+00] [ 1.93281629e-01 -5.10571658e-02 9.79813951e-01 4.97967359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102414037 meters Centerline goodness : 0.777508 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50584762e-01 -2.37704748e-01 -1.99712452e-01 -1.01828289e+01] [ 2.43069736e-01 9.70005796e-01 2.42049677e-03 -5.20923941e+00] [ 1.93146872e-01 -5.08449402e-02 9.79851559e-01 4.99864399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132414037 meters Centerline goodness : 0.775444 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50553509e-01 -2.37870348e-01 -1.99664027e-01 -1.01831962e+01] [ 2.43198058e-01 9.69974095e-01 2.22720334e-03 -5.20917106e+00] [ 1.93139148e-01 -5.06749797e-02 9.79861886e-01 5.03478499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162414037 meters Centerline goodness : 0.774206 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50554757e-01 -2.37878904e-01 -1.99647892e-01 -1.01833460e+01] [ 2.43177026e-01 9.69979693e-01 2.08052247e-03 -5.20884556e+00] [ 1.93159489e-01 -5.05274312e-02 9.79865496e-01 5.05549261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192414037 meters Centerline goodness : 0.776385 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50564160e-01 -2.37763921e-01 -1.99740071e-01 -1.01829308e+01] [ 2.43079868e-01 9.70003876e-01 2.15823261e-03 -5.20882447e+00] [ 1.93235493e-01 -5.06043285e-02 9.79846542e-01 5.03753249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222414037 meters Centerline goodness : 0.775837 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50557209e-01 -2.37775456e-01 -1.99759420e-01 -1.01827134e+01] [ 2.43087427e-01 9.70002041e-01 2.13170676e-03 -5.20895445e+00] [ 1.93260178e-01 -5.05853127e-02 9.79842656e-01 5.02909577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252414037 meters Centerline goodness : 0.832188 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50559467e-01 -2.37838902e-01 -1.99673124e-01 -1.01829964e+01] [ 2.43158299e-01 9.69984156e-01 2.18585810e-03 -5.20973106e+00] [ 1.93159884e-01 -5.06299653e-02 9.79860126e-01 5.05906217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282414037 meters Centerline goodness : 0.777516 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50523440e-01 -2.38126809e-01 -1.99501410e-01 -1.01836552e+01] [ 2.43401424e-01 9.69923630e-01 1.97461941e-03 -5.20979493e+00] [ 1.93030922e-01 -5.04358492e-02 9.79895550e-01 5.09643346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312414037 meters Centerline goodness : 0.831035 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50491065e-01 -2.38290997e-01 -1.99459608e-01 -1.01840049e+01] [ 2.43541006e-01 9.69888849e-01 1.84382889e-03 -5.20971578e+00] [ 1.93014281e-01 -5.03291364e-02 9.79904314e-01 5.12587422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342414037 meters Centerline goodness : 0.828035 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50492083e-01 -2.38315875e-01 -1.99425031e-01 -1.01840054e+01] [ 2.43585940e-01 9.69877352e-01 1.95229918e-03 -5.21038351e+00] [ 1.92952557e-01 -5.04327785e-02 9.79911142e-01 5.13308197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372414037 meters Centerline goodness : 0.827665 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50478018e-01 -2.38321975e-01 -1.99484770e-01 -1.01837082e+01] [ 2.43616083e-01 9.69869563e-01 2.05781121e-03 -5.21114796e+00] [ 1.92983785e-01 -5.05536026e-02 9.79898766e-01 5.13125093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402414037 meters Centerline goodness : 0.826224 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50456551e-01 -2.38425818e-01 -1.99462964e-01 -1.01831813e+01] [ 2.43760346e-01 9.69832869e-01 2.25817559e-03 -5.21292552e+00] [ 1.92907331e-01 -5.07674588e-02 9.79902764e-01 5.10901713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43241403699997 meters Centerline goodness : 0.826501 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50464102e-01 -2.38419332e-01 -1.99434735e-01 -1.01830089e+01] [ 2.43774905e-01 9.69828935e-01 2.37335212e-03 -5.21363772e+00] [ 1.92851724e-01 -5.08729696e-02 9.79908237e-01 5.09985020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46241403699997 meters Centerline goodness : 0.825611 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50473571e-01 -2.38266414e-01 -1.99572309e-01 -1.01824760e+01] [ 2.43648804e-01 9.69860334e-01 2.48834822e-03 -5.21370428e+00] [ 1.92964377e-01 -5.09906638e-02 9.79879942e-01 5.08038613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49241403699997 meters Centerline goodness : 0.825991 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50480671e-01 -2.38057545e-01 -1.99787637e-01 -1.01819237e+01] [ 2.43451124e-01 9.69909922e-01 2.50873095e-03 -5.21334895e+00] [ 1.93178789e-01 -5.10230251e-02 9.79836010e-01 5.08013944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52241403699998 meters Centerline goodness : 0.826049 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50547396e-01 -2.37653812e-01 -1.99950779e-01 -1.01812868e+01] [ 2.43038634e-01 9.70013484e-01 2.46230052e-03 -5.21216539e+00] [ 1.93369777e-01 -5.09362978e-02 9.79802849e-01 5.05696572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55241403699998 meters Centerline goodness : 0.826775 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50535411e-01 -2.37686339e-01 -1.99969089e-01 -1.01813100e+01] [ 2.43036186e-01 9.70014551e-01 2.27682225e-03 -5.21161893e+00] [ 1.93431757e-01 -5.07639250e-02 9.79799561e-01 5.06769698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58241403699998 meters Centerline goodness : 0.824299 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50566845e-01 -2.37667789e-01 -1.99841678e-01 -1.01818746e+01] [ 2.42955281e-01 9.70035434e-01 1.99687000e-03 -5.21095411e+00] [ 1.93378917e-01 -5.04507493e-02 9.79826166e-01 5.10969195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61241403699998 meters Centerline goodness : 0.824011 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50529645e-01 -2.37806821e-01 -1.99853220e-01 -1.01822648e+01] [ 2.43030309e-01 9.70017283e-01 1.65515173e-03 -5.21039805e+00] [ 1.93467471e-01 -5.01436606e-02 9.79824449e-01 5.15976393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64241403699998 meters Centerline goodness : 0.825601 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50527177e-01 -2.38042398e-01 -1.99584324e-01 -1.01832866e+01] [ 2.43145919e-01 9.69989106e-01 1.09362603e-03 -5.20890339e+00] [ 1.93334291e-01 -4.95676351e-02 9.79880044e-01 5.21078588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67241403699998 meters Centerline goodness : 0.824802 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50504245e-01 -2.38147253e-01 -1.99568448e-01 -1.01835629e+01] [ 2.43183409e-01 9.69980038e-01 7.45514236e-04 -5.20777991e+00] [ 1.93399869e-01 -4.92403501e-02 9.79883605e-01 5.23410205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70241403699998 meters Centerline goodness : 0.823711 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50476000e-01 -2.38116253e-01 -1.99739892e-01 -1.01832840e+01] [ 2.43111255e-01 9.69998284e-01 4.95926120e-04 -5.20672262e+00] [ 1.93629264e-01 -4.90303815e-02 9.79848830e-01 5.24000990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73241403699998 meters Centerline goodness : 0.828231 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.05 [[ 9.50468090e-01 -2.38029930e-01 -1.99880372e-01 -1.01829172e+01] [ 2.42988108e-01 9.70029226e-01 2.82439148e-04 -5.20574444e+00] [ 1.93822574e-01 -4.88370028e-02 9.79820268e-01 5.23718321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76241403699999 meters Centerline goodness : 0.772832 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50528561e-01 -2.37523769e-01 -2.00194688e-01 -1.01813744e+01] [ 2.42504042e-01 9.70150326e-01 3.65924246e-04 -5.20455854e+00] [ 1.94132026e-01 -4.88958424e-02 9.79756068e-01 5.14787706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792414037 meters Centerline goodness : 0.772504 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50514891e-01 -2.37536960e-01 -2.00243939e-01 -1.01810126e+01] [ 2.42469505e-01 9.70159021e-01 1.11116963e-04 -5.20354467e+00] [ 1.94242070e-01 -4.86586672e-02 9.79746065e-01 5.12530893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822414037 meters Centerline goodness : 0.774797 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50551459e-01 -2.37342280e-01 -2.00301189e-01 -1.01806972e+01] [ 2.42211487e-01 9.70223456e-01 -2.02518920e-04 -5.20145185e+00] [ 1.94384978e-01 -4.83227441e-02 9.79734348e-01 5.09521009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852414037 meters Centerline goodness : 0.772820 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50510404e-01 -2.37476047e-01 -2.00337462e-01 -1.01809175e+01] [ 2.42260116e-01 9.70211115e-01 -6.54596859e-04 -5.19994863e+00] [ 1.94525084e-01 -4.79115756e-02 9.79726734e-01 5.12267881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882414037 meters Centerline goodness : 0.772691 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50484183e-01 -2.37604067e-01 -2.00310070e-01 -1.01811941e+01] [ 2.42319661e-01 9.70195944e-01 -1.00592830e-03 -5.19872960e+00] [ 1.94579030e-01 -4.75829493e-02 9.79732037e-01 5.13752577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912414037 meters Centerline goodness : 0.831948 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50471215e-01 -2.37768679e-01 -2.00176235e-01 -1.01815706e+01] [ 2.42364325e-01 9.70184000e-01 -1.59386480e-03 -5.19679664e+00] [ 1.94586752e-01 -4.70006555e-02 9.79758610e-01 5.14616608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942414037 meters Centerline goodness : 0.832195 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50444307e-01 -2.37803602e-01 -2.00262491e-01 -1.01812842e+01] [ 2.42358448e-01 9.70185063e-01 -1.82408343e-03 -5.19610033e+00] [ 1.94725451e-01 -4.68016167e-02 9.79740582e-01 5.14019546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972414037 meters Centerline goodness : 0.772162 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.05 [[ 9.50412807e-01 -2.37933302e-01 -2.00257934e-01 -1.01811881e+01] [ 2.42437305e-01 9.70164819e-01 -2.09229844e-03 -5.19516240e+00] [ 1.94781030e-01 -4.65614467e-02 9.79740977e-01 5.12655486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002414037 meters Centerline goodness : 0.831603 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.50375530e-01 -2.38278621e-01 -2.00024127e-01 -1.01819825e+01] [ 2.42678924e-01 9.70103198e-01 -2.59339619e-03 -5.19359550e+00] [ 1.94661996e-01 -4.60769397e-02 9.79787540e-01 5.13829565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032414037 meters Centerline goodness : 0.769657 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.50330538e-01 -2.38429186e-01 -2.00058470e-01 -1.01821016e+01] [ 2.42773014e-01 9.70078783e-01 -2.90157849e-03 -5.19277423e+00] [ 1.94764298e-01 -4.58113392e-02 9.79779664e-01 5.15893143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062414037 meters Centerline goodness : 0.769006 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.50275226e-01 -2.38786155e-01 -1.99895389e-01 -1.01827029e+01] [ 2.43046407e-01 9.70008979e-01 -3.32041109e-03 -5.19190686e+00] [ 1.94693191e-01 -4.54285517e-02 9.79811619e-01 5.18007043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092414037 meters Centerline goodness : 0.769006 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.50275226e-01 -2.38786155e-01 -1.99895389e-01 -1.01827029e+01] [ 2.43046407e-01 9.70008979e-01 -3.32041109e-03 -5.19190686e+00] [ 1.94693191e-01 -4.54285517e-02 9.79811619e-01 5.18007043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122414037 meters Centerline goodness : 0.831228 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.50219341e-01 -2.39099706e-01 -1.99786222e-01 -1.01831959e+01] [ 2.43304593e-01 9.69943232e-01 -3.60591507e-03 -5.19167836e+00] [ 1.94643467e-01 -4.51824950e-02 9.79832875e-01 5.20779899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152414037 meters Centerline goodness : 0.829863 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.50160289e-01 -2.39464442e-01 -1.99630174e-01 -1.01836206e+01] [ 2.43606299e-01 9.69866264e-01 -3.92451443e-03 -5.19125855e+00] [ 1.94554352e-01 -4.49022501e-02 9.79863456e-01 5.21764230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18241403699997 meters Centerline goodness : 0.828611 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.50052431e-01 -2.40097017e-01 -1.99383553e-01 -1.01842852e+01] [ 2.44143292e-01 9.69729120e-01 -4.41431250e-03 -5.19041292e+00] [ 1.94407901e-01 -4.44843285e-02 9.79911584e-01 5.21809606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21241403699997 meters Centerline goodness : 0.831539 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.49983041e-01 -2.40397416e-01 -1.99352212e-01 -1.01842513e+01] [ 2.44404007e-01 9.69662398e-01 -4.63838996e-03 -5.19001385e+00] [ 1.94419401e-01 -4.43160876e-02 9.79916926e-01 5.20461904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24241403699997 meters Centerline goodness : 0.829523 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.49920537e-01 -2.40734624e-01 -1.99243102e-01 -1.01843137e+01] [ 2.44703530e-01 9.69585878e-01 -4.83822359e-03 -5.18961769e+00] [ 1.94348025e-01 -4.41595624e-02 9.79938150e-01 5.17815174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27241403699998 meters Centerline goodness : 0.827282 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.05 [[ 9.49796044e-01 -2.41431635e-01 -1.98993067e-01 -1.01847132e+01] [ 2.45324205e-01 9.69426942e-01 -5.23823610e-03 -5.18934224e+00] [ 1.94173916e-01 -4.38425599e-02 9.79986898e-01 5.15539876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30241403699998 meters Centerline goodness : 0.828523 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 9.49716814e-01 -2.41961407e-01 -1.98727578e-01 -1.01854170e+01] [ 2.45781636e-01 9.69309059e-01 -5.59776858e-03 -5.18917363e+00] [ 1.93982885e-01 -4.35272943e-02 9.80038782e-01 5.16973194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33241403699998 meters Centerline goodness : 0.827982 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 9.49628362e-01 -2.42538192e-01 -1.98446968e-01 -1.01862744e+01] [ 2.46260981e-01 9.69184443e-01 -6.08641569e-03 -5.18824454e+00] [ 1.93807902e-01 -4.30899119e-02 9.80092729e-01 5.18276423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36241403699998 meters Centerline goodness : 0.829617 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 9.49555576e-01 -2.42854407e-01 -1.98408529e-01 -1.01866954e+01] [ 2.46497158e-01 9.69121613e-01 -6.51536535e-03 -5.18719409e+00] [ 1.93864279e-01 -4.27204369e-02 9.80097753e-01 5.21158865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39241403699998 meters Centerline goodness : 0.827619 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 9.49499921e-01 -2.43118094e-01 -1.98351942e-01 -1.01872122e+01] [ 2.46687293e-01 9.69070556e-01 -6.90197938e-03 -5.18614002e+00] [ 1.93895023e-01 -4.23774749e-02 9.80106560e-01 5.24268012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42241403699998 meters Centerline goodness : 0.825978 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49487321e-01 -2.43198935e-01 -1.98313151e-01 -1.01875611e+01] [ 2.46667976e-01 9.69071737e-01 -7.40797342e-03 -5.18417248e+00] [ 1.93981281e-01 -4.18837269e-02 9.80110716e-01 5.26315810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45241403699998 meters Centerline goodness : 0.769832 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49457588e-01 -2.43293502e-01 -1.98339507e-01 -1.01876528e+01] [ 2.46696616e-01 9.69061719e-01 -7.75662664e-03 -5.18324014e+00] [ 1.94090361e-01 -4.15650972e-02 9.80102686e-01 5.28290605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48241403699998 meters Centerline goodness : 0.769501 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49452676e-01 -2.43275424e-01 -1.98385190e-01 -1.01875791e+01] [ 2.46642912e-01 9.69073866e-01 -7.94456052e-03 -5.18253735e+00] [ 1.94182619e-01 -4.13873166e-02 9.80091935e-01 5.28690282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51241403699999 meters Centerline goodness : 0.828327 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49428565e-01 -2.43318325e-01 -1.98447960e-01 -1.01874910e+01] [ 2.46632931e-01 9.69074029e-01 -8.22946305e-03 -5.18176158e+00] [ 1.94313143e-01 -4.11305147e-02 9.80076876e-01 5.29722345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542414037 meters Centerline goodness : 0.770702 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49459083e-01 -2.43220926e-01 -1.98421345e-01 -1.01873486e+01] [ 2.46481275e-01 9.69110390e-01 -8.48719783e-03 -5.18034750e+00] [ 1.94356451e-01 -4.08488990e-02 9.80080067e-01 5.27814430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572414037 meters Centerline goodness : 0.769492 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49431710e-01 -2.43272888e-01 -1.98488611e-01 -1.01871069e+01] [ 2.46510933e-01 9.69101679e-01 -8.61947594e-03 -5.17978302e+00] [ 1.94452531e-01 -4.07460090e-02 9.80065292e-01 5.26461654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602414037 meters Centerline goodness : 0.829037 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49401081e-01 -2.43396911e-01 -1.98483073e-01 -1.01867888e+01] [ 2.46635711e-01 9.69069860e-01 -8.62743467e-03 -5.17990211e+00] [ 1.94443855e-01 -4.07621180e-02 9.80066343e-01 5.23233321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632414037 meters Centerline goodness : 0.828580 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49385270e-01 -2.43432425e-01 -1.98515146e-01 -1.01865051e+01] [ 2.46693283e-01 9.69056096e-01 -8.52684126e-03 -5.18041181e+00] [ 1.94448022e-01 -4.08770955e-02 9.80060728e-01 5.21483265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662414037 meters Centerline goodness : 0.830005 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49336133e-01 -2.43713376e-01 -1.98405385e-01 -1.01867427e+01] [ 2.46953897e-01 9.68988755e-01 -8.63516602e-03 -5.18080577e+00] [ 1.94357093e-01 -4.07993079e-02 9.80082005e-01 5.22433874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692414037 meters Centerline goodness : 0.829897 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49167155e-01 -2.44714601e-01 -1.97980998e-01 -1.01884858e+01] [ 2.47860725e-01 9.68752696e-01 -9.12547453e-03 -5.18115738e+00] [ 1.94027762e-01 -4.04101128e-02 9.80163379e-01 5.29855474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722414037 meters Centerline goodness : 0.770984 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.49054961e-01 -2.45296299e-01 -1.97798904e-01 -1.01895016e+01] [ 2.48366870e-01 9.68619167e-01 -9.52930882e-03 -5.18107122e+00] [ 1.93929314e-01 -4.00828568e-02 9.80196300e-01 5.36064763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.752414037 meters Centerline goodness : 0.827466 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.48993448e-01 -2.45655357e-01 -1.97648376e-01 -1.01900686e+01] [ 2.48699083e-01 9.68532521e-01 -9.67072063e-03 -5.18139355e+00] [ 1.93804544e-01 -3.99775192e-02 9.80225279e-01 5.38704420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782414037 meters Centerline goodness : 0.828465 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 9.48928834e-01 -2.46036252e-01 -1.97484760e-01 -1.01904280e+01] [ 2.49072560e-01 9.68436115e-01 -9.71344988e-03 -5.18200016e+00] [ 1.93641235e-01 -3.99706621e-02 9.80257833e-01 5.38737149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.812414037 meters Centerline goodness : 0.769679 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 0.94803965 -0.24982328 -0.19700038 -10.18868655] [ 0.25222619 0.96757808 -0.01321366 -5.18238132] [ 0.19391433 -0.03716158 0.98031436 0.0536732 ] [ 0. 0. 0. 1. ]] SLAMing on 222.842414037 meters Centerline goodness : 0.771326 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 0.94802594 -0.24986803 -0.1970096 -10.18831039] [ 0.25231482 0.96755789 -0.01299831 -5.18341525] [ 0.19386606 -0.03738571 0.98031539 0.05339107] [ 0. 0. 0. 1. ]] SLAMing on 222.872414037 meters Centerline goodness : 0.771757 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 0.94799403 -0.25007389 -0.19690191 -10.1882435 ] [ 0.25254175 0.96750011 -0.01289194 -5.18391301] [ 0.19372656 -0.03750447 0.98033843 0.05302501] [ 0. 0. 0. 1. ]] SLAMing on 222.902414037 meters Centerline goodness : 0.772709 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 0.94796522 -0.25011994 -0.19698211 -10.18822649] [ 0.25256453 0.96749231 -0.01303024 -5.18355174] [ 0.1938378 -0.03739848 0.98032049 0.05319778] [ 0. 0. 0. 1. ]] SLAMing on 222.93241403699997 meters Centerline goodness : 0.773126 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 0.94794805 -0.25018374 -0.19698375 -10.18845714] [ 0.25260282 0.96748047 -0.0131662 -5.18326437] [ 0.1938719 -0.03727778 0.98031834 0.05347306] [ 0. 0. 0. 1. ]] SLAMing on 222.96241403699997 meters Centerline goodness : 0.824511 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 0.94795144 -0.2501448 -0.19701687 -10.18867467] [ 0.25252932 0.96749723 -0.01334338 -5.18319668] [ 0.19395105 -0.03710366 0.98030929 0.05396303] [ 0. 0. 0. 1. ]] SLAMing on 222.99241403699997 meters Centerline goodness : 0.771896 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.05 [[ 0.94794971 -0.25011379 -0.19706455 -10.18869014] [ 0.25250061 0.9675048 -0.01333784 -5.18327952] [ 0.19399688 -0.03711532 0.98029978 0.05408428] [ 0. 0. 0. 1. ]] SLAMing on 223.02241403699998 meters Centerline goodness : 0.833995 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.06 [[ 0.94791819 -0.2502772 -0.1970087 -10.18953941] [ 0.25260405 0.96747349 -0.01364702 -5.183298 ] [ 0.19401623 -0.03682893 0.98030675 0.0550039 ] [ 0. 0. 0. 1. ]] SLAMing on 223.05241403699998 meters Centerline goodness : 0.834871 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.06 [[ 0.94787043 -0.25044456 -0.19702582 -10.18996407] [ 0.25272976 0.96743737 -0.0138782 -5.18336111] [ 0.19408586 -0.03663955 0.98030007 0.0555969 ] [ 0. 0. 0. 1. ]] SLAMing on 223.08241403699998 meters Centerline goodness : 0.835404 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.06 [[ 0.94783882 -0.25055189 -0.19704143 -10.19021749] [ 0.25282201 0.96741197 -0.01396856 -5.18384462] [ 0.19412008 -0.03657647 0.98029565 0.05602652] [ 0. 0. 0. 1. ]] SLAMing on 223.11241403699998 meters Centerline goodness : 0.834209 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.06 [[ 0.94785692 -0.25040695 -0.19713856 -10.18980083] [ 0.25272438 0.96744084 -0.0137333 -5.18481461] [ 0.19415881 -0.03680452 0.98027944 0.05596469] [ 0. 0. 0. 1. ]] SLAMing on 223.14241403699998 meters Centerline goodness : 0.834853 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.06 [[ 0.94788991 -0.25006055 -0.19741944 -10.18856331] [ 0.25249173 0.96750931 -0.01317779 -5.18669755] [ 0.19430039 -0.03735568 0.98023054 0.0555923 ] [ 0. 0. 0. 1. ]] SLAMing on 223.17241403699998 meters Centerline goodness : 0.834722 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.06 [[ 0.94792305 -0.2497363 -0.19767062 -10.18745616] [ 0.25224732 0.96757826 -0.01279077 -5.1875683 ] [ 0.19445612 -0.03773722 0.98018504 0.05516693] [ 0. 0. 0. 1. ]] SLAMing on 223.20241403699998 meters Centerline goodness : 0.835263 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 0.94801415 -0.24919313 -0.19791908 -10.18604995] [ 0.25185592 0.96769011 -0.01201879 -5.18924155] [ 0.19451934 -0.03845311 0.98014468 0.05438939] [ 0. 0. 0. 1. ]] SLAMing on 223.23241403699998 meters Centerline goodness : 0.834037 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 0.94805503 -0.24898167 -0.19798934 -10.18562985] [ 0.25170272 0.96773366 -0.01171735 -5.18999241] [ 0.19451836 -0.03872577 0.98013414 0.05419649] [ 0. 0. 0. 1. ]] SLAMing on 223.26241403699999 meters Centerline goodness : 0.836308 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 0.94806134 -0.24891966 -0.19803711 -10.18555894] [ 0.25165541 0.96774682 -0.0116465 -5.19053548] [ 0.19454883 -0.03879551 0.98012533 0.05438703] [ 0. 0. 0. 1. ]] SLAMing on 223.292414037 meters Centerline goodness : 0.835692 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.05 [[ 0.94811467 -0.24873664 -0.19801175 -10.18584035] [ 0.2515219 0.96778479 -0.01137273 -5.19189813] [ 0.19446157 -0.03902164 0.98013367 0.0548487 ] [ 0. 0. 0. 1. ]] SLAMing on 223.322414037 meters Centerline goodness : 0.771220 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.06 [[ 0.94809374 -0.24879472 -0.19803899 -10.18602 ] [ 0.25157545 0.96777046 -0.01140723 -5.19239168] [ 0.19449434 -0.03900662 0.98012776 0.05522716] [ 0. 0. 0. 1. ]] SLAMing on 223.352414037 meters Centerline goodness : 0.838874 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.06 [[ 0.94808809 -0.2488806 -0.19795812 -10.18638401] [ 0.25166 0.96774849 -0.01140634 -5.19287407] [ 0.19441249 -0.03900392 0.98014411 0.05550703] [ 0. 0. 0. 1. ]] SLAMing on 223.382414037 meters Centerline goodness : 0.835755 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.06 [[ 0.94805916 -0.24905287 -0.19788003 -10.18686996] [ 0.25181844 0.96770643 -0.01147808 -5.19339598] [ 0.19434842 -0.03894794 0.98015904 0.05594155] [ 0. 0. 0. 1. ]] SLAMing on 223.412414037 meters Centerline goodness : 0.771788 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.19, Z:0.06 [[ 0.94799312 -0.24955668 -0.1975614 -10.18800384] [ 0.2522916 0.96758148 -0.01162032 -5.19463158] [ 0.19405668 -0.0388271 0.98022164 0.05655462] [ 0. 0. 0. 1. ]] SLAMing on 223.442414037 meters Centerline goodness : 0.773489 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94795425 -0.24985268 -0.19737372 -10.18844832] [ 0.25258187 0.96750549 -0.01164177 -5.1954782 ] [ 0.19386889 -0.03881716 0.98025919 0.0567133 ] [ 0. 0. 0. 1. ]] SLAMing on 223.472414037 meters Centerline goodness : 0.772123 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94788703 -0.25020627 -0.19724856 -10.1886719 ] [ 0.25295445 0.96740916 -0.01155696 -5.19698907] [ 0.19371169 -0.03894021 0.98028539 0.05680634] [ 0. 0. 0. 1. ]] SLAMing on 223.502414037 meters Centerline goodness : 0.773076 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94786124 -0.25031819 -0.19723051 -10.18871185] [ 0.25307172 0.96737872 -0.01153783 -5.19756809] [ 0.19368473 -0.0389772 0.98028925 0.05690289] [ 0. 0. 0. 1. ]] SLAMing on 223.532414037 meters Centerline goodness : 0.772705 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94785191 -0.25034584 -0.19724025 -10.18851528] [ 0.25312715 0.96736582 -0.0114021 -5.19814805] [ 0.19365794 -0.03911936 0.98028887 0.05675419] [ 0. 0. 0. 1. ]] SLAMing on 223.562414037 meters Centerline goodness : 0.836127 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94787074 -0.25031271 -0.19719179 -10.18831471] [ 0.25314479 0.96736436 -0.01113153 -5.19917735] [ 0.19354268 -0.03936682 0.98030173 0.05651664] [ 0. 0. 0. 1. ]] SLAMing on 223.592414037 meters Centerline goodness : 0.772833 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94787553 -0.25026104 -0.19723438 -10.18815195] [ 0.25310804 0.9673748 -0.01105945 -5.19965269] [ 0.19356732 -0.03943862 0.98029398 0.05657888] [ 0. 0. 0. 1. ]] SLAMing on 223.622414037 meters Centerline goodness : 0.834306 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94786165 -0.25028746 -0.19726753 -10.18817165] [ 0.25313509 0.96736765 -0.0110659 -5.20008782] [ 0.19359988 -0.0394464 0.98028724 0.05679715] [ 0. 0. 0. 1. ]] SLAMing on 223.652414037 meters Centerline goodness : 0.776548 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94794006 -0.24987717 -0.19741087 -10.18759938] [ 0.25280192 0.9674593 -0.01066266 -5.20133683] [ 0.19365134 -0.03979828 0.98026285 0.05675688] [ 0. 0. 0. 1. ]] SLAMing on 223.68241403699997 meters Centerline goodness : 0.834133 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94797946 -0.24961802 -0.19754947 -10.18720509] [ 0.25258285 0.96751871 -0.01046192 -5.20185838] [ 0.19374429 -0.03997992 0.98023709 0.05680421] [ 0. 0. 0. 1. ]] SLAMing on 223.71241403699997 meters Centerline goodness : 0.837735 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94801915 -0.24940189 -0.19763196 -10.18699837] [ 0.25239955 0.96756838 -0.01029071 -5.20225797] [ 0.19378895 -0.04012643 0.98022228 0.05685227] [ 0. 0. 0. 1. ]] SLAMing on 223.74241403699997 meters Centerline goodness : 0.833798 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.48135159e-01 -2.48715671e-01 -1.97939981e-01 -1.01863236e+01] [ 2.51796018e-01 9.67730034e-01 -9.86645711e-03 -5.20274461e+00] [ 1.94006407e-01 -4.04857642e-02 9.80164485e-01 5.69915870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77241403699998 meters Centerline goodness : 0.838270 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.48198938e-01 -2.48320222e-01 -1.98130868e-01 -1.01858131e+01] [ 2.51423548e-01 9.67828053e-01 -9.74979433e-03 -5.20284529e+00] [ 1.94177683e-01 -4.05700211e-02 9.80127084e-01 5.71157501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80241403699998 meters Centerline goodness : 0.778166 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.06 [[ 9.48308190e-01 -2.47629463e-01 -1.98472230e-01 -1.01849115e+01] [ 2.50818272e-01 9.67989329e-01 -9.31947562e-03 -5.20331223e+00] [ 1.94426778e-01 -4.09427267e-02 9.80062203e-01 5.70828394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83241403699998 meters Centerline goodness : 0.779475 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.06 [[ 9.48312351e-01 -2.47321222e-01 -1.98836361e-01 -1.01837427e+01] [ 2.50607802e-01 9.68048032e-01 -8.87337308e-03 -5.20367175e+00] [ 1.94677722e-01 -4.14152141e-02 9.79992533e-01 5.66763528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86241403699998 meters Centerline goodness : 0.778107 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.06 [[ 9.48295315e-01 -2.47056216e-01 -1.99246634e-01 -1.01819294e+01] [ 2.50433481e-01 9.68096678e-01 -8.47896435e-03 -5.20433207e+00] [ 1.94984785e-01 -4.18574660e-02 9.79912693e-01 5.58427609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89241403699998 meters Centerline goodness : 0.778401 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48208124e-01 -2.47173341e-01 -1.99516147e-01 -1.01802130e+01] [ 2.50706000e-01 9.68032090e-01 -7.77009564e-03 -5.20637802e+00] [ 1.95058593e-01 -4.26522273e-02 9.79863732e-01 5.51702368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92241403699998 meters Centerline goodness : 0.837170 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48194676e-01 -2.47336065e-01 -1.99378351e-01 -1.01804871e+01] [ 2.50884605e-01 9.67986563e-01 -7.67655977e-03 -5.20724450e+00] [ 1.94894255e-01 -4.27420858e-02 9.79892516e-01 5.52485564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95241403699998 meters Centerline goodness : 0.777677 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48148879e-01 -2.47584086e-01 -1.99288293e-01 -1.01807229e+01] [ 2.51121785e-01 9.67924578e-01 -7.73694849e-03 -5.20768383e+00] [ 1.94811583e-01 -4.27098529e-02 9.79910361e-01 5.53678735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98241403699998 meters Centerline goodness : 0.833650 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48111795e-01 -2.47777806e-01 -1.99223952e-01 -1.01807981e+01] [ 2.51340769e-01 9.67868699e-01 -7.61572993e-03 -5.20863374e+00] [ 1.94709637e-01 -4.28525380e-02 9.79924394e-01 5.53791180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01241403699999 meters Centerline goodness : 0.833650 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48111795e-01 -2.47777806e-01 -1.99223952e-01 -1.01807981e+01] [ 2.51340769e-01 9.67868699e-01 -7.61572993e-03 -5.20863374e+00] [ 1.94709637e-01 -4.28525380e-02 9.79924394e-01 5.53791180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042414037 meters Centerline goodness : 0.777487 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48054674e-01 -2.47990662e-01 -1.99230939e-01 -1.01809810e+01] [ 2.51510144e-01 9.67822759e-01 -7.85841411e-03 -5.20830068e+00] [ 1.94769051e-01 -4.26583960e-02 9.79921057e-01 5.55914659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072414037 meters Centerline goodness : 0.778945 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48015982e-01 -2.48220974e-01 -1.99128217e-01 -1.01813133e+01] [ 2.51700246e-01 9.67771662e-01 -8.06198735e-03 -5.20802012e+00] [ 1.94711800e-01 -4.24777283e-02 9.79940283e-01 5.57226480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102414037 meters Centerline goodness : 0.778072 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.47924765e-01 -2.48835642e-01 -1.98795026e-01 -1.01823414e+01] [ 2.52224745e-01 9.67631291e-01 -8.50660536e-03 -5.20778643e+00] [ 1.94477035e-01 -4.20774029e-02 9.80004171e-01 5.60632838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132414037 meters Centerline goodness : 0.777106 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.47867649e-01 -2.49226599e-01 -1.98577495e-01 -1.01829711e+01] [ 2.52555291e-01 9.67542408e-01 -8.80418893e-03 -5.20766397e+00] [ 1.94326386e-01 -4.18065912e-02 9.80045644e-01 5.62623749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162414037 meters Centerline goodness : 0.779028 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.47806645e-01 -2.49579741e-01 -1.98425090e-01 -1.01835708e+01] [ 2.52843608e-01 9.67464038e-01 -9.13478947e-03 -5.20750015e+00] [ 1.94248997e-01 -4.15125016e-02 9.80073487e-01 5.66178275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.192414037 meters Centerline goodness : 0.778097 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.47704512e-01 -2.50247716e-01 -1.98071295e-01 -1.01845113e+01] [ 2.53437397e-01 9.67305118e-01 -9.50229220e-03 -5.20791197e+00] [ 1.93973304e-01 -4.11933083e-02 9.80141555e-01 5.68806120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222414037 meters Centerline goodness : 0.839186 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.47659848e-01 -2.50533838e-01 -1.97923240e-01 -1.01848516e+01] [ 2.53686985e-01 9.67237881e-01 -9.68481212e-03 -5.20814917e+00] [ 1.93865229e-01 -4.10326425e-02 9.80169677e-01 5.70011500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.252414037 meters Centerline goodness : 0.779269 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.47650811e-01 -2.50636260e-01 -1.97836818e-01 -1.01848609e+01] [ 2.53786335e-01 9.67211742e-01 -9.69237168e-03 -5.20838249e+00] [ 1.93779353e-01 -4.10232970e-02 9.80187049e-01 5.68639010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282414037 meters Centerline goodness : 0.837323 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47628652e-01 -2.50799750e-01 -1.97735742e-01 -1.01851148e+01] [ 2.53936501e-01 9.67171698e-01 -9.75502185e-03 -5.20862892e+00] [ 1.93690970e-01 -4.09681841e-02 9.80206823e-01 5.69432660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.312414037 meters Centerline goodness : 0.838315 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47626629e-01 -2.50782845e-01 -1.97766875e-01 -1.01851253e+01] [ 2.53935477e-01 9.67172724e-01 -9.67961483e-03 -5.20901660e+00] [ 1.93702209e-01 -4.10473650e-02 9.80201290e-01 5.70826583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342414037 meters Centerline goodness : 0.778526 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47609776e-01 -2.50889820e-01 -1.97711938e-01 -1.01854145e+01] [ 2.54033470e-01 9.67146542e-01 -9.72435989e-03 -5.20922915e+00] [ 1.93656160e-01 -4.10105511e-02 9.80211929e-01 5.73409671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372414037 meters Centerline goodness : 0.835363 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47586679e-01 -2.51052628e-01 -1.97615949e-01 -1.01858760e+01] [ 2.54192162e-01 9.67104673e-01 -9.74143638e-03 -5.20973872e+00] [ 1.93560921e-01 -4.10015699e-02 9.80231116e-01 5.77279569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402414037 meters Centerline goodness : 0.781252 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47557653e-01 -2.51181440e-01 -1.97591443e-01 -1.01859823e+01] [ 2.54324506e-01 9.67069977e-01 -9.73168413e-03 -5.21041702e+00] [ 1.93529170e-01 -4.10310143e-02 9.80236153e-01 5.79334605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43241403699997 meters Centerline goodness : 0.782153 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47535945e-01 -2.51392817e-01 -1.97426656e-01 -1.01862717e+01] [ 2.54536770e-01 9.67014312e-01 -9.71354717e-03 -5.21102358e+00] [ 1.93356318e-01 -4.10484084e-02 9.80269536e-01 5.79282272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46241403699997 meters Centerline goodness : 0.780020 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47459333e-01 -2.51827527e-01 -1.97240233e-01 -1.01868221e+01] [ 2.54945364e-01 9.66905280e-01 -9.85093588e-03 -5.21177095e+00] [ 1.93193359e-01 -4.09521218e-02 9.80305692e-01 5.82246855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49241403699997 meters Centerline goodness : 0.780239 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47419319e-01 -2.52093644e-01 -1.97092435e-01 -1.01870652e+01] [ 2.55189518e-01 9.66839772e-01 -9.95818244e-03 -5.21187612e+00] [ 1.93067199e-01 -4.08613489e-02 9.80334334e-01 5.81632647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52241403699998 meters Centerline goodness : 0.835861 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47377111e-01 -2.52317946e-01 -1.97008282e-01 -1.01871599e+01] [ 2.55391240e-01 9.66785264e-01 -1.00780375e-02 -5.21180944e+00] [ 1.93007574e-01 -4.07664876e-02 9.80350024e-01 5.80574847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55241403699998 meters Centerline goodness : 0.836900 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47353386e-01 -2.52336579e-01 -1.97098488e-01 -1.01865308e+01] [ 2.55416781e-01 9.66778660e-01 -1.00643439e-02 -5.21181173e+00] [ 1.93090214e-01 -4.08077710e-02 9.80332033e-01 5.76392389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58241403699998 meters Centerline goodness : 0.781324 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94733693 -0.2524269 -0.19706193 -10.18647693] [ 0.25547073 0.96676245 -0.01025053 -5.21128814] [ 0.19309959 -0.04063285 0.98033745 0.05753233] [ 0. 0. 0. 1. ]] SLAMing on 224.61241403699998 meters Centerline goodness : 0.836971 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94730722 -0.2525215 -0.19708356 -10.186471 ] [ 0.25552009 0.96674678 -0.01049463 -5.21047491] [ 0.19318001 -0.04041717 0.98033052 0.05756768] [ 0. 0. 0. 1. ]] SLAMing on 224.64241403699998 meters Centerline goodness : 0.780642 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94730217 -0.25257374 -0.19704087 -10.18678688] [ 0.25546793 0.96675471 -0.0110207 -5.20823822] [ 0.19327373 -0.03989769 0.98033333 0.0576948 ] [ 0. 0. 0. 1. ]] SLAMing on 224.67241403699998 meters Centerline goodness : 0.780240 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94726187 -0.25270438 -0.19706711 -10.18707816] [ 0.2555146 0.96673721 -0.01146562 -5.20692438] [ 0.19340952 -0.03949258 0.98032295 0.05805172] [ 0. 0. 0. 1. ]] SLAMing on 224.70241403699998 meters Centerline goodness : 0.837163 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94721165 -0.25301915 -0.19690456 -10.18807421] [ 0.25569424 0.96668135 -0.01214968 -5.20531631] [ 0.19341807 -0.03883904 0.98034738 0.05873056] [ 0. 0. 0. 1. ]] SLAMing on 224.73241403699998 meters Centerline goodness : 0.781671 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94716603 -0.25327844 -0.1967906 -10.18865529] [ 0.25588542 0.96662632 -0.01249872 -5.20478335] [ 0.19338863 -0.03851748 0.98036587 0.05909425] [ 0. 0. 0. 1. ]] SLAMing on 224.76241403699999 meters Centerline goodness : 0.781383 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94710257 -0.25354681 -0.19675045 -10.18904057] [ 0.25608415 0.96656879 -0.01287155 -5.20433093] [ 0.19343638 -0.03819399 0.98036911 0.05946825] [ 0. 0. 0. 1. ]] SLAMing on 224.792414037 meters Centerline goodness : 0.780742 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94708034 -0.2536624 -0.19670845 -10.18915129] [ 0.2561672 0.96654453 -0.01304004 -5.20420813] [ 0.19343524 -0.03804029 0.98037531 0.05958609] [ 0. 0. 0. 1. ]] SLAMing on 224.822414037 meters Centerline goodness : 0.834355 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94712005 -0.25343492 -0.19681044 -10.18845858] [ 0.25597987 0.96659692 -0.01283339 -5.20428375] [ 0.19348879 -0.03822475 0.98035756 0.05910467] [ 0. 0. 0. 1. ]] SLAMing on 224.852414037 meters Centerline goodness : 0.781310 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94711392 -0.25339832 -0.19688707 -10.18808914] [ 0.25595033 0.96660507 -0.01280928 -5.20421925] [ 0.19355789 -0.03826146 0.98034249 0.05892329] [ 0. 0. 0. 1. ]] SLAMing on 224.882414037 meters Centerline goodness : 0.780076 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94712126 -0.2532423 -0.19705243 -10.18754509] [ 0.25581434 0.96664218 -0.01272498 -5.20426404] [ 0.19370169 -0.03835673 0.98031037 0.05879283] [ 0. 0. 0. 1. ]] SLAMing on 224.912414037 meters Centerline goodness : 0.779158 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94715535 -0.252951 -0.19726261 -10.18697204] [ 0.2555695 0.96670985 -0.01250215 -5.20433761] [ 0.19385814 -0.03857283 0.98027096 0.05866155] [ 0. 0. 0. 1. ]] SLAMing on 224.942414037 meters Centerline goodness : 0.778970 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94716964 -0.25294074 -0.19720716 -10.18713266] [ 0.25555544 0.96671347 -0.012509 -5.20430733] [ 0.19380685 -0.03854922 0.98028203 0.0587411 ] [ 0. 0. 0. 1. ]] SLAMing on 224.972414037 meters Centerline goodness : 0.779590 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94714029 -0.25307083 -0.1971812 -10.18745602] [ 0.25566313 0.96668342 -0.01263061 -5.20428854] [ 0.19380823 -0.038449 0.98028569 0.0590527 ] [ 0. 0. 0. 1. ]] SLAMing on 225.002414037 meters Centerline goodness : 0.836468 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94711454 -0.25330905 -0.1969989 -10.18801793] [ 0.25586263 0.96662821 -0.01281454 -5.20429424] [ 0.19367073 -0.03826782 0.98031996 0.05929061] [ 0. 0. 0. 1. ]] SLAMing on 225.032414037 meters Centerline goodness : 0.780935 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94708287 -0.25351659 -0.19688415 -10.18824042] [ 0.25606832 0.96657364 -0.01282246 -5.20475765] [ 0.19355374 -0.03827186 0.98034291 0.0592862 ] [ 0. 0. 0. 1. ]] SLAMing on 225.062414037 meters Centerline goodness : 0.780173 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94703395 -0.25381938 -0.19672932 -10.18859548] [ 0.25635511 0.96649653 -0.01290384 -5.20543652] [ 0.19341345 -0.03821219 0.98037292 0.05942176] [ 0. 0. 0. 1. ]] SLAMing on 225.092414037 meters Centerline goodness : 0.837726 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94694331 -0.25440806 -0.19640496 -10.18949095] [ 0.25688454 0.96635195 -0.01320045 -5.20594881] [ 0.19315462 -0.03795332 0.980434 0.05973107] [ 0. 0. 0. 1. ]] SLAMing on 225.122414037 meters Centerline goodness : 0.838198 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94680924 -0.25521074 -0.19600952 -10.19082331] [ 0.25761116 0.96615308 -0.01359124 -5.20664092] [ 0.19284383 -0.03762592 0.9805078 0.06034691] [ 0. 0. 0. 1. ]] SLAMing on 225.152414037 meters Centerline goodness : 0.836476 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.9467331 -0.25560027 -0.19586967 -10.19149103] [ 0.25793303 0.96606211 -0.01394806 -5.20612082] [ 0.1927874 -0.03731617 0.98053074 0.06068545] [ 0. 0. 0. 1. ]] SLAMing on 225.18241403699997 meters Centerline goodness : 0.836076 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94669739 -0.25570048 -0.19591147 -10.19166378] [ 0.2579811 0.96604514 -0.01423179 -5.20499495] [ 0.1928984 -0.03706825 0.98051831 0.06087012] [ 0. 0. 0. 1. ]] SLAMing on 225.21241403699997 meters Centerline goodness : 0.832693 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94667872 -0.25571937 -0.19597704 -10.19149129] [ 0.25797205 0.96604523 -0.01438854 -5.20433996] [ 0.19300212 -0.03693528 0.98050292 0.06083513] [ 0. 0. 0. 1. ]] SLAMing on 225.24241403699997 meters Centerline goodness : 0.836349 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94665879 -0.2557611 -0.19601887 -10.19139314] [ 0.25798901 0.96603863 -0.01452684 -5.2039038 ] [ 0.1930772 -0.03681875 0.98049252 0.06083113] [ 0. 0. 0. 1. ]] SLAMing on 225.27241403699998 meters Centerline goodness : 0.835085 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94667284 -0.25571656 -0.19600912 -10.19130971] [ 0.25792456 0.96605442 -0.01462143 -5.20353017] [ 0.19309441 -0.03671386 0.98049306 0.06074153] [ 0. 0. 0. 1. ]] SLAMing on 225.30241403699998 meters Centerline goodness : 0.780937 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94664215 -0.25583996 -0.19599631 -10.19145094] [ 0.2580154 0.96602748 -0.0147971 -5.2032582 ] [ 0.19312351 -0.03656251 0.98049298 0.06087583] [ 0. 0. 0. 1. ]] SLAMing on 225.33241403699998 meters Centerline goodness : 0.781969 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94663427 -0.25593549 -0.19590964 -10.1916938 ] [ 0.25808361 0.96600723 -0.01492904 -5.20290121] [ 0.193071 -0.03642873 0.98050831 0.06091153] [ 0. 0. 0. 1. ]] SLAMing on 225.36241403699998 meters Centerline goodness : 0.833285 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94664866 -0.25595945 -0.19580875 -10.19199308] [ 0.25810445 0.96600168 -0.014928 -5.20284673] [ 0.19297255 -0.03640754 0.98052847 0.06092408] [ 0. 0. 0. 1. ]] SLAMing on 225.39241403699998 meters Centerline goodness : 0.782830 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94663717 -0.25605996 -0.1957329 -10.19216479] [ 0.25819607 0.96597656 -0.01496897 -5.20309347] [ 0.19290635 -0.03636728 0.98054299 0.06100196] [ 0. 0. 0. 1. ]] SLAMing on 225.42241403699998 meters Centerline goodness : 0.783745 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94660442 -0.25623242 -0.1956656 -10.19249806] [ 0.2583616 0.96593168 -0.01500915 -5.20356508] [ 0.19284543 -0.03634475 0.98055581 0.06127516] [ 0. 0. 0. 1. ]] SLAMing on 225.45241403699998 meters Centerline goodness : 0.785764 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 0.94655041 -0.25653923 -0.19552479 -10.1931742 ] [ 0.2586633 0.96585045 -0.01503993 -5.20474116] [ 0.19270604 -0.03633903 0.98058343 0.06181722] [ 0. 0. 0. 1. ]] SLAMing on 225.48241403699998 meters Centerline goodness : 0.833472 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94654017 -0.25654924 -0.19556124 -10.19314645] [ 0.25868363 0.9658457 -0.01499546 -5.20520397] [ 0.19272905 -0.03639468 0.98057684 0.06197325] [ 0. 0. 0. 1. ]] SLAMing on 225.51241403699999 meters Centerline goodness : 0.836261 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.9465717 -0.25627455 -0.19576867 -10.19271604] [ 0.25843468 0.96591419 -0.01487607 -5.20517444] [ 0.19290809 -0.03651215 0.98053727 0.06207009] [ 0. 0. 0. 1. ]] SLAMing on 225.542414037 meters Centerline goodness : 0.837817 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94687826 -0.25346668 -0.19792978 -10.19000247] [ 0.25645931 0.96649464 -0.01080402 -5.20666869] [ 0.19403653 -0.04053084 0.98015666 0.06244434] [ 0. 0. 0. 1. ]] SLAMing on 225.572414037 meters Centerline goodness : 0.835847 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94691531 -0.25319965 -0.19809428 -10.1893249 ] [ 0.2562182 0.96655996 -0.0106803 -5.20656139] [ 0.19417425 -0.04064202 0.98012478 0.06219578] [ 0. 0. 0. 1. ]] SLAMing on 225.602414037 meters Centerline goodness : 0.783696 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94697063 -0.25282412 -0.19830931 -10.18849908] [ 0.25589285 0.96664884 -0.01043384 -5.20672072] [ 0.19433339 -0.0408654 0.98008395 0.06188819] [ 0. 0. 0. 1. ]] SLAMing on 225.632414037 meters Centerline goodness : 0.781599 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94705851 -0.25230275 -0.19855353 -10.18768911] [ 0.25541135 0.96677835 -0.01023073 -5.20679407] [ 0.1945385 -0.04102373 0.98003665 0.06179875] [ 0. 0. 0. 1. ]] SLAMing on 225.662414037 meters Centerline goodness : 0.783665 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94707667 -0.25219618 -0.19860227 -10.1876208 ] [ 0.25529853 0.96680782 -0.01026148 -5.20648892] [ 0.19459813 -0.04098446 0.98002645 0.06183149] [ 0. 0. 0. 1. ]] SLAMing on 225.692414037 meters Centerline goodness : 0.784396 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 0.94706399 -0.25217337 -0.19869169 -10.18772345] [ 0.25523532 0.96682215 -0.01048164 -5.20599165] [ 0.19474272 -0.04078635 0.98000599 0.06221263] [ 0. 0. 0. 1. ]] SLAMing on 225.722414037 meters Centerline goodness : 0.838980 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47777032e-01 -2.48381384e-01 -2.00063452e-01 -1.01874019e+01] [ 2.52237163e-01 9.67644286e-01 -6.39915636e-03 -5.20679970e+00] [ 1.95179688e-01 -4.43984642e-02 9.79762046e-01 6.29198731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752414037 meters Centerline goodness : 0.787283 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.48315581e-01 -2.45013308e-01 -2.01658222e-01 -1.01858946e+01] [ 2.49694839e-01 9.68321865e-01 -2.29218069e-03 -5.20820698e+00] [ 1.95831680e-01 -4.81793066e-02 9.79453270e-01 6.32072565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782414037 meters Centerline goodness : 0.783915 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.48347001e-01 -2.44857245e-01 -2.01700011e-01 -1.01858771e+01] [ 2.49512769e-01 9.68368494e-01 -2.41623730e-03 -5.20779364e+00] [ 1.95911569e-01 -4.80352968e-02 9.79444367e-01 6.34153456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812414037 meters Centerline goodness : 0.784150 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48314773e-01 -2.44676484e-01 -2.02070557e-01 -1.01846907e+01] [ 2.49407869e-01 9.68396230e-01 -2.11123205e-03 -5.20804763e+00] [ 1.96200935e-01 -4.83958745e-02 9.79368691e-01 6.30206376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842414037 meters Centerline goodness : 0.784810 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 9.48283703e-01 -2.44773565e-01 -2.02098788e-01 -1.01846146e+01] [ 2.49484262e-01 9.68376281e-01 -2.23185372e-03 -5.20796587e+00] [ 1.96253971e-01 -4.83040364e-02 9.79362598e-01 6.30512335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872414037 meters Centerline goodness : 0.784180 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.48208489e-01 -2.45232746e-01 -2.01894929e-01 -1.01851504e+01] [ 2.49886095e-01 9.68271972e-01 -2.51555758e-03 -5.20795741e+00] [ 1.96106098e-01 -4.80654623e-02 9.79403956e-01 6.31647561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902414037 meters Centerline goodness : 0.784180 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.48208489e-01 -2.45232746e-01 -2.01894929e-01 -1.01851504e+01] [ 2.49886095e-01 9.68271972e-01 -2.51555758e-03 -5.20795741e+00] [ 1.96106098e-01 -4.80654623e-02 9.79403956e-01 6.31647561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93241403699997 meters Centerline goodness : 0.784030 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.48151237e-01 -2.45492849e-01 -2.01847697e-01 -1.01853191e+01] [ 2.50102631e-01 9.68215429e-01 -2.74883079e-03 -5.20769942e+00] [ 1.96106873e-01 -4.78763328e-02 9.79413065e-01 6.32642519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96241403699997 meters Centerline goodness : 0.785277 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.48104529e-01 -2.45730804e-01 -2.01777535e-01 -1.01855032e+01] [ 2.50299678e-01 9.68163883e-01 -2.96083780e-03 -5.20736932e+00] [ 1.96081290e-01 -4.76976683e-02 9.79426904e-01 6.32808872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99241403699997 meters Centerline goodness : 0.783778 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.48038850e-01 -2.46194867e-01 -2.01520286e-01 -1.01862436e+01] [ 2.50704425e-01 9.68058251e-01 -3.24254114e-03 -5.20730868e+00] [ 1.95881673e-01 -4.74479725e-02 9.79478974e-01 6.34667846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02241403699998 meters Centerline goodness : 0.838383 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47984357e-01 -2.46531952e-01 -2.01364486e-01 -1.01866561e+01] [ 2.50979778e-01 9.67985826e-01 -3.54844829e-03 -5.20699942e+00] [ 1.95792775e-01 -4.71745407e-02 9.79509955e-01 6.35881922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05241403699998 meters Centerline goodness : 0.784721 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47928931e-01 -2.46867939e-01 -2.01213722e-01 -1.01871649e+01] [ 2.51253151e-01 9.67913711e-01 -3.86023292e-03 -5.20653105e+00] [ 1.95710488e-01 -4.68963551e-02 9.79539758e-01 6.37619823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08241403699998 meters Centerline goodness : 0.839995 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.06 [[ 9.47826006e-01 -2.47509273e-01 -2.00910483e-01 -1.01883837e+01] [ 2.51756455e-01 9.67779948e-01 -4.54528898e-03 -5.20517427e+00] [ 1.95562138e-01 -4.62723678e-02 9.79599060e-01 6.42353891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11241403699998 meters Centerline goodness : 0.840577 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.47785997e-01 -2.47760200e-01 -2.00789910e-01 -1.01888876e+01] [ 2.51949705e-01 9.67728268e-01 -4.83165399e-03 -5.20464435e+00] [ 1.95507164e-01 -4.60095846e-02 9.79622410e-01 6.44626350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14241403699998 meters Centerline goodness : 0.838756 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.47743405e-01 -2.47969152e-01 -2.00733004e-01 -1.01891067e+01] [ 2.52086137e-01 9.67690810e-01 -5.20340854e-03 -5.20374705e+00] [ 1.95537768e-01 -4.56705114e-02 9.79632169e-01 6.45558346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17241403699998 meters Centerline goodness : 0.839760 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.47705556e-01 -2.48104171e-01 -2.00744864e-01 -1.01890774e+01] [ 2.52181917e-01 9.67664682e-01 -5.41702342e-03 -5.20324944e+00] [ 1.95597701e-01 -4.54904815e-02 9.79628580e-01 6.45757870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20241403699998 meters Centerline goodness : 0.840495 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.47665677e-01 -2.48248628e-01 -2.00754533e-01 -1.01891691e+01] [ 2.52267394e-01 9.67640600e-01 -5.72988727e-03 -5.20258935e+00] [ 1.95680673e-01 -4.52138053e-02 9.79624819e-01 6.47485330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23241403699998 meters Centerline goodness : 0.786466 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.47639017e-01 -2.48384883e-01 -2.00711840e-01 -1.01893721e+01] [ 2.52348978e-01 9.67617641e-01 -6.00790244e-03 -5.20148557e+00] [ 1.95704589e-01 -4.49561048e-02 9.79631902e-01 6.47532054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26241403699999 meters Centerline goodness : 0.786203 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.06 [[ 9.47587071e-01 -2.48611143e-01 -2.00676962e-01 -1.01897805e+01] [ 2.52460281e-01 9.67584756e-01 -6.59893619e-03 -5.19911764e+00] [ 1.95812538e-01 -4.44098955e-02 9.79635244e-01 6.48616373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292414037 meters Centerline goodness : 0.839909 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.07 [[ 9.47508547e-01 -2.48968246e-01 -2.00605001e-01 -1.01902350e+01] [ 2.52737467e-01 9.67509429e-01 -7.01984234e-03 -5.19834611e+00] [ 1.95834948e-01 -4.40490392e-02 9.79647056e-01 6.51430852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322414037 meters Centerline goodness : 0.785577 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.07 [[ 9.47442444e-01 -2.49372690e-01 -2.00414762e-01 -1.01907173e+01] [ 2.53078944e-01 9.67417831e-01 -7.33405873e-03 -5.19804508e+00] [ 1.95713729e-01 -4.37721580e-02 9.79683691e-01 6.52234638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352414037 meters Centerline goodness : 0.786217 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.07 [[ 9.47269564e-01 -2.50534253e-01 -1.99782284e-01 -1.01921638e+01] [ 2.54113051e-01 9.67141835e-01 -7.95164315e-03 -5.19841948e+00] [ 1.95209964e-01 -4.32349362e-02 9.79808048e-01 6.53705448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382414037 meters Centerline goodness : 0.785570 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.07 [[ 9.47168868e-01 -2.51177050e-01 -1.99452313e-01 -1.01930504e+01] [ 2.54690666e-01 9.66987195e-01 -8.27226060e-03 -5.19859266e+00] [ 1.94945634e-01 -4.29634146e-02 9.79872617e-01 6.55549737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412414037 meters Centerline goodness : 0.785791 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.07 [[ 9.47067883e-01 -2.51759520e-01 -1.99197311e-01 -1.01936451e+01] [ 2.55215480e-01 9.66846254e-01 -8.56620206e-03 -5.19862841e+00] [ 1.94749797e-01 -4.27254626e-02 9.79921962e-01 6.55780014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442414037 meters Centerline goodness : 0.784447 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.20, Z:0.07 [[ 9.46881410e-01 -2.52853471e-01 -1.98697553e-01 -1.01949926e+01] [ 2.56183234e-01 9.66584405e-01 -9.20534551e-03 -5.19791143e+00] [ 1.94385559e-01 -4.21866111e-02 9.80017624e-01 6.56313281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.472414037 meters Centerline goodness : 0.784891 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 9.46794663e-01 -2.53318900e-01 -1.98518013e-01 -1.01956750e+01] [ 2.56572645e-01 9.66477293e-01 -9.59788971e-03 -5.19737834e+00] [ 1.94294478e-01 -4.18470607e-02 9.80050243e-01 6.59320640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502414037 meters Centerline goodness : 0.785546 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 9.46709146e-01 -2.53769032e-01 -1.98350880e-01 -1.01963088e+01] [ 2.56947708e-01 9.66373702e-01 -9.98721998e-03 -5.19680976e+00] [ 1.94215521e-01 -4.15108113e-02 9.80080193e-01 6.61418843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.532414037 meters Centerline goodness : 0.785926 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 0.9465637 -0.25446057 -0.198159 -10.19763538] [ 0.25746465 0.96622625 -0.01089927 -5.1952056 ] [ 0.19423986 -0.04070208 0.98010929 0.06708214] [ 0. 0. 0. 1. ]] SLAMing on 226.562414037 meters Centerline goodness : 0.786096 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94648045 -0.25492558 -0.19795884 -10.19858044] [ 0.25781428 0.9661262 -0.01148776 -5.19402908] [ 0.19418175 -0.04016368 0.98014301 0.06754353] [ 0. 0. 0. 1. ]] SLAMing on 226.592414037 meters Centerline goodness : 0.784150 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94642787 -0.25525813 -0.19778166 -10.19924315] [ 0.25806902 0.96605346 -0.01187819 -5.19329727] [ 0.19409966 -0.03979947 0.98017413 0.06781775] [ 0. 0. 0. 1. ]] SLAMing on 226.622414037 meters Centerline goodness : 0.785948 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94633517 -0.25576997 -0.19756385 -10.20016615] [ 0.25847215 0.96593866 -0.01243554 -5.19266255] [ 0.1940152 -0.03929656 0.98021114 0.06833295] [ 0. 0. 0. 1. ]] SLAMing on 226.652414037 meters Centerline goodness : 0.786597 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94629162 -0.25603829 -0.19742482 -10.20053972] [ 0.25869793 0.96587544 -0.01264994 -5.19258548] [ 0.19392666 -0.03910287 0.98023641 0.06843055] [ 0. 0. 0. 1. ]] SLAMing on 226.68241403699997 meters Centerline goodness : 0.785329 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94626832 -0.25611975 -0.19743086 -10.20049807] [ 0.25876474 0.96585644 -0.01273376 -5.19259669] [ 0.19395124 -0.03903859 0.98023411 0.06846625] [ 0. 0. 0. 1. ]] SLAMing on 226.71241403699997 meters Centerline goodness : 0.786214 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94623783 -0.25620668 -0.1974642 -10.20043929] [ 0.25880424 0.96584245 -0.0129893 -5.19166308] [ 0.19404725 -0.03881361 0.98022404 0.06847036] [ 0. 0. 0. 1. ]] SLAMing on 226.74241403699997 meters Centerline goodness : 0.785446 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94620915 -0.25626054 -0.1975317 -10.20040452] [ 0.25881976 0.96583541 -0.01320232 -5.1906858 ] [ 0.19416635 -0.03863295 0.98020759 0.06848432] [ 0. 0. 0. 1. ]] SLAMing on 226.77241403699998 meters Centerline goodness : 0.785764 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94617227 -0.25642405 -0.19749616 -10.20054968] [ 0.25893308 0.9658014 -0.0134656 -5.18985031] [ 0.19419498 -0.03839751 0.98021117 0.06855415] [ 0. 0. 0. 1. ]] SLAMing on 226.80241403699998 meters Centerline goodness : 0.788626 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94613046 -0.25670946 -0.19732564 -10.20089434] [ 0.2591787 0.96573275 -0.01366204 -5.18949459] [ 0.19407101 -0.03821652 0.9802428 0.06848048] [ 0. 0. 0. 1. ]] SLAMing on 226.83241403699998 meters Centerline goodness : 0.786865 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94608314 -0.25698867 -0.19718903 -10.20109902] [ 0.25944743 0.96565982 -0.01371673 -5.19001379] [ 0.19394257 -0.03818302 0.98026952 0.06844119] [ 0. 0. 0. 1. ]] SLAMing on 226.86241403699998 meters Centerline goodness : 0.785392 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94593471 -0.2578791 -0.19673815 -10.20228476] [ 0.26026599 0.96543424 -0.01408309 -5.19117305] [ 0.19356948 -0.03788256 0.98035492 0.06882561] [ 0. 0. 0. 1. ]] SLAMing on 226.89241403699998 meters Centerline goodness : 0.786738 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94583781 -0.2584827 -0.19641162 -10.20327685] [ 0.2608142 0.96528218 -0.01436174 -5.19158897] [ 0.1933049 -0.03764306 0.98041635 0.06913501] [ 0. 0. 0. 1. ]] SLAMing on 226.92241403699998 meters Centerline goodness : 0.785634 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.19, Z:0.07 [[ 0.94577416 -0.25891887 -0.19614346 -10.20404401] [ 0.26123868 0.96516662 -0.01441322 -5.19233143] [ 0.19304298 -0.03760861 0.98046928 0.0693188 ] [ 0. 0. 0. 1. ]] SLAMing on 226.95241403699998 meters Centerline goodness : 0.787071 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.19, Z:0.07 [[ 0.94560333 -0.25983486 -0.19575545 -10.20532001] [ 0.26211382 0.96492593 -0.01463914 -5.19425917] [ 0.19269327 -0.03746739 0.98054347 0.06997778] [ 0. 0. 0. 1. ]] SLAMing on 226.98241403699998 meters Centerline goodness : 0.784709 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.9455522 -0.26026449 -0.19543138 -10.20606064] [ 0.26253257 0.96481153 -0.01467489 -5.19542633] [ 0.1923738 -0.03743123 0.98060758 0.07016365] [ 0. 0. 0. 1. ]] SLAMing on 227.01241403699999 meters Centerline goodness : 0.787524 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.94548808 -0.26063839 -0.19524324 -10.206585 ] [ 0.26289559 0.96471181 -0.01473186 -5.19644318] [ 0.19219314 -0.03739979 0.9806442 0.07043264] [ 0. 0. 0. 1. ]] SLAMing on 227.042414037 meters Centerline goodness : 0.787773 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.94535879 -0.26138458 -0.19487142 -10.20797341] [ 0.26362584 0.96451121 -0.01481671 -5.19837465] [ 0.19182853 -0.03736604 0.98071688 0.07116266] [ 0. 0. 0. 1. ]] SLAMing on 227.072414037 meters Centerline goodness : 0.834055 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.94535332 -0.26152082 -0.19471507 -10.20848863] [ 0.26374853 0.96447686 -0.01486906 -5.19879925] [ 0.19168675 -0.0372993 0.98074714 0.0714384 ] [ 0. 0. 0. 1. ]] SLAMing on 227.102414037 meters Centerline goodness : 0.834491 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.94538753 -0.26131671 -0.19482297 -10.20845957] [ 0.26355913 0.96452979 -0.01479414 -5.19910352] [ 0.19177851 -0.03736118 0.98072684 0.07178667] [ 0. 0. 0. 1. ]] SLAMing on 227.132414037 meters Centerline goodness : 0.787764 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.94539862 -0.2612746 -0.19482566 -10.2084916 ] [ 0.26351841 0.96454108 -0.01478321 -5.19944339] [ 0.19177983 -0.03736412 0.98072647 0.07196676] [ 0. 0. 0. 1. ]] SLAMing on 227.162414037 meters Centerline goodness : 0.833751 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.9454378 -0.26106959 -0.19491034 -10.20802887] [ 0.26335936 0.96458816 -0.01454381 -5.20004359] [ 0.19180515 -0.03758119 0.98071323 0.07175576] [ 0. 0. 0. 1. ]] SLAMing on 227.192414037 meters Centerline goodness : 0.834551 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.9454695 -0.26080386 -0.19511222 -10.2072978 ] [ 0.26314718 0.96464996 -0.01428309 -5.2007065 ] [ 0.19194008 -0.03783901 0.98067692 0.07157859] [ 0. 0. 0. 1. ]] SLAMing on 227.222414037 meters Centerline goodness : 0.785893 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.94560946 -0.259949 -0.19557419 -10.20578087] [ 0.26241029 0.96485934 -0.01368566 -5.20164703] [ 0.19225915 -0.03837939 0.98059341 0.0712757 ] [ 0. 0. 0. 1. ]] SLAMing on 227.252414037 meters Centerline goodness : 0.837822 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 0.94567512 -0.25952182 -0.19582389 -10.2051182 ] [ 0.26202067 0.96496782 -0.01350078 -5.20171523] [ 0.1924675 -0.03854255 0.98054614 0.0712691 ] [ 0. 0. 0. 1. ]] SLAMing on 227.282414037 meters Centerline goodness : 0.785605 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 0.94571112 -0.25912427 -0.1961762 -10.2044267 ] [ 0.26162583 0.96507471 -0.01351752 -5.20126686] [ 0.19282741 -0.03854109 0.98047548 0.07148097] [ 0. 0. 0. 1. ]] SLAMing on 227.312414037 meters Centerline goodness : 0.837977 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 9.46724279e-01 -2.54838650e-01 -1.96902012e-01 -1.02055215e+01] [ 2.58028335e-01 9.66088398e-01 -9.72551591e-03 -5.20227571e+00] [ 1.92703187e-01 -4.15989164e-02 9.80374934e-01 7.19940225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342414037 meters Centerline goodness : 0.786317 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 9.46786769e-01 -2.54407694e-01 -1.97158667e-01 -1.02050283e+01] [ 2.57611502e-01 9.66200235e-01 -9.66537427e-03 -5.20182484e+00] [ 1.92953696e-01 -4.16392920e-02 9.80323947e-01 7.20907579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372414037 meters Centerline goodness : 0.785209 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 9.47748669e-01 -2.50360902e-01 -1.97716665e-01 -1.02062268e+01] [ 2.54194264e-01 9.67133493e-01 -6.17114306e-03 -5.20333921e+00] [ 1.92763421e-01 -4.44097495e-02 9.80239786e-01 7.27811817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402414037 meters Centerline goodness : 0.838424 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 9.47821796e-01 -2.49985283e-01 -1.97841355e-01 -1.02059350e+01] [ 2.53822824e-01 9.67231241e-01 -6.14012260e-03 -5.20304413e+00] [ 1.92893280e-01 -4.43969095e-02 9.80214822e-01 7.29088786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43241403699997 meters Centerline goodness : 0.837072 Centerline is valid? [False, False] Translation: X:-10.21, Y:-5.20, Z:0.07 [[ 9.47877492e-01 -2.49625492e-01 -1.98028720e-01 -1.02055153e+01] [ 2.53472141e-01 9.67323451e-01 -6.10040640e-03 -5.20287556e+00] [ 1.93080642e-01 -4.44123256e-02 9.80177235e-01 7.30311919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46241403699997 meters Centerline goodness : 0.836031 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 9.48018643e-01 -2.48868203e-01 -1.98306000e-01 -1.02045399e+01] [ 2.52805867e-01 9.67500673e-01 -5.62504115e-03 -5.20331636e+00] [ 1.93261083e-01 -4.48002763e-02 9.80124017e-01 7.27601739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49241403699997 meters Centerline goodness : 0.835575 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 9.48059071e-01 -2.48550528e-01 -1.98511039e-01 -1.02038688e+01] [ 2.52531282e-01 9.67573539e-01 -5.42207118e-03 -5.20372542e+00] [ 1.93421687e-01 -4.49898034e-02 9.80083654e-01 7.26649146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52241403699998 meters Centerline goodness : 0.786337 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 9.48089422e-01 -2.48116232e-01 -1.98908982e-01 -1.02023246e+01] [ 2.52175017e-01 9.67668327e-01 -5.07645702e-03 -5.20407433e+00] [ 1.93737474e-01 -4.53469407e-02 9.80004820e-01 7.19576469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55241403699998 meters Centerline goodness : 0.837232 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 9.48117644e-01 -2.47865815e-01 -1.99086591e-01 -1.02016072e+01] [ 2.51971925e-01 9.67722374e-01 -4.85350393e-03 -5.20447964e+00] [ 1.93863566e-01 -4.55625388e-02 9.79969884e-01 7.17084366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58241403699998 meters Centerline goodness : 0.834519 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.20, Z:0.07 [[ 9.48091559e-01 -2.47475649e-01 -1.99695268e-01 -1.01991898e+01] [ 2.51700579e-01 9.67795336e-01 -4.35956502e-03 -5.20480957e+00] [ 1.94343035e-01 -4.61301477e-02 9.79848353e-01 7.05590846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61241403699998 meters Centerline goodness : 0.835526 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.07 [[ 9.48144491e-01 -2.47055205e-01 -1.99964372e-01 -1.01982166e+01] [ 2.51385600e-01 9.67879363e-01 -3.84950061e-03 -5.20519925e+00] [ 1.94492428e-01 -4.66182808e-02 9.79795607e-01 7.00782260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64241403699998 meters Centerline goodness : 0.834420 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.07 [[ 9.48118361e-01 -2.46590611e-01 -2.00660519e-01 -1.01962881e+01] [ 2.51112350e-01 9.67953268e-01 -3.00985098e-03 -5.20617183e+00] [ 1.94972206e-01 -4.75346394e-02 9.79656214e-01 6.96862323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67241403699998 meters Centerline goodness : 0.787668 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.07 [[ 9.48047264e-01 -2.46923881e-01 -2.00586593e-01 -1.01962339e+01] [ 2.51438190e-01 9.67868508e-01 -3.06381123e-03 -5.20650228e+00] [ 1.94897975e-01 -4.75304922e-02 9.79671185e-01 6.96502818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70241403699998 meters Centerline goodness : 0.787601 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.07 [[ 9.48131442e-01 -2.46343269e-01 -2.00902372e-01 -1.01952334e+01] [ 2.51011839e-01 9.67981268e-01 -2.30685810e-03 -5.20741370e+00] [ 1.95038012e-01 -4.82416690e-02 9.79608552e-01 6.93424570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73241403699998 meters Centerline goodness : 0.839662 Centerline is valid? [False, False] Translation: X:-10.20, Y:-5.21, Z:0.07 [[ 9.48273428e-01 -2.45962310e-01 -2.00698901e-01 -1.01954183e+01] [ 2.50710183e-01 9.68060486e-01 -1.81659459e-03 -5.20889081e+00] [ 1.94735489e-01 -4.85946298e-02 9.79651291e-01 6.93253175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76241403699999 meters Centerline goodness : 0.787804 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.48374299e-01 -2.45354049e-01 -2.00966611e-01 -1.01944884e+01] [ 2.50227649e-01 9.68186299e-01 -1.18904145e-03 -5.20971156e+00] [ 1.94864856e-01 -4.91597462e-02 9.79597370e-01 6.89248661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792414037 meters Centerline goodness : 0.787239 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.48442049e-01 -2.44898875e-01 -2.01201943e-01 -1.01935591e+01] [ 2.49828466e-01 9.68289673e-01 -9.20615357e-04 -5.20989077e+00] [ 1.95047221e-01 -4.93928223e-02 9.79549351e-01 6.84803200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822414037 meters Centerline goodness : 0.787239 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.48442049e-01 -2.44898875e-01 -2.01201943e-01 -1.01935591e+01] [ 2.49828466e-01 9.68289673e-01 -9.20615357e-04 -5.20989077e+00] [ 1.95047221e-01 -4.93928223e-02 9.79549351e-01 6.84803200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852414037 meters Centerline goodness : 0.841669 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.48992563e-01 -2.41303986e-01 -2.02942116e-01 -1.01911472e+01] [ 2.47168384e-01 9.68965576e-01 3.67446038e-03 -5.21211247e+00] [ 1.95757263e-01 -5.36479106e-02 9.79183842e-01 6.82395588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882414037 meters Centerline goodness : 0.787927 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.49023512e-01 -2.41216426e-01 -2.02901476e-01 -1.01911666e+01] [ 2.47068740e-01 9.68991139e-01 3.63459240e-03 -5.21197144e+00] [ 1.95733009e-01 -5.35799258e-02 9.79192413e-01 6.81320977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912414037 meters Centerline goodness : 0.838196 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.49088299e-01 -2.40662502e-01 -2.03255897e-01 -1.01902373e+01] [ 2.46601003e-01 9.69108740e-01 4.02444582e-03 -5.21192766e+00] [ 1.96008533e-01 -5.39426626e-02 9.79117380e-01 6.78602113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942414037 meters Centerline goodness : 0.787072 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.49078805e-01 -2.40366627e-01 -2.03649963e-01 -1.01890746e+01] [ 2.46371410e-01 9.69166058e-01 4.27550818e-03 -5.21162357e+00] [ 1.96342943e-01 -5.42313228e-02 9.79034429e-01 6.74166554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972414037 meters Centerline goodness : 0.787087 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.49708751e-01 -2.36610668e-01 -2.05106508e-01 -1.01874786e+01] [ 2.43573037e-01 9.69840671e-01 9.01383393e-03 -5.21405642e+00] [ 1.96787864e-01 -5.85189320e-02 9.78698151e-01 6.75160832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002414037 meters Centerline goodness : 0.840047 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.21, Z:0.07 [[ 9.49724972e-01 -2.36714964e-01 -2.04910964e-01 -1.01880474e+01] [ 2.43657519e-01 9.69819915e-01 8.96362284e-03 -5.21414524e+00] [ 1.96604910e-01 -5.84410735e-02 9.78739572e-01 6.77059418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.032414037 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.07 [[ 9.49838495e-01 -2.36523609e-01 -2.04605514e-01 -1.01881482e+01] [ 2.43492448e-01 9.69859086e-01 9.20761682e-03 -5.21507994e+00] [ 1.96260698e-01 -5.85656465e-02 9.78801207e-01 6.72959451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062414037 meters Centerline goodness : 0.839673 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.22, Z:0.07 [[ 9.49651380e-01 -2.36957535e-01 -2.04971664e-01 -1.01868363e+01] [ 2.44007304e-01 9.69727317e-01 9.45339616e-03 -5.21618607e+00] [ 1.96526569e-01 -5.89920139e-02 9.78722254e-01 6.72373253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.092414037 meters Centerline goodness : 0.788170 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.07 [[ 9.49503409e-01 -2.36898958e-01 -2.05723504e-01 -1.01849820e+01] [ 2.44105891e-01 9.69696924e-01 1.00094776e-02 -5.21654728e+00] [ 1.97118214e-01 -5.97223522e-02 9.78558966e-01 6.70634765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122414037 meters Centerline goodness : 0.786404 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.07 [[ 9.49311989e-01 -2.37481259e-01 -2.05935426e-01 -1.01839446e+01] [ 2.44680301e-01 9.69553846e-01 9.84325561e-03 -5.21689675e+00] [ 1.97327895e-01 -5.97326624e-02 9.78516076e-01 6.67498977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152414037 meters Centerline goodness : 0.786418 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.07 [[ 9.49317313e-01 -2.37452157e-01 -2.05944441e-01 -1.01831122e+01] [ 2.44665045e-01 9.69556994e-01 9.91220413e-03 -5.21708964e+00] [ 1.97321199e-01 -5.97972328e-02 9.78513483e-01 6.60484350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18241403699997 meters Centerline goodness : 0.785460 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.07 [[ 9.49320311e-01 -2.37324784e-01 -2.06077396e-01 -1.01824124e+01] [ 2.44576267e-01 9.69577706e-01 1.00758160e-02 -5.21734312e+00] [ 1.97416808e-01 -5.99668170e-02 9.78483819e-01 6.56911265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21241403699997 meters Centerline goodness : 0.785679 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.07 [[ 0.94947447 -0.23680751 -0.20596224 -10.18264066] [ 0.24413426 0.96968416 0.01053959 -5.21777352] [ 0.19722247 -0.06028951 0.97850318 0.06555225] [ 0. 0. 0. 1. ]] SLAMing on 228.24241403699997 meters Centerline goodness : 0.842036 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.22, Z:0.07 [[ 0.94956133 -0.23670739 -0.20567667 -10.18376114] [ 0.24404844 0.9697039 0.01071042 -5.21794565] [ 0.19691024 -0.06036527 0.97856139 0.06603482] [ 0. 0. 0. 1. ]] SLAMing on 228.27241403699998 meters Centerline goodness : 0.839866 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95035256 -0.24121314 -0.19658645 -10.17912525] [ 0.24868923 0.96848367 0.01389443 -5.21475751] [ 0.18703925 -0.06209354 0.98038804 0.06148255] [ 0. 0. 0. 1. ]] SLAMing on 228.30241403699998 meters Centerline goodness : 0.786210 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95038382 -0.24122082 -0.19642587 -10.17997333] [ 0.2486932 0.96848215 0.01392862 -5.21477361] [ 0.18687507 -0.06208731 0.98041974 0.06202329] [ 0. 0. 0. 1. ]] SLAMing on 228.33241403699998 meters Centerline goodness : 0.839177 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95048152 -0.24086157 -0.19639396 -10.1802509 ] [ 0.24836636 0.96856289 0.01414532 -5.21474006] [ 0.18681283 -0.06222252 0.98042303 0.06211784] [ 0. 0. 0. 1. ]] SLAMing on 228.36241403699998 meters Centerline goodness : 0.839614 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95039477 -0.2407281 -0.19697655 -10.17896711] [ 0.24832945 0.9685676 0.01446653 -5.2143818 ] [ 0.18730261 -0.06266399 0.98030146 0.06191756] [ 0. 0. 0. 1. ]] SLAMing on 228.39241403699998 meters Centerline goodness : 0.785855 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95039742 -0.24046888 -0.19728015 -10.17778989] [ 0.24809777 0.96862598 0.01453304 -5.21404527] [ 0.18759594 -0.06275693 0.98023943 0.06129504] [ 0. 0. 0. 1. ]] SLAMing on 228.42241403699998 meters Centerline goodness : 0.839677 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95062705 -0.239949 -0.19680624 -10.17747658] [ 0.2474286 0.96880548 0.01396509 -5.21304126] [ 0.18731606 -0.06197109 0.98034294 0.059599 ] [ 0. 0. 0. 1. ]] SLAMing on 228.45241403699998 meters Centerline goodness : 0.841715 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95070747 -0.23982472 -0.19656909 -10.17765885] [ 0.24716537 0.96888162 0.01332968 -5.21172446] [ 0.18725539 -0.0612577 0.98039936 0.05905012] [ 0. 0. 0. 1. ]] SLAMing on 228.48241403699998 meters Centerline goodness : 0.783384 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95087383 -0.23954974 -0.19609914 -10.17907406] [ 0.24667046 0.96902059 0.01236036 -5.20899379] [ 0.18706319 -0.06012501 0.98050617 0.05884445] [ 0. 0. 0. 1. ]] SLAMing on 228.51241403699999 meters Centerline goodness : 0.839212 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95140113 -0.23613912 -0.19767198 -10.1775163 ] [ 0.24409592 0.96960996 0.01654402 -5.20985414] [ 0.18775803 -0.06399092 0.98012861 0.05897823] [ 0. 0. 0. 1. ]] SLAMing on 228.542414037 meters Centerline goodness : 0.784395 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95151106 -0.23599637 -0.197313 -10.1785339 ] [ 0.2438597 0.9696753 0.01619434 -5.20899405] [ 0.18750774 -0.06352578 0.98020678 0.05901489] [ 0. 0. 0. 1. ]] SLAMing on 228.572414037 meters Centerline goodness : 0.842910 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95153531 -0.23571049 -0.19753766 -10.17830701] [ 0.24361714 0.96973329 0.01637159 -5.20837036] [ 0.18769989 -0.06370171 0.98015858 0.05906264] [ 0. 0. 0. 1. ]] SLAMing on 228.602414037 meters Centerline goodness : 0.841487 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95128575 -0.23672811 -0.19752273 -10.17924718] [ 0.24447747 0.96953182 0.01545394 -5.2065723 ] [ 0.18784619 -0.06299097 0.98017649 0.05994477] [ 0. 0. 0. 1. ]] SLAMing on 228.632414037 meters Centerline goodness : 0.839723 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.9511629 -0.23670424 -0.19814198 -10.17844412] [ 0.24459269 0.96949441 0.01596865 -5.20627206] [ 0.1883177 -0.06365287 0.98004324 0.06034664] [ 0. 0. 0. 1. ]] SLAMing on 228.662414037 meters Centerline goodness : 0.841324 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95072409 -0.23819736 -0.19845835 -10.17901504] [ 0.246074 0.96912472 0.01564826 -5.20549918] [ 0.18860352 -0.06371262 0.9799844 0.06184672] [ 0. 0. 0. 1. ]] SLAMing on 228.692414037 meters Centerline goodness : 0.838803 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95047321 -0.23874499 -0.19900126 -10.17818669] [ 0.24670717 0.96896045 0.01584963 -5.20533224] [ 0.18904033 -0.06415968 0.97987106 0.06228412] [ 0. 0. 0. 1. ]] SLAMing on 228.722414037 meters Centerline goodness : 0.840353 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.21, Z:0.06 [[ 0.95020007 -0.23934863 -0.19957969 -10.17710303] [ 0.24738233 0.96878651 0.01595847 -5.20501371] [ 0.18953048 -0.06453623 0.97975164 0.06248629] [ 0. 0. 0. 1. ]] SLAMing on 228.752414037 meters Centerline goodness : 0.836301 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.20, Z:0.06 [[ 0.94995339 -0.23989229 -0.2001006 -10.17596114] [ 0.24798343 0.96863183 0.01601889 -5.20446695] [ 0.189981 -0.06483884 0.9796444 0.06249856] [ 0. 0. 0. 1. ]] SLAMing on 228.782414037 meters Centerline goodness : 0.838200 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94944516 -0.24146363 -0.20062202 -10.17425175] [ 0.24945817 0.96826657 0.01518126 -5.20311342] [ 0.19058987 -0.06446057 0.97955109 0.06211572] [ 0. 0. 0. 1. ]] SLAMing on 228.812414037 meters Centerline goodness : 0.837028 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94925785 -0.24186396 -0.20102577 -10.17288283] [ 0.24985914 0.96816593 0.01500455 -5.20245956] [ 0.19099724 -0.06447132 0.97947103 0.06162166] [ 0. 0. 0. 1. ]] SLAMing on 228.842414037 meters Centerline goodness : 0.836366 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94905935 -0.24236504 -0.2013592 -10.17193041] [ 0.25031863 0.96805303 0.01462574 -5.20154036] [ 0.19138162 -0.06428465 0.97940827 0.0613951 ] [ 0. 0. 0. 1. ]] SLAMing on 228.872414037 meters Centerline goodness : 0.837004 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94898219 -0.2428576 -0.20112926 -10.17262743] [ 0.25070014 0.96796231 0.01408529 -5.20035563] [ 0.19126482 -0.06378983 0.97946344 0.06152195] [ 0. 0. 0. 1. ]] SLAMing on 228.902414037 meters Centerline goodness : 0.834310 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94928556 -0.24038747 -0.20265932 -10.17129406] [ 0.24897447 0.96834995 0.01760923 -5.20075919] [ 0.1920121 -0.06717318 0.97909096 0.06188504] [ 0. 0. 0. 1. ]] SLAMing on 228.93241403699997 meters Centerline goodness : 0.834037 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94924593 -0.24069545 -0.2024793 -10.17192505] [ 0.24919453 0.96830082 0.01719335 -5.1999874 ] [ 0.19192251 -0.06677745 0.9791356 0.06213849] [ 0. 0. 0. 1. ]] SLAMing on 228.96241403699997 meters Centerline goodness : 0.831799 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94916356 -0.24110892 -0.20237348 -10.17237843] [ 0.24949397 0.96823395 0.01660664 -5.1988195 ] [ 0.19194086 -0.06625338 0.9791676 0.06238567] [ 0. 0. 0. 1. ]] SLAMing on 228.99241403699997 meters Centerline goodness : 0.832828 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.94904568 -0.24172047 -0.20219674 -10.17324565] [ 0.24993414 0.96813503 0.01573152 -5.19654828] [ 0.19195112 -0.0654658 0.97921856 0.06273938] [ 0. 0. 0. 1. ]] SLAMing on 229.02241403699998 meters Centerline goodness : 0.831772 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.20, Z:0.06 [[ 0.9489727 -0.24212744 -0.20205224 -10.17378696] [ 0.25023043 0.96806738 0.0151751 -5.19504579] [ 0.19192587 -0.06496037 0.97925717 0.06282737] [ 0. 0. 0. 1. ]] SLAMing on 229.05241403699998 meters Centerline goodness : 0.833646 Centerline is valid? [False, False] Translation: X:-10.17, Y:-5.19, Z:0.06 [[ 0.9488736 -0.24250022 -0.2020706 -10.17419961] [ 0.25048437 0.96801168 0.01452447 -5.19341584] [ 0.19208451 -0.06439741 0.97926325 0.06323268] [ 0. 0. 0. 1. ]] SLAMing on 229.08241403699998 meters Centerline goodness : 0.830035 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.06 [[ 0.94875404 -0.24316856 -0.2018287 -10.17535941] [ 0.25092877 0.96791286 0.01339605 -5.19016308] [ 0.19209509 -0.06335419 0.97932922 0.06363458] [ 0. 0. 0. 1. ]] SLAMing on 229.11241403699998 meters Centerline goodness : 0.831969 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.06 [[ 0.94866149 -0.24362231 -0.20171651 -10.17594432] [ 0.25126681 0.96783326 0.01279704 -5.18899847] [ 0.1921103 -0.06282473 0.97936035 0.06395735] [ 0. 0. 0. 1. ]] SLAMing on 229.14241403699998 meters Centerline goodness : 0.780577 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.06 [[ 0.94859269 -0.24412661 -0.20143014 -10.17672043] [ 0.25164294 0.96774342 0.01218655 -5.18803413] [ 0.19195763 -0.06224854 0.97942707 0.06415666] [ 0. 0. 0. 1. ]] SLAMing on 229.17241403699998 meters Centerline goodness : 0.781185 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.19, Z:0.06 [[ 0.94849297 -0.24474226 -0.20115244 -10.17742264] [ 0.25208821 0.96763776 0.01134486 -5.18571437] [ 0.19186613 -0.06146867 0.97949425 0.06407686] [ 0. 0. 0. 1. ]] SLAMing on 229.20241403699998 meters Centerline goodness : 0.780451 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 0.9484176 -0.24509544 -0.20107781 -10.17777434] [ 0.25233048 0.96758122 0.01076656 -5.18387296] [ 0.19192028 -0.06094925 0.9795161 0.06410884] [ 0. 0. 0. 1. ]] SLAMing on 229.23241403699998 meters Centerline goodness : 0.779359 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.48331120e-01 -2.45506170e-01 -2.00984595e-01 -1.01783582e+01] [ 2.52577570e-01 9.67525803e-01 9.91924527e-03 -5.18073078e+00] [ 1.92022546e-01 -6.01709298e-02 9.79544180e-01 6.41823531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26241403699999 meters Centerline goodness : 0.780835 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.48270836e-01 -2.45816448e-01 -2.00889762e-01 -1.01787833e+01] [ 2.52809128e-01 9.67469376e-01 9.51585198e-03 -5.17959975e+00] [ 1.92015540e-01 -5.98103704e-02 9.79567635e-01 6.42828576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.292414037 meters Centerline goodness : 0.779748 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.48192786e-01 -2.46135790e-01 -2.00867155e-01 -1.01790761e+01] [ 2.53038601e-01 9.67414025e-01 9.03164371e-03 -5.17854203e+00] [ 1.92098692e-01 -5.93908833e-02 9.79576855e-01 6.45299468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322414037 meters Centerline goodness : 0.828869 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.48136715e-01 -2.46439529e-01 -2.00759377e-01 -1.01793358e+01] [ 2.53273406e-01 9.67355774e-01 8.68260660e-03 -5.17768489e+00] [ 1.92066005e-01 -5.90793094e-02 9.79602105e-01 6.45188248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.352414037 meters Centerline goodness : 0.780418 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.48036401e-01 -2.46998579e-01 -2.00545965e-01 -1.01795947e+01] [ 2.53734149e-01 9.67239322e-01 8.18999779e-03 -5.17653654e+00] [ 1.91953026e-01 -5.86497759e-02 9.79650060e-01 6.41580040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382414037 meters Centerline goodness : 0.829178 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.47963983e-01 -2.47458369e-01 -2.00321350e-01 -1.01801595e+01] [ 2.54139053e-01 9.67135163e-01 7.93214604e-03 -5.17630486e+00] [ 1.91774945e-01 -5.84288668e-02 9.79698136e-01 6.41524642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.412414037 meters Centerline goodness : 0.832557 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.47864343e-01 -2.48069013e-01 -2.00037379e-01 -1.01810185e+01] [ 2.54657379e-01 9.67002374e-01 7.48522872e-03 -5.17589764e+00] [ 1.91579767e-01 -5.80359761e-02 9.79759674e-01 6.43469750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442414037 meters Centerline goodness : 0.831102 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.06 [[ 9.47759987e-01 -2.48724218e-01 -1.99717976e-01 -1.01820561e+01] [ 2.55218197e-01 9.66857905e-01 7.03301351e-03 -5.17557544e+00] [ 1.91349623e-01 -5.76372705e-02 9.79828182e-01 6.46509765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472414037 meters Centerline goodness : 0.834494 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.07 [[ 9.47540003e-01 -2.50029685e-01 -1.99130862e-01 -1.01839235e+01] [ 2.56387605e-01 9.66552991e-01 6.38059023e-03 -5.17610654e+00] [ 1.90875193e-01 -5.71005493e-02 9.79952136e-01 6.52314505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502414037 meters Centerline goodness : 0.833197 Centerline is valid? [False, False] Translation: X:-10.18, Y:-5.18, Z:0.07 [[ 9.47430497e-01 -2.50612780e-01 -1.98918799e-01 -1.01846826e+01] [ 2.56902142e-01 9.66418591e-01 6.03298695e-03 -5.17619742e+00] [ 1.90726882e-01 -5.68185014e-02 9.79997405e-01 6.55478020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532414037 meters Centerline goodness : 0.779047 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.07 [[ 9.47259971e-01 -2.51618035e-01 -1.98461362e-01 -1.01859826e+01] [ 2.57815526e-01 9.66177956e-01 5.59569249e-03 -5.17660017e+00] [ 1.90341016e-01 -5.64669958e-02 9.80092739e-01 6.58062234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562414037 meters Centerline goodness : 0.778841 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.07 [[ 9.47189532e-01 -2.52044194e-01 -1.98256687e-01 -1.01865580e+01] [ 2.58193684e-01 9.66078269e-01 5.36645732e-03 -5.17685525e+00] [ 1.90178893e-01 -5.62716767e-02 9.80135443e-01 6.60248940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592414037 meters Centerline goodness : 0.778235 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.07 [[ 9.47112477e-01 -2.52522374e-01 -1.98016178e-01 -1.01872930e+01] [ 2.58608399e-01 9.65968978e-01 5.06252787e-03 -5.17695114e+00] [ 1.89999084e-01 -5.60034301e-02 9.80185678e-01 6.63201311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622414037 meters Centerline goodness : 0.837760 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.07 [[ 9.47037685e-01 -2.53060271e-01 -1.97686930e-01 -1.01881167e+01] [ 2.59066889e-01 9.65847966e-01 4.69610842e-03 -5.17681354e+00] [ 1.89747121e-01 -5.56615297e-02 9.80253959e-01 6.65301034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652414037 meters Centerline goodness : 0.837843 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.07 [[ 9.47011408e-01 -2.53179497e-01 -1.97660151e-01 -1.01884401e+01] [ 2.59154590e-01 9.65825236e-01 4.52901329e-03 -5.17667847e+00] [ 1.89758508e-01 -5.55135626e-02 9.80260146e-01 6.68624802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68241403699997 meters Centerline goodness : 0.837651 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.07 [[ 9.46995712e-01 -2.53215262e-01 -1.97689534e-01 -1.01885882e+01] [ 2.59152809e-01 9.65826660e-01 4.32267501e-03 -5.17627480e+00] [ 1.89839255e-01 -5.53253527e-02 9.80255152e-01 6.71677123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71241403699997 meters Centerline goodness : 0.837651 Centerline is valid? [False, False] Translation: X:-10.19, Y:-5.18, Z:0.07 [[ 9.46995712e-01 -2.53215262e-01 -1.97689534e-01 -1.01885882e+01] [ 2.59152809e-01 9.65826660e-01 4.32267501e-03 -5.17627480e+00] [ 1.89839255e-01 -5.53253527e-02 9.80255152e-01 6.71677123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74241403699997 meters Centerline goodness : 0.819282 Centerline is valid? [False, False] Translation: X:-10.77, Y:-5.31, Z:0.02 [[ 0.90358045 -0.16770527 -0.39423002 -10.76581445] [ 0.26621909 0.94076406 0.2099771 -5.31144246] [ 0.33566317 -0.29468276 0.89470236 0.02331141] [ 0. 0. 0. 1. ]] SLAMing on 229.77241403699998 meters Centerline goodness : 0.838446 Centerline is valid? [False, False] Translation: X:-10.43, Y:-5.09, Z:0.16 [[ 0.85540574 -0.36380668 -0.36868105 -10.43252593] [ 0.40431247 0.91390196 0.03625782 -5.08650943] [ 0.3237475 -0.1800775 0.92884856 0.16074557] [ 0. 0. 0. 1. ]] SLAMing on 229.80241403699998 meters Centerline goodness : 0.836435 Centerline is valid? [False, False] Translation: X:-10.45, Y:-5.09, Z:0.16 [[ 0.85843966 -0.36423127 -0.36113285 -10.45051062] [ 0.39888418 0.91669719 0.02361517 -5.09014399] [ 0.32244808 -0.16432238 0.93221531 0.15519253] [ 0. 0. 0. 1. ]] SLAMing on 229.83241403699998 meters Centerline goodness : 0.841447 Centerline is valid? [False, False] Translation: X:-10.47, Y:-5.09, Z:0.15 [[ 0.86168322 -0.36316588 -0.35441864 -10.46975027] [ 0.39230517 0.91976535 0.01132949 -5.09408364] [ 0.3218675 -0.14880269 0.93501822 0.14910786] [ 0. 0. 0. 1. ]] SLAMing on 229.86241403699998 meters Centerline goodness : 0.783210 Centerline is valid? [False, False] Translation: X:-10.48, Y:-5.10, Z:0.15 [[ 8.63043237e-01 -3.63675047e-01 -3.50566444e-01 -1.04826673e+01] [ 3.89154852e-01 9.21169151e-01 2.42815466e-03 -5.09650812e+00] [ 3.22047934e-01 -1.38520235e-01 9.36534715e-01 1.46438472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89241403699998 meters Centerline goodness : 0.784251 Centerline is valid? [False, False] Translation: X:-10.52, Y:-5.10, Z:0.14 [[ 8.63744413e-01 -3.65461553e-01 -3.46963171e-01 -1.05169181e+01] [ 3.86697701e-01 9.22165777e-01 -8.66996535e-03 -5.10482074e+00] [ 3.23126101e-01 -1.26681226e-01 9.37838680e-01 1.36685201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92241403699998 meters Centerline goodness : 0.784638 Centerline is valid? [False, False] Translation: X:-10.53, Y:-5.11, Z:0.13 [[ 0.86607136 -0.36451181 -0.34212796 -10.53175198] [ 0.3832936 0.92352542 -0.01366832 -5.11011966] [ 0.32094614 -0.11929771 0.93955395 0.13238294] [ 0. 0. 0. 1. ]] SLAMing on 229.95241403699998 meters Centerline goodness : 0.784799 Centerline is valid? [False, False] Translation: X:-10.54, Y:-5.11, Z:0.13 [[ 0.86986225 -0.3624391 -0.33463049 -10.54090374] [ 0.37932006 0.92512758 -0.01597645 -5.1146647 ] [ 0.31536639 -0.11303475 0.94221398 0.12704706] [ 0. 0. 0. 1. ]] SLAMing on 229.98241403699998 meters Centerline goodness : 0.788142 Centerline is valid? [False, False] Translation: X:-10.55, Y:-5.12, Z:0.12 [[ 0.8730423 -0.36010165 -0.32882205 -10.55353161] [ 0.37496763 0.92683408 -0.01943871 -5.11997207] [ 0.31176339 -0.10632681 0.94419182 0.12258214] [ 0. 0. 0. 1. ]] SLAMing on 230.01241403699999 meters Centerline goodness : 0.785823 Centerline is valid? [False, False] Translation: X:-10.57, Y:-5.13, Z:0.12 [[ 0.87538379 -0.35875108 -0.3240384 -10.56893723] [ 0.37170484 0.92805796 -0.02332257 -5.12630822] [ 0.30909341 -0.10003044 0.9457564 0.11849428] [ 0. 0. 0. 1. ]] SLAMing on 230.042414037 meters Centerline goodness : 0.785818 Centerline is valid? [False, False] Translation: X:-10.60, Y:-5.14, Z:0.11 [[ 0.87766065 -0.35931001 -0.31718779 -10.59676624] [ 0.37132007 0.92819438 -0.02401263 -5.13556068] [ 0.3030399 -0.09670325 0.9480587 0.1061102 ] [ 0. 0. 0. 1. ]] SLAMing on 230.072414037 meters Centerline goodness : 0.787877 Centerline is valid? [False, False] Translation: X:-10.61, Y:-5.14, Z:0.10 [[ 0.87795614 -0.36060246 -0.31489503 -10.61303008] [ 0.37045554 0.92835762 -0.03024602 -5.14196505] [ 0.30324199 -0.09009993 0.94864445 0.10248189] [ 0. 0. 0. 1. ]] SLAMing on 230.102414037 meters Centerline goodness : 0.785779 Centerline is valid? [False, False] Translation: X:-10.63, Y:-5.15, Z:0.10 [[ 0.87922859 -0.36079307 -0.31110358 -10.6259124 ] [ 0.36813368 0.92903572 -0.03701659 -5.14684928] [ 0.30238167 -0.08198166 0.94965485 0.09904991] [ 0. 0. 0. 1. ]] SLAMing on 230.132414037 meters Centerline goodness : 0.787191 Centerline is valid? [False, False] Translation: X:-10.66, Y:-5.16, Z:0.08 [[ 0.88154822 -0.36198544 -0.30304996 -10.65838397] [ 0.36815532 0.92895923 -0.03868354 -5.15937691] [ 0.29552394 -0.07746805 0.95218922 0.08169822] [ 0. 0. 0. 1. ]] SLAMing on 230.162414037 meters Centerline goodness : 0.786709 Centerline is valid? [False, False] Translation: X:-10.66, Y:-5.16, Z:0.08 [[ 0.88149411 -0.36217803 -0.30297725 -10.65840293] [ 0.36835317 0.92888095 -0.03867988 -5.15996546] [ 0.2954388 -0.07750655 0.9522125 0.08171169] [ 0. 0. 0. 1. ]] SLAMing on 230.192414037 meters Centerline goodness : 0.785403 Centerline is valid? [False, False] Translation: X:-10.68, Y:-5.17, Z:0.07 [[ 0.8826035 -0.36168124 -0.30032938 -10.68165731] [ 0.36734661 0.92924416 -0.0395192 -5.16712781] [ 0.29337267 -0.0754452 0.95301652 0.0741687 ] [ 0. 0. 0. 1. ]] SLAMing on 230.222414037 meters Centerline goodness : 0.786528 Centerline is valid? [False, False] Translation: X:-10.70, Y:-5.17, Z:0.07 [[ 0.88472192 -0.35948699 -0.296709 -10.69842088] [ 0.36372757 0.9305196 -0.04284311 -5.17282689] [ 0.29149508 -0.07001701 0.95400641 0.07017043] [ 0. 0. 0. 1. ]] SLAMing on 230.252414037 meters Centerline goodness : 0.788174 Centerline is valid? [False, False] Translation: X:-10.70, Y:-5.17, Z:0.07 [[ 0.88465917 -0.35972988 -0.2966017 -10.6991758 ] [ 0.36390422 0.93043987 -0.043074 -5.17316536] [ 0.29146505 -0.0698288 0.95402938 0.07082053] [ 0. 0. 0. 1. ]] SLAMing on 230.282414037 meters Centerline goodness : 0.786110 Centerline is valid? [False, False] Translation: X:-10.72, Y:-5.18, Z:0.07 [[ 0.88639993 -0.35800725 -0.29347228 -10.71818431] [ 0.36105415 0.93142335 -0.04572133 -5.17961129] [ 0.2897155 -0.065432 0.9548736 0.06634161] [ 0. 0. 0. 1. ]] SLAMing on 230.312414037 meters Centerline goodness : 0.788233 Centerline is valid? [False, False] Translation: X:-10.73, Y:-5.18, Z:0.06 [[ 0.88950838 -0.35575751 -0.28672536 -10.72592976] [ 0.35798157 0.93256869 -0.04652785 -5.18398057] [ 0.28394372 -0.06125548 0.9568823 0.06149158] [ 0. 0. 0. 1. ]] SLAMing on 230.342414037 meters Centerline goodness : 0.787669 Centerline is valid? [False, False] Translation: X:-10.75, Y:-5.19, Z:0.06 [[ 0.89110944 -0.35417557 -0.28369637 -10.74633835] [ 0.35573643 0.93336082 -0.04784519 -5.190821 ] [ 0.28173668 -0.05828583 0.9577198 0.05539363] [ 0. 0. 0. 1. ]] SLAMing on 230.372414037 meters Centerline goodness : 0.789114 Centerline is valid? [False, False] Translation: X:-10.77, Y:-5.20, Z:0.05 [[ 0.89236206 -0.3526514 -0.2816504 -10.76657035] [ 0.35349645 0.9341196 -0.04960677 -5.1973834 ] [ 0.28058905 -0.05529522 0.95823391 0.04976193] [ 0. 0. 0. 1. ]] SLAMing on 230.40241403699997 meters Centerline goodness : 0.788682 Centerline is valid? [False, False] Translation: X:-10.77, Y:-5.20, Z:0.04 [[ 0.89560469 -0.34961949 -0.2750608 -10.77185153] [ 0.34982153 0.93547972 -0.05002582 -5.20183316] [ 0.2748038 -0.05141883 0.96012446 0.0432469 ] [ 0. 0. 0. 1. ]] SLAMing on 230.43241403699997 meters Centerline goodness : 0.837681 Centerline is valid? [False, False] Translation: X:-10.79, Y:-5.21, Z:0.04 [[ 0.89735916 -0.34716688 -0.27243658 -10.78673616] [ 0.34607754 0.93666895 -0.05368067 -5.20749595] [ 0.27381904 -0.04611334 0.96067512 0.03935831] [ 0. 0. 0. 1. ]] SLAMing on 230.46241403699997 meters Centerline goodness : 0.786203 Centerline is valid? [False, False] Translation: X:-10.81, Y:-5.22, Z:0.03 [[ 0.89849686 -0.34600448 -0.27015606 -10.81300876] [ 0.34578398 0.93697991 -0.05002083 -5.21690843] [ 0.27043823 -0.04847208 0.96151631 0.0281003 ] [ 0. 0. 0. 1. ]] SLAMing on 230.49241403699997 meters Centerline goodness : 0.837059 Centerline is valid? [False, False] Translation: X:-10.83, Y:-5.23, Z:0.02 [[ 0.9000943 -0.34432354 -0.26696732 -10.83316625] [ 0.34370792 0.93771269 -0.05059425 -5.22551935] [ 0.26775944 -0.04621918 0.96237657 0.02192822] [ 0. 0. 0. 1. ]] SLAMing on 230.52241403699998 meters Centerline goodness : 0.837957 Centerline is valid? [False, False] Translation: X:-10.86, Y:-5.24, Z:0.01 [[ 0.90157334 -0.34287621 -0.2638208 -10.8596366 ] [ 0.34298372 0.93815589 -0.04717733 -5.23522411] [ 0.26368102 -0.04795241 0.9634173 0.01187447] [ 0. 0. 0. 1. ]] SLAMing on 230.55241403699998 meters Centerline goodness : 0.835464 Centerline is valid? [False, False] Translation: X:-10.87, Y:-5.24, Z:0.01 [[ 9.04827720e-01 -3.39284414e-01 -2.57240907e-01 -1.08708868e+01] [ 3.38337531e-01 9.39729199e-01 -4.93634308e-02 -5.24093422e+00] [ 2.58485034e-01 -4.23688526e-02 9.65085679e-01 7.54865334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58241403699998 meters Centerline goodness : 0.836852 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.25, Z:-0.00 [[ 9.06303095e-01 -3.37831459e-01 -2.53938192e-01 -1.08990026e+01] [ 3.37975934e-01 9.40104377e-01 -4.44525442e-02 -5.25198115e+00] [ 2.53745874e-01 -4.55375192e-02 9.66198409e-01 -2.92049596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61241403699998 meters Centerline goodness : 0.788147 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.25, Z:-0.00 [[ 9.06332756e-01 -3.37753569e-01 -2.53935941e-01 -1.08988275e+01] [ 3.37973670e-01 9.40119305e-01 -4.41530386e-02 -5.25330047e+00] [ 2.53642927e-01 -4.58063169e-02 9.66212734e-01 -2.89334592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64241403699998 meters Centerline goodness : 0.838178 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.26, Z:-0.01 [[ 0.90711145 -0.33765486 -0.25127279 -10.92429158] [ 0.33805418 0.9401461 -0.04294964 -5.26190113] [ 0.25073529 -0.0459837 0.96696293 -0.01159521] [ 0. 0. 0. 1. ]] SLAMing on 230.67241403699998 meters Centerline goodness : 0.836761 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.27, Z:-0.02 [[ 0.90760951 -0.33708113 -0.25024244 -10.94247986] [ 0.33685058 0.94047693 -0.04510921 -5.27048486] [ 0.2505527 -0.04335277 0.96713178 -0.0173481 ] [ 0. 0. 0. 1. ]] SLAMing on 230.70241403699998 meters Centerline goodness : 0.833993 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.28, Z:-0.02 [[ 0.90886911 -0.33464663 -0.24893487 -10.95852381] [ 0.33354662 0.94151575 -0.04790349 -5.27702499] [ 0.25040684 -0.03949339 0.96733484 -0.02117176] [ 0. 0. 0. 1. ]] SLAMing on 230.73241403699998 meters Centerline goodness : 0.835770 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.28, Z:-0.02 [[ 0.90883298 -0.33410637 -0.24979099 -10.95662098] [ 0.33328814 0.94165865 -0.04688279 -5.27809666] [ 0.25088169 -0.04064375 0.96716413 -0.02120557] [ 0. 0. 0. 1. ]] SLAMing on 230.76241403699999 meters Centerline goodness : 0.836028 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.28, Z:-0.02 [[ 0.90877006 -0.33367406 -0.25059649 -10.95590107] [ 0.33316008 0.94175785 -0.04578776 -5.2792523 ] [ 0.2512794 -0.0418782 0.96700821 -0.02026349] [ 0. 0. 0. 1. ]] SLAMing on 230.792414037 meters Centerline goodness : 0.835666 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.28, Z:-0.02 [[ 0.90877753 -0.33324696 -0.25113715 -10.95504475] [ 0.3328994 0.94187927 -0.04518215 -5.27956722] [ 0.25159769 -0.04254289 0.96689643 -0.02002222] [ 0. 0. 0. 1. ]] SLAMing on 230.822414037 meters Centerline goodness : 0.835736 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.28, Z:-0.02 [[ 0.90876591 -0.33289066 -0.25165119 -10.95408518] [ 0.33270525 0.9419756 -0.04460022 -5.28030483] [ 0.25189627 -0.04319451 0.96678979 -0.01979896] [ 0. 0. 0. 1. ]] SLAMing on 230.852414037 meters Centerline goodness : 0.838483 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.28, Z:-0.02 [[ 0.90877676 -0.3322205 -0.25249621 -10.95249119] [ 0.33234597 0.94215542 -0.04346622 -5.28170043] [ 0.25233105 -0.04441501 0.9666211 -0.01952319] [ 0. 0. 0. 1. ]] SLAMing on 230.882414037 meters Centerline goodness : 0.837462 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.28, Z:-0.02 [[ 0.90885775 -0.33178327 -0.25277945 -10.95035701] [ 0.33217524 0.9422626 -0.04243591 -5.28462513] [ 0.25226414 -0.04539887 0.96659285 -0.02029609] [ 0. 0. 0. 1. ]] SLAMing on 230.912414037 meters Centerline goodness : 0.837439 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.29, Z:-0.02 [[ 0.90878013 -0.33147222 -0.25346567 -10.94864321] [ 0.33210584 0.9423245 -0.0415962 -5.28555132] [ 0.2526349 -0.04637563 0.96644964 -0.02042186] [ 0. 0. 0. 1. ]] SLAMing on 230.942414037 meters Centerline goodness : 0.836735 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.29, Z:-0.02 [[ 0.90888931 -0.33107543 -0.25359276 -10.94813192] [ 0.33188478 0.94243319 -0.0408921 -5.2873658 ] [ 0.2525326 -0.04699719 0.96644635 -0.0202758 ] [ 0. 0. 0. 1. ]] SLAMing on 230.972414037 meters Centerline goodness : 0.840436 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.29, Z:-0.02 [[ 0.90951293 -0.32753379 -0.25594502 -10.94565746] [ 0.32962112 0.94342734 -0.03598297 -5.29026947] [ 0.25325117 -0.05163791 0.96602141 -0.01968131] [ 0. 0. 0. 1. ]] SLAMing on 231.002414037 meters Centerline goodness : 0.842016 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.29, Z:-0.02 [[ 0.90962673 -0.32686517 -0.25639495 -10.94444464] [ 0.32917192 0.94361567 -0.03514703 -5.29145643] [ 0.25342663 -0.05242734 0.96593287 -0.0197577 ] [ 0. 0. 0. 1. ]] SLAMing on 231.032414037 meters Centerline goodness : 0.841058 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.29, Z:-0.02 [[ 0.90988801 -0.32578519 -0.25684203 -10.94297636] [ 0.32845669 0.94391764 -0.03370001 -5.2943214 ] [ 0.25341669 -0.05369825 0.96586566 -0.01985936] [ 0. 0. 0. 1. ]] SLAMing on 231.062414037 meters Centerline goodness : 0.841321 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.30, Z:-0.02 [[ 0.90991251 -0.32523615 -0.25745035 -10.94138219] [ 0.32813205 0.9440587 -0.03290173 -5.29547784] [ 0.25374907 -0.05454001 0.96573122 -0.01989328] [ 0. 0. 0. 1. ]] SLAMing on 231.092414037 meters Centerline goodness : 0.843132 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.30, Z:-0.02 [[ 0.90989987 -0.32480947 -0.258033 -10.94006913] [ 0.32793442 0.94415495 -0.03210048 -5.29626772] [ 0.25404967 -0.05540968 0.96560268 -0.01992941] [ 0. 0. 0. 1. ]] SLAMing on 231.122414037 meters Centerline goodness : 0.844790 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.30, Z:-0.02 [[ 0.90985616 -0.32430062 -0.25882596 -10.93792379] [ 0.32766389 0.94427563 -0.03130353 -5.29747583] [ 0.2545548 -0.05632621 0.9654166 -0.02000753] [ 0. 0. 0. 1. ]] SLAMing on 231.15241403699997 meters Centerline goodness : 0.844231 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.30, Z:-0.02 [[ 0.90985065 -0.32395371 -0.25927935 -10.93654419] [ 0.32745956 0.94436248 -0.03081785 -5.29802635] [ 0.25483725 -0.05686386 0.96531056 -0.02025999] [ 0. 0. 0. 1. ]] SLAMing on 231.18241403699997 meters Centerline goodness : 0.834148 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.30, Z:-0.02 [[ 0.90983514 -0.32367868 -0.25967698 -10.9352439 ] [ 0.32725805 0.94443966 -0.0305923 -5.29829679] [ 0.25515132 -0.05714743 0.96521085 -0.02048494] [ 0. 0. 0. 1. ]] SLAMing on 231.21241403699997 meters Centerline goodness : 0.844597 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.02 [[ 0.91000927 -0.32303482 -0.25986849 -10.93344486] [ 0.32671781 0.94464084 -0.03015235 -5.29921761] [ 0.25522264 -0.05746474 0.96517315 -0.02150335] [ 0. 0. 0. 1. ]] SLAMing on 231.24241403699997 meters Centerline goodness : 0.846267 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.02 [[ 0.91001827 -0.32263163 -0.26033743 -10.93204457] [ 0.32643319 0.94475179 -0.02975617 -5.29945093] [ 0.25555454 -0.05790412 0.96505906 -0.02181211] [ 0. 0. 0. 1. ]] SLAMing on 231.27241403699998 meters Centerline goodness : 0.846905 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.02 [[ 0.90996913 -0.32210985 -0.26115401 -10.93049145] [ 0.32614028 0.94487612 -0.02901092 -5.29978185] [ 0.2561029 -0.0587738 0.9648611 -0.02163468] [ 0. 0. 0. 1. ]] SLAMing on 231.30241403699998 meters Centerline goodness : 0.847760 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.02 [[ 0.91000449 -0.32161852 -0.26163591 -10.92965724] [ 0.32580466 0.94500838 -0.02846895 -5.3000351 ] [ 0.25640427 -0.05933533 0.96474669 -0.021496 ] [ 0. 0. 0. 1. ]] SLAMing on 231.33241403699998 meters Centerline goodness : 0.848375 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.02 [[ 0.91048644 -0.31847464 -0.26379602 -10.92793236] [ 0.32384757 0.94580249 -0.02409166 -5.30232643] [ 0.25717152 -0.06349457 0.96427758 -0.02035236] [ 0. 0. 0. 1. ]] SLAMing on 231.36241403699998 meters Centerline goodness : 0.850484 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.02 [[ 0.9105281 -0.31806121 -0.26415078 -10.92676453] [ 0.32357587 0.94590808 -0.0235916 -5.30305114] [ 0.25736593 -0.063992 0.96419282 -0.02060238] [ 0. 0. 0. 1. ]] SLAMing on 231.39241403699998 meters Centerline goodness : 0.849837 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.02 [[ 0.91042463 -0.3181248 -0.2644307 -10.92557167] [ 0.32372064 0.94586406 -0.02336933 -5.30358216] [ 0.25754986 -0.06432566 0.96412151 -0.02087959] [ 0. 0. 0. 1. ]] SLAMing on 231.42241403699998 meters Centerline goodness : 0.837331 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.91033828 -0.3179669 -0.26491746 -10.9235593 ] [ 0.32380529 0.9458546 -0.02256591 -5.30542561] [ 0.25774861 -0.06523906 0.96400701 -0.0212668 ] [ 0. 0. 0. 1. ]] SLAMing on 231.45241403699998 meters Centerline goodness : 0.848687 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.91022855 -0.31788155 -0.26539651 -10.92221424] [ 0.32386078 0.94584535 -0.02215347 -5.30603505] [ 0.25806623 -0.0657868 0.9638848 -0.02128174] [ 0. 0. 0. 1. ]] SLAMing on 231.48241403699998 meters Centerline goodness : 0.838778 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.91010296 -0.31774404 -0.26599123 -10.9209638 ] [ 0.32387479 0.94585046 -0.02172607 -5.30621947] [ 0.25849125 -0.0663749 0.96373059 -0.02112195] [ 0. 0. 0. 1. ]] SLAMing on 231.51241403699999 meters Centerline goodness : 0.840856 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.90993212 -0.31754096 -0.26681693 -10.91971497] [ 0.32388645 0.94586024 -0.02111814 -5.30620972] [ 0.2590774 -0.06720232 0.96351583 -0.02065982] [ 0. 0. 0. 1. ]] SLAMing on 231.542414037 meters Centerline goodness : 0.841756 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.90986859 -0.31724986 -0.26737929 -10.91860028] [ 0.32375477 0.94591598 -0.02063517 -5.30649261] [ 0.25946484 -0.06779003 0.96337039 -0.02049713] [ 0. 0. 0. 1. ]] SLAMing on 231.572414037 meters Centerline goodness : 0.840927 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.90993821 -0.31677415 -0.26770618 -10.91755852] [ 0.32341527 0.9460426 -0.02014866 -5.3072482 ] [ 0.25964402 -0.06824623 0.9632899 -0.02061132] [ 0. 0. 0. 1. ]] SLAMing on 231.602414037 meters Centerline goodness : 0.841851 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.91009658 -0.31611511 -0.26794674 -10.91648887] [ 0.32296326 0.94621368 -0.01934967 -5.30885699] [ 0.25965159 -0.06892689 0.9632394 -0.0208426 ] [ 0. 0. 0. 1. ]] SLAMing on 231.632414037 meters Centerline goodness : 0.841851 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.02 [[ 0.91009658 -0.31611511 -0.26794674 -10.91648887] [ 0.32296326 0.94621368 -0.01934967 -5.30885699] [ 0.25965159 -0.06892689 0.9632394 -0.0208426 ] [ 0. 0. 0. 1. ]] SLAMing on 231.662414037 meters Centerline goodness : 0.840876 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91055653 -0.31296078 -0.27007842 -10.91455072] [ 0.32102348 0.94695257 -0.01499192 -5.31074469] [ 0.26044334 -0.07305052 0.96272161 -0.0199772 ] [ 0. 0. 0. 1. ]] SLAMing on 231.692414037 meters Centerline goodness : 0.840408 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91052268 -0.31260699 -0.27060178 -10.91356603] [ 0.32079435 0.94703584 -0.01463218 -5.31059934] [ 0.26084371 -0.0734846 0.96258016 -0.01985567] [ 0. 0. 0. 1. ]] SLAMing on 231.722414037 meters Centerline goodness : 0.842159 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91051805 -0.31223668 -0.27104453 -10.91267312] [ 0.32050118 0.94713831 -0.01442279 -5.3100292 ] [ 0.26121998 -0.07373788 0.96245875 -0.01988831] [ 0. 0. 0. 1. ]] SLAMing on 231.752414037 meters Centerline goodness : 0.843360 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91043723 -0.31253201 -0.27097563 -10.91241922] [ 0.3206965 0.94706614 -0.01481481 -5.30974331] [ 0.26126195 -0.07341298 0.9624722 -0.02008136] [ 0. 0. 0. 1. ]] SLAMing on 231.782414037 meters Centerline goodness : 0.843811 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91036761 -0.31214209 -0.2716581 -10.91076588] [ 0.32050453 0.94714011 -0.01422874 -5.30967609] [ 0.26173967 -0.07411426 0.96228864 -0.02026106] [ 0. 0. 0. 1. ]] SLAMing on 231.812414037 meters Centerline goodness : 0.842164 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91026452 -0.31192116 -0.27225667 -10.90896425] [ 0.32040364 0.94717866 -0.01393173 -5.30955173] [ 0.26222131 -0.07455047 0.9621238 -0.02059723] [ 0. 0. 0. 1. ]] SLAMing on 231.842414037 meters Centerline goodness : 0.850006 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91033308 -0.31164149 -0.27234769 -10.90867617] [ 0.32016476 0.94726184 -0.01376738 -5.30942411] [ 0.26227506 -0.07466323 0.96210041 -0.02070875] [ 0. 0. 0. 1. ]] SLAMing on 231.872414037 meters Centerline goodness : 0.841658 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91018543 -0.31163394 -0.27284934 -10.90806475] [ 0.32022875 0.94724186 -0.01365285 -5.30861082] [ 0.26270901 -0.07494758 0.96195989 -0.02038935] [ 0. 0. 0. 1. ]] SLAMing on 231.90241403699997 meters Centerline goodness : 0.842512 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.02 [[ 0.91011589 -0.31191214 -0.27276342 -10.90849649] [ 0.32046827 0.94715857 -0.01381047 -5.30789738] [ 0.26265787 -0.07484289 0.96198201 -0.02027967] [ 0. 0. 0. 1. ]] SLAMing on 231.93241403699997 meters Centerline goodness : 0.839778 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.30, Z:-0.02 [[ 9.10523339e-01 -3.14805791e-01 -2.68038360e-01 -1.09016423e+01] [ 3.24741667e-01 9.45771843e-01 -7.64661699e-03 -5.30467988e+00] [ 2.55910333e-01 -8.00808007e-02 9.63377894e-01 -2.40439289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96241403699997 meters Centerline goodness : 0.840383 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.30, Z:-0.02 [[ 9.10508541e-01 -3.14623625e-01 -2.68302387e-01 -1.09005158e+01] [ 3.24625433e-01 9.45813253e-01 -7.45787388e-03 -5.30474770e+00] [ 2.56110376e-01 -8.03073204e-02 9.63305875e-01 -2.44820727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99241403699997 meters Centerline goodness : 0.842085 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.30, Z:-0.02 [[ 9.10469005e-01 -3.14241132e-01 -2.68884180e-01 -1.08989097e+01] [ 3.24399632e-01 9.45894198e-01 -7.00321234e-03 -5.30483577e+00] [ 2.56536683e-01 -8.08497212e-02 9.63147057e-01 -2.47836359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02241403699998 meters Centerline goodness : 0.843564 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.30, Z:-0.03 [[ 9.10349288e-01 -3.14279366e-01 -2.69244598e-01 -1.08975753e+01] [ 3.24447477e-01 9.45877136e-01 -7.09071699e-03 -5.30393685e+00] [ 2.56900776e-01 -8.09007014e-02 9.63045725e-01 -2.52985939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05241403699998 meters Centerline goodness : 0.848403 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.30, Z:-0.03 [[ 9.10217985e-01 -3.14304865e-01 -2.69658435e-01 -1.08965213e+01] [ 3.24504047e-01 9.45857559e-01 -7.11348744e-03 -5.30282646e+00] [ 2.57294272e-01 -8.10304293e-02 9.62929762e-01 -2.56225565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08241403699998 meters Centerline goodness : 0.843822 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.30, Z:-0.03 [[ 9.10617391e-01 -3.11484290e-01 -2.71575965e-01 -1.08946422e+01] [ 3.22717993e-01 9.46488785e-01 -3.47516468e-03 -5.30346430e+00] [ 2.58126064e-01 -8.44779047e-02 9.62410733e-01 -2.51368309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11241403699998 meters Centerline goodness : 0.844257 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.30, Z:-0.03 [[ 9.10565250e-01 -3.11389057e-01 -2.71859854e-01 -1.08939895e+01] [ 3.22645253e-01 9.46513588e-01 -3.47391755e-03 -5.30271154e+00] [ 2.58400786e-01 -8.45510628e-02 9.62330583e-01 -2.52960014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14241403699998 meters Centerline goodness : 0.846682 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.30, Z:-0.03 [[ 9.10460472e-01 -3.11879410e-01 -2.71648601e-01 -1.08944481e+01] [ 3.23032489e-01 9.46380010e-01 -3.85839110e-03 -5.30166659e+00] [ 2.58286159e-01 -8.42384112e-02 9.62388773e-01 -2.54519121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17241403699998 meters Centerline goodness : 0.848012 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.30, Z:-0.03 [[ 9.10298517e-01 -3.11909652e-01 -2.72156167e-01 -1.08936296e+01] [ 3.23155800e-01 9.46338588e-01 -3.68867019e-03 -5.30105376e+00] [ 2.58702414e-01 -8.45910527e-02 9.62246026e-01 -2.52901940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20241403699998 meters Centerline goodness : 0.842364 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.30, Z:-0.03 [[ 9.10256953e-01 -3.11818622e-01 -2.72399389e-01 -1.08931176e+01] [ 3.23124392e-01 9.46349894e-01 -3.53633579e-03 -5.30078954e+00] [ 2.58887828e-01 -8.47999126e-02 9.62177773e-01 -2.52865780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23241403699998 meters Centerline goodness : 0.848093 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.30, Z:-0.03 [[ 9.10152116e-01 -3.11844233e-01 -2.72720186e-01 -1.08925954e+01] [ 3.23214450e-01 9.46319603e-01 -3.41006916e-03 -5.30019054e+00] [ 2.59143869e-01 -8.50434235e-02 9.62087351e-01 -2.52397779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26241403699999 meters Centerline goodness : 0.849999 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.30, Z:-0.03 [[ 9.10410897e-01 -3.14641470e-01 -2.68612629e-01 -1.08851210e+01] [ 3.27594270e-01 9.44811619e-01 3.60547635e-03 -5.29663564e+00] [ 2.52653900e-01 -9.12784231e-02 9.63241536e-01 -2.85366722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292414037 meters Centerline goodness : 0.843931 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.03 [[ 9.10174045e-01 -3.14705334e-01 -2.69339490e-01 -1.08839482e+01] [ 3.27780882e-01 9.44746169e-01 3.79072566e-03 -5.29563947e+00] [ 2.53264490e-01 -9.17345556e-02 9.63037834e-01 -2.83641985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322414037 meters Centerline goodness : 0.840777 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.09726126e-01 -3.16052751e-01 -2.69275017e-01 -1.08841394e+01] [ 3.28856315e-01 9.44376427e-01 2.58625657e-03 -5.29344313e+00] [ 2.53479585e-01 -9.09055752e-02 9.63059851e-01 -2.83269093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352414037 meters Centerline goodness : 0.846009 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.09475575e-01 -3.16066423e-01 -2.70104044e-01 -1.08827334e+01] [ 3.29059961e-01 9.44304278e-01 2.99559238e-03 -5.29292426e+00] [ 2.54113598e-01 -9.16048441e-02 9.62826481e-01 -2.80508585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382414037 meters Centerline goodness : 0.847320 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.09257757e-01 -3.16770157e-01 -2.70012960e-01 -1.08832845e+01] [ 3.29617723e-01 9.44111497e-01 2.37441815e-03 -5.29192452e+00] [ 2.54170195e-01 -9.11600152e-02 9.62853760e-01 -2.76509203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412414037 meters Centerline goodness : 0.840904 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.09101767e-01 -3.16657493e-01 -2.70669558e-01 -1.08826147e+01] [ 3.29690191e-01 9.44084889e-01 2.84620443e-03 -5.29144424e+00] [ 2.54633767e-01 -9.18245876e-02 9.62668110e-01 -2.71674765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442414037 meters Centerline goodness : 0.844724 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.08820107e-01 -3.16921487e-01 -2.71305701e-01 -1.08821855e+01] [ 3.29959735e-01 9.43991452e-01 2.59068189e-03 -5.28952666e+00] [ 2.55289220e-01 -9.18744209e-02 9.62489743e-01 -2.66313798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472414037 meters Centerline goodness : 0.845304 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.08548590e-01 -3.17163644e-01 -2.71931392e-01 -1.08813293e+01] [ 3.30199945e-01 9.43908174e-01 2.31432642e-03 -5.28675657e+00] [ 2.55944243e-01 -9.18944085e-02 9.62313858e-01 -2.67819943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502414037 meters Centerline goodness : 0.845304 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.08548590e-01 -3.17163644e-01 -2.71931392e-01 -1.08813293e+01] [ 3.30199945e-01 9.43908174e-01 2.31432642e-03 -5.28675657e+00] [ 2.55944243e-01 -9.18944085e-02 9.62313858e-01 -2.67819943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532414037 meters Centerline goodness : 0.845844 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.03 [[ 9.08317167e-01 -3.17346259e-01 -2.72490873e-01 -1.08803412e+01] [ 3.30376235e-01 9.43847085e-01 2.05535119e-03 -5.28518429e+00] [ 2.56537458e-01 -9.18914195e-02 9.62156172e-01 -2.67421921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562414037 meters Centerline goodness : 0.844170 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.03 [[ 9.08115381e-01 -3.17701643e-01 -2.72749191e-01 -1.08799130e+01] [ 3.30593206e-01 9.43772326e-01 1.38866497e-03 -5.28244022e+00] [ 2.56971958e-01 -9.14300978e-02 9.62084170e-01 -2.70862412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592414037 meters Centerline goodness : 0.798178 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.03 [[ 9.08574489e-01 -3.14637319e-01 -2.74764910e-01 -1.08779359e+01] [ 3.28601421e-01 9.44454983e-01 5.08829223e-03 -5.28294219e+00] [ 2.57902122e-01 -9.49112322e-02 9.61497974e-01 -2.66901010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622414037 meters Centerline goodness : 0.843098 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.03 [[ 9.08468124e-01 -3.15042159e-01 -2.74652699e-01 -1.08783378e+01] [ 3.28836303e-01 9.44376509e-01 4.43791383e-03 -5.28131960e+00] [ 2.57977427e-01 -9.43474814e-02 9.61533255e-01 -2.68171756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65241403699997 meters Centerline goodness : 0.796627 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.03 [[ 9.08156329e-01 -3.15463531e-01 -2.75199640e-01 -1.08776002e+01] [ 3.29142442e-01 9.44272878e-01 3.73959478e-03 -5.27773857e+00] [ 2.58683850e-01 -9.39760181e-02 9.61379828e-01 -2.70649261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68241403699997 meters Centerline goodness : 0.794156 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.03 [[ 9.07989541e-01 -3.15648211e-01 -2.75538020e-01 -1.08771738e+01] [ 3.29320778e-01 9.44211388e-01 3.56098585e-03 -5.27625869e+00] [ 2.59042118e-01 -9.39737331e-02 9.61283579e-01 -2.70983675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71241403699997 meters Centerline goodness : 0.839713 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.07702058e-01 -3.15970307e-01 -2.76115444e-01 -1.08763531e+01] [ 3.29662573e-01 9.44092814e-01 3.36851491e-03 -5.27465917e+00] [ 2.59614256e-01 -9.40825357e-02 9.61118575e-01 -2.69345098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74241403699997 meters Centerline goodness : 0.840946 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.07559526e-01 -3.16029201e-01 -2.76516276e-01 -1.08760352e+01] [ 3.29771208e-01 9.44054787e-01 3.39264595e-03 -5.27389696e+00] [ 2.59974339e-01 -9.42661347e-02 9.61003246e-01 -2.65717822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77241403699998 meters Centerline goodness : 0.841334 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.07187691e-01 -3.16790262e-01 -2.76865352e-01 -1.08761153e+01] [ 3.30532664e-01 9.43789299e-01 3.14920407e-03 -5.27254870e+00] [ 2.60304919e-01 -9.43699613e-02 9.60903564e-01 -2.59417036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80241403699998 meters Centerline goodness : 0.841264 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.06986320e-01 -3.16992705e-01 -2.77293058e-01 -1.08754750e+01] [ 3.30818619e-01 9.43688708e-01 3.26559235e-03 -5.27212547e+00] [ 2.60643159e-01 -9.46955543e-02 9.60779837e-01 -2.56935812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83241403699998 meters Centerline goodness : 0.840690 Centerline is valid? [False, False] Translation: X:-10.87, Y:-5.27, Z:-0.03 [[ 9.06717593e-01 -3.17308328e-01 -2.77810425e-01 -1.08747162e+01] [ 3.31220262e-01 9.43547554e-01 3.33947835e-03 -5.27151769e+00] [ 2.61067702e-01 -9.50444052e-02 9.60630114e-01 -2.53699022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86241403699998 meters Centerline goodness : 0.844179 Centerline is valid? [False, False] Translation: X:-10.87, Y:-5.27, Z:-0.03 [[ 9.06448810e-01 -3.17673928e-01 -2.78269351e-01 -1.08740923e+01] [ 3.31652157e-01 9.43395778e-01 3.35452273e-03 -5.27086153e+00] [ 2.61452486e-01 -9.53293335e-02 9.60497223e-01 -2.50273834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89241403699998 meters Centerline goodness : 0.845053 Centerline is valid? [False, False] Translation: X:-10.87, Y:-5.27, Z:-0.02 [[ 9.05736136e-01 -3.19416305e-01 -2.78595183e-01 -1.08746711e+01] [ 3.33213660e-01 9.42848524e-01 2.30607408e-03 -5.26852086e+00] [ 2.61936460e-01 -9.49204152e-02 9.60405855e-01 -2.38935451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92241403699998 meters Centerline goodness : 0.845460 Centerline is valid? [False, False] Translation: X:-10.87, Y:-5.27, Z:-0.02 [[ 9.05464144e-01 -3.19516308e-01 -2.79363587e-01 -1.08735117e+01] [ 3.33448164e-01 9.42765138e-01 2.49323869e-03 -5.26763604e+00] [ 2.62577620e-01 -9.54108132e-02 9.60182155e-01 -2.35491225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95241403699998 meters Centerline goodness : 0.845044 Centerline is valid? [False, False] Translation: X:-10.87, Y:-5.27, Z:-0.02 [[ 9.05226463e-01 -3.19731025e-01 -2.79887697e-01 -1.08726382e+01] [ 3.33720720e-01 9.42668744e-01 2.47378902e-03 -5.26679147e+00] [ 2.63050437e-01 -9.56436632e-02 9.60029561e-01 -2.33550497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98241403699998 meters Centerline goodness : 0.844216 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.06388416e-01 -3.19652772e-01 -2.76192224e-01 -1.08763696e+01] [ 3.33193247e-01 9.42855920e-01 2.23029670e-03 -5.26726709e+00] [ 2.59696553e-01 -9.40468988e-02 9.61099829e-01 -2.65577953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01241403699999 meters Centerline goodness : 0.841725 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.06311018e-01 -3.20009636e-01 -2.76032918e-01 -1.08766885e+01] [ 3.33467210e-01 9.42759722e-01 1.93024186e-03 -5.26672851e+00] [ 2.59615021e-01 -9.37973265e-02 9.61146244e-01 -2.66404108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042414037 meters Centerline goodness : 0.843192 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.06133561e-01 -3.20025260e-01 -2.76596824e-01 -1.08752902e+01] [ 3.33537416e-01 9.42734912e-01 1.91781600e-03 -5.26580198e+00] [ 2.60143733e-01 -9.39931874e-02 9.60984141e-01 -2.67983589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.072414037 meters Centerline goodness : 0.791266 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.26, Z:-0.03 [[ 9.06078667e-01 -3.20487137e-01 -2.76241640e-01 -1.08760580e+01] [ 3.33861932e-01 9.42620834e-01 1.47451469e-03 -5.26456430e+00] [ 2.59918562e-01 -9.35625939e-02 9.61087084e-01 -2.70184922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102414037 meters Centerline goodness : 0.840366 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.03 [[ 9.08822047e-01 -3.18448535e-01 -2.69505136e-01 -1.08833254e+01] [ 3.30792395e-01 9.43703462e-01 4.09774245e-04 -5.26751852e+00] [ 2.54202437e-01 -8.95226611e-02 9.62998865e-01 -3.23889528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.132414037 meters Centerline goodness : 0.842351 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.27, Z:-0.03 [[ 9.09230276e-01 -3.18751551e-01 -2.67764363e-01 -1.08862161e+01] [ 3.30963058e-01 9.43643579e-01 4.99611319e-04 -5.26786504e+00] [ 2.52514870e-01 -8.90743741e-02 9.63484300e-01 -3.31329781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162414037 meters Centerline goodness : 0.789174 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.27, Z:-0.03 [[ 9.09927697e-01 -3.18654562e-01 -2.65501142e-01 -1.08898495e+01] [ 3.30724118e-01 9.43727143e-01 7.98776792e-04 -5.26814306e+00] [ 2.50306100e-01 -8.85344600e-02 9.64110215e-01 -3.42713056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.192414037 meters Centerline goodness : 0.844091 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.27, Z:-0.04 [[ 9.13045668e-01 -3.15551385e-01 -2.58408459e-01 -1.08997857e+01] [ 3.26098402e-01 9.45333360e-01 -2.16137645e-03 -5.27129153e+00] [ 2.44964162e-01 -8.22931502e-02 9.66033331e-01 -3.89839540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222414037 meters Centerline goodness : 0.843270 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.27, Z:-0.04 [[ 9.12985651e-01 -3.15798243e-01 -2.58318932e-01 -1.09002732e+01] [ 3.26260036e-01 9.45276750e-01 -2.50080591e-03 -5.27053200e+00] [ 2.44972630e-01 -8.19959442e-02 9.66056456e-01 -3.87429001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252414037 meters Centerline goodness : 0.787989 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.27, Z:-0.04 [[ 9.13125404e-01 -3.15638701e-01 -2.58019781e-01 -1.09013764e+01] [ 3.26040158e-01 9.45352309e-01 -2.61307039e-03 -5.26953802e+00] [ 2.44744382e-01 -8.17387491e-02 9.66136100e-01 -3.84954829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282414037 meters Centerline goodness : 0.786174 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.27, Z:-0.04 [[ 9.13103085e-01 -3.15720165e-01 -2.57999095e-01 -1.09013937e+01] [ 3.26080870e-01 9.45337796e-01 -2.77813649e-03 -5.26906846e+00] [ 2.44773409e-01 -8.15918441e-02 9.66141164e-01 -3.85053747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312414037 meters Centerline goodness : 0.787178 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.27, Z:-0.04 [[ 9.13644580e-01 -3.15604587e-01 -2.56217340e-01 -1.09034607e+01] [ 3.25899067e-01 9.45401500e-01 -2.40863435e-03 -5.27007502e+00] [ 2.42988434e-01 -8.13003564e-02 9.66616197e-01 -3.98040452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342414037 meters Centerline goodness : 0.787281 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.27, Z:-0.04 [[ 9.13821371e-01 -3.16063659e-01 -2.55018167e-01 -1.09038859e+01] [ 3.26226753e-01 9.45288022e-01 -2.58104109e-03 -5.27159396e+00] [ 2.41881392e-01 -8.08351379e-02 9.66932817e-01 -4.06824572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372414037 meters Centerline goodness : 0.786146 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.28, Z:-0.05 [[ 9.16672166e-01 -3.13498617e-01 -2.47852290e-01 -1.09117550e+01] [ 3.22541761e-01 9.46545287e-01 -4.33961417e-03 -5.27543568e+00] [ 2.35963880e-01 -7.59647105e-02 9.68788114e-01 -4.60109826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40241403699997 meters Centerline goodness : 0.785907 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.28, Z:-0.05 [[ 9.16676612e-01 -3.13545414e-01 -2.47776639e-01 -1.09119020e+01] [ 3.22593643e-01 9.46527788e-01 -4.29983785e-03 -5.27583683e+00] [ 2.35875668e-01 -7.59896077e-02 9.68807643e-01 -4.59238317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43241403699997 meters Centerline goodness : 0.783629 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.28, Z:-0.05 [[ 9.16665165e-01 -3.13564273e-01 -2.47795120e-01 -1.09117741e+01] [ 3.22631270e-01 9.46515271e-01 -4.23142487e-03 -5.27608218e+00] [ 2.35868689e-01 -7.60676545e-02 9.68803217e-01 -4.59806646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46241403699997 meters Centerline goodness : 0.840365 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.28, Z:-0.05 [[ 9.18030109e-01 -3.11427693e-01 -2.45425163e-01 -1.09263534e+01] [ 3.19062315e-01 9.47690252e-01 -9.07884598e-03 -5.28124343e+00] [ 2.35414438e-01 -6.99712666e-02 9.69373026e-01 -4.81142568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49241403699997 meters Centerline goodness : 0.840266 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.28, Z:-0.05 [[ 9.18035812e-01 -3.11468172e-01 -2.45352453e-01 -1.09265049e+01] [ 3.19140313e-01 9.47665616e-01 -8.90734914e-03 -5.28246326e+00] [ 2.35286439e-01 -7.01245933e-02 9.69393023e-01 -4.78874759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52241403699998 meters Centerline goodness : 0.840266 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.28, Z:-0.05 [[ 9.18035812e-01 -3.11468172e-01 -2.45352453e-01 -1.09265049e+01] [ 3.19140313e-01 9.47665616e-01 -8.90734914e-03 -5.28246326e+00] [ 2.35286439e-01 -7.01245933e-02 9.69393023e-01 -4.78874759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55241403699998 meters Centerline goodness : 0.838984 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.28, Z:-0.05 [[ 9.18217402e-01 -3.11789901e-01 -2.44261869e-01 -1.09282956e+01] [ 3.19414680e-01 9.47574086e-01 -8.80985903e-03 -5.28408799e+00] [ 2.34203042e-01 -6.99314609e-02 9.69669287e-01 -4.79726560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58241403699998 meters Centerline goodness : 0.785703 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.29, Z:-0.05 [[ 9.20930995e-01 -3.09237614e-01 -2.37188112e-01 -1.09369164e+01] [ 3.15996280e-01 9.48708013e-01 -9.97281774e-03 -5.28972746e+00] [ 2.28106233e-01 -6.57662843e-02 9.71412550e-01 -5.21490925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61241403699998 meters Centerline goodness : 0.840267 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.29, Z:-0.05 [[ 9.20910001e-01 -3.09276818e-01 -2.37218508e-01 -1.09371539e+01] [ 3.16040546e-01 9.48693346e-01 -9.96532474e-03 -5.29038318e+00] [ 2.28129664e-01 -6.57934996e-02 9.71405205e-01 -5.16728529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64241403699998 meters Centerline goodness : 0.839868 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.29, Z:-0.05 [[ 9.20888156e-01 -3.09325279e-01 -2.37240122e-01 -1.09374173e+01] [ 3.16091795e-01 9.48676264e-01 -9.96610068e-03 -5.29087051e+00] [ 2.28146839e-01 -6.58119919e-02 9.71399918e-01 -5.12522109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67241403699998 meters Centerline goodness : 0.838843 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.29, Z:-0.05 [[ 9.20881541e-01 -3.09314213e-01 -2.37280223e-01 -1.09375271e+01] [ 3.16091840e-01 9.48676635e-01 -9.92929836e-03 -5.29152722e+00] [ 2.28173477e-01 -6.58586348e-02 9.71390501e-01 -5.08597074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70241403699998 meters Centerline goodness : 0.837515 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.29, Z:-0.05 [[ 9.20921009e-01 -3.08702361e-01 -2.37922987e-01 -1.09352319e+01] [ 3.15722846e-01 9.48808677e-01 -9.00996116e-03 -5.29327821e+00] [ 2.28524791e-01 -6.68202600e-02 9.71242232e-01 -5.13788778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73241403699998 meters Centerline goodness : 0.836524 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.29, Z:-0.05 [[ 9.20926127e-01 -3.08155147e-01 -2.38611555e-01 -1.09327747e+01] [ 3.15341392e-01 9.48940728e-01 -8.44402940e-03 -5.29397760e+00] [ 2.29030294e-01 -6.74677727e-02 9.71078382e-01 -5.20757943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76241403699999 meters Centerline goodness : 0.837379 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.29, Z:-0.05 [[ 9.20967022e-01 -3.07433355e-01 -2.39383533e-01 -1.09298653e+01] [ 3.14849727e-01 9.49111009e-01 -7.61191009e-03 -5.29465249e+00] [ 2.29541702e-01 -6.83595219e-02 9.70895248e-01 -5.31667213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792414037 meters Centerline goodness : 0.837422 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.05 [[ 9.21491791e-01 -3.04248510e-01 -2.41424363e-01 -1.09273826e+01] [ 3.12663175e-01 9.49857132e-01 -3.62874712e-03 -5.29633432e+00] [ 2.30422694e-01 -7.21406472e-02 9.70412855e-01 -5.29720752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822414037 meters Centerline goodness : 0.783756 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.30, Z:-0.05 [[ 9.21587845e-01 -3.03653124e-01 -2.41806998e-01 -1.09262755e+01] [ 3.12165011e-01 9.50022283e-01 -3.26605141e-03 -5.29634972e+00] [ 2.30713783e-01 -7.24737309e-02 9.70318870e-01 -5.32799570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852414037 meters Centerline goodness : 0.785322 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.05 [[ 9.22609959e-01 -2.99059452e-01 -2.43627394e-01 -1.09240844e+01] [ 3.08729025e-01 9.51148712e-01 1.58627984e-03 -5.29932843e+00] [ 2.31251491e-01 -7.66783656e-02 9.69867608e-01 -5.34000743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882414037 meters Centerline goodness : 0.784841 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.05 [[ 9.23436714e-01 -2.95473132e-01 -2.44867850e-01 -1.09226843e+01] [ 3.06051605e-01 9.51999452e-01 5.42753565e-03 -5.30145488e+00] [ 2.31510368e-01 -7.99541842e-02 9.69541272e-01 -5.36515829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912414037 meters Centerline goodness : 0.784084 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.05 [[ 9.23767403e-01 -2.94791420e-01 -2.44441821e-01 -1.09230130e+01] [ 3.05295613e-01 9.52242565e-01 5.35586470e-03 -5.30176888e+00] [ 2.31189044e-01 -7.95745889e-02 9.69649169e-01 -5.41365793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942414037 meters Centerline goodness : 0.785090 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.05 [[ 9.24818117e-01 -2.90077960e-01 -2.46102068e-01 -1.09216603e+01] [ 3.01770351e-01 9.53324592e-01 1.03381292e-02 -5.30420713e+00] [ 2.31616290e-01 -8.38271969e-02 9.69188782e-01 -5.40629923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972414037 meters Centerline goodness : 0.835398 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.05 [[ 9.25037918e-01 -2.89447197e-01 -2.46018639e-01 -1.09217239e+01] [ 3.01145218e-01 9.53520765e-01 1.04741361e-02 -5.30406956e+00] [ 2.31552171e-01 -8.37763097e-02 9.69208503e-01 -5.43209562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002414037 meters Centerline goodness : 0.784496 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.05 [[ 9.25257899e-01 -2.88675998e-01 -2.46097518e-01 -1.09214496e+01] [ 3.00434054e-01 9.53741495e-01 1.07953312e-02 -5.30396775e+00] [ 2.31597062e-01 -8.39245405e-02 9.69184953e-01 -5.46380844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032414037 meters Centerline goodness : 0.783844 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.06 [[ 9.25396696e-01 -2.88567287e-01 -2.45702821e-01 -1.09219020e+01] [ 3.00201582e-01 9.53818670e-01 1.04381655e-02 -5.30375508e+00] [ 2.31343825e-01 -8.34198196e-02 9.69289001e-01 -5.50144771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062414037 meters Centerline goodness : 0.785399 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.06 [[ 0.9253584 -0.28813793 -0.24635009 -10.92026803] [ 0.29994665 0.95389276 0.0109822 -5.30400406] [ 0.23182718 -0.08405436 0.96911868 -0.05522605] [ 0. 0. 0. 1. ]] SLAMing on 234.092414037 meters Centerline goodness : 0.784490 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.30, Z:-0.06 [[ 0.92521132 -0.28814345 -0.24689545 -10.91792681] [ 0.30009383 0.95384194 0.01136877 -5.30440804] [ 0.2322234 -0.08461032 0.96897543 -0.05619119] [ 0. 0. 0. 1. ]] SLAMing on 234.122414037 meters Centerline goodness : 0.782728 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.06 [[ 0.92515292 -0.28811297 -0.24714972 -10.91650052] [ 0.30017279 0.95381268 0.01173352 -5.30528683] [ 0.23235396 -0.08504292 0.96890626 -0.05669494] [ 0. 0. 0. 1. ]] SLAMing on 234.15241403699997 meters Centerline goodness : 0.783555 Centerline is valid? [False, False] Translation: X:-10.92, Y:-5.31, Z:-0.06 [[ 0.92495511 -0.28858968 -0.24733386 -10.91546481] [ 0.30067572 0.95365452 0.01171167 -5.3058205 ] [ 0.23249118 -0.08520006 0.96885954 -0.05683999] [ 0. 0. 0. 1. ]] SLAMing on 234.18241403699997 meters Centerline goodness : 0.782806 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.06 [[ 9.24445593e-01 -2.91050691e-01 -2.46353082e-01 -1.09146366e+01] [ 3.02561711e-01 9.53083827e-01 9.36109553e-03 -5.30688780e+00] [ 2.32070585e-01 -8.31908335e-02 9.69134938e-01 -5.75755127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21241403699997 meters Centerline goodness : 0.834481 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.06 [[ 9.24359203e-01 -2.90674268e-01 -2.47120484e-01 -1.09130053e+01] [ 3.02493247e-01 9.53094688e-01 1.04091580e-02 -5.30801177e+00] [ 2.32503546e-01 -8.43740787e-02 9.68928850e-01 -5.73789622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24241403699997 meters Centerline goodness : 0.833870 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.06 [[ 0.92425652 -0.29049409 -0.2477157 -10.91167975] [ 0.30253487 0.9530733 0.01113241 -5.30898551] [ 0.23285732 -0.08523184 0.96876881 -0.05718919] [ 0. 0. 0. 1. ]] SLAMing on 234.27241403699998 meters Centerline goodness : 0.785135 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.06 [[ 0.92421762 -0.29027905 -0.24811261 -10.91083333] [ 0.30251516 0.95307125 0.01182212 -5.31015548] [ 0.23303728 -0.08598404 0.96865906 -0.05692228] [ 0. 0. 0. 1. ]] SLAMing on 234.30241403699998 meters Centerline goodness : 0.834006 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.06 [[ 0.92407769 -0.29033315 -0.24857007 -10.91000093] [ 0.30285859 0.95294898 0.01284221 -5.31218509] [ 0.23314608 -0.08714878 0.96852878 -0.05634099] [ 0. 0. 0. 1. ]] SLAMing on 234.33241403699998 meters Centerline goodness : 0.835036 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.06 [[ 0.92394586 -0.29026953 -0.24913378 -10.90875453] [ 0.30300266 0.95289417 0.0134944 -5.31334712] [ 0.23348111 -0.0879563 0.96837506 -0.05601503] [ 0. 0. 0. 1. ]] SLAMing on 234.36241403699998 meters Centerline goodness : 0.788138 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.31, Z:-0.06 [[ 0.92392332 -0.28998754 -0.24954542 -10.90756151] [ 0.3029228 0.95290918 0.01420842 -5.31450812] [ 0.23367386 -0.08872049 0.96825885 -0.0560057 ] [ 0. 0. 0. 1. ]] SLAMing on 234.39241403699998 meters Centerline goodness : 0.833830 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.32, Z:-0.06 [[ 0.92372843 -0.29009049 -0.25014655 -10.90622043] [ 0.30330229 0.95277469 0.01510342 -5.31624462] [ 0.23395194 -0.08982148 0.96809018 -0.05551257] [ 0. 0. 0. 1. ]] SLAMing on 234.42241403699998 meters Centerline goodness : 0.787642 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.32, Z:-0.05 [[ 0.92344809 -0.29074908 -0.25041683 -10.90586499] [ 0.30400416 0.95255119 0.01508954 -5.31669416] [ 0.23414758 -0.09006217 0.96802052 -0.05491945] [ 0. 0. 0. 1. ]] SLAMing on 234.45241403699998 meters Centerline goodness : 0.832421 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.05 [[ 0.92311579 -0.29088267 -0.25148461 -10.90308128] [ 0.30446568 0.95238892 0.01599957 -5.31781361] [ 0.23485716 -0.09133789 0.96772904 -0.05497362] [ 0. 0. 0. 1. ]] SLAMing on 234.48241403699998 meters Centerline goodness : 0.829700 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.92298966 -0.29066615 -0.25219689 -10.90099222] [ 0.30444389 0.95238661 0.01654269 -5.31834163] [ 0.23538054 -0.09204853 0.96753453 -0.0552768 ] [ 0. 0. 0. 1. ]] SLAMing on 234.51241403699999 meters Centerline goodness : 0.786934 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.9229213 -0.29082117 -0.25226834 -10.90011807] [ 0.30460978 0.95233364 0.01653823 -5.31878887] [ 0.23543396 -0.09210689 0.96751598 -0.05571564] [ 0. 0. 0. 1. ]] SLAMing on 234.542414037 meters Centerline goodness : 0.834392 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.92295137 -0.29049636 -0.25253245 -10.89873916] [ 0.30443852 0.9523784 0.01710472 -5.32006472] [ 0.23553759 -0.09266743 0.96743723 -0.05617631] [ 0. 0. 0. 1. ]] SLAMing on 234.572414037 meters Centerline goodness : 0.788502 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.92303775 -0.29007073 -0.25270593 -10.89835522] [ 0.30414864 0.95246112 0.01764733 -5.32092372] [ 0.23557359 -0.09314932 0.96738218 -0.05605441] [ 0. 0. 0. 1. ]] SLAMing on 234.602414037 meters Centerline goodness : 0.837286 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.92316641 -0.28941779 -0.25298442 -10.89767282] [ 0.30366728 0.95260193 0.01832323 -5.32174379] [ 0.23569038 -0.09373848 0.96729682 -0.05607274] [ 0. 0. 0. 1. ]] SLAMing on 234.632414037 meters Centerline goodness : 0.837468 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.92326337 -0.28921437 -0.25286321 -10.89797138] [ 0.30351027 0.9526468 0.01859017 -5.32236011] [ 0.23551278 -0.09391021 0.96732342 -0.05593196] [ 0. 0. 0. 1. ]] SLAMing on 234.662414037 meters Centerline goodness : 0.836164 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.92352523 -0.28845515 -0.25277416 -10.89767868] [ 0.30285838 0.95284281 0.01916704 -5.32376536] [ 0.23532521 -0.09425602 0.96733544 -0.05617172] [ 0. 0. 0. 1. ]] SLAMing on 234.692414037 meters Centerline goodness : 0.839635 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.32, Z:-0.06 [[ 0.92358017 -0.28845395 -0.25257471 -10.89784166] [ 0.30282668 0.95285375 0.01912421 -5.32428225] [ 0.2351503 -0.0941491 0.96738838 -0.0561845 ] [ 0. 0. 0. 1. ]] SLAMing on 234.722414037 meters Centerline goodness : 0.837188 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.33, Z:-0.06 [[ 0.92357214 -0.28793619 -0.25319409 -10.89659653] [ 0.30256186 0.95292043 0.0199745 -5.32507429] [ 0.23552244 -0.09505476 0.96720927 -0.05601878] [ 0. 0. 0. 1. ]] SLAMing on 234.752414037 meters Centerline goodness : 0.837507 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.33, Z:-0.06 [[ 0.92367379 -0.28776964 -0.25301258 -10.89642728] [ 0.30240071 0.95296906 0.02009407 -5.32597785] [ 0.23533069 -0.09507155 0.96725429 -0.05626549] [ 0. 0. 0. 1. ]] SLAMing on 234.782414037 meters Centerline goodness : 0.836835 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92403339 -0.2847067 -0.25515563 -10.8941238 ] [ 0.30049605 0.95347265 0.02433153 -5.32805931] [ 0.23635657 -0.09915641 0.9665938 -0.05532971] [ 0. 0. 0. 1. ]] SLAMing on 234.812414037 meters Centerline goodness : 0.835262 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92397809 -0.28496495 -0.25506757 -10.89409138] [ 0.30068618 0.95341967 0.02405736 -5.32809321] [ 0.23633093 -0.09892377 0.96662391 -0.05531568] [ 0. 0. 0. 1. ]] SLAMing on 234.842414037 meters Centerline goodness : 0.833801 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.9240496 -0.28481359 -0.25497757 -10.89344098] [ 0.30054074 0.95346343 0.02414019 -5.32896278] [ 0.23623634 -0.09893788 0.96664559 -0.05571706] [ 0. 0. 0. 1. ]] SLAMing on 234.872414037 meters Centerline goodness : 0.834215 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92416792 -0.28453235 -0.2548627 -10.89303677] [ 0.30031832 0.95352518 0.02446726 -5.32974634] [ 0.23605627 -0.0991518 0.96666766 -0.05618058] [ 0. 0. 0. 1. ]] SLAMing on 234.90241403699997 meters Centerline goodness : 0.832408 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92410839 -0.28466156 -0.25493427 -10.89254322] [ 0.30053174 0.95345026 0.02476429 -5.33106127] [ 0.2360177 -0.09950073 0.96664122 -0.05603111] [ 0. 0. 0. 1. ]] SLAMing on 234.93241403699997 meters Centerline goodness : 0.831821 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92403177 -0.28481745 -0.25503787 -10.89200263] [ 0.3007079 0.95339426 0.02478193 -5.33149846] [ 0.23609331 -0.09959119 0.96661344 -0.05604014] [ 0. 0. 0. 1. ]] SLAMing on 234.96241403699997 meters Centerline goodness : 0.833187 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92393742 -0.28514027 -0.25501895 -10.89197884] [ 0.3010159 0.95329951 0.02468747 -5.33176924] [ 0.23607005 -0.09957443 0.96662085 -0.05585582] [ 0. 0. 0. 1. ]] SLAMing on 234.99241403699997 meters Centerline goodness : 0.830606 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.9237814 -0.28518997 -0.25552809 -10.89122505] [ 0.3012185 0.95322515 0.02508452 -5.33187699] [ 0.23642195 -0.10014241 0.96647616 -0.05546707] [ 0. 0. 0. 1. ]] SLAMing on 235.02241403699998 meters Centerline goodness : 0.830028 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92376217 -0.28490118 -0.25591947 -10.8904244 ] [ 0.30104928 0.9532692 0.02543932 -5.33167443] [ 0.23671246 -0.10054425 0.96636332 -0.05552352] [ 0. 0. 0. 1. ]] SLAMing on 235.05241403699998 meters Centerline goodness : 0.828975 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92371772 -0.28474063 -0.25625835 -10.88972036] [ 0.3009516 0.9532966 0.02556815 -5.33105146] [ 0.23700993 -0.10073911 0.96627011 -0.05556466] [ 0. 0. 0. 1. ]] SLAMing on 235.08241403699998 meters Centerline goodness : 0.828823 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92372548 -0.28462076 -0.25636354 -10.8897126 ] [ 0.30085657 0.95332469 0.02563891 -5.33073846] [ 0.23710033 -0.10081197 0.96624033 -0.05546551] [ 0. 0. 0. 1. ]] SLAMing on 235.11241403699998 meters Centerline goodness : 0.831491 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92373314 -0.28434827 -0.25663816 -10.88960918] [ 0.30064736 0.95338603 0.02581168 -5.33006978] [ 0.23733573 -0.10100069 0.96616283 -0.05512275] [ 0. 0. 0. 1. ]] SLAMing on 235.14241403699998 meters Centerline goodness : 0.830880 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92369869 -0.28430854 -0.25680613 -10.88911914] [ 0.3006212 0.95339464 0.02579834 -5.32943984] [ 0.2375029 -0.10103126 0.96611855 -0.05532199] [ 0. 0. 0. 1. ]] SLAMing on 235.17241403699998 meters Centerline goodness : 0.827471 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92357727 -0.28422435 -0.25733548 -10.88780121] [ 0.30066005 0.95337482 0.02607666 -5.32951615] [ 0.23792554 -0.10145431 0.96597022 -0.05541355] [ 0. 0. 0. 1. ]] SLAMing on 235.20241403699998 meters Centerline goodness : 0.830901 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92347625 -0.28428309 -0.25763294 -10.88686729] [ 0.30078052 0.95333375 0.02618843 -5.32949082] [ 0.23816525 -0.10167536 0.9658879 -0.05560061] [ 0. 0. 0. 1. ]] SLAMing on 235.23241403699998 meters Centerline goodness : 0.829067 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.33, Z:-0.06 [[ 0.92339753 -0.28437549 -0.25781306 -10.88616669] [ 0.30087817 0.95330487 0.02611823 -5.32950653] [ 0.23834706 -0.10168783 0.96584174 -0.05571267] [ 0. 0. 0. 1. ]] SLAMing on 235.26241403699999 meters Centerline goodness : 0.832326 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.92331476 -0.28430582 -0.25818607 -10.88494011] [ 0.30088918 0.95329668 0.02628968 -5.32946679] [ 0.23865362 -0.10195904 0.96573744 -0.05596934] [ 0. 0. 0. 1. ]] SLAMing on 235.292414037 meters Centerline goodness : 0.832814 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.92317365 -0.28441506 -0.25857007 -10.88364233] [ 0.30107489 0.95323458 0.02641505 -5.32910429] [ 0.2389651 -0.10223463 0.96563128 -0.05635708] [ 0. 0. 0. 1. ]] SLAMing on 235.322414037 meters Centerline goodness : 0.840214 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.92302188 -0.28490859 -0.25856855 -10.88351427] [ 0.30147297 0.95312112 0.02596507 -5.3286339 ] [ 0.23904948 -0.10191775 0.96564389 -0.05628297] [ 0. 0. 0. 1. ]] SLAMing on 235.352414037 meters Centerline goodness : 0.833136 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.92295046 -0.28474132 -0.25900739 -10.8825012 ] [ 0.30143685 0.95312272 0.02632301 -5.32874379] [ 0.23937058 -0.1023692 0.96551658 -0.05626988] [ 0. 0. 0. 1. ]] SLAMing on 235.382414037 meters Centerline goodness : 0.835433 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.92288328 -0.2851162 -0.25883433 -10.88264808] [ 0.30177726 0.95301809 0.02621091 -5.32964847] [ 0.23920064 -0.10229992 0.96556604 -0.05600806] [ 0. 0. 0. 1. ]] SLAMing on 235.412414037 meters Centerline goodness : 0.836210 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.92273473 -0.28485821 -0.25964672 -10.88123571] [ 0.30176764 0.95300232 0.02688635 -5.32972724] [ 0.23978513 -0.10316195 0.96532932 -0.05565784] [ 0. 0. 0. 1. ]] SLAMing on 235.442414037 meters Centerline goodness : 0.836210 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.92273473 -0.28485821 -0.25964672 -10.88123571] [ 0.30176764 0.95300232 0.02688635 -5.32972724] [ 0.23978513 -0.10316195 0.96532932 -0.05565784] [ 0. 0. 0. 1. ]] SLAMing on 235.472414037 meters Centerline goodness : 0.836697 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.06 [[ 0.9225699 -0.28530184 -0.25974535 -10.88146771] [ 0.30220677 0.95286655 0.02676578 -5.32922143] [ 0.23986632 -0.10319011 0.96530614 -0.05521696] [ 0. 0. 0. 1. ]] SLAMing on 235.502414037 meters Centerline goodness : 0.840424 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.05 [[ 0.92233241 -0.28595394 -0.25987163 -10.8816964 ] [ 0.30278099 0.95269693 0.02631022 -5.32861969] [ 0.2400554 -0.10295096 0.96528468 -0.05455345] [ 0. 0. 0. 1. ]] SLAMing on 235.532414037 meters Centerline goodness : 0.839849 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.05 [[ 0.92230777 -0.28565461 -0.26028796 -10.88183288] [ 0.30263245 0.95273129 0.02677103 -5.32793269] [ 0.24033722 -0.10346271 0.96515983 -0.05395936] [ 0. 0. 0. 1. ]] SLAMing on 235.562414037 meters Centerline goodness : 0.834597 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.05 [[ 0.92222886 -0.28553875 -0.26069435 -10.88132412] [ 0.30255648 0.95275557 0.02676575 -5.32669086] [ 0.24073533 -0.10355891 0.96505028 -0.05391771] [ 0. 0. 0. 1. ]] SLAMing on 235.592414037 meters Centerline goodness : 0.834382 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.33, Z:-0.05 [[ 0.92227494 -0.28518053 -0.26092337 -10.88075742] [ 0.30218774 0.95287529 0.02666949 -5.32554958] [ 0.24102181 -0.10344445 0.96499105 -0.05432387] [ 0. 0. 0. 1. ]] SLAMing on 235.622414037 meters Centerline goodness : 0.837143 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.32, Z:-0.05 [[ 0.92216091 -0.28555988 -0.2609115 -10.88077727] [ 0.30234699 0.95285023 0.02574352 -5.32344078] [ 0.24125826 -0.10262547 0.96501941 -0.05459714] [ 0. 0. 0. 1. ]] SLAMing on 235.65241403699997 meters Centerline goodness : 0.841363 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.32, Z:-0.06 [[ 0.92224986 -0.28583714 -0.26029278 -10.88125384] [ 0.30207562 0.95298729 0.02378105 -5.31938901] [ 0.2412582 -0.10056017 0.96523683 -0.05606661] [ 0. 0. 0. 1. ]] SLAMing on 235.68241403699997 meters Centerline goodness : 0.838211 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.32, Z:-0.06 [[ 0.92290137 -0.28293471 -0.26115324 -10.88048516] [ 0.29962109 0.95371516 0.02558496 -5.31706512] [ 0.24182693 -0.10185942 0.96495823 -0.0571311 ] [ 0. 0. 0. 1. ]] SLAMing on 235.71241403699997 meters Centerline goodness : 0.835159 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.32, Z:-0.06 [[ 0.92301388 -0.2827904 -0.26091178 -10.88116363] [ 0.29931171 0.9538265 0.02505017 -5.31538226] [ 0.24178063 -0.1012156 0.96503758 -0.05745795] [ 0. 0. 0. 1. ]] SLAMing on 235.74241403699997 meters Centerline goodness : 0.840373 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.31, Z:-0.06 [[ 0.9230736 -0.28301031 -0.26046168 -10.88250849] [ 0.29929448 0.95385213 0.02426784 -5.31387268] [ 0.24157388 -0.10035574 0.96517915 -0.05740407] [ 0. 0. 0. 1. ]] SLAMing on 235.77241403699998 meters Centerline goodness : 0.840426 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.31, Z:-0.06 [[ 0.92316963 -0.28310584 -0.26001716 -10.88412766] [ 0.29919536 0.95389832 0.02366722 -5.31264486] [ 0.2413296 -0.09964479 0.96531391 -0.05707315] [ 0. 0. 0. 1. ]] SLAMing on 235.80241403699998 meters Centerline goodness : 0.785212 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.31, Z:-0.06 [[ 0.92499783 -0.28823305 -0.24758983 -10.88327248] [ 0.3031732 0.95264235 0.02363398 -5.30728701] [ 0.22905246 -0.09692398 0.96857664 -0.06139323] [ 0. 0. 0. 1. ]] SLAMing on 235.83241403699998 meters Centerline goodness : 0.784315 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.31, Z:-0.06 [[ 0.92489198 -0.28855554 -0.24760964 -10.88360617] [ 0.30346158 0.95255531 0.0234404 -5.30667584] [ 0.22909802 -0.09681985 0.96857628 -0.06108001] [ 0. 0. 0. 1. ]] SLAMing on 235.86241403699998 meters Centerline goodness : 0.787666 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.31, Z:-0.06 [[ 0.92487624 -0.2884421 -0.24780051 -10.88317078] [ 0.30344614 0.95255167 0.02378575 -5.30687454] [ 0.22918198 -0.09719298 0.96851905 -0.06112015] [ 0. 0. 0. 1. ]] SLAMing on 235.89241403699998 meters Centerline goodness : 0.843928 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.31, Z:-0.06 [[ 0.92457841 -0.28870133 -0.24860875 -10.8819071 ] [ 0.30388028 0.95240442 0.02413721 -5.30643246] [ 0.22980762 -0.09786404 0.9683032 -0.06070292] [ 0. 0. 0. 1. ]] SLAMing on 235.92241403699998 meters Centerline goodness : 0.842492 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.31, Z:-0.06 [[ 0.92434227 -0.28934248 -0.24874142 -10.88181763] [ 0.30442122 0.95224572 0.02357576 -5.30551124] [ 0.23004148 -0.09751424 0.96828296 -0.06038771] [ 0. 0. 0. 1. ]] SLAMing on 235.95241403699998 meters Centerline goodness : 0.786057 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.06 [[ 0.92395413 -0.29046131 -0.2488795 -10.88142611] [ 0.305381 0.95195954 0.02270426 -5.30368187] [ 0.2303285 -0.09698076 0.96826831 -0.06052037] [ 0. 0. 0. 1. ]] SLAMing on 235.98241403699998 meters Centerline goodness : 0.842160 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.06 [[ 0.92375844 -0.29079635 -0.24921441 -10.88011093] [ 0.30567787 0.95187249 0.0223561 -5.30288411] [ 0.23071927 -0.09683097 0.96819026 -0.06098496] [ 0. 0. 0. 1. ]] SLAMing on 236.01241403699999 meters Centerline goodness : 0.841748 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.06 [[ 0.92350413 -0.29104004 -0.24987161 -10.87811635] [ 0.30594148 0.95179321 0.02212448 -5.30123713] [ 0.231387 -0.09687814 0.96802618 -0.06176925] [ 0. 0. 0. 1. ]] SLAMing on 236.042414037 meters Centerline goodness : 0.841344 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.06 [[ 0.92340406 -0.29154048 -0.24965797 -10.87829242] [ 0.30624661 0.9517131 0.02133507 -5.30033408] [ 0.23138272 -0.0961578 0.96809902 -0.06190641] [ 0. 0. 0. 1. ]] SLAMing on 236.072414037 meters Centerline goodness : 0.844013 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.06 [[ 0.92331605 -0.29175912 -0.24972803 -10.87818085] [ 0.30637764 0.95168035 0.02091065 -5.29927663] [ 0.23156039 -0.09581822 0.96809021 -0.06198274] [ 0. 0. 0. 1. ]] SLAMing on 236.102414037 meters Centerline goodness : 0.842889 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.06 [[ 0.92336255 -0.29119813 -0.25021041 -10.87739634] [ 0.30592849 0.95181745 0.02124392 -5.29845872] [ 0.23196844 -0.09616233 0.96795839 -0.06206511] [ 0. 0. 0. 1. ]] SLAMing on 236.132414037 meters Centerline goodness : 0.841002 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.30, Z:-0.06 [[ 0.92357463 -0.2906113 -0.25010993 -10.87855104] [ 0.30517173 0.95207335 0.02065331 -5.29521633] [ 0.23212091 -0.09540135 0.96799714 -0.06221771] [ 0. 0. 0. 1. ]] SLAMing on 236.162414037 meters Centerline goodness : 0.785326 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.06 [[ 0.92380056 -0.29015703 -0.24980277 -10.87940829] [ 0.304585 0.95226904 0.02028898 -5.29366361] [ 0.23199245 -0.09482915 0.96808416 -0.06261871] [ 0. 0. 0. 1. ]] SLAMing on 236.192414037 meters Centerline goodness : 0.839089 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.06 [[ 0.92397431 -0.28988128 -0.2494801 -10.88029174] [ 0.30414306 0.95242128 0.0197662 -5.29208114] [ 0.2318803 -0.0941411 0.96817818 -0.06290828] [ 0. 0. 0. 1. ]] SLAMing on 236.222414037 meters Centerline goodness : 0.837787 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.06 [[ 0.92438659 -0.28892726 -0.24905918 -10.88154288] [ 0.30295242 0.95281475 0.01907579 -5.28954639] [ 0.23179574 -0.09308648 0.96830039 -0.06344959] [ 0. 0. 0. 1. ]] SLAMing on 236.252414037 meters Centerline goodness : 0.839141 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.06 [[ 0.92458524 -0.28858762 -0.24871534 -10.88218075] [ 0.30250255 0.95296314 0.01880074 -5.28859004] [ 0.23159089 -0.09261991 0.96839414 -0.06389435] [ 0. 0. 0. 1. ]] SLAMing on 236.282414037 meters Centerline goodness : 0.837929 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.29, Z:-0.06 [[ 0.92468703 -0.28848091 -0.24846057 -10.88258531] [ 0.3022518 0.95305212 0.0183167 -5.28744963] [ 0.23151185 -0.09203487 0.96846881 -0.06426049] [ 0. 0. 0. 1. ]] SLAMing on 236.312414037 meters Centerline goodness : 0.839489 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.07 [[ 0.92476478 -0.28811924 -0.24859083 -10.88223982] [ 0.30178066 0.95321022 0.01785231 -5.28465454] [ 0.23181572 -0.09152909 0.96844406 -0.06506001] [ 0. 0. 0. 1. ]] SLAMing on 236.342414037 meters Centerline goodness : 0.786390 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.07 [[ 0.92459438 -0.28868641 -0.24856667 -10.88242106] [ 0.30215059 0.95310923 0.01696549 -5.28272636] [ 0.23201348 -0.09079076 0.9684662 -0.06514556] [ 0. 0. 0. 1. ]] SLAMing on 236.372414037 meters Centerline goodness : 0.785353 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.07 [[ 0.92446878 -0.28861203 -0.2491196 -10.88121265] [ 0.30213975 0.95311175 0.01701689 -5.28176129] [ 0.23252754 -0.09100052 0.96832321 -0.06534119] [ 0. 0. 0. 1. ]] SLAMing on 236.40241403699997 meters Centerline goodness : 0.783208 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.07 [[ 0.9241257 -0.28970496 -0.24912392 -10.88090973] [ 0.30302796 0.95284697 0.01602187 -5.28007602] [ 0.23273536 -0.09029773 0.96833908 -0.06558223] [ 0. 0. 0. 1. ]] SLAMing on 236.43241403699997 meters Centerline goodness : 0.785485 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.07 [[ 0.92402042 -0.28959038 -0.2496471 -10.87977803] [ 0.30307324 0.95282456 0.01649142 -5.27990832] [ 0.23309413 -0.09089977 0.96819645 -0.06568522] [ 0. 0. 0. 1. ]] SLAMing on 236.46241403699997 meters Centerline goodness : 0.784594 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.06 [[ 0.92364997 -0.29057476 -0.24987407 -10.87998042] [ 0.30398757 0.95254194 0.0159819 -5.27902738] [ 0.23337159 -0.09072029 0.96814644 -0.06490076] [ 0. 0. 0. 1. ]] SLAMing on 236.49241403699997 meters Centerline goodness : 0.784002 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.06 [[ 0.92329742 -0.29104043 -0.25063387 -10.87927669] [ 0.30460798 0.95233906 0.01625715 -5.27795232] [ 0.23395694 -0.09135526 0.96794544 -0.06424381] [ 0. 0. 0. 1. ]] SLAMing on 236.52241403699998 meters Centerline goodness : 0.785163 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.06 [[ 0.92308183 -0.2917915 -0.25055471 -10.87986959] [ 0.30526344 0.95213693 0.01579565 -5.27725207] [ 0.23395336 -0.09106587 0.96797357 -0.06369846] [ 0. 0. 0. 1. ]] SLAMing on 236.55241403699998 meters Centerline goodness : 0.784110 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.06 [[ 0.9229019 -0.29208595 -0.25087425 -10.87969306] [ 0.30557973 0.95203673 0.01571928 -5.27661419] [ 0.23425011 -0.09116944 0.96789205 -0.06321443] [ 0. 0. 0. 1. ]] SLAMing on 236.58241403699998 meters Centerline goodness : 0.786238 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.06 [[ 0.9227059 -0.29236209 -0.25127322 -10.87907958] [ 0.30592957 0.95192258 0.01582716 -5.27613954] [ 0.23456539 -0.09147572 0.96778679 -0.06304415] [ 0. 0. 0. 1. ]] SLAMing on 236.61241403699998 meters Centerline goodness : 0.785413 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.28, Z:-0.06 [[ 0.92259187 -0.29283084 -0.25114605 -10.87949812] [ 0.30628938 0.9518144 0.01536744 -5.27562864] [ 0.23454437 -0.09110124 0.96782721 -0.06284022] [ 0. 0. 0. 1. ]] SLAMing on 236.64241403699998 meters Centerline goodness : 0.784785 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.06 [[ 0.92243194 -0.29366413 -0.25076023 -10.88068357] [ 0.30694142 0.95161543 0.01466439 -5.27476332] [ 0.2343209 -0.0904956 0.96793815 -0.0625405 ] [ 0. 0. 0. 1. ]] SLAMing on 236.67241403699998 meters Centerline goodness : 0.786264 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.06 [[ 0.92231101 -0.29411928 -0.2506716 -10.88113503] [ 0.30729332 0.95150869 0.01421366 -5.27405413] [ 0.23433569 -0.09013912 0.96796783 -0.06231466] [ 0. 0. 0. 1. ]] SLAMing on 236.70241403699998 meters Centerline goodness : 0.789377 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.06 [[ 0.92223101 -0.29445151 -0.25057588 -10.88139428] [ 0.3075368 0.95143551 0.01384151 -5.27341873] [ 0.23433114 -0.08982638 0.96799801 -0.06222064] [ 0. 0. 0. 1. ]] SLAMing on 236.73241403699998 meters Centerline goodness : 0.786194 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.06 [[ 0.9221327 -0.29473491 -0.2506045 -10.88144056] [ 0.30773115 0.95137863 0.01342537 -5.27273411] [ 0.23446284 -0.08949879 0.96799646 -0.0620309 ] [ 0. 0. 0. 1. ]] SLAMing on 236.76241403699999 meters Centerline goodness : 0.787730 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.06 [[ 0.92205956 -0.29502603 -0.25053103 -10.88162692] [ 0.30788117 0.95133826 0.01283365 -5.27084933] [ 0.2345535 -0.08896718 0.9680235 -0.06212065] [ 0. 0. 0. 1. ]] SLAMing on 236.792414037 meters Centerline goodness : 0.786957 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.06 [[ 0.92201375 -0.29507573 -0.25064111 -10.88172945] [ 0.30784377 0.95135579 0.0124249 -5.26944547] [ 0.23478259 -0.08861423 0.96800034 -0.06183508] [ 0. 0. 0. 1. ]] SLAMing on 236.822414037 meters Centerline goodness : 0.786560 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.27, Z:-0.06 [[ 0.92203497 -0.29495314 -0.25070731 -10.88186437] [ 0.3075458 0.95146144 0.01169268 -5.26633424] [ 0.23508954 -0.08788504 0.96799232 -0.06164576] [ 0. 0. 0. 1. ]] SLAMing on 236.852414037 meters Centerline goodness : 0.788297 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.26, Z:-0.06 [[ 0.92203354 -0.2949096 -0.25076378 -10.88178879] [ 0.30741325 0.95150889 0.01131033 -5.26485851] [ 0.23526844 -0.08751661 0.96798223 -0.06162759] [ 0. 0. 0. 1. ]] SLAMing on 236.882414037 meters Centerline goodness : 0.788241 Centerline is valid? [False, False] Translation: X:-10.88, Y:-5.26, Z:-0.06 [[ 9.22028337e-01 -2.94857419e-01 -2.50844270e-01 -1.08816615e+01] [ 3.07258561e-01 9.51564045e-01 1.08648350e-02 -5.26320317e+00] [ 2.35490811e-01 -8.70917352e-02 9.67966481e-01 -6.15533079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912414037 meters Centerline goodness : 0.788163 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.26, Z:-0.06 [[ 0.9237434 -0.29275073 -0.24697194 -10.88630997] [ 0.30476859 0.95236261 0.01102605 -5.26190514] [ 0.23197896 -0.08545453 0.9689599 -0.06437589] [ 0. 0. 0. 1. ]] SLAMing on 236.942414037 meters Centerline goodness : 0.787086 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.26, Z:-0.06 [[ 9.23715750e-01 -2.92831461e-01 -2.46979653e-01 -1.08863779e+01] [ 3.04727426e-01 9.52381682e-01 1.05037125e-02 -5.26026323e+00] [ 2.32143080e-01 -8.49639186e-02 9.68963737e-01 -6.42707951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.972414037 meters Centerline goodness : 0.790371 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.26, Z:-0.06 [[ 9.23666831e-01 -2.92964104e-01 -2.47005303e-01 -1.08865792e+01] [ 3.04750864e-01 9.52379381e-01 1.00212153e-02 -5.25892095e+00] [ 2.32306902e-01 -8.45313439e-02 9.68962309e-01 -6.40205214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002414037 meters Centerline goodness : 0.790123 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.26, Z:-0.06 [[ 9.23589201e-01 -2.93452941e-01 -2.46715137e-01 -1.08876026e+01] [ 3.05043014e-01 9.52293693e-01 9.24567612e-03 -5.25665483e+00] [ 2.32232098e-01 -8.37979357e-02 9.69043940e-01 -6.38690664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.032414037 meters Centerline goodness : 0.791545 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.26, Z:-0.06 [[ 9.23481859e-01 -2.94008777e-01 -2.46455057e-01 -1.08884870e+01] [ 3.05464859e-01 9.52163506e-01 8.71082979e-03 -5.25589522e+00] [ 2.32104451e-01 -8.33276527e-02 9.69115074e-01 -6.35733834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062414037 meters Centerline goodness : 0.790705 Centerline is valid? [False, False] Translation: X:-10.89, Y:-5.26, Z:-0.06 [[ 9.23350309e-01 -2.94708005e-01 -2.46112574e-01 -1.08895782e+01] [ 3.06025438e-01 9.51988301e-01 8.16744166e-03 -5.25552765e+00] [ 2.31889281e-01 -8.28581181e-02 9.69206837e-01 -6.32274568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.092414037 meters Centerline goodness : 0.794358 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.26, Z:-0.07 [[ 9.25034646e-01 -2.95087171e-01 -2.39237259e-01 -1.08978315e+01] [ 3.05274634e-01 9.52246529e-01 5.82634346e-03 -5.25735404e+00] [ 2.26093570e-01 -7.84226361e-02 9.70943658e-01 -6.74666402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122414037 meters Centerline goodness : 0.842270 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.26, Z:-0.07 [[ 9.24882022e-01 -2.95825883e-01 -2.38914822e-01 -1.08989013e+01] [ 3.05891185e-01 9.52051600e-01 5.32303754e-03 -5.25711659e+00] [ 2.25884547e-01 -7.80051198e-02 9.71025938e-01 -6.71205650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15241403699997 meters Centerline goodness : 0.841394 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.26, Z:-0.07 [[ 9.23601100e-01 -3.00682519e-01 -2.37804606e-01 -1.08989139e+01] [ 3.09768726e-01 9.50811524e-01 8.84472887e-04 -5.25505553e+00] [ 2.25841414e-01 -7.44813299e-02 9.71312610e-01 -6.68504969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18241403699997 meters Centerline goodness : 0.792797 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.26, Z:-0.07 [[ 9.23463634e-01 -3.01280878e-01 -2.37581038e-01 -1.08993353e+01] [ 3.10318618e-01 9.50632367e-01 6.75997580e-04 -5.25554871e+00] [ 2.25648559e-01 -7.43500787e-02 9.71367486e-01 -6.68349497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21241403699997 meters Centerline goodness : 0.792565 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.26, Z:-0.07 [[ 9.23361889e-01 -3.01738394e-01 -2.37395797e-01 -1.08996488e+01] [ 3.10740246e-01 9.50494725e-01 5.26331520e-04 -5.25608289e+00] [ 2.25484638e-01 -7.42544229e-02 9.71412867e-01 -6.68339787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24241403699997 meters Centerline goodness : 0.793157 Centerline is valid? [False, False] Translation: X:-10.90, Y:-5.26, Z:-0.07 [[ 9.23123843e-01 -3.02822409e-01 -2.36940835e-01 -1.09007384e+01] [ 3.11674053e-01 9.50189073e-01 -1.04644476e-04 -5.25618074e+00] [ 2.25170281e-01 -7.37517105e-02 9.71524076e-01 -6.66441335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27241403699998 meters Centerline goodness : 0.841529 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.26, Z:-0.07 [[ 9.25859612e-01 -3.00149477e-01 -2.29552324e-01 -1.09092706e+01] [ 3.07904475e-01 9.51414878e-01 -2.13616092e-03 -5.25936235e+00] [ 2.19040664e-01 -6.87024028e-02 9.73293978e-01 -7.20410631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30241403699998 meters Centerline goodness : 0.841079 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.26, Z:-0.07 [[ 9.25784466e-01 -3.00453959e-01 -2.29457059e-01 -1.09097693e+01] [ 3.08108524e-01 9.51347693e-01 -2.58913773e-03 -5.25826579e+00] [ 2.19071360e-01 -6.83006922e-02 9.73315342e-01 -7.17900953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33241403699998 meters Centerline goodness : 0.841079 Centerline is valid? [False, False] Translation: X:-10.91, Y:-5.26, Z:-0.07 [[ 9.25784466e-01 -3.00453959e-01 -2.29457059e-01 -1.09097693e+01] [ 3.08108524e-01 9.51347693e-01 -2.58913773e-03 -5.25826579e+00] [ 2.19071360e-01 -6.83006922e-02 9.73315342e-01 -7.17900953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36241403699998 meters Centerline goodness : 0.840991 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.07 [[ 9.27694331e-01 -2.97454446e-01 -2.25619326e-01 -1.09254531e+01] [ 3.03826037e-01 9.52703449e-01 -6.77328954e-03 -5.26209677e+00] [ 2.16963055e-01 -6.22654832e-02 9.74191995e-01 -7.41830369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39241403699998 meters Centerline goodness : 0.843014 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.07 [[ 9.27667571e-01 -2.97536662e-01 -2.25620949e-01 -1.09257907e+01] [ 3.03844632e-01 9.52695368e-01 -7.06932431e-03 -5.26151534e+00] [ 2.17051417e-01 -6.19957315e-02 9.74189515e-01 -7.37765831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42241403699998 meters Centerline goodness : 0.844393 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 9.30464623e-01 -2.94139389e-01 -2.18443596e-01 -1.09350885e+01] [ 2.99637084e-01 9.54017183e-01 -8.29653195e-03 -5.26453725e+00] [ 2.10839281e-01 -5.77341728e-02 9.75814308e-01 -7.83593595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45241403699998 meters Centerline goodness : 0.844863 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 9.30468617e-01 -2.94160105e-01 -2.18398684e-01 -1.09359255e+01] [ 2.99527806e-01 9.54046173e-01 -8.88787145e-03 -5.26312580e+00] [ 2.10976886e-01 -5.71465932e-02 9.75819154e-01 -7.73880193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48241403699998 meters Centerline goodness : 0.844660 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 9.30466618e-01 -2.94118257e-01 -2.18463552e-01 -1.09359250e+01] [ 2.99461492e-01 9.54065805e-01 -9.01408892e-03 -5.26264532e+00] [ 2.11079812e-01 -5.70341122e-02 9.75803476e-01 -7.72307832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51241403699999 meters Centerline goodness : 0.798738 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 9.30489051e-01 -2.93970668e-01 -2.18566632e-01 -1.09357914e+01] [ 2.99287977e-01 9.54119004e-01 -9.14510384e-03 -5.26218704e+00] [ 2.11226969e-01 -5.69049462e-02 9.75779173e-01 -7.69871619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542414037 meters Centerline goodness : 0.798881 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 9.30472288e-01 -2.93903718e-01 -2.18727973e-01 -1.09354475e+01] [ 2.99208548e-01 9.54143007e-01 -9.23940017e-03 -5.26210772e+00] [ 2.11413260e-01 -5.68482735e-02 9.75742131e-01 -7.68342381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.572414037 meters Centerline goodness : 0.842886 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.08 [[ 9.30469429e-01 -2.93798019e-01 -2.18882082e-01 -1.09349983e+01] [ 2.99111719e-01 9.54173471e-01 -9.22855157e-03 -5.26217699e+00] [ 2.11562806e-01 -5.68833106e-02 9.75707676e-01 -7.68277128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602414037 meters Centerline goodness : 0.798333 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.08 [[ 9.30499315e-01 -2.93466288e-01 -2.19199823e-01 -1.09338980e+01] [ 2.98822368e-01 9.54265535e-01 -9.08192480e-03 -5.26241630e+00] [ 2.11840075e-01 -5.70510852e-02 9.75637718e-01 -7.70026354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.632414037 meters Centerline goodness : 0.797030 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.08 [[ 9.30505358e-01 -2.93313579e-01 -2.19378494e-01 -1.09333324e+01] [ 2.98685453e-01 9.54308791e-01 -9.04059930e-03 -5.26238250e+00] [ 2.12006556e-01 -5.71128389e-02 9.75597942e-01 -7.70599991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662414037 meters Centerline goodness : 0.795978 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.08 [[ 9.30523942e-01 -2.93116141e-01 -2.19563481e-01 -1.09327772e+01] [ 2.98499062e-01 9.54367326e-01 -9.01763602e-03 -5.26212444e+00] [ 2.12187427e-01 -5.71483669e-02 9.75556539e-01 -7.71121558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.692414037 meters Centerline goodness : 0.796206 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.08 [[ 9.30492584e-01 -2.93131101e-01 -2.19676371e-01 -1.09326839e+01] [ 2.98486669e-01 9.54369690e-01 -9.17624924e-03 -5.26203351e+00] [ 2.12342314e-01 -5.70320366e-02 9.75529645e-01 -7.67873215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722414037 meters Centerline goodness : 0.796065 Centerline is valid? [False, False] Translation: X:-10.93, Y:-5.26, Z:-0.08 [[ 9.30484425e-01 -2.93160367e-01 -2.19671880e-01 -1.09326955e+01] [ 2.98487103e-01 9.54368250e-01 -9.31091375e-03 -5.26199949e+00] [ 2.12377458e-01 -5.69055628e-02 9.75529380e-01 -7.66315289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.752414037 meters Centerline goodness : 0.794031 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.27, Z:-0.08 [[ 9.32954559e-01 -2.90173442e-01 -2.13061410e-01 -1.09403071e+01] [ 2.94853102e-01 9.55488176e-01 -1.01977541e-02 -5.26533971e+00] [ 2.06536776e-01 -5.33077765e-02 9.76985589e-01 -8.09381272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782414037 meters Centerline goodness : 0.795098 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.27, Z:-0.08 [[ 9.32950171e-01 -2.90189922e-01 -2.13058178e-01 -1.09405132e+01] [ 2.94826278e-01 9.55494234e-01 -1.04035966e-02 -5.26521944e+00] [ 2.06594880e-01 -5.31091124e-02 9.76984124e-01 -8.05074257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.812414037 meters Centerline goodness : 0.794071 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 9.32998445e-01 -2.90049616e-01 -2.13037840e-01 -1.09411070e+01] [ 2.94601499e-01 9.55559372e-01 -1.07815992e-02 -5.26419872e+00] [ 2.06697503e-01 -5.27020516e-02 9.76984460e-01 -7.96885457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842414037 meters Centerline goodness : 0.792011 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93297218 -0.2900553 -0.21314508 -10.94121903] [ 0.29454152 0.95557398 -0.01112037 -5.26329426] [ 0.20690142 -0.05240508 0.97695727 -0.079229 ] [ 0. 0. 0. 1. ]] SLAMing on 237.872414037 meters Centerline goodness : 0.839650 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93295131 -0.28996709 -0.21335635 -10.94113781] [ 0.29440191 0.95561362 -0.01140746 -5.26240634] [ 0.20719402 -0.05216992 0.97690784 -0.07879685] [ 0. 0. 0. 1. ]] SLAMing on 237.90241403699997 meters Centerline goodness : 0.793259 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93293844 -0.28987361 -0.21353959 -10.94091676] [ 0.29427526 0.95565031 -0.0116002 -5.26171379] [ 0.20743176 -0.05201715 0.97686554 -0.07853827] [ 0. 0. 0. 1. ]] SLAMing on 237.93241403699997 meters Centerline goodness : 0.792383 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93302891 -0.28938923 -0.21380112 -10.93993621] [ 0.293838 0.95578737 -0.01139015 -5.26169549] [ 0.2076446 -0.05219555 0.9768108 -0.07880483] [ 0. 0. 0. 1. ]] SLAMing on 237.96241403699997 meters Centerline goodness : 0.793489 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93305798 -0.28920884 -0.21391834 -10.93935377] [ 0.29367905 0.95583731 -0.01129879 -5.26200194] [ 0.20773884 -0.05228091 0.9767862 -0.07895517] [ 0. 0. 0. 1. ]] SLAMing on 237.99241403699997 meters Centerline goodness : 0.792660 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93306374 -0.28912366 -0.21400835 -10.93895718] [ 0.29359863 0.95586212 -0.01128984 -5.26216937] [ 0.20782664 -0.05229842 0.97676659 -0.07899398] [ 0. 0. 0. 1. ]] SLAMing on 238.02241403699998 meters Centerline goodness : 0.793722 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93313427 -0.28871533 -0.21425192 -10.93815125] [ 0.2932227 0.9559791 -0.01115355 -5.26183035] [ 0.20804056 -0.05241576 0.97671475 -0.07920727] [ 0. 0. 0. 1. ]] SLAMing on 238.05241403699998 meters Centerline goodness : 0.791754 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93314121 -0.28859691 -0.2143812 -10.93782455] [ 0.2930986 0.95601662 -0.01119995 -5.26138292] [ 0.20818426 -0.05238369 0.97668586 -0.07924061] [ 0. 0. 0. 1. ]] SLAMing on 238.08241403699998 meters Centerline goodness : 0.837735 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93319986 -0.28826896 -0.21456708 -10.93743191] [ 0.2927732 0.95611634 -0.01119814 -5.26083691] [ 0.20837917 -0.05236938 0.97664506 -0.07917047] [ 0. 0. 0. 1. ]] SLAMing on 238.11241403699998 meters Centerline goodness : 0.837059 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93321893 -0.28815954 -0.21463111 -10.93728799] [ 0.2926585 0.95615112 -0.01122679 -5.26075071] [ 0.20845488 -0.05233657 0.97663066 -0.07906229] [ 0. 0. 0. 1. ]] SLAMing on 238.14241403699998 meters Centerline goodness : 0.839621 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93320268 -0.28821679 -0.21462488 -10.93733589] [ 0.29268775 0.95614056 -0.01136292 -5.26063987] [ 0.20848654 -0.05221416 0.97663046 -0.07892371] [ 0. 0. 0. 1. ]] SLAMing on 238.17241403699998 meters Centerline goodness : 0.842705 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93319558 -0.28824219 -0.21462162 -10.93759714] [ 0.29266412 0.95614501 -0.01159468 -5.26033561] [ 0.20855147 -0.05199195 0.97662845 -0.07852032] [ 0. 0. 0. 1. ]] SLAMing on 238.20241403699998 meters Centerline goodness : 0.841179 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93315902 -0.28838071 -0.21459452 -10.93782847] [ 0.29276223 0.95611255 -0.01179289 -5.25984119] [ 0.20857736 -0.05182053 0.97663203 -0.07836565] [ 0. 0. 0. 1. ]] SLAMing on 238.23241403699998 meters Centerline goodness : 0.841403 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93312837 -0.28852541 -0.21453328 -10.93807399] [ 0.29286832 0.9560778 -0.01197484 -5.25939392] [ 0.20856555 -0.05165594 0.97664327 -0.07828252] [ 0. 0. 0. 1. ]] SLAMing on 238.26241403699999 meters Centerline goodness : 0.842155 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93309347 -0.28871012 -0.21443655 -10.93816358] [ 0.29301481 0.95603069 -0.01215061 -5.25927286] [ 0.20851593 -0.05149543 0.97666234 -0.07828003] [ 0. 0. 0. 1. ]] SLAMing on 238.292414037 meters Centerline goodness : 0.843521 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93467676 -0.28712555 -0.20961456 -10.94303927] [ 0.29115861 0.95659897 -0.01204508 -5.26142339] [ 0.20397553 -0.04977283 0.9777099 -0.08214147] [ 0. 0. 0. 1. ]] SLAMing on 238.322414037 meters Centerline goodness : 0.845342 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93462404 -0.28737127 -0.20951289 -10.94326379] [ 0.29134754 0.95653795 -0.01231959 -5.26100256] [ 0.20394732 -0.04952688 0.97772827 -0.08207947] [ 0. 0. 0. 1. ]] SLAMing on 238.352414037 meters Centerline goodness : 0.845530 Centerline is valid? [False, False] Translation: X:-10.94, Y:-5.26, Z:-0.08 [[ 0.93455216 -0.28783888 -0.20919141 -10.94440983] [ 0.29168396 0.95642746 -0.01292181 -5.25943356] [ 0.20379581 -0.04894168 0.97778933 -0.08171847] [ 0. 0. 0. 1. ]] SLAMing on 238.382414037 meters Centerline goodness : 0.844256 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.26, Z:-0.08 [[ 0.93445598 -0.28827782 -0.20901653 -10.94530903] [ 0.29199959 0.95632288 -0.01352005 -5.25822383] [ 0.20378482 -0.04839885 0.97781864 -0.08117786] [ 0. 0. 0. 1. ]] SLAMing on 238.412414037 meters Centerline goodness : 0.844487 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.26, Z:-0.08 [[ 0.93438497 -0.28862472 -0.20885521 -10.94613303] [ 0.29224108 0.95624182 -0.01402577 -5.2571036 ] [ 0.20376427 -0.04793061 0.97784599 -0.08074881] [ 0. 0. 0. 1. ]] SLAMing on 238.442414037 meters Centerline goodness : 0.844517 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.26, Z:-0.08 [[ 0.93425458 -0.28935135 -0.20843267 -10.94749279] [ 0.29280593 0.95605761 -0.0147831 -5.25550651] [ 0.20355115 -0.04721914 0.97792499 -0.08038997] [ 0. 0. 0. 1. ]] SLAMing on 238.472414037 meters Centerline goodness : 0.843088 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.26, Z:-0.08 [[ 0.93414897 -0.28983539 -0.20823338 -10.94811465] [ 0.29320138 0.95592961 -0.01521592 -5.25512114] [ 0.20346657 -0.04684038 0.9779608 -0.08013719] [ 0. 0. 0. 1. ]] SLAMing on 238.502414037 meters Centerline goodness : 0.789470 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.25, Z:-0.08 [[ 0.93391784 -0.29101297 -0.2076269 -10.94958191] [ 0.29424269 0.95559911 -0.01586135 -5.25487559] [ 0.20302394 -0.0462795 0.97807949 -0.08007229] [ 0. 0. 0. 1. ]] SLAMing on 238.532414037 meters Centerline goodness : 0.789593 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.25, Z:-0.08 [[ 0.93382016 -0.29165853 -0.20715985 -10.95049603] [ 0.29482719 0.95541462 -0.0161192 -5.25491269] [ 0.20262485 -0.04602393 0.9781743 -0.08023815] [ 0. 0. 0. 1. ]] SLAMing on 238.562414037 meters Centerline goodness : 0.790689 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.26, Z:-0.08 [[ 0.93370178 -0.29233213 -0.20674359 -10.95141142] [ 0.29543447 0.95522192 -0.01641826 -5.25504669] [ 0.2022856 -0.04574942 0.97825739 -0.0802264 ] [ 0. 0. 0. 1. ]] SLAMing on 238.592414037 meters Centerline goodness : 0.790242 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.09 [[ 0.93568552 -0.29163361 -0.1986012 -10.96163582] [ 0.29382011 0.95567096 -0.01904596 -5.25794194] [ 0.19535184 -0.040532 0.97989531 -0.0851995 ] [ 0. 0. 0. 1. ]] SLAMing on 238.622414037 meters Centerline goodness : 0.790869 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.09 [[ 0.93558576 -0.29211528 -0.19836316 -10.96223381] [ 0.29425606 0.9555322 -0.01927665 -5.25784934] [ 0.19517339 -0.04033461 0.97993901 -0.0851803 ] [ 0. 0. 0. 1. ]] SLAMing on 238.65241403699997 meters Centerline goodness : 0.791242 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.09 [[ 0.93548385 -0.29265657 -0.19804572 -10.96303683] [ 0.29473106 0.9553792 -0.01960078 -5.2576816 ] [ 0.19494506 -0.04003401 0.97999679 -0.08505825] [ 0. 0. 0. 1. ]] SLAMing on 238.68241403699997 meters Centerline goodness : 0.792166 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.08 [[ 0.93536856 -0.29324048 -0.19772625 -10.96395298] [ 0.29523938 0.95521445 -0.01997666 -5.25719018] [ 0.19472894 -0.03969104 0.9800537 -0.08489031] [ 0. 0. 0. 1. ]] SLAMing on 238.71241403699997 meters Centerline goodness : 0.790719 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.08 [[ 0.93530639 -0.29361423 -0.19746556 -10.96484443] [ 0.29554971 0.95511205 -0.02028182 -5.25672459] [ 0.19455677 -0.03939118 0.98009999 -0.08461292] [ 0. 0. 0. 1. ]] SLAMing on 238.74241403699997 meters Centerline goodness : 0.836095 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.26, Z:-0.08 [[ 0.93522237 -0.29400399 -0.19728348 -10.96558647] [ 0.29585326 0.95500865 -0.02072029 -5.2560561 ] [ 0.19449928 -0.03898888 0.98012749 -0.08420855] [ 0. 0. 0. 1. ]] SLAMing on 238.77241403699998 meters Centerline goodness : 0.837820 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.26, Z:-0.09 [[ 0.93741588 -0.29081985 -0.1915079 -10.97917539] [ 0.29155924 0.9562274 -0.02494753 -5.25872481] [ 0.19038034 -0.03244969 0.98117396 -0.08775161] [ 0. 0. 0. 1. ]] SLAMing on 238.80241403699998 meters Centerline goodness : 0.836176 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.26, Z:-0.09 [[ 0.93739211 -0.29093455 -0.19145003 -10.979155 ] [ 0.29164603 0.95619712 -0.02509317 -5.25799389] [ 0.19036444 -0.0323135 0.98118154 -0.08800356] [ 0. 0. 0. 1. ]] SLAMing on 238.83241403699998 meters Centerline goodness : 0.839121 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.26, Z:-0.09 [[ 0.93867257 -0.28836898 -0.1890427 -10.99485993] [ 0.28795116 0.9571661 -0.03028503 -5.2606199 ] [ 0.18967853 -0.02600734 0.98150174 -0.09001628] [ 0. 0. 0. 1. ]] SLAMing on 238.86241403699998 meters Centerline goodness : 0.840044 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.26, Z:-0.09 [[ 0.93864741 -0.28849872 -0.18896967 -10.99490634] [ 0.28798594 0.95713987 -0.03077937 -5.25856829] [ 0.18975022 -0.02552964 0.98150043 -0.09022458] [ 0. 0. 0. 1. ]] SLAMing on 238.89241403699998 meters Centerline goodness : 0.840297 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.26, Z:-0.09 [[ 0.93859834 -0.28865261 -0.1889784 -10.9950593 ] [ 0.28804883 0.95710515 -0.03126675 -5.257027 ] [ 0.18989743 -0.02508809 0.98148334 -0.09005126] [ 0. 0. 0. 1. ]] SLAMing on 238.92241403699998 meters Centerline goodness : 0.843047 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.10 [[ 0.93996472 -0.28637887 -0.18561646 -11.02244856] [ 0.2861209 0.95776168 -0.02876448 -5.26253331] [ 0.18601387 -0.02607116 0.98220117 -0.0975448 ] [ 0. 0. 0. 1. ]] SLAMing on 238.95241403699998 meters Centerline goodness : 0.843217 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.10 [[ 0.940862 -0.28327506 -0.1858331 -11.02506078] [ 0.28352524 0.95861767 -0.02579927 -5.26168426] [ 0.18545118 -0.02841482 0.98224256 -0.09722807] [ 0. 0. 0. 1. ]] SLAMing on 238.98241403699998 meters Centerline goodness : 0.844056 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.10 [[ 0.94259508 -0.27990293 -0.18212322 -11.04285648] [ 0.27932221 0.95974821 -0.02936801 -5.26484043] [ 0.18301262 -0.02318892 0.98283704 -0.09926233] [ 0. 0. 0. 1. ]] SLAMing on 239.01241403699999 meters Centerline goodness : 0.843281 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.10 [[ 0.94254364 -0.28015096 -0.18200806 -11.04333046] [ 0.27949991 0.95968455 -0.02975519 -5.26365127] [ 0.18300627 -0.02282568 0.98284673 -0.09913452] [ 0. 0. 0. 1. ]] SLAMing on 239.042414037 meters Centerline goodness : 0.845532 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.10 [[ 0.9425064 -0.28040897 -0.18180348 -11.04376701] [ 0.27970256 0.95961626 -0.03005198 -5.2627276 ] [ 0.18288842 -0.02252672 0.98287556 -0.0992236 ] [ 0. 0. 0. 1. ]] SLAMing on 239.072414037 meters Centerline goodness : 0.846904 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.27, Z:-0.10 [[ 0.94448398 -0.27761987 -0.17571914 -11.05824708] [ 0.27599019 0.96055366 -0.03414808 -5.26586195] [ 0.17826784 -0.01624445 0.9838479 -0.10284634] [ 0. 0. 0. 1. ]] SLAMing on 239.102414037 meters Centerline goodness : 0.844264 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.27, Z:-0.10 [[ 0.94442171 -0.27798833 -0.17547116 -11.05898897] [ 0.27633526 0.96044942 -0.03428889 -5.26589049] [ 0.17806308 -0.01610569 0.98388726 -0.10271815] [ 0. 0. 0. 1. ]] SLAMing on 239.132414037 meters Centerline goodness : 0.845445 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.27, Z:-0.11 [[ 0.94623709 -0.27642811 -0.16799662 -11.06835706] [ 0.27441999 0.96095348 -0.03552562 -5.26858729] [ 0.17125722 -0.01248597 0.98514723 -0.10759415] [ 0. 0. 0. 1. ]] SLAMing on 239.162414037 meters Centerline goodness : 0.847423 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.27, Z:-0.11 [[ 9.47659946e-01 -2.73577553e-01 -1.64608473e-01 -1.10857592e+01] [ 2.70901481e-01 9.61819191e-01 -3.89388112e-02 -5.27276685e+00] [ 1.68976373e-01 -7.69192720e-03 9.85590087e-01 -1.10084052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192414037 meters Centerline goodness : 0.848699 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.27, Z:-0.11 [[ 9.47590128e-01 -2.73889139e-01 -1.64492216e-01 -1.10860155e+01] [ 2.71212076e-01 9.61730540e-01 -3.89663644e-02 -5.27294797e+00] [ 1.68869651e-01 -7.68813306e-03 9.85608408e-01 -1.10189482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222414037 meters Centerline goodness : 0.845552 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.12 [[ 9.48413063e-01 -2.73487932e-01 -1.60365246e-01 -1.11103559e+01] [ 2.70962995e-01 9.61845690e-01 -3.78407716e-02 -5.27988688e+00] [ 1.64595615e-01 -7.56436524e-03 9.86332127e-01 -1.18571293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252414037 meters Centerline goodness : 0.845552 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.12 [[ 9.48413063e-01 -2.73487932e-01 -1.60365246e-01 -1.11103559e+01] [ 2.70962995e-01 9.61845690e-01 -3.78407716e-02 -5.27988688e+00] [ 1.64595615e-01 -7.56436524e-03 9.86332127e-01 -1.18571293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282414037 meters Centerline goodness : 0.844798 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.12 [[ 9.48373093e-01 -2.73763024e-01 -1.60132081e-01 -1.11106646e+01] [ 2.71247203e-01 9.61767240e-01 -3.77985460e-02 -5.28053953e+00] [ 1.64357634e-01 -7.58825518e-03 9.86371627e-01 -1.18759500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312414037 meters Centerline goodness : 0.847488 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.12 [[ 9.48299892e-01 -2.74156777e-01 -1.59891763e-01 -1.11110942e+01] [ 2.71642159e-01 9.61655179e-01 -3.78134216e-02 -5.28102887e+00] [ 1.64127548e-01 -7.57488009e-03 9.86410041e-01 -1.18933584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342414037 meters Centerline goodness : 0.848559 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.29, Z:-0.13 [[ 9.49129051e-01 -2.73601588e-01 -1.55872432e-01 -1.11375825e+01] [ 2.71391466e-01 9.61806353e-01 -3.57101016e-02 -5.28776703e+00] [ 1.59689436e-01 -8.40895305e-03 9.87131487e-01 -1.27232872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372414037 meters Centerline goodness : 0.848731 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.29, Z:-0.13 [[ 9.49073090e-01 -2.73958910e-01 -1.55585298e-01 -1.11384044e+01] [ 2.71725522e-01 9.61706142e-01 -3.58683312e-02 -5.28789633e+00] [ 1.59453786e-01 -8.23482839e-03 9.87171048e-01 -1.27006620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40241403699997 meters Centerline goodness : 0.847368 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.29, Z:-0.13 [[ 9.49012061e-01 -2.74292566e-01 -1.55369545e-01 -1.11390661e+01] [ 2.72035890e-01 9.61612393e-01 -3.60288744e-02 -5.28784664e+00] [ 1.59287732e-01 -8.07425603e-03 9.87199182e-01 -1.26849131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43241403699997 meters Centerline goodness : 0.847294 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.29, Z:-0.13 [[ 9.48971724e-01 -2.74505701e-01 -1.55239451e-01 -1.11395338e+01] [ 2.72238976e-01 9.61552173e-01 -3.61020487e-02 -5.28811822e+00] [ 1.59181050e-01 -8.00240592e-03 9.87216975e-01 -1.26639538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46241403699997 meters Centerline goodness : 0.850854 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.29, Z:-0.13 [[ 9.48980232e-01 -2.74438703e-01 -1.55305887e-01 -1.11393352e+01] [ 2.72181966e-01 9.61570715e-01 -3.60380083e-02 -5.28817966e+00] [ 1.59227817e-01 -8.07210407e-03 9.87208865e-01 -1.26675162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49241403699997 meters Centerline goodness : 0.848193 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.29, Z:-0.13 [[ 9.48954361e-01 -2.74519764e-01 -1.55320702e-01 -1.11394745e+01] [ 2.72260162e-01 9.61547633e-01 -3.60631934e-02 -5.28810929e+00] [ 1.59248312e-01 -8.06531475e-03 9.87205615e-01 -1.26576657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52241403699998 meters Centerline goodness : 0.848041 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.29, Z:-0.13 [[ 9.48925714e-01 -2.74622257e-01 -1.55314539e-01 -1.11395900e+01] [ 2.72354582e-01 9.61518710e-01 -3.61213565e-02 -5.28827545e+00] [ 1.59257563e-01 -8.02414234e-03 9.87204458e-01 -1.26401868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55241403699998 meters Centerline goodness : 0.845857 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.29, Z:-0.13 [[ 9.50562243e-01 -2.71877668e-01 -1.50046514e-01 -1.11549944e+01] [ 2.68905833e-01 9.62329341e-01 -4.01483866e-02 -5.29320218e+00] [ 1.55309612e-01 -2.18484243e-03 9.87863427e-01 -1.28694872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58241403699998 meters Centerline goodness : 0.844496 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.29, Z:-0.13 [[ 9.50529574e-01 -2.71999271e-01 -1.50033080e-01 -1.11550429e+01] [ 2.69053504e-01 9.62294580e-01 -3.99919269e-02 -5.29442213e+00] [ 1.55253795e-01 -2.35341677e-03 9.87871814e-01 -1.28597530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61241403699998 meters Centerline goodness : 0.845251 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.30, Z:-0.13 [[ 9.52342155e-01 -2.68765903e-01 -1.44254320e-01 -1.11693954e+01] [ 2.65258933e-01 9.63200696e-01 -4.33833885e-02 -5.29952113e+00] [ 1.50605837e-01 3.05108267e-03 9.88589183e-01 -1.31753755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64241403699998 meters Centerline goodness : 0.844129 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.30, Z:-0.13 [[ 9.52266275e-01 -2.69111786e-01 -1.44110335e-01 -1.11697031e+01] [ 2.65656050e-01 9.63105063e-01 -4.30755150e-02 -5.30232272e+00] [ 1.50385522e-01 2.73557774e-03 9.88623645e-01 -1.31524769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67241403699998 meters Centerline goodness : 0.843153 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.30, Z:-0.13 [[ 9.52257467e-01 -2.69141631e-01 -1.44112800e-01 -1.11696630e+01] [ 2.65718042e-01 9.63097295e-01 -4.28663285e-02 -5.30345369e+00] [ 1.50331761e-01 2.52641033e-03 9.88632378e-01 -1.31474011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70241403699998 meters Centerline goodness : 0.844747 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.30, Z:-0.13 [[ 9.52276250e-01 -2.69010943e-01 -1.44232649e-01 -1.11694257e+01] [ 2.65626450e-01 9.63134486e-01 -4.25975453e-02 -5.30434747e+00] [ 1.50374644e-01 2.25262409e-03 9.88626518e-01 -1.31419617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73241403699998 meters Centerline goodness : 0.845359 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.30, Z:-0.13 [[ 9.52308305e-01 -2.68838619e-01 -1.44342260e-01 -1.11691741e+01] [ 2.65482141e-01 9.63183039e-01 -4.23988806e-02 -5.30493364e+00] [ 1.50426473e-01 2.05651381e-03 9.88619061e-01 -1.31345088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76241403699999 meters Centerline goodness : 0.844337 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.31, Z:-0.13 [[ 9.52424191e-01 -2.68210178e-01 -1.44746197e-01 -1.11681696e+01] [ 2.64939285e-01 9.63359333e-01 -4.17848189e-02 -5.30629655e+00] [ 1.50649713e-01 1.44791831e-03 9.88586146e-01 -1.31358903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792414037 meters Centerline goodness : 0.845635 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.31, Z:-0.13 [[ 9.52500355e-01 -2.67838139e-01 -1.44933794e-01 -1.11675590e+01] [ 2.64626128e-01 9.63463350e-01 -4.13688884e-02 -5.30724684e+00] [ 1.50718565e-01 1.05061227e-03 9.88576153e-01 -1.31514509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822414037 meters Centerline goodness : 0.845506 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.31, Z:-0.13 [[ 9.52529793e-01 -2.67701193e-01 -1.44993324e-01 -1.11674329e+01] [ 2.64516418e-01 9.63501589e-01 -4.11795227e-02 -5.30812841e+00] [ 1.50725105e-01 8.71607552e-04 9.88575330e-01 -1.31402104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852414037 meters Centerline goodness : 0.846326 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.31, Z:-0.14 [[ 9.54571809e-01 -2.64246341e-01 -1.37719037e-01 -1.11768085e+01] [ 2.60832074e-01 9.64443526e-01 -4.26065189e-02 -5.31434639e+00] [ 1.44080850e-01 4.74943994e-03 9.89554522e-01 -1.35484191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882414037 meters Centerline goodness : 0.845940 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.32, Z:-0.14 [[ 9.54593585e-01 -2.64237476e-01 -1.37585040e-01 -1.11769896e+01] [ 2.60882878e-01 9.64447656e-01 -4.22000275e-02 -5.31614677e+00] [ 1.43844398e-01 4.39029438e-03 9.89590579e-01 -1.35500190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912414037 meters Centerline goodness : 0.849858 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.32, Z:-0.14 [[ 9.56273469e-01 -2.60504558e-01 -1.32960247e-01 -1.11914778e+01] [ 2.56644536e-01 9.65425175e-01 -4.56925918e-02 -5.32150614e+00] [ 1.40266298e-01 9.57109241e-03 9.90067553e-01 -1.37769090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942414037 meters Centerline goodness : 0.846263 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.32, Z:-0.14 [[ 9.56407465e-01 -2.59862094e-01 -1.33253337e-01 -1.11900157e+01] [ 2.56139396e-01 9.65607599e-01 -4.46606612e-02 -5.32449191e+00] [ 1.40276048e-01 8.58236035e-03 9.90075236e-01 -1.38522732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972414037 meters Centerline goodness : 0.846267 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.33, Z:-0.14 [[ 9.56490459e-01 -2.59380866e-01 -1.33594792e-01 -1.11887606e+01] [ 2.55726212e-01 9.65741612e-01 -4.41275749e-02 -5.32558073e+00] [ 1.40463898e-01 8.04391435e-03 9.90053124e-01 -1.39035867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002414037 meters Centerline goodness : 0.849352 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.33, Z:-0.14 [[ 9.56583487e-01 -2.58834507e-01 -1.33987800e-01 -1.11875668e+01] [ 2.55235080e-01 9.65891906e-01 -4.36792914e-02 -5.32627800e+00] [ 1.40723439e-01 7.58450206e-03 9.90019893e-01 -1.39367836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032414037 meters Centerline goodness : 0.850039 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.33, Z:-0.14 [[ 9.57561139e-01 -2.54719010e-01 -1.34888439e-01 -1.11876914e+01] [ 2.51675241e-01 9.67007552e-01 -3.94457567e-02 -5.32908747e+00] [ 1.40485723e-01 3.82364345e-03 9.90075321e-01 -1.39407357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062414037 meters Centerline goodness : 0.847979 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.33, Z:-0.14 [[ 9.57654579e-01 -2.54181411e-01 -1.35238739e-01 -1.11868684e+01] [ 2.51174665e-01 9.67150181e-01 -3.91384089e-02 -5.32978768e+00] [ 1.40744427e-01 3.51253143e-03 9.90039731e-01 -1.39275076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092414037 meters Centerline goodness : 0.849964 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.33, Z:-0.14 [[ 9.57724864e-01 -2.53737157e-01 -1.35574850e-01 -1.11861485e+01] [ 2.50761956e-01 9.67267790e-01 -3.88775569e-02 -5.33046274e+00] [ 1.41001867e-01 3.23698823e-03 9.90004038e-01 -1.39100306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122414037 meters Centerline goodness : 0.851158 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.33, Z:-0.14 [[ 9.57887501e-01 -2.52924408e-01 -1.35944031e-01 -1.11852278e+01] [ 2.50021697e-01 9.67482270e-01 -3.83041568e-02 -5.33186436e+00] [ 1.41211496e-01 2.70211570e-03 9.89975763e-01 -1.38952977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15241403699997 meters Centerline goodness : 0.804909 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.33, Z:-0.14 [[ 9.57962618e-01 -2.52534231e-01 -1.36139944e-01 -1.11845870e+01] [ 2.49674100e-01 9.67585015e-01 -3.79747688e-02 -5.33264517e+00] [ 1.41316899e-01 2.38779083e-03 9.89961531e-01 -1.39047911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18241403699997 meters Centerline goodness : 0.806645 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.33, Z:-0.14 [[ 9.58036512e-01 -2.52142585e-01 -1.36345731e-01 -1.11839196e+01] [ 2.49327646e-01 9.67687914e-01 -3.76274614e-02 -5.33356584e+00] [ 1.41427602e-01 2.05372159e-03 9.89946471e-01 -1.39108609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21241403699997 meters Centerline goodness : 0.806022 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58180317e-01 -2.51433454e-01 -1.36644426e-01 -1.11827073e+01] [ 2.48725033e-01 9.67873713e-01 -3.68284290e-02 -5.33583994e+00] [ 1.41514447e-01 1.30138633e-03 9.89935335e-01 -1.39457133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24241403699997 meters Centerline goodness : 0.806142 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58260675e-01 -2.50960727e-01 -1.36949600e-01 -1.11818546e+01] [ 2.48315615e-01 9.67996917e-01 -3.63500268e-02 -5.33704187e+00] [ 1.41689219e-01 8.26077169e-04 9.89910846e-01 -1.39534637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27241403699998 meters Centerline goodness : 0.806511 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58349129e-01 -2.50472164e-01 -1.37224789e-01 -1.11809548e+01] [ 2.47888597e-01 9.68123730e-01 -3.58843679e-02 -5.33796080e+00] [ 1.41838610e-01 3.73292271e-04 9.89889726e-01 -1.39774933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30241403699998 meters Centerline goodness : 0.807348 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58414709e-01 -2.50068621e-01 -1.37502474e-01 -1.11802675e+01] [ 2.47528894e-01 9.68228116e-01 -3.55494424e-02 -5.33876222e+00] [ 1.42023562e-01 3.52730884e-05 9.89863277e-01 -1.39747354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33241403699998 meters Centerline goodness : 0.805537 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58513943e-01 -2.49415608e-01 -1.37995929e-01 -1.11792675e+01] [ 2.46927292e-01 9.68396460e-01 -3.51455265e-02 -5.33966813e+00] [ 1.42400612e-01 -3.87483827e-04 9.89809030e-01 -1.39433708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36241403699998 meters Centerline goodness : 0.847905 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58545908e-01 -2.49215400e-01 -1.38135538e-01 -1.11790922e+01] [ 2.46747577e-01 9.68447927e-01 -3.49892341e-02 -5.34010474e+00] [ 1.42496931e-01 -5.45822183e-04 9.89795093e-01 -1.39216714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39241403699998 meters Centerline goodness : 0.849584 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58595703e-01 -2.48937751e-01 -1.38290541e-01 -1.11788628e+01] [ 2.46502529e-01 9.68519169e-01 -3.47436546e-02 -5.34094515e+00] [ 1.42586047e-01 -7.83850068e-04 9.89782100e-01 -1.38916435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42241403699998 meters Centerline goodness : 0.807975 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58615716e-01 -2.48793868e-01 -1.38410691e-01 -1.11786644e+01] [ 2.46383664e-01 9.68555970e-01 -3.45604349e-02 -5.34174462e+00] [ 1.42656925e-01 -9.71957139e-04 9.89771720e-01 -1.38731115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45241403699998 meters Centerline goodness : 0.806245 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58695689e-01 -2.48390137e-01 -1.38581802e-01 -1.11779465e+01] [ 2.46042781e-01 9.68659050e-01 -3.40968334e-02 -5.34369604e+00] [ 1.42707834e-01 -1.40856472e-03 9.89763856e-01 -1.38728764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48241403699998 meters Centerline goodness : 0.847986 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58712623e-01 -2.48223922e-01 -1.38762354e-01 -1.11774288e+01] [ 2.45900888e-01 9.68701353e-01 -3.39181571e-02 -5.34420740e+00] [ 1.42838578e-01 -1.60402063e-03 9.89744698e-01 -1.38813826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51241403699999 meters Centerline goodness : 0.806163 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.14 [[ 9.58729421e-01 -2.48034911e-01 -1.38984097e-01 -1.11768472e+01] [ 2.45733577e-01 9.68749442e-01 -3.37568977e-02 -5.34471061e+00] [ 1.43013656e-01 -1.78932836e-03 9.89719098e-01 -1.38856369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542414037 meters Centerline goodness : 0.847541 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.14 [[ 9.58754625e-01 -2.47908274e-01 -1.39036171e-01 -1.11766198e+01] [ 2.45631792e-01 9.68781526e-01 -3.35764401e-02 -5.34512679e+00] [ 1.43019552e-01 -1.96013678e-03 9.89717922e-01 -1.38900616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572414037 meters Centerline goodness : 0.846901 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.14 [[ 9.58737959e-01 -2.47940010e-01 -1.39094489e-01 -1.11767139e+01] [ 2.45661273e-01 9.68773402e-01 -3.35951458e-02 -5.34542152e+00] [ 1.43080622e-01 -1.96118764e-03 9.89709093e-01 -1.38555315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602414037 meters Centerline goodness : 0.848299 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.14 [[ 9.58735580e-01 -2.47967353e-01 -1.39062140e-01 -1.11767423e+01] [ 2.45697346e-01 9.68766294e-01 -3.35362733e-02 -5.34587035e+00] [ 1.43034615e-01 -2.01478031e-03 9.89715636e-01 -1.38493857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632414037 meters Centerline goodness : 0.848037 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.14 [[ 9.58723813e-01 -2.48102589e-01 -1.38901965e-01 -1.11769729e+01] [ 2.45872877e-01 9.68731126e-01 -3.32645999e-02 -5.34765258e+00] [ 1.42811691e-01 -2.26066174e-03 9.89747296e-01 -1.38449970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662414037 meters Centerline goodness : 0.847081 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.14 [[ 9.58708851e-01 -2.48238299e-01 -1.38762695e-01 -1.11772959e+01] [ 2.46023361e-01 9.68696174e-01 -3.31697015e-02 -5.34868271e+00] [ 1.42652882e-01 -2.33877819e-03 9.89770016e-01 -1.38265410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692414037 meters Centerline goodness : 0.848872 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.14 [[ 9.58599138e-01 -2.48918002e-01 -1.38302280e-01 -1.11785990e+01] [ 2.46713649e-01 9.68521698e-01 -3.31375230e-02 -5.35069427e+00] [ 1.42197285e-01 -2.35545904e-03 9.89835534e-01 -1.37778241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722414037 meters Centerline goodness : 0.852878 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.14 [[ 9.58601229e-01 -2.48964733e-01 -1.38203640e-01 -1.11788366e+01] [ 2.46785387e-01 9.68509308e-01 -3.29650224e-02 -5.35156156e+00] [ 1.42058640e-01 -2.50632773e-03 9.89855071e-01 -1.37713843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752414037 meters Centerline goodness : 0.853031 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.36, Z:-0.13 [[ 9.58264623e-01 -2.43043327e-01 -1.50528584e-01 -1.11799864e+01] [ 2.41279660e-01 9.69987027e-01 -3.01544831e-02 -5.35729032e+00] [ 1.53339619e-01 -7.42351111e-03 9.88145664e-01 -1.33535853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782414037 meters Centerline goodness : 0.854980 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.36, Z:-0.13 [[ 9.58318117e-01 -2.42775567e-01 -1.50620086e-01 -1.11795058e+01] [ 2.41077102e-01 9.70050867e-01 -2.97177770e-02 -5.35840391e+00] [ 1.53323895e-01 -7.83196973e-03 9.88144951e-01 -1.33779893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812414037 meters Centerline goodness : 0.851527 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.36, Z:-0.13 [[ 9.58257391e-01 -2.42480362e-01 -1.51479524e-01 -1.11774992e+01] [ 2.40886742e-01 9.70117877e-01 -2.90668487e-02 -5.35874092e+00] [ 1.54001134e-01 -8.63588639e-03 9.88032931e-01 -1.34108715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842414037 meters Centerline goodness : 0.854274 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.36, Z:-0.13 [[ 9.58198293e-01 -2.42167811e-01 -1.52350854e-01 -1.11754170e+01] [ 2.40688824e-01 9.70187921e-01 -2.83599667e-02 -5.35932229e+00] [ 1.54676829e-01 -9.49467619e-03 9.87919496e-01 -1.34356676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872414037 meters Centerline goodness : 0.806917 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.36, Z:-0.13 [[ 9.58096140e-01 -2.42167167e-01 -1.52992973e-01 -1.11737708e+01] [ 2.40758673e-01 9.70182445e-01 -2.79514732e-02 -5.35955449e+00] [ 1.55200026e-01 -1.00541865e-02 9.87831901e-01 -1.34636699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90241403699997 meters Centerline goodness : 0.853183 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.36, Z:-0.13 [[ 9.57993537e-01 -2.42115420e-01 -1.53715671e-01 -1.11721367e+01] [ 2.40776686e-01 9.70189378e-01 -2.75528153e-02 -5.35982338e+00] [ 1.55804272e-01 -1.06157308e-02 9.87730902e-01 -1.34660668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93241403699997 meters Centerline goodness : 0.854223 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.36, Z:-0.14 [[ 0.95787157 -0.24211298 -0.1544777 -11.16952835] [ 0.24087612 0.97018128 -0.02696244 -5.36077525] [ 0.15639933 -0.01138344 0.9876283 -0.13553182] [ 0. 0. 0. 1. ]] SLAMing on 240.96241403699997 meters Centerline goodness : 0.806697 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.37, Z:-0.13 [[ 0.95734267 -0.23619668 -0.16645161 -11.17058024] [ 0.23547135 0.97157574 -0.02436857 -5.36670316] [ 0.16747612 -0.01586551 0.98574846 -0.13210977] [ 0. 0. 0. 1. ]] SLAMing on 240.99241403699997 meters Centerline goodness : 0.805170 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.37, Z:-0.13 [[ 0.95720724 -0.23618972 -0.16723851 -11.16794574] [ 0.23561134 0.9715612 -0.0235824 -5.36811265] [ 0.16805236 -0.01683005 0.98563439 -0.13285479] [ 0. 0. 0. 1. ]] SLAMing on 241.02241403699998 meters Centerline goodness : 0.805633 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.37, Z:-0.13 [[ 0.95710359 -0.23619885 -0.16781782 -11.16637335] [ 0.23567089 0.97155243 -0.02334742 -5.36813102] [ 0.16855844 -0.01720388 0.98554151 -0.13316057] [ 0. 0. 0. 1. ]] SLAMing on 241.05241403699998 meters Centerline goodness : 0.849532 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.37, Z:-0.13 [[ 0.95705795 -0.23597551 -0.16839135 -11.16499872] [ 0.2355166 0.9715985 -0.02298464 -5.36810968] [ 0.16903259 -0.01766132 0.98545221 -0.13329631] [ 0. 0. 0. 1. ]] SLAMing on 241.08241403699998 meters Centerline goodness : 0.802244 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.37, Z:-0.13 [[ 0.95700462 -0.23595255 -0.16872624 -11.16424926] [ 0.23552334 0.97160015 -0.02284535 -5.36761016] [ 0.16932485 -0.01787586 0.98539817 -0.13341667] [ 0. 0. 0. 1. ]] SLAMing on 241.11241403699998 meters Centerline goodness : 0.847824 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.37, Z:-0.13 [[ 0.9569512 -0.23626619 -0.1685903 -11.16491894] [ 0.23574217 0.97153362 -0.02341061 -5.36618388] [ 0.16932228 -0.01734103 0.98540817 -0.13295491] [ 0. 0. 0. 1. ]] SLAMing on 241.14241403699998 meters Centerline goodness : 0.847824 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.37, Z:-0.13 [[ 0.9569512 -0.23626619 -0.1685903 -11.16491894] [ 0.23574217 0.97153362 -0.02341061 -5.36618388] [ 0.16932228 -0.01734103 0.98540817 -0.13295491] [ 0. 0. 0. 1. ]] SLAMing on 241.17241403699998 meters Centerline goodness : 0.802287 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.37, Z:-0.13 [[ 0.95737348 -0.23325461 -0.17037694 -11.16296395] [ 0.23346544 0.97217782 -0.0190832 -5.36777714] [ 0.17008793 -0.02150738 0.98519416 -0.13264581] [ 0. 0. 0. 1. ]] SLAMing on 241.20241403699998 meters Centerline goodness : 0.849470 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.37, Z:-0.13 [[ 0.95736204 -0.233105 -0.17064581 -11.16259318] [ 0.23333207 0.97221127 -0.01901035 -5.36698207] [ 0.17033519 -0.02161735 0.98514903 -0.13254663] [ 0. 0. 0. 1. ]] SLAMing on 241.23241403699998 meters Centerline goodness : 0.848889 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.37, Z:-0.13 [[ 0.95729697 -0.23349233 -0.17048122 -11.16340271] [ 0.23363158 0.97212899 -0.01953212 -5.36603438] [ 0.17029034 -0.02113176 0.98516732 -0.13203442] [ 0. 0. 0. 1. ]] SLAMing on 241.26241403699999 meters Centerline goodness : 0.851301 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.36, Z:-0.13 [[ 0.95718585 -0.2341643 -0.17018321 -11.16478565] [ 0.23413961 0.97198674 -0.02050418 -5.36411052] [ 0.17021717 -0.02022032 0.98519909 -0.13117618] [ 0. 0. 0. 1. ]] SLAMing on 241.292414037 meters Centerline goodness : 0.849001 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.36, Z:-0.13 [[ 0.95714026 -0.23445056 -0.17004544 -11.16517564] [ 0.23437618 0.97192342 -0.020801 -5.36339523] [ 0.17014795 -0.01994513 0.98521666 -0.13112687] [ 0. 0. 0. 1. ]] SLAMing on 241.322414037 meters Centerline goodness : 0.850387 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.36, Z:-0.13 [[ 0.95711084 -0.23463491 -0.16995673 -11.16528023] [ 0.23452355 0.97188313 -0.02102106 -5.36269279] [ 0.17011036 -0.01973938 0.9852273 -0.13128067] [ 0. 0. 0. 1. ]] SLAMing on 241.352414037 meters Centerline goodness : 0.850491 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.36, Z:-0.13 [[ 0.95708799 -0.2347213 -0.16996613 -11.16483215] [ 0.23456799 0.97186693 -0.02127286 -5.36128992] [ 0.17017766 -0.01950861 0.98522027 -0.13184833] [ 0. 0. 0. 1. ]] SLAMing on 241.382414037 meters Centerline goodness : 0.849520 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.36, Z:-0.13 [[ 0.95707337 -0.23474375 -0.17001747 -11.16448181] [ 0.23455839 0.97186499 -0.02146629 -5.36025914] [ 0.1702731 -0.01933421 0.98520722 -0.1321363 ] [ 0. 0. 0. 1. ]] SLAMing on 241.412414037 meters Centerline goodness : 0.850213 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.36, Z:-0.13 [[ 0.95706782 -0.2347384 -0.17005607 -11.16420825] [ 0.23451635 0.97187034 -0.02168248 -5.35907936] [ 0.17036216 -0.01912932 0.98519582 -0.13238936] [ 0. 0. 0. 1. ]] SLAMing on 241.442414037 meters Centerline goodness : 0.848546 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.36, Z:-0.13 [[ 0.9571079 -0.23457415 -0.17005715 -11.16382676] [ 0.23428997 0.97191719 -0.02202711 -5.35663122] [ 0.17044846 -0.01876036 0.98518799 -0.13289082] [ 0. 0. 0. 1. ]] SLAMing on 241.472414037 meters Centerline goodness : 0.850450 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.36, Z:-0.13 [[ 0.95708589 -0.2347397 -0.16995256 -11.16416814] [ 0.23439565 0.97188372 -0.02237639 -5.35538392] [ 0.17042675 -0.01842001 0.98519817 -0.13284961] [ 0. 0. 0. 1. ]] SLAMing on 241.502414037 meters Centerline goodness : 0.849745 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.35, Z:-0.13 [[ 0.95703967 -0.23503121 -0.16980989 -11.16475329] [ 0.23461587 0.97182076 -0.02279908 -5.35421868] [ 0.17038327 -0.01802047 0.98521307 -0.13262794] [ 0. 0. 0. 1. ]] SLAMing on 241.532414037 meters Centerline goodness : 0.850009 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.95692827 -0.2358862 -0.16925127 -11.16695494] [ 0.23527666 0.97163353 -0.02394105 -5.35197101] [ 0.17009758 -0.016911 0.98528211 -0.13149826] [ 0. 0. 0. 1. ]] SLAMing on 241.562414037 meters Centerline goodness : 0.849655 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.95686413 -0.23641823 -0.16887112 -11.16819538] [ 0.23570949 0.97151404 -0.02452564 -5.35108655] [ 0.16985897 -0.01633682 0.98533296 -0.13098859] [ 0. 0. 0. 1. ]] SLAMing on 241.592414037 meters Centerline goodness : 0.848427 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.95679931 -0.23690895 -0.16855037 -11.16915636] [ 0.23612933 0.97140128 -0.02494966 -5.35043575] [ 0.16964085 -0.01592787 0.98537723 -0.13073056] [ 0. 0. 0. 1. ]] SLAMing on 241.622414037 meters Centerline goodness : 0.846045 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.95666579 -0.2376839 -0.1682169 -11.16982519] [ 0.23681357 0.97122004 -0.02551425 -5.3493624 ] [ 0.16943995 -0.01542744 0.98541976 -0.13092019] [ 0. 0. 0. 1. ]] SLAMing on 241.65241403699997 meters Centerline goodness : 0.847112 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.9566245 -0.23789262 -0.16815664 -11.16963199] [ 0.23700283 0.97117055 -0.02564032 -5.34887991] [ 0.16940842 -0.01532544 0.98542677 -0.13135642] [ 0. 0. 0. 1. ]] SLAMing on 241.68241403699997 meters Centerline goodness : 0.847394 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.95657833 -0.23812846 -0.16808551 -11.16939432] [ 0.23721951 0.97111431 -0.02576615 -5.34830626] [ 0.1693659 -0.01522582 0.98543562 -0.13186417] [ 0. 0. 0. 1. ]] SLAMing on 241.71241403699997 meters Centerline goodness : 0.841856 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.95653321 -0.23842026 -0.16792858 -11.16904489] [ 0.23748453 0.97104508 -0.02593353 -5.3471156 ] [ 0.1692493 -0.01507416 0.98545799 -0.13283688] [ 0. 0. 0. 1. ]] SLAMing on 241.74241403699997 meters Centerline goodness : 0.788222 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.35, Z:-0.13 [[ 0.95652467 -0.23853465 -0.16781472 -11.16903866] [ 0.23756877 0.97101977 -0.02610896 -5.34609304] [ 0.1691793 -0.01489367 0.98547275 -0.13321336] [ 0. 0. 0. 1. ]] SLAMing on 241.77241403699998 meters Centerline goodness : 0.787255 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95645453 -0.23887312 -0.16773299 -11.16942614] [ 0.23783079 0.97094293 -0.02657695 -5.34482868] [ 0.16920768 -0.01447242 0.98547415 -0.1330474 ] [ 0. 0. 0. 1. ]] SLAMing on 241.80241403699998 meters Centerline goodness : 0.842040 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95638089 -0.23937392 -0.1674387 -11.17056765] [ 0.23817732 0.97083242 -0.02749496 -5.34230571] [ 0.16913649 -0.01358445 0.98549902 -0.13247905] [ 0. 0. 0. 1. ]] SLAMing on 241.83241403699998 meters Centerline goodness : 0.789512 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95634418 -0.23959657 -0.16732989 -11.17114698] [ 0.23833226 0.97078283 -0.02790039 -5.34130659] [ 0.16912582 -0.01319774 0.9855061 -0.13209524] [ 0. 0. 0. 1. ]] SLAMing on 241.86241403699998 meters Centerline goodness : 0.788802 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95630642 -0.23980461 -0.16724767 -11.17164294] [ 0.23848164 0.97073591 -0.02825402 -5.34054819] [ 0.16912877 -0.012866 0.98550998 -0.1317277 ] [ 0. 0. 0. 1. ]] SLAMing on 241.89241403699998 meters Centerline goodness : 0.790442 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95626065 -0.24008222 -0.16711102 -11.17211623] [ 0.23870094 0.97067165 -0.02860781 -5.33996175] [ 0.16907815 -0.01253303 0.98552296 -0.13143612] [ 0. 0. 0. 1. ]] SLAMing on 241.92241403699998 meters Centerline goodness : 0.788324 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95620952 -0.24045207 -0.16687165 -11.1726718 ] [ 0.2390347 0.97058285 -0.02883292 -5.33981524] [ 0.1688957 -0.0123178 0.98555696 -0.13139436] [ 0. 0. 0. 1. ]] SLAMing on 241.95241403699998 meters Centerline goodness : 0.789093 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95617853 -0.2405821 -0.16686181 -11.17259288] [ 0.2391557 0.97055116 -0.02889632 -5.33985788] [ 0.16889986 -0.01227592 0.98555677 -0.13146926] [ 0. 0. 0. 1. ]] SLAMing on 241.98241403699998 meters Centerline goodness : 0.788107 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95614662 -0.24066158 -0.16693004 -11.1722972 ] [ 0.23922723 0.97053179 -0.02895469 -5.33973493] [ 0.16897919 -0.01224928 0.9855435 -0.13160281] [ 0. 0. 0. 1. ]] SLAMing on 242.01241403699999 meters Centerline goodness : 0.788382 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95611482 -0.24083807 -0.16685764 -11.17216743] [ 0.23939939 0.97048828 -0.02899015 -5.33915643] [ 0.16891532 -0.0122277 0.98555472 -0.13209543] [ 0. 0. 0. 1. ]] SLAMing on 242.042414037 meters Centerline goodness : 0.787528 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95606598 -0.24097289 -0.16694281 -11.17208626] [ 0.23951272 0.97045602 -0.0291335 -5.33888688] [ 0.16903104 -0.01213137 0.98553607 -0.13199987] [ 0. 0. 0. 1. ]] SLAMing on 242.072414037 meters Centerline goodness : 0.785878 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95603123 -0.24115264 -0.16688225 -11.17226411] [ 0.23965473 0.97041399 -0.02936493 -5.33851225] [ 0.1690263 -0.01192033 0.98553945 -0.13187207] [ 0. 0. 0. 1. ]] SLAMing on 242.102414037 meters Centerline goodness : 0.786071 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95599974 -0.24128924 -0.16686523 -11.17243671] [ 0.23975291 0.9703826 -0.0295997 -5.33798338] [ 0.1690652 -0.01170912 0.98553531 -0.13166719] [ 0. 0. 0. 1. ]] SLAMing on 242.132414037 meters Centerline goodness : 0.787502 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.95596778 -0.24139405 -0.16689674 -11.17247041] [ 0.23979954 0.97036033 -0.02995012 -5.33660945] [ 0.16917976 -0.01139041 0.98551939 -0.13159947] [ 0. 0. 0. 1. ]] SLAMing on 242.162414037 meters Centerline goodness : 0.786354 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.34, Z:-0.13 [[ 0.9559576 -0.24123671 -0.16718227 -11.17183712] [ 0.23961032 0.97040115 -0.03014122 -5.33562113] [ 0.16950504 -0.01124487 0.98546517 -0.13155127] [ 0. 0. 0. 1. ]] SLAMing on 242.192414037 meters Centerline goodness : 0.784218 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55982170e-01 -2.40918605e-01 -1.67500200e-01 -1.11711771e+01] [ 2.39234897e-01 9.70483598e-01 -3.04671789e-02 -5.33358057e+00] [ 1.69896307e-01 -1.09458133e-02 9.85401154e-01 -1.31462432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222414037 meters Centerline goodness : 0.784259 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55984841e-01 -2.40814306e-01 -1.67634884e-01 -1.11708933e+01] [ 2.39099091e-01 9.70511329e-01 -3.06493790e-02 -5.33267795e+00] [ 1.70072363e-01 -1.07810067e-02 9.85372600e-01 -1.31401093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.252414037 meters Centerline goodness : 0.833187 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55968198e-01 -2.40904836e-01 -1.67599716e-01 -1.11709741e+01] [ 2.39153708e-01 9.70491097e-01 -3.08631684e-02 -5.33187006e+00] [ 1.70089119e-01 -1.05778861e-02 9.85371910e-01 -1.31421005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282414037 meters Centerline goodness : 0.835345 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55928179e-01 -2.41174928e-01 -1.67439454e-01 -1.11717603e+01] [ 2.39323754e-01 9.70430119e-01 -3.14567053e-02 -5.33073578e+00] [ 1.70074858e-01 -1.00018877e-02 9.85380386e-01 -1.30768539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312414037 meters Centerline goodness : 0.835354 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55873110e-01 -2.41479421e-01 -1.67314933e-01 -1.11724344e+01] [ 2.39553503e-01 9.70358655e-01 -3.19092527e-02 -5.33005546e+00] [ 1.70060921e-01 -9.57968177e-03 9.85386986e-01 -1.30224182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342414037 meters Centerline goodness : 0.834445 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55829798e-01 -2.41709247e-01 -1.67230493e-01 -1.11728989e+01] [ 2.39726719e-01 9.70304521e-01 -3.22526945e-02 -5.32950022e+00] [ 1.70060278e-01 -9.26153079e-03 9.85390139e-01 -1.29837062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372414037 meters Centerline goodness : 0.836615 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55847303e-01 -2.41608998e-01 -1.67275296e-01 -1.11725560e+01] [ 2.39599158e-01 9.70330968e-01 -3.24045722e-02 -5.32854603e+00] [ 1.70141636e-01 -9.10519717e-03 9.85377551e-01 -1.30025488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40241403699997 meters Centerline goodness : 0.834678 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55835990e-01 -2.41526562e-01 -1.67458890e-01 -1.11719552e+01] [ 2.39511756e-01 9.70351494e-01 -3.24360419e-02 -5.32804176e+00] [ 1.70328150e-01 -9.10483665e-03 9.85345332e-01 -1.30262992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43241403699997 meters Centerline goodness : 0.836441 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55822177e-01 -2.41487976e-01 -1.67593328e-01 -1.11714247e+01] [ 2.39464417e-01 9.70361354e-01 -3.24905496e-02 -5.32758413e+00] [ 1.70472166e-01 -9.07745079e-03 9.85320679e-01 -1.30520429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46241403699997 meters Centerline goodness : 0.838523 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55827310e-01 -2.41407148e-01 -1.67680475e-01 -1.11709454e+01] [ 2.39391858e-01 9.70380936e-01 -3.24403815e-02 -5.32729366e+00] [ 1.70545276e-01 -9.13393773e-03 9.85307505e-01 -1.30858985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49241403699997 meters Centerline goodness : 0.838352 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55799321e-01 -2.41562281e-01 -1.67616590e-01 -1.11712194e+01] [ 2.39524151e-01 9.70343526e-01 -3.25825463e-02 -5.32689836e+00] [ 1.70516388e-01 -9.00584580e-03 9.85313684e-01 -1.30765816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52241403699998 meters Centerline goodness : 0.840588 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55758133e-01 -2.41779520e-01 -1.67538217e-01 -1.11715610e+01] [ 2.39705181e-01 9.70291268e-01 -3.28067302e-02 -5.32669677e+00] [ 1.70492864e-01 -8.80447938e-03 9.85319575e-01 -1.30505538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55241403699998 meters Centerline goodness : 0.838924 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55744130e-01 -2.41880452e-01 -1.67472402e-01 -1.11718890e+01] [ 2.39796067e-01 9.70266662e-01 -3.28702250e-02 -5.32682596e+00] [ 1.70443553e-01 -8.74369860e-03 9.85328647e-01 -1.30250820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58241403699998 meters Centerline goodness : 0.784013 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55712815e-01 -2.42042651e-01 -1.67416755e-01 -1.11722386e+01] [ 2.39939972e-01 9.70227110e-01 -3.29873573e-02 -5.32707937e+00] [ 1.70416621e-01 -8.64353130e-03 9.85334189e-01 -1.29925185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61241403699998 meters Centerline goodness : 0.839419 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55687798e-01 -2.42286528e-01 -1.67206671e-01 -1.11726362e+01] [ 2.40184303e-01 9.70166383e-01 -3.29953121e-02 -5.32799944e+00] [ 1.70212611e-01 -8.62720066e-03 9.85369595e-01 -1.29813313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64241403699998 meters Centerline goodness : 0.786640 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55690635e-01 -2.42242577e-01 -1.67254131e-01 -1.11724108e+01] [ 2.40156057e-01 9.70176510e-01 -3.29030018e-02 -5.32846962e+00] [ 1.70236537e-01 -8.72200189e-03 9.85364627e-01 -1.29816469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67241403699998 meters Centerline goodness : 0.786072 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55675319e-01 -2.42258123e-01 -1.67319117e-01 -1.11721894e+01] [ 2.40174003e-01 9.70172377e-01 -3.28938600e-02 -5.32874958e+00] [ 1.70297190e-01 -8.74985201e-03 9.85353899e-01 -1.29804553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70241403699998 meters Centerline goodness : 0.840869 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55693143e-01 -2.42183091e-01 -1.67325933e-01 -1.11720443e+01] [ 2.40120300e-01 9.70190058e-01 -3.27642158e-02 -5.32926173e+00] [ 1.70272895e-01 -8.86581676e-03 9.85357061e-01 -1.29824734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73241403699998 meters Centerline goodness : 0.838712 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55703892e-01 -2.42066777e-01 -1.67432811e-01 -1.11718630e+01] [ 2.40021444e-01 9.70218077e-01 -3.26586803e-02 -5.32961993e+00] [ 1.70351921e-01 -8.97543713e-03 9.85342410e-01 -1.29696963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76241403699999 meters Centerline goodness : 0.788009 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55731316e-01 -2.41908673e-01 -1.67504764e-01 -1.11715544e+01] [ 2.39883901e-01 9.70256425e-01 -3.25297493e-02 -5.32976532e+00] [ 1.70391802e-01 -9.09199618e-03 9.85334445e-01 -1.29827195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792414037 meters Centerline goodness : 0.785496 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55808029e-01 -2.41548631e-01 -1.67586604e-01 -1.11710636e+01] [ 2.39573559e-01 9.70343594e-01 -3.22151987e-02 -5.33025227e+00] [ 1.70398125e-01 -9.35777362e-03 9.85330864e-01 -1.30055750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822414037 meters Centerline goodness : 0.787464 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55808645e-01 -2.41515377e-01 -1.67631015e-01 -1.11709277e+01] [ 2.39551309e-01 9.70351212e-01 -3.21511314e-02 -5.33071728e+00] [ 1.70425951e-01 -9.42589961e-03 9.85325402e-01 -1.30000775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852414037 meters Centerline goodness : 0.788352 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55805896e-01 -2.41504119e-01 -1.67662906e-01 -1.11707373e+01] [ 2.39565950e-01 9.70352521e-01 -3.20022109e-02 -5.33145159e+00] [ 1.70420790e-01 -9.57842159e-03 9.85324824e-01 -1.30065493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882414037 meters Centerline goodness : 0.841840 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55765478e-01 -2.41771784e-01 -1.67507477e-01 -1.11711982e+01] [ 2.39804731e-01 9.70287525e-01 -3.21840073e-02 -5.33144111e+00] [ 1.70311600e-01 -9.40872241e-03 9.85345338e-01 -1.29890603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912414037 meters Centerline goodness : 0.842553 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55706762e-01 -2.42057672e-01 -1.67429593e-01 -1.11716508e+01] [ 2.40065466e-01 9.70217516e-01 -3.23503412e-02 -5.33145525e+00] [ 1.70273772e-01 -9.27662338e-03 9.85353128e-01 -1.29606631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942414037 meters Centerline goodness : 0.842155 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.33, Z:-0.13 [[ 9.55635256e-01 -2.42395277e-01 -1.67349297e-01 -1.11722109e+01] [ 2.40365612e-01 9.70135098e-01 -3.25923844e-02 -5.33174680e+00] [ 1.70251667e-01 -9.07858468e-03 9.85358792e-01 -1.29085829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972414037 meters Centerline goodness : 0.841425 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57452708e-01 -2.40327533e-01 -1.59771679e-01 -1.11825694e+01] [ 2.37626886e-01 9.70685857e-01 -3.60892000e-02 -5.33524200e+00] [ 1.63761338e-01 -3.41234428e-03 9.86494085e-01 -1.32879524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002414037 meters Centerline goodness : 0.841506 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57406831e-01 -2.40483390e-01 -1.59812073e-01 -1.11824464e+01] [ 2.37778411e-01 9.70647265e-01 -3.61291244e-02 -5.33581556e+00] [ 1.63809606e-01 -3.40959027e-03 9.86486081e-01 -1.32777768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032414037 meters Centerline goodness : 0.840316 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57374488e-01 -2.40661834e-01 -1.59737195e-01 -1.11824340e+01] [ 2.37974658e-01 9.70602664e-01 -3.60351323e-02 -5.33656585e+00] [ 1.63713628e-01 -3.51428794e-03 9.86501646e-01 -1.32919101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062414037 meters Centerline goodness : 0.840316 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57374488e-01 -2.40661834e-01 -1.59737195e-01 -1.11824340e+01] [ 2.37974658e-01 9.70602664e-01 -3.60351323e-02 -5.33656585e+00] [ 1.63713628e-01 -3.51428794e-03 9.86501646e-01 -1.32919101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092414037 meters Centerline goodness : 0.836858 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57275827e-01 -2.41222460e-01 -1.59482649e-01 -1.11831302e+01] [ 2.38513786e-01 9.70463962e-01 -3.62059608e-02 -5.33731606e+00] [ 1.63505854e-01 -3.37971919e-03 9.86536575e-01 -1.32706302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122414037 meters Centerline goodness : 0.837994 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57233582e-01 -2.41443598e-01 -1.59401563e-01 -1.11836300e+01] [ 2.38697641e-01 9.70409710e-01 -3.64476585e-02 -5.33727837e+00] [ 1.63484878e-01 -3.15985443e-03 9.86540780e-01 -1.32225145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15241403699997 meters Centerline goodness : 0.789041 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57166290e-01 -2.41804951e-01 -1.59257840e-01 -1.11844646e+01] [ 2.38998727e-01 9.70320832e-01 -3.68387285e-02 -5.33697114e+00] [ 1.63438987e-01 -2.80163203e-03 9.86549466e-01 -1.31561186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18241403699997 meters Centerline goodness : 0.788961 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.34, Z:-0.13 [[ 9.57158178e-01 -2.41889576e-01 -1.59178058e-01 -1.11851333e+01] [ 2.39067338e-01 9.70300039e-01 -3.69410696e-02 -5.33749295e+00] [ 1.63386136e-01 -2.69582777e-03 9.86558515e-01 -1.30832215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21241403699997 meters Centerline goodness : 0.837613 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.34, Z:-0.13 [[ 9.57145417e-01 -2.41924747e-01 -1.59201342e-01 -1.11852294e+01] [ 2.39098899e-01 9.70291306e-01 -3.69661622e-02 -5.33810157e+00] [ 1.63414707e-01 -2.68287290e-03 9.86553818e-01 -1.30510081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24241403699997 meters Centerline goodness : 0.838915 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.34, Z:-0.13 [[ 9.57144826e-01 -2.41870424e-01 -1.59287411e-01 -1.11850307e+01] [ 2.39067423e-01 9.70304421e-01 -3.68252223e-02 -5.33898047e+00] [ 1.63464211e-01 -2.83335981e-03 9.86545196e-01 -1.30370250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27241403699998 meters Centerline goodness : 0.838611 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57152598e-01 -2.41792984e-01 -1.59358267e-01 -1.11847406e+01] [ 2.39054066e-01 9.70322506e-01 -3.64333380e-02 -5.34071580e+00] [ 1.63438239e-01 -3.22297764e-03 9.86548303e-01 -1.30367963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30241403699998 meters Centerline goodness : 0.836131 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57161332e-01 -2.41721340e-01 -1.59414487e-01 -1.11843790e+01] [ 2.39032900e-01 9.70339291e-01 -3.61238493e-02 -5.34179237e+00] [ 1.63418046e-01 -3.52895559e-03 9.86550601e-01 -1.30586209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33241403699998 meters Centerline goodness : 0.836543 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.34, Z:-0.13 [[ 9.57192918e-01 -2.41505161e-01 -1.59552420e-01 -1.11835744e+01] [ 2.38921404e-01 9.70390609e-01 -3.54771483e-02 -5.34396391e+00] [ 1.63396085e-01 -4.16201306e-03 9.86551771e-01 -1.31083397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36241403699998 meters Centerline goodness : 0.835568 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57216329e-01 -2.41328535e-01 -1.59679169e-01 -1.11829990e+01] [ 2.38798600e-01 9.70433071e-01 -3.51409117e-02 -5.34523560e+00] [ 1.63438451e-01 -4.49370749e-03 9.86543298e-01 -1.31232196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39241403699998 meters Centerline goodness : 0.835986 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57226247e-01 -2.41270931e-01 -1.59706766e-01 -1.11827281e+01] [ 2.38789079e-01 9.70446026e-01 -3.48466287e-02 -5.34637915e+00] [ 1.63394274e-01 -4.78012378e-03 9.86549270e-01 -1.31406997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42241403699998 meters Centerline goodness : 0.837215 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57225108e-01 -2.41302663e-01 -1.59665641e-01 -1.11827703e+01] [ 2.38849775e-01 9.70437304e-01 -3.46731081e-02 -5.34736891e+00] [ 1.63312208e-01 -4.94613296e-03 9.86562040e-01 -1.31364789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45241403699998 meters Centerline goodness : 0.838289 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57237988e-01 -2.41320295e-01 -1.59561739e-01 -1.11830790e+01] [ 2.38907885e-01 9.70431774e-01 -3.44266660e-02 -5.34895384e+00] [ 1.63151635e-01 -5.16604515e-03 9.86587480e-01 -1.31108250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48241403699998 meters Centerline goodness : 0.836209 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57239543e-01 -2.41315911e-01 -1.59559040e-01 -1.11832664e+01] [ 2.38917347e-01 9.70432427e-01 -3.43424833e-02 -5.34993097e+00] [ 1.63128654e-01 -5.24743949e-03 9.86590851e-01 -1.30724120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51241403699999 meters Centerline goodness : 0.837643 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57256628e-01 -2.41213909e-01 -1.59610774e-01 -1.11830395e+01] [ 2.38843535e-01 9.70456854e-01 -3.41652044e-02 -5.35089681e+00] [ 1.63136492e-01 -5.41713302e-03 9.86588638e-01 -1.30684538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542414037 meters Centerline goodness : 0.840565 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57306387e-01 -2.40859996e-01 -1.59846627e-01 -1.11824458e+01] [ 2.38553677e-01 9.70542441e-01 -3.37566709e-02 -5.35234484e+00] [ 1.63268567e-01 -5.81652392e-03 9.86564515e-01 -1.30574085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572414037 meters Centerline goodness : 0.841127 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57323503e-01 -2.40761070e-01 -1.59893144e-01 -1.11823164e+01] [ 2.38483876e-01 9.70565927e-01 -3.35741185e-02 -5.35305904e+00] [ 1.63270178e-01 -5.99064390e-03 9.86563207e-01 -1.30515474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602414037 meters Centerline goodness : 0.840064 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.35, Z:-0.13 [[ 9.57315166e-01 -2.40767178e-01 -1.59933857e-01 -1.11823869e+01] [ 2.38514259e-01 9.70563454e-01 -3.34294873e-02 -5.35412154e+00] [ 1.63274679e-01 -6.14395007e-03 9.86561519e-01 -1.30238457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632414037 meters Centerline goodness : 0.841599 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.36, Z:-0.13 [[ 9.57287698e-01 -2.41019099e-01 -1.59718681e-01 -1.11828866e+01] [ 2.38827535e-01 9.70498695e-01 -3.30710172e-02 -5.35706360e+00] [ 1.62977518e-01 -6.48674111e-03 9.86608459e-01 -1.29941812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662414037 meters Centerline goodness : 0.841354 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.36, Z:-0.13 [[ 9.59090610e-01 -2.37427649e-01 -1.54185968e-01 -1.11964866e+01] [ 2.34575687e-01 9.71404744e-01 -3.67024681e-02 -5.36219164e+00] [ 1.58491162e-01 -9.67286930e-04 9.87359922e-01 -1.32581407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692414037 meters Centerline goodness : 0.844575 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.36, Z:-0.13 [[ 9.59080216e-01 -2.37457791e-01 -1.54204204e-01 -1.11963332e+01] [ 2.34659662e-01 9.71396982e-01 -3.63695773e-02 -5.36388028e+00] [ 1.58429738e-01 -1.30416443e-03 9.87369393e-01 -1.32602060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722414037 meters Centerline goodness : 0.846831 Centerline is valid? [False, False] Translation: X:-11.21, Y:-5.37, Z:-0.14 [[ 9.60898139e-01 -2.34631313e-01 -1.47047318e-01 -1.12057572e+01] [ 2.31283133e-01 9.72075569e-01 -3.97139836e-02 -5.36982417e+00] [ 1.52259250e-01 4.15152837e-03 9.88331870e-01 -1.37075776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752414037 meters Centerline goodness : 0.846311 Centerline is valid? [False, False] Translation: X:-11.21, Y:-5.37, Z:-0.14 [[ 9.60918149e-01 -2.34495533e-01 -1.47133123e-01 -1.12053850e+01] [ 2.31215446e-01 9.72110134e-01 -3.92594523e-02 -5.37148661e+00] [ 1.52235766e-01 3.70566947e-03 9.88337260e-01 -1.37191231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782414037 meters Centerline goodness : 0.847150 Centerline is valid? [False, False] Translation: X:-11.21, Y:-5.37, Z:-0.14 [[ 9.60933664e-01 -2.34390195e-01 -1.47199623e-01 -1.12051754e+01] [ 2.31159617e-01 9.72136721e-01 -3.89284804e-02 -5.37282194e+00] [ 1.52222613e-01 3.38107888e-03 9.88340450e-01 -1.37176832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812414037 meters Centerline goodness : 0.847486 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.38, Z:-0.14 [[ 9.60955189e-01 -2.33891946e-01 -1.47850206e-01 -1.12036241e+01] [ 2.30898797e-01 9.72261035e-01 -3.73393348e-02 -5.37629487e+00] [ 1.52482363e-01 1.74299297e-03 9.88304655e-01 -1.37073869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842414037 meters Centerline goodness : 0.847867 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.38, Z:-0.14 [[ 9.60924995e-01 -2.33593079e-01 -1.48517429e-01 -1.12020906e+01] [ 2.30759106e-01 9.72334265e-01 -3.62810098e-02 -5.37826362e+00] [ 1.52883578e-01 5.91580155e-04 9.88244029e-01 -1.37040223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872414037 meters Centerline goodness : 0.846689 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.38, Z:-0.14 [[ 9.60930865e-01 -2.33208330e-01 -1.49083019e-01 -1.12005541e+01] [ 2.30529857e-01 9.72426669e-01 -3.52471020e-02 -5.38027824e+00] [ 1.53192221e-01 -4.98058844e-04 9.88196284e-01 -1.37258144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90241403699997 meters Centerline goodness : 0.849710 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.38, Z:-0.14 [[ 9.60937917e-01 -2.32675557e-01 -1.49867959e-01 -1.11989868e+01] [ 2.30221692e-01 9.72552239e-01 -3.37655911e-02 -5.38252452e+00] [ 1.53610846e-01 -2.05621825e-03 9.88129283e-01 -1.37117224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93241403699997 meters Centerline goodness : 0.796213 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.39, Z:-0.14 [[ 9.60974636e-01 -2.32217284e-01 -1.50342545e-01 -1.11977117e+01] [ 2.30006095e-01 9.72657061e-01 -3.21782339e-02 -5.38575703e+00] [ 1.53704080e-01 -3.65723521e-03 9.88110156e-01 -1.37153130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96241403699997 meters Centerline goodness : 0.849349 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.39, Z:-0.14 [[ 9.61021896e-01 -2.31657628e-01 -1.50902810e-01 -1.11962309e+01] [ 2.29609389e-01 9.72785746e-01 -3.11033805e-02 -5.38735384e+00] [ 1.54001438e-01 -4.75767238e-03 9.88059169e-01 -1.37406027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99241403699997 meters Centerline goodness : 0.797701 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.39, Z:-0.14 [[ 9.61058513e-01 -2.31050767e-01 -1.51598409e-01 -1.11944588e+01] [ 2.29165762e-01 9.72923948e-01 -3.00340752e-02 -5.38878172e+00] [ 1.54433118e-01 -5.87666112e-03 9.87985767e-01 -1.37736834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02241403699998 meters Centerline goodness : 0.797642 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.39, Z:-0.14 [[ 9.61067569e-01 -2.30617037e-01 -1.52200227e-01 -1.11922329e+01] [ 2.28892338e-01 9.73019660e-01 -2.90006689e-02 -5.39123292e+00] [ 1.54781862e-01 -6.96586346e-03 9.87924112e-01 -1.38527292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05241403699998 meters Centerline goodness : 0.848894 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.39, Z:-0.14 [[ 9.61067209e-01 -2.30128532e-01 -1.52940115e-01 -1.11900260e+01] [ 2.28550727e-01 9.73127481e-01 -2.80618956e-02 -5.39246823e+00] [ 1.55288071e-01 -7.98520675e-03 9.87836956e-01 -1.39200270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08241403699998 meters Centerline goodness : 0.797774 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.39, Z:-0.14 [[ 9.61089455e-01 -2.29635277e-01 -1.53540545e-01 -1.11881748e+01] [ 2.28181205e-01 9.73236726e-01 -2.72692522e-02 -5.39358473e+00] [ 1.55693280e-01 -8.82687581e-03 9.87766009e-01 -1.39817519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11241403699998 meters Centerline goodness : 0.850041 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.39, Z:-0.14 [[ 9.61028873e-01 -2.29380885e-01 -1.54298135e-01 -1.11865010e+01] [ 2.28043674e-01 9.73288731e-01 -2.65542729e-02 -5.39436865e+00] [ 1.56267679e-01 -9.66729070e-03 9.87667432e-01 -1.39895973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14241403699998 meters Centerline goodness : 0.848801 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.40, Z:-0.14 [[ 9.61106990e-01 -2.28727886e-01 -1.54780195e-01 -1.11854581e+01] [ 2.27560684e-01 9.73431014e-01 -2.54596791e-02 -5.39597272e+00] [ 1.56491181e-01 -1.07524115e-02 9.87620826e-01 -1.39876575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17241403699998 meters Centerline goodness : 0.850332 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.40, Z:-0.14 [[ 0.96109896 -0.22848408 -0.15518958 -11.18473391] [ 0.22739707 0.9734821 -0.0249635 -5.39634077] [ 0.15677804 -0.01129727 0.98756925 -0.13971461] [ 0. 0. 0. 1. ]] SLAMing on 244.20241403699998 meters Centerline goodness : 0.848505 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.40, Z:-0.14 [[ 0.96111405 -0.22800447 -0.15580032 -11.18369456] [ 0.22706868 0.97358249 -0.02401954 -5.39716998] [ 0.15716103 -0.01229185 0.98749649 -0.13951538] [ 0. 0. 0. 1. ]] SLAMing on 244.23241403699998 meters Centerline goodness : 0.843362 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.40, Z:-0.14 [[ 0.96118318 -0.22747225 -0.15615141 -11.18311384] [ 0.22665517 0.9736973 -0.02325933 -5.39818073] [ 0.15733506 -0.01303604 0.98745923 -0.13932385] [ 0. 0. 0. 1. ]] SLAMing on 244.26241403699999 meters Centerline goodness : 0.848105 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.40, Z:-0.14 [[ 0.96113657 -0.22720448 -0.15682672 -11.18160598] [ 0.22651671 0.9737477 -0.02248565 -5.39896464] [ 0.1578185 -0.01391209 0.98737013 -0.1394227 ] [ 0. 0. 0. 1. ]] SLAMing on 244.292414037 meters Centerline goodness : 0.841693 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.40, Z:-0.14 [[ 0.96101546 -0.22728742 -0.15744752 -11.18000623] [ 0.22667372 0.9737203 -0.02208622 -5.39929497] [ 0.15832977 -0.01446402 0.98728034 -0.13971391] [ 0. 0. 0. 1. ]] SLAMing on 244.322414037 meters Centerline goodness : 0.837550 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.40, Z:-0.14 [[ 0.96087157 -0.22742037 -0.15813219 -11.17808778] [ 0.22685039 0.9736836 -0.02188928 -5.39949278] [ 0.15894879 -0.01483956 0.9871753 -0.1401397 ] [ 0. 0. 0. 1. ]] SLAMing on 244.352414037 meters Centerline goodness : 0.840921 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.40, Z:-0.14 [[ 0.96080157 -0.22713463 -0.15896606 -11.1761225 ] [ 0.22675352 0.97373054 -0.02077672 -5.40053989] [ 0.15950922 -0.0160838 0.98706541 -0.14036983] [ 0. 0. 0. 1. ]] SLAMing on 244.382414037 meters Centerline goodness : 0.839941 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96074322 -0.22700581 -0.15950181 -11.17479349] [ 0.22671679 0.97375014 -0.02025256 -5.40078266] [ 0.15991236 -0.01670422 0.98698987 -0.14060374] [ 0. 0. 0. 1. ]] SLAMing on 244.412414037 meters Centerline goodness : 0.839414 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96067483 -0.2269029 -0.16005918 -11.17360832] [ 0.22670208 0.97376368 -0.01976033 -5.40118557] [ 0.16034349 -0.0173025 0.98690962 -0.14055893] [ 0. 0. 0. 1. ]] SLAMing on 244.442414037 meters Centerline goodness : 0.840158 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96060338 -0.22686989 -0.16053408 -11.17293636] [ 0.22676083 0.97376029 -0.01924616 -5.40182392] [ 0.16068809 -0.01791491 0.98684264 -0.14011692] [ 0. 0. 0. 1. ]] SLAMing on 244.472414037 meters Centerline goodness : 0.841178 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96057029 -0.22665957 -0.16102844 -11.17209585] [ 0.2266236 0.97380025 -0.01883672 -5.40214707] [ 0.16107906 -0.01839885 0.98676999 -0.13985978] [ 0. 0. 0. 1. ]] SLAMing on 244.502414037 meters Centerline goodness : 0.840858 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96053433 -0.22642472 -0.16157243 -11.17129405] [ 0.22649197 0.97384205 -0.01824942 -5.40248456] [ 0.16147815 -0.01906566 0.9866921 -0.1395692 ] [ 0. 0. 0. 1. ]] SLAMing on 244.532414037 meters Centerline goodness : 0.844766 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96052545 -0.22623005 -0.16189755 -11.1709227 ] [ 0.22638136 0.97387684 -0.01775905 -5.40277467] [ 0.16168591 -0.01959257 0.98664776 -0.13923326] [ 0. 0. 0. 1. ]] SLAMing on 244.562414037 meters Centerline goodness : 0.844218 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96039428 -0.22628051 -0.16260366 -11.17009216] [ 0.22653713 0.97385047 -0.01720999 -5.40283728] [ 0.16224594 -0.02030739 0.98654137 -0.13855836] [ 0. 0. 0. 1. ]] SLAMing on 244.592414037 meters Centerline goodness : 0.849344 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96028695 -0.22619162 -0.16335947 -11.16826808] [ 0.22652678 0.97385965 -0.0168229 -5.40280376] [ 0.16289439 -0.02085048 0.98642317 -0.1387743 ] [ 0. 0. 0. 1. ]] SLAMing on 244.622414037 meters Centerline goodness : 0.843115 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.40, Z:-0.14 [[ 0.96009987 -0.22642999 -0.16412708 -11.16592227] [ 0.22682559 0.97379428 -0.01657868 -5.40285729] [ 0.16357992 -0.02131104 0.98629988 -0.13942517] [ 0. 0. 0. 1. ]] SLAMing on 244.65241403699997 meters Centerline goodness : 0.847126 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.40, Z:-0.14 [[ 0.96003555 -0.22622795 -0.16478065 -11.1642384 ] [ 0.22673062 0.973826 -0.01600436 -5.40351074] [ 0.16408832 -0.02199606 0.98620038 -0.13964699] [ 0. 0. 0. 1. ]] SLAMing on 244.68241403699997 meters Centerline goodness : 0.844289 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.40, Z:-0.14 [[ 0.95994699 -0.22622446 -0.16530055 -11.16282524] [ 0.22679383 0.97381664 -0.01567498 -5.40366714] [ 0.16451849 -0.022442 0.98611867 -0.13994142] [ 0. 0. 0. 1. ]] SLAMing on 244.71241403699997 meters Centerline goodness : 0.847429 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.40, Z:-0.14 [[ 0.95981673 -0.226261 -0.16600544 -11.16138391] [ 0.22694452 0.97379071 -0.01509418 -5.40416243] [ 0.16506978 -0.02318637 0.98600931 -0.13981613] [ 0. 0. 0. 1. ]] SLAMing on 244.74241403699997 meters Centerline goodness : 0.843959 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.40, Z:-0.14 [[ 0.95977001 -0.22607159 -0.1665328 -11.16044047] [ 0.22686499 0.9738183 -0.01449825 -5.40453314] [ 0.16545033 -0.02386548 0.98592932 -0.13964028] [ 0. 0. 0. 1. ]] SLAMing on 244.77241403699998 meters Centerline goodness : 0.854235 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.41, Z:-0.14 [[ 0.95975452 -0.22584722 -0.16692599 -11.15964633] [ 0.22673099 0.97385681 -0.01399877 -5.40500169] [ 0.1657236 -0.02441191 0.98587005 -0.13954974] [ 0. 0. 0. 1. ]] SLAMing on 244.80241403699998 meters Centerline goodness : 0.845079 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.41, Z:-0.14 [[ 0.95974055 -0.22561535 -0.16731943 -11.15869906] [ 0.22658946 0.97389678 -0.01350098 -5.40537909] [ 0.16599788 -0.02495538 0.98581029 -0.13967138] [ 0. 0. 0. 1. ]] SLAMing on 244.83241403699998 meters Centerline goodness : 0.841827 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.41, Z:-0.14 [[ 0.95975544 -0.22523249 -0.16774925 -11.1574146 ] [ 0.22633819 0.97396529 -0.01275311 -5.40661587] [ 0.16625436 -0.02572819 0.9857472 -0.13995452] [ 0. 0. 0. 1. ]] SLAMing on 244.86241403699998 meters Centerline goodness : 0.843538 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.41, Z:-0.14 [[ 0.95972262 -0.2250633 -0.16816361 -11.15645767] [ 0.22624406 0.97399224 -0.01235922 -5.40707227] [ 0.16657166 -0.02618459 0.98568162 -0.13999193] [ 0. 0. 0. 1. ]] SLAMing on 244.89241403699998 meters Centerline goodness : 0.843182 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.41, Z:-0.14 [[ 9.59742776e-01 -2.24660567e-01 -1.68586577e-01 -1.11561590e+01] [ 2.26052364e-01 9.74051399e-01 -1.11445162e-02 -5.40825837e+00] [ 1.66715724e-01 -2.74135253e-02 9.85623846e-01 -1.39401312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92241403699998 meters Centerline goodness : 0.845093 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.41, Z:-0.14 [[ 9.59716154e-01 -2.24360906e-01 -1.69136298e-01 -1.11552250e+01] [ 2.25878795e-01 9.74099186e-01 -1.04663981e-02 -5.40892308e+00] [ 1.67103781e-01 -2.81595320e-02 9.85537096e-01 -1.39101048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95241403699998 meters Centerline goodness : 0.845093 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.41, Z:-0.14 [[ 9.59716154e-01 -2.24360906e-01 -1.69136298e-01 -1.11552250e+01] [ 2.25878795e-01 9.74099186e-01 -1.04663981e-02 -5.40892308e+00] [ 1.67103781e-01 -2.81595320e-02 9.85537096e-01 -1.39101048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98241403699998 meters Centerline goodness : 0.845951 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.41, Z:-0.14 [[ 9.59656836e-01 -2.24144949e-01 -1.69758061e-01 -1.11542269e+01] [ 2.25747602e-01 9.74133929e-01 -1.00553123e-02 -5.40903848e+00] [ 1.67620934e-01 -2.86728260e-02 9.85434468e-01 -1.38708778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01241403699999 meters Centerline goodness : 0.848259 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.41, Z:-0.14 [[ 9.59621366e-01 -2.23825507e-01 -1.70378922e-01 -1.11531817e+01] [ 2.25534807e-01 9.74188696e-01 -9.50973687e-03 -5.40931277e+00] [ 1.68109741e-01 -2.93006307e-02 9.85332730e-01 -1.38465677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042414037 meters Centerline goodness : 0.850241 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.41, Z:-0.14 [[ 9.59671613e-01 -2.23330938e-01 -1.70744508e-01 -1.11519979e+01] [ 2.25119760e-01 9.74288929e-01 -9.06510463e-03 -5.40967008e+00] [ 1.68379002e-01 -2.97384392e-02 9.85273635e-01 -1.38889747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.072414037 meters Centerline goodness : 0.852903 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.41, Z:-0.14 [[ 9.60150814e-01 -2.19998820e-01 -1.72368601e-01 -1.11498661e+01] [ 2.22537284e-01 9.74912846e-01 -4.70109691e-03 -5.41185119e+00] [ 1.69078599e-01 -3.38446782e-02 9.85021302e-01 -1.38952579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102414037 meters Centerline goodness : 0.855217 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.41, Z:-0.14 [[ 9.60227607e-01 -2.19465397e-01 -1.72620631e-01 -1.11487219e+01] [ 2.22040639e-01 9.75027071e-01 -4.49048860e-03 -5.41148649e+00] [ 1.69295295e-01 -3.40169041e-02 9.84978149e-01 -1.39752836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.132414037 meters Centerline goodness : 0.849321 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.41, Z:-0.14 [[ 9.60789175e-01 -2.15884352e-01 -1.74006058e-01 -1.11467840e+01] [ 2.19164654e-01 9.75687817e-01 -3.71853955e-04 -5.41310578e+00] [ 1.69855868e-01 -3.77787042e-02 9.84744512e-01 -1.40239186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162414037 meters Centerline goodness : 0.847260 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.41, Z:-0.14 [[ 9.61544112e-01 -2.12049828e-01 -1.74550253e-01 -1.11458203e+01] [ 2.15888120e-01 9.76413248e-01 3.08042525e-03 -5.41395192e+00] [ 1.69779975e-01 -4.06452906e-02 9.84643448e-01 -1.41610186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.192414037 meters Centerline goodness : 0.845112 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.42, Z:-0.14 [[ 9.62110928e-01 -2.08597756e-01 -1.75583422e-01 -1.11447601e+01] [ 2.13102846e-01 9.77004758e-01 6.99141606e-03 -5.41537160e+00] [ 1.70087445e-01 -4.41438446e-02 9.84439730e-01 -1.41846394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222414037 meters Centerline goodness : 0.844085 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 9.62186213e-01 -2.08079456e-01 -1.75785758e-01 -1.11443481e+01] [ 2.12612052e-01 9.77110579e-01 7.14362312e-03 -5.41496227e+00] [ 1.70275682e-01 -4.42476663e-02 9.84402527e-01 -1.41938806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.252414037 meters Centerline goodness : 0.843172 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.42, Z:-0.14 [[ 9.62828531e-01 -2.04563261e-01 -1.76394707e-01 -1.11448578e+01] [ 2.09731335e-01 9.77697560e-01 1.09658151e-02 -5.41616402e+00] [ 1.70217472e-01 -4.75536971e-02 9.84258431e-01 -1.41463872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282414037 meters Centerline goodness : 0.844706 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.42, Z:-0.14 [[ 0.96321209 -0.20165835 -0.17764117 -11.1439007 ] [ 0.20752018 0.97811781 0.01486328 -5.41754791] [ 0.17075669 -0.05118062 0.98398308 -0.14096696] [ 0. 0. 0. 1. ]] SLAMing on 245.312414037 meters Centerline goodness : 0.847855 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.42, Z:-0.14 [[ 0.96325106 -0.20123565 -0.17790897 -11.14341724] [ 0.20714696 0.97819323 0.01510423 -5.41701926] [ 0.17098984 -0.05140247 0.98393102 -0.14102108] [ 0. 0. 0. 1. ]] SLAMing on 245.342414037 meters Centerline goodness : 0.846566 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.42, Z:-0.14 [[ 0.96327638 -0.2011039 -0.17792089 -11.14345265] [ 0.20695948 0.97823769 0.01479176 -5.41570219] [ 0.17107424 -0.05107097 0.98393362 -0.14116869] [ 0. 0. 0. 1. ]] SLAMing on 245.372414037 meters Centerline goodness : 0.843494 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.42, Z:-0.14 [[ 0.96320805 -0.20106154 -0.17833818 -11.14248676] [ 0.20696649 0.97823376 0.01495247 -5.4154945 ] [ 0.17145006 -0.05131236 0.98385564 -0.14125498] [ 0. 0. 0. 1. ]] SLAMing on 245.40241403699997 meters Centerline goodness : 0.845047 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.42, Z:-0.14 [[ 0.9631416 -0.20093094 -0.17884353 -11.14145211] [ 0.2069237 0.97823723 0.01531338 -5.41546912] [ 0.17187447 -0.05175591 0.98375835 -0.14126094] [ 0. 0. 0. 1. ]] SLAMing on 245.43241403699997 meters Centerline goodness : 0.851336 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96303578 -0.20093835 -0.17940422 -11.1399593 ] [ 0.20696085 0.97822941 0.0153112 -5.41422841] [ 0.17242187 -0.05187489 0.98365629 -0.14185102] [ 0. 0. 0. 1. ]] SLAMing on 245.46241403699997 meters Centerline goodness : 0.850957 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96291627 -0.20146972 -0.17944973 -11.13969087] [ 0.20738611 0.97814955 0.01464449 -5.4132481 ] [ 0.17257825 -0.05131679 0.98365814 -0.14196741] [ 0. 0. 0. 1. ]] SLAMing on 245.49241403699997 meters Centerline goodness : 0.851682 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96287391 -0.20124599 -0.17992746 -11.13850647] [ 0.20723144 0.97817827 0.01491318 -5.41281461] [ 0.17299991 -0.05164614 0.98356683 -0.14227798] [ 0. 0. 0. 1. ]] SLAMing on 245.52241403699998 meters Centerline goodness : 0.842776 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96284104 -0.20113337 -0.18022902 -11.13743678] [ 0.20714531 0.97819545 0.0149824 -5.41207824] [ 0.17328575 -0.05175926 0.98351056 -0.14284411] [ 0. 0. 0. 1. ]] SLAMing on 245.55241403699998 meters Centerline goodness : 0.843667 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96282991 -0.20110921 -0.18031539 -11.13695205] [ 0.20713579 0.97819657 0.01504136 -5.41170824] [ 0.17335894 -0.05183204 0.98349383 -0.14327114] [ 0. 0. 0. 1. ]] SLAMing on 245.58241403699998 meters Centerline goodness : 0.849128 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96282037 -0.20092072 -0.18057631 -11.13617132] [ 0.20704059 0.97820944 0.01550784 -5.4119272 ] [ 0.1735256 -0.05231789 0.98343871 -0.14352497] [ 0. 0. 0. 1. ]] SLAMing on 245.61241403699998 meters Centerline goodness : 0.846948 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96269473 -0.20145105 -0.18065528 -11.13605472] [ 0.20756749 0.97809922 0.01541613 -5.41157295] [ 0.17359319 -0.05233919 0.98342565 -0.14339799] [ 0. 0. 0. 1. ]] SLAMing on 245.64241403699998 meters Centerline goodness : 0.846027 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.41, Z:-0.14 [[ 0.96258607 -0.2016187 -0.18104682 -11.13519578] [ 0.20778748 0.97804996 0.01557707 -5.41148527] [ 0.17393221 -0.05261353 0.98335111 -0.14334531] [ 0. 0. 0. 1. ]] SLAMing on 245.67241403699998 meters Centerline goodness : 0.846751 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96254033 -0.20130981 -0.1816328 -11.13408905] [ 0.20761753 0.97807579 0.0162085 -5.4118897 ] [ 0.17438771 -0.05331149 0.98323284 -0.14318934] [ 0. 0. 0. 1. ]] SLAMing on 245.70241403699998 meters Centerline goodness : 0.845941 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96242003 -0.20163703 -0.18190709 -11.13394479] [ 0.20800319 0.97799027 0.01642258 -5.41201158] [ 0.17459196 -0.05364267 0.98317858 -0.1426446 ] [ 0. 0. 0. 1. ]] SLAMing on 245.73241403699998 meters Centerline goodness : 0.845762 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96235723 -0.20158715 -0.18229424 -11.13328558] [ 0.20803874 0.97797653 0.01678649 -5.4120328 ] [ 0.17489555 -0.05407886 0.98310072 -0.14250551] [ 0. 0. 0. 1. ]] SLAMing on 245.76241403699999 meters Centerline goodness : 0.847546 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96229193 -0.20152198 -0.1827105 -11.13221687] [ 0.20805344 0.9779678 0.01710983 -5.41205715] [ 0.17523698 -0.0544782 0.98301787 -0.14269222] [ 0. 0. 0. 1. ]] SLAMing on 245.792414037 meters Centerline goodness : 0.840049 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96225241 -0.20172089 -0.18269917 -11.1322237 ] [ 0.20822069 0.97793555 0.01691758 -5.41209278] [ 0.17525538 -0.05432073 0.9830233 -0.14257099] [ 0. 0. 0. 1. ]] SLAMing on 245.822414037 meters Centerline goodness : 0.845744 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96209517 -0.20223971 -0.18295349 -11.13109859] [ 0.20874235 0.97782626 0.01680596 -5.41194915] [ 0.17549789 -0.05435907 0.98297792 -0.14309481] [ 0. 0. 0. 1. ]] SLAMing on 245.852414037 meters Centerline goodness : 0.845768 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96200487 -0.20216095 -0.18351454 -11.12960625] [ 0.20874281 0.97782142 0.01707925 -5.41198197] [ 0.17599169 -0.05473766 0.98286862 -0.14336486] [ 0. 0. 0. 1. ]] SLAMing on 245.882414037 meters Centerline goodness : 0.840081 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96198268 -0.20230638 -0.18347059 -11.12947095] [ 0.20886546 0.97779744 0.0169526 -5.41212444] [ 0.17596745 -0.05462877 0.98287901 -0.14345207] [ 0. 0. 0. 1. ]] SLAMing on 245.912414037 meters Centerline goodness : 0.843450 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.9619691 -0.20182603 -0.18406983 -11.12825084] [ 0.20855953 0.97784806 0.01777928 -5.41263569] [ 0.176404 -0.05549264 0.98275236 -0.14347503] [ 0. 0. 0. 1. ]] SLAMing on 245.942414037 meters Centerline goodness : 0.837045 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96186476 -0.20234216 -0.18404848 -11.12863846] [ 0.20905814 0.97774408 0.01764109 -5.41291877] [ 0.17638277 -0.05544518 0.98275885 -0.14292806] [ 0. 0. 0. 1. ]] SLAMing on 245.972414037 meters Centerline goodness : 0.845030 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.41, Z:-0.14 [[ 0.96180622 -0.20195239 -0.18478101 -11.12727717] [ 0.20891646 0.97775237 0.01882075 -5.41409068] [ 0.17686918 -0.05670571 0.98259949 -0.14262693] [ 0. 0. 0. 1. ]] SLAMing on 246.002414037 meters Centerline goodness : 0.838378 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.42, Z:-0.14 [[ 0.96166955 -0.20248549 -0.18490892 -11.12654168] [ 0.20952104 0.97761705 0.0191269 -5.41573534] [ 0.1768972 -0.05713607 0.98256951 -0.14271201] [ 0. 0. 0. 1. ]] SLAMing on 246.032414037 meters Centerline goodness : 0.844561 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.42, Z:-0.14 [[ 0.96161932 -0.20240397 -0.18525906 -11.12522238] [ 0.20956261 0.97759672 0.01970214 -5.41688333] [ 0.17712086 -0.05776933 0.98249219 -0.14309203] [ 0. 0. 0. 1. ]] SLAMing on 246.062414037 meters Centerline goodness : 0.837990 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96151184 -0.20278243 -0.18540302 -11.1247206 ] [ 0.2099675 0.97750855 0.01976601 -5.41756604] [ 0.17722483 -0.05793386 0.98246375 -0.14302614] [ 0. 0. 0. 1. ]] SLAMing on 246.092414037 meters Centerline goodness : 0.838731 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96133704 -0.20314768 -0.18590888 -11.12327346] [ 0.21045985 0.9773924 0.02026718 -5.41834087] [ 0.1775887 -0.05860994 0.98235794 -0.14323445] [ 0. 0. 0. 1. ]] SLAMing on 246.122414037 meters Centerline goodness : 0.838100 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96125719 -0.20300161 -0.18648046 -11.12202184] [ 0.21045791 0.97737982 0.02088427 -5.4188238 ] [ 0.1780227 -0.05932144 0.98223668 -0.1432378 ] [ 0. 0. 0. 1. ]] SLAMing on 246.15241403699997 meters Centerline goodness : 0.839299 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96122306 -0.2030492 -0.18660451 -11.12166519] [ 0.21052295 0.97736475 0.020934 -5.41929081] [ 0.17813004 -0.05940678 0.98221206 -0.14312661] [ 0. 0. 0. 1. ]] SLAMing on 246.18241403699997 meters Centerline goodness : 0.790726 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96130133 -0.20232378 -0.18698888 -11.12099902] [ 0.21006735 0.97743127 0.0223566 -5.42180306] [ 0.1782455 -0.06077169 0.9821076 -0.14276894] [ 0. 0. 0. 1. ]] SLAMing on 246.21241403699997 meters Centerline goodness : 0.844488 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96131186 -0.20196791 -0.18731917 -11.120318 ] [ 0.20986378 0.9774574 0.02311306 -5.42290858] [ 0.17842841 -0.06153037 0.98202715 -0.14262783] [ 0. 0. 0. 1. ]] SLAMing on 246.24241403699997 meters Centerline goodness : 0.842082 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96137954 -0.20144988 -0.18752952 -11.11960939] [ 0.20949054 0.97751895 0.02388345 -5.4242302 ] [ 0.17850234 -0.06224672 0.98196856 -0.14268835] [ 0. 0. 0. 1. ]] SLAMing on 246.27241403699998 meters Centerline goodness : 0.844259 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.42, Z:-0.14 [[ 0.96140157 -0.20140175 -0.18746827 -11.11981057] [ 0.2094649 0.97752077 0.02403335 -5.42497018] [ 0.17841377 -0.06237372 0.9819766 -0.14241653] [ 0. 0. 0. 1. ]] SLAMing on 246.30241403699998 meters Centerline goodness : 0.847194 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.14 [[ 0.96144471 -0.20086532 -0.18782223 -11.11877791] [ 0.20903835 0.97759896 0.02456091 -5.42541137] [ 0.17868139 -0.062876 0.98189591 -0.14271264] [ 0. 0. 0. 1. ]] SLAMing on 246.33241403699998 meters Centerline goodness : 0.846924 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.14 [[ 0.96149261 -0.20054373 -0.18792067 -11.11807311] [ 0.20872964 0.97766328 0.02462617 -5.42561154] [ 0.17878452 -0.06290249 0.98187544 -0.14313026] [ 0. 0. 0. 1. ]] SLAMing on 246.36241403699998 meters Centerline goodness : 0.841630 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.14 [[ 0.96187752 -0.19748148 -0.18918959 -11.11649279] [ 0.2064311 0.97804223 0.02862847 -5.427598 ] [ 0.17938181 -0.0665917 0.98152316 -0.14304774] [ 0. 0. 0. 1. ]] SLAMing on 246.39241403699998 meters Centerline goodness : 0.846881 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.14 [[ 0.96215219 -0.19641256 -0.18890546 -11.11586726] [ 0.20532424 0.97827527 0.02862602 -5.42743647] [ 0.17917903 -0.06632946 0.98157795 -0.14452307] [ 0. 0. 0. 1. ]] SLAMing on 246.42241403699998 meters Centerline goodness : 0.842395 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.15 [[ 0.96223325 -0.19629306 -0.18861655 -11.11606907] [ 0.20506955 0.97834669 0.02800431 -5.42646204] [ 0.17903532 -0.06562619 0.98165144 -0.14501715] [ 0. 0. 0. 1. ]] SLAMing on 246.45241403699998 meters Centerline goodness : 0.843246 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.15 [[ 0.96235134 -0.19599837 -0.18832028 -11.11632279] [ 0.2046764 0.97844046 0.02760122 -5.42557061] [ 0.17885039 -0.06510679 0.98171974 -0.14558553] [ 0. 0. 0. 1. ]] SLAMing on 246.48241403699998 meters Centerline goodness : 0.839927 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.15 [[ 0.96310267 -0.19170129 -0.1889017 -11.11594193] [ 0.20110117 0.9790563 0.0317346 -5.42685229] [ 0.17886184 -0.06855203 0.98148309 -0.146253 ] [ 0. 0. 0. 1. ]] SLAMing on 246.51241403699999 meters Centerline goodness : 0.842250 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.43, Z:-0.15 [[ 0.96323767 -0.19150557 -0.18841128 -11.11663095] [ 0.20073997 0.97915289 0.03103353 -5.42574089] [ 0.17854035 -0.06771433 0.98159977 -0.14679695] [ 0. 0. 0. 1. ]] SLAMing on 246.542414037 meters Centerline goodness : 0.841022 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96404215 -0.19595458 -0.17951192 -11.11149053] [ 0.20496955 0.97821377 0.03294389 -5.4219811 ] [ 0.16914552 -0.06855377 0.98320403 -0.15177676] [ 0. 0. 0. 1. ]] SLAMing on 246.572414037 meters Centerline goodness : 0.839302 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96423162 -0.1954008 -0.17909749 -11.1124857 ] [ 0.20430411 0.97836744 0.03251136 -5.42097101] [ 0.1688704 -0.06793883 0.98329401 -0.15187141] [ 0. 0. 0. 1. ]] SLAMing on 246.602414037 meters Centerline goodness : 0.838125 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96429696 -0.19547432 -0.17866495 -11.11318834] [ 0.20426351 0.97839225 0.03201592 -5.42034742] [ 0.16854611 -0.06736759 0.98338894 -0.15217136] [ 0. 0. 0. 1. ]] SLAMing on 246.632414037 meters Centerline goodness : 0.835575 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96431047 -0.19540773 -0.17866485 -11.11315668] [ 0.20417631 0.9784142 0.03190136 -5.41980995] [ 0.16857445 -0.06724195 0.98339269 -0.15225194] [ 0. 0. 0. 1. ]] SLAMing on 246.662414037 meters Centerline goodness : 0.835218 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96435576 -0.19548464 -0.17833599 -11.11366674] [ 0.20411946 0.97844719 0.03124654 -5.41881835] [ 0.16838413 -0.06653462 0.9834734 -0.15251084] [ 0. 0. 0. 1. ]] SLAMing on 246.692414037 meters Centerline goodness : 0.837503 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96438217 -0.19562706 -0.17803672 -11.11423762] [ 0.20417018 0.97845019 0.0308181 -5.41833446] [ 0.16817121 -0.06607022 0.98354114 -0.15257569] [ 0. 0. 0. 1. ]] SLAMing on 246.722414037 meters Centerline goodness : 0.838690 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.9643847 -0.1956528 -0.17799476 -11.11391868] [ 0.20415389 0.97846085 0.03058676 -5.4178955 ] [ 0.16817652 -0.06583573 0.98355595 -0.15296882] [ 0. 0. 0. 1. ]] SLAMing on 246.752414037 meters Centerline goodness : 0.835188 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.9643435 -0.19586852 -0.17798071 -11.11375051] [ 0.20432907 0.97843207 0.03033685 -5.41734586] [ 0.1682 -0.06562178 0.98356624 -0.15318495] [ 0. 0. 0. 1. ]] SLAMing on 246.782414037 meters Centerline goodness : 0.838312 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96422058 -0.19635974 -0.17810536 -11.11368189] [ 0.20478594 0.97834556 0.03004479 -5.41705011] [ 0.168349 -0.06544328 0.98355264 -0.15285623] [ 0. 0. 0. 1. ]] SLAMing on 246.812414037 meters Centerline goodness : 0.836485 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96420735 -0.19622556 -0.17832474 -11.11280205] [ 0.2047336 0.97834406 0.0304474 -5.41748852] [ 0.16848839 -0.06586667 0.98350051 -0.15323551] [ 0. 0. 0. 1. ]] SLAMing on 246.842414037 meters Centerline goodness : 0.837508 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96420029 -0.19600769 -0.17860233 -11.11194843] [ 0.20466646 0.97833329 0.03123483 -5.41818182] [ 0.16861034 -0.06667053 0.98342544 -0.15346169] [ 0. 0. 0. 1. ]] SLAMing on 246.872414037 meters Centerline goodness : 0.837508 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96420029 -0.19600769 -0.17860233 -11.11194843] [ 0.20466646 0.97833329 0.03123483 -5.41818182] [ 0.16861034 -0.06667053 0.98342544 -0.15346169] [ 0. 0. 0. 1. ]] SLAMing on 246.90241403699997 meters Centerline goodness : 0.837081 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96395152 -0.19693504 -0.17892472 -11.11100914] [ 0.20557172 0.97815418 0.03089761 -5.41817448] [ 0.16893114 -0.06656566 0.98337749 -0.15338647] [ 0. 0. 0. 1. ]] SLAMing on 246.93241403699997 meters Centerline goodness : 0.835679 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96384589 -0.19750417 -0.17886646 -11.11078404] [ 0.2061036 0.97804988 0.03065516 -5.41827244] [ 0.1688858 -0.06641187 0.98339567 -0.15354735] [ 0. 0. 0. 1. ]] SLAMing on 246.96241403699997 meters Centerline goodness : 0.835089 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96341647 -0.20078691 -0.17751994 -11.11198643] [ 0.20860752 0.97764439 0.0263504 -5.41629843] [ 0.16826056 -0.06241841 0.98376437 -0.15395317] [ 0. 0. 0. 1. ]] SLAMing on 246.99241403699997 meters Centerline goodness : 0.835804 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96335484 -0.20071511 -0.17793509 -11.11093301] [ 0.20862574 0.97763032 0.02672567 -5.41656769] [ 0.1685905 -0.06286814 0.98367924 -0.15404999] [ 0. 0. 0. 1. ]] SLAMing on 247.02241403699998 meters Centerline goodness : 0.836938 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.9632839 -0.20079008 -0.17823433 -11.11028182] [ 0.20879607 0.97758194 0.02716162 -5.41707976] [ 0.16878488 -0.06337898 0.98361312 -0.15395491] [ 0. 0. 0. 1. ]] SLAMing on 247.05241403699998 meters Centerline goodness : 0.846691 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96321707 -0.20087781 -0.17849647 -11.10983599] [ 0.20894634 0.97754267 0.02741819 -5.41742903] [ 0.16898021 -0.06370585 0.98355847 -0.15367296] [ 0. 0. 0. 1. ]] SLAMing on 247.08241403699998 meters Centerline goodness : 0.839626 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96306488 -0.20139273 -0.17873724 -11.10974284] [ 0.20947123 0.97743254 0.02733942 -5.4170593 ] [ 0.16919763 -0.06376995 0.98351693 -0.15314338] [ 0. 0. 0. 1. ]] SLAMing on 247.11241403699998 meters Centerline goodness : 0.840198 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96288792 -0.20165555 -0.17939312 -11.10843744] [ 0.20978023 0.97736642 0.02733373 -5.41639252] [ 0.16982081 -0.06395245 0.98339767 -0.15305754] [ 0. 0. 0. 1. ]] SLAMing on 247.14241403699998 meters Centerline goodness : 0.841044 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96276156 -0.2021672 -0.1794954 -11.10805163] [ 0.21023573 0.97727988 0.02692518 -5.41570934] [ 0.16997386 -0.06365887 0.98339028 -0.15319085] [ 0. 0. 0. 1. ]] SLAMing on 247.17241403699998 meters Centerline goodness : 0.840820 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.42, Z:-0.15 [[ 0.96270016 -0.20223897 -0.17974372 -11.10737588] [ 0.21033429 0.97725718 0.02697934 -5.41529355] [ 0.17019957 -0.06377929 0.98334343 -0.15342005] [ 0. 0. 0. 1. ]] SLAMing on 247.20241403699998 meters Centerline goodness : 0.840510 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96264938 -0.20216982 -0.18009314 -11.10629054] [ 0.21024804 0.97728193 0.02675413 -5.41389766] [ 0.17059289 -0.06361908 0.98328565 -0.15397831] [ 0. 0. 0. 1. ]] SLAMing on 247.23241403699998 meters Centerline goodness : 0.839011 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96266407 -0.20244246 -0.17970794 -11.10694397] [ 0.21036965 0.97727601 0.02600412 -5.41285775] [ 0.17035992 -0.06283833 0.98337625 -0.15416908] [ 0. 0. 0. 1. ]] SLAMing on 247.26241403699999 meters Centerline goodness : 0.838677 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96263517 -0.20224907 -0.18008011 -11.10615324] [ 0.21019857 0.97731265 0.02601044 -5.41196525] [ 0.17073398 -0.06289114 0.98330799 -0.15425646] [ 0. 0. 0. 1. ]] SLAMing on 247.292414037 meters Centerline goodness : 0.840567 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96272751 -0.2018819 -0.17999845 -11.10677622] [ 0.20978975 0.97740519 0.02583326 -5.4106002 ] [ 0.17071615 -0.06263222 0.98332762 -0.15413974] [ 0. 0. 0. 1. ]] SLAMing on 247.322414037 meters Centerline goodness : 0.841696 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96308407 -0.19906477 -0.18122443 -11.10565311] [ 0.20766561 0.97775206 0.02959561 -5.41167806] [ 0.17130111 -0.06613714 0.98299634 -0.15376975] [ 0. 0. 0. 1. ]] SLAMing on 247.352414037 meters Centerline goodness : 0.837751 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96311942 -0.19898123 -0.18112828 -11.10592584] [ 0.20755599 0.9777785 0.02949092 -5.41124943] [ 0.17123519 -0.06599753 0.98301721 -0.15377912] [ 0. 0. 0. 1. ]] SLAMing on 247.382414037 meters Centerline goodness : 0.843827 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96301402 -0.19942572 -0.18119981 -11.10597841] [ 0.20792407 0.97771541 0.02898563 -5.41040506] [ 0.17138137 -0.06558937 0.98301905 -0.15350775] [ 0. 0. 0. 1. ]] SLAMing on 247.412414037 meters Centerline goodness : 0.835805 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.15 [[ 0.96283643 -0.19991501 -0.18160397 -11.10505596] [ 0.20843298 0.97760963 0.02889821 -5.40966977] [ 0.17176061 -0.06567651 0.98294704 -0.153586 ] [ 0. 0. 0. 1. ]] SLAMing on 247.442414037 meters Centerline goodness : 0.842257 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.15 [[ 0.96276023 -0.20016792 -0.18172931 -11.10434395] [ 0.20865166 0.97757082 0.02863163 -5.4088237 ] [ 0.17192213 -0.06548352 0.98293168 -0.15409052] [ 0. 0. 0. 1. ]] SLAMing on 247.472414037 meters Centerline goodness : 0.787070 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.15 [[ 0.96262578 -0.20050026 -0.18207484 -11.10355873] [ 0.2089557 0.97751532 0.02830741 -5.40761298] [ 0.1723053 -0.06529502 0.98287712 -0.15421579] [ 0. 0. 0. 1. ]] SLAMing on 247.502414037 meters Centerline goodness : 0.843265 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.15 [[ 0.96254908 -0.20064001 -0.1823262 -11.1032689 ] [ 0.20901228 0.97751992 0.02772486 -5.40447545] [ 0.17266478 -0.06479495 0.98284713 -0.154623 ] [ 0. 0. 0. 1. ]] SLAMing on 247.532414037 meters Centerline goodness : 0.843811 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.15 [[ 0.96252625 -0.20061959 -0.18246917 -11.10294224] [ 0.20892941 0.97754912 0.02731714 -5.40297188] [ 0.17289222 -0.06441664 0.98283202 -0.15487286] [ 0. 0. 0. 1. ]] SLAMing on 247.562414037 meters Centerline goodness : 0.843464 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.16 [[ 0.96256528 -0.20047143 -0.18242612 -11.102892 ] [ 0.20873546 0.97759697 0.02708625 -5.40176012] [ 0.1729092 -0.06415108 0.9828464 -0.15527129] [ 0. 0. 0. 1. ]] SLAMing on 247.592414037 meters Centerline goodness : 0.843518 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.16 [[ 0.96294296 -0.19722537 -0.18396471 -11.10127543] [ 0.20619676 0.97802602 0.03078946 -5.40122662] [ 0.17384981 -0.06758143 0.9824505 -0.15527114] [ 0. 0. 0. 1. ]] SLAMing on 247.622414037 meters Centerline goodness : 0.843670 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.16 [[ 0.96294024 -0.19758558 -0.18359202 -11.10225991] [ 0.2063761 0.97801637 0.02988103 -5.39957663] [ 0.17365194 -0.06666265 0.98254827 -0.15526788] [ 0. 0. 0. 1. ]] SLAMing on 247.65241403699997 meters Centerline goodness : 0.843102 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.15 [[ 0.96286751 -0.19809765 -0.18342157 -11.10313075] [ 0.20673076 0.97796767 0.02901097 -5.39783302] [ 0.17363336 -0.0658526 0.98260617 -0.15492309] [ 0. 0. 0. 1. ]] SLAMing on 247.68241403699997 meters Centerline goodness : 0.842677 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.39, Z:-0.15 [[ 0.96299038 -0.19793826 -0.182948 -11.10489742] [ 0.20636275 0.97807415 0.02802461 -5.3949388 ] [ 0.17338957 -0.06474109 0.98272308 -0.15454481] [ 0. 0. 0. 1. ]] SLAMing on 247.71241403699997 meters Centerline goodness : 0.842521 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.39, Z:-0.15 [[ 0.96302539 -0.19811992 -0.18256671 -11.10609501] [ 0.20638993 0.97808957 0.02727617 -5.39284597] [ 0.17316264 -0.06394757 0.98281504 -0.1545202 ] [ 0. 0. 0. 1. ]] SLAMing on 247.74241403699997 meters Centerline goodness : 0.841516 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.39, Z:-0.15 [[ 0.96304132 -0.19811322 -0.18248991 -11.10657565] [ 0.20628481 0.97812636 0.02674687 -5.39118463] [ 0.17319928 -0.06340323 0.98284385 -0.1544214 ] [ 0. 0. 0. 1. ]] SLAMing on 247.77241403699998 meters Centerline goodness : 0.841273 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.39, Z:-0.15 [[ 0.96295037 -0.19870846 -0.1823226 -11.10748258] [ 0.20670716 0.9780633 0.02577459 -5.38914165] [ 0.17320141 -0.06250704 0.98290088 -0.1539822 ] [ 0. 0. 0. 1. ]] SLAMing on 247.80241403699998 meters Centerline goodness : 0.841000 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.39, Z:-0.15 [[ 0.96287184 -0.19870112 -0.18274484 -11.1070981 ] [ 0.20665156 0.97808621 0.02534759 -5.38644749] [ 0.17370362 -0.06217099 0.98283357 -0.15392643] [ 0. 0. 0. 1. ]] SLAMing on 247.83241403699998 meters Centerline goodness : 0.841285 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.39, Z:-0.15 [[ 0.96278861 -0.19913954 -0.18270613 -11.10722385] [ 0.20699656 0.97802745 0.02479389 -5.38505265] [ 0.17375417 -0.06169081 0.98285489 -0.15399777] [ 0. 0. 0. 1. ]] SLAMing on 247.86241403699998 meters Centerline goodness : 0.787816 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.962694 -0.19957746 -0.18272685 -11.10713854] [ 0.20731771 0.97797709 0.02408694 -5.38270467] [ 0.17389546 -0.06107087 0.98286862 -0.15425609] [ 0. 0. 0. 1. ]] SLAMing on 247.89241403699998 meters Centerline goodness : 0.838779 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96264129 -0.19991307 -0.18263767 -11.10727717] [ 0.20757729 0.97793248 0.0236588 -5.38173046] [ 0.1738776 -0.06068637 0.98289559 -0.15433413] [ 0. 0. 0. 1. ]] SLAMing on 247.92241403699998 meters Centerline goodness : 0.839745 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96260138 -0.20016036 -0.18257713 -11.10732882] [ 0.20777635 0.97789678 0.02338535 -5.38111552] [ 0.17386077 -0.06044598 0.98291338 -0.15442658] [ 0. 0. 0. 1. ]] SLAMing on 247.95241403699998 meters Centerline goodness : 0.838576 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96250729 -0.20088288 -0.18227939 -11.1080858 ] [ 0.20836722 0.97778766 0.02268036 -5.37965135] [ 0.17367445 -0.05981106 0.98298516 -0.15442895] [ 0. 0. 0. 1. ]] SLAMing on 247.98241403699998 meters Centerline goodness : 0.838817 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.9624287 -0.20140482 -0.18211835 -11.10867819] [ 0.2087955 0.97770824 0.02215933 -5.37891862] [ 0.17359562 -0.05935226 0.98302689 -0.15418783] [ 0. 0. 0. 1. ]] SLAMing on 248.01241403699999 meters Centerline goodness : 0.839682 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96235227 -0.20184038 -0.18204005 -11.10903833] [ 0.20915878 0.97764005 0.02173798 -5.37834582] [ 0.17358204 -0.05899487 0.9830508 -0.15396473] [ 0. 0. 0. 1. ]] SLAMing on 248.042414037 meters Centerline goodness : 0.839661 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96221268 -0.20291483 -0.18158283 -11.11064203] [ 0.21007822 0.97746075 0.02091961 -5.37744072] [ 0.17324519 -0.05827571 0.98315311 -0.15348267] [ 0. 0. 0. 1. ]] SLAMing on 248.072414037 meters Centerline goodness : 0.839690 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96211803 -0.20360247 -0.18131443 -11.11172407] [ 0.21065354 0.97734975 0.02031139 -5.37681507] [ 0.17307216 -0.05773648 0.9832154 -0.15296594] [ 0. 0. 0. 1. ]] SLAMing on 248.102414037 meters Centerline goodness : 0.839695 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96204914 -0.2042693 -0.18092955 -11.1128704 ] [ 0.21121128 0.97724065 0.01976114 -5.3763141 ] [ 0.17277512 -0.05722555 0.98329751 -0.15262677] [ 0. 0. 0. 1. ]] SLAMing on 248.132414037 meters Centerline goodness : 0.840401 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96188708 -0.20542746 -0.18047936 -11.11443547] [ 0.21221072 0.97704108 0.01890345 -5.37564431] [ 0.17245246 -0.05648264 0.9833971 -0.15206586] [ 0. 0. 0. 1. ]] SLAMing on 248.162414037 meters Centerline goodness : 0.786945 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.38, Z:-0.15 [[ 0.96180875 -0.2059798 -0.18026718 -11.11502693] [ 0.21267442 0.97694951 0.01841854 -5.37530283] [ 0.17231808 -0.05605333 0.98344522 -0.15181765] [ 0. 0. 0. 1. ]] SLAMing on 248.192414037 meters Centerline goodness : 0.839016 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.9617354 -0.20649616 -0.18006765 -11.11535651] [ 0.21311889 0.97685994 0.01802741 -5.3748506 ] [ 0.17217828 -0.05571342 0.98348902 -0.1519352 ] [ 0. 0. 0. 1. ]] SLAMing on 248.222414037 meters Centerline goodness : 0.838965 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96162021 -0.20730287 -0.17975563 -11.11613369] [ 0.21381937 0.97671735 0.0174499 -5.3742219 ] [ 0.17195303 -0.05521541 0.98355651 -0.15191917] [ 0. 0. 0. 1. ]] SLAMing on 248.252414037 meters Centerline goodness : 0.839080 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96156832 -0.20763987 -0.17964425 -11.11646795] [ 0.21409775 0.97666219 0.01712052 -5.37366822] [ 0.17189685 -0.05492398 0.98358265 -0.15180831] [ 0. 0. 0. 1. ]] SLAMing on 248.282414037 meters Centerline goodness : 0.839724 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96150911 -0.20806927 -0.17946422 -11.11710824] [ 0.21443106 0.97659822 0.01659018 -5.37258683] [ 0.17181253 -0.05443431 0.9836246 -0.15157369] [ 0. 0. 0. 1. ]] SLAMing on 248.312414037 meters Centerline goodness : 0.783209 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96145732 -0.20834606 -0.17942058 -11.11743839] [ 0.2146429 0.97655811 0.01620744 -5.37166803] [ 0.17183787 -0.05409412 0.98363894 -0.15135642] [ 0. 0. 0. 1. ]] SLAMing on 248.342414037 meters Centerline goodness : 0.840892 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96142481 -0.20858489 -0.17931725 -11.11775799] [ 0.21482582 0.97652296 0.01589884 -5.37099354] [ 0.17179116 -0.05380751 0.98366282 -0.15123422] [ 0. 0. 0. 1. ]] SLAMing on 248.372414037 meters Centerline goodness : 0.841029 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96139974 -0.20865244 -0.1793731 -11.11769784] [ 0.21481501 0.97653291 0.01542659 -5.36947996] [ 0.17194494 -0.05336315 0.98366016 -0.15109836] [ 0. 0. 0. 1. ]] SLAMing on 248.40241403699997 meters Centerline goodness : 0.842065 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.9613811 -0.20868843 -0.1794311 -11.117528 ] [ 0.21480537 0.97653946 0.01514418 -5.36848711] [ 0.17206113 -0.05310209 0.98365397 -0.15111393] [ 0. 0. 0. 1. ]] SLAMing on 248.43241403699997 meters Centerline goodness : 0.841345 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96134691 -0.20882837 -0.17945147 -11.11756779] [ 0.21488338 0.97652801 0.01477123 -5.36731684] [ 0.17215474 -0.05276141 0.98365593 -0.15102497] [ 0. 0. 0. 1. ]] SLAMing on 248.46241403699997 meters Centerline goodness : 0.842996 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96129058 -0.20899323 -0.17956126 -11.11776069] [ 0.21492087 0.97653118 0.01399528 -5.36481415] [ 0.17242225 -0.052045 0.98364724 -0.15055872] [ 0. 0. 0. 1. ]] SLAMing on 248.49241403699997 meters Centerline goodness : 0.843546 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96125801 -0.20910172 -0.17960934 -11.1178066 ] [ 0.21496124 0.97652813 0.01358229 -5.36345799] [ 0.17255349 -0.05166513 0.98364425 -0.15038224] [ 0. 0. 0. 1. ]] SLAMing on 248.52241403699998 meters Centerline goodness : 0.840984 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96122431 -0.20920986 -0.17966376 -11.11792947] [ 0.21500972 0.97652248 0.01321601 -5.36245712] [ 0.17268078 -0.051333 0.9836393 -0.15007121] [ 0. 0. 0. 1. ]] SLAMing on 248.55241403699998 meters Centerline goodness : 0.841332 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96116279 -0.20953812 -0.17961029 -11.11853166] [ 0.21521881 0.97648555 0.01252359 -5.3605556 ] [ 0.17276269 -0.05069273 0.98365812 -0.14960473] [ 0. 0. 0. 1. ]] SLAMing on 248.58241403699998 meters Centerline goodness : 0.843002 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96112692 -0.20964493 -0.17967761 -11.11849701] [ 0.21529259 0.97647205 0.01230591 -5.36002084] [ 0.17287029 -0.0505108 0.98364858 -0.14943902] [ 0. 0. 0. 1. ]] SLAMing on 248.61241403699998 meters Centerline goodness : 0.842271 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96111155 -0.20968782 -0.17970979 -11.11837604] [ 0.21531845 0.97646773 0.01219553 -5.35992558] [ 0.17292356 -0.0504161 0.98364407 -0.14938283] [ 0. 0. 0. 1. ]] SLAMing on 248.64241403699998 meters Centerline goodness : 0.786666 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96108285 -0.20994307 -0.17956522 -11.1185041 ] [ 0.21555971 0.97641525 0.01213557 -5.36006882] [ 0.17278244 -0.05037032 0.98367122 -0.14959312] [ 0. 0. 0. 1. ]] SLAMing on 248.67241403699998 meters Centerline goodness : 0.842304 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96103116 -0.21019483 -0.17954734 -11.11875554] [ 0.21576756 0.97637263 0.01186797 -5.3600448 ] [ 0.17281053 -0.05014598 0.98367774 -0.14924714] [ 0. 0. 0. 1. ]] SLAMing on 248.70241403699998 meters Centerline goodness : 0.841569 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.9610043 -0.21035524 -0.17950322 -11.11884391] [ 0.21590533 0.97634375 0.01173755 -5.35993109] [ 0.17278779 -0.05003554 0.98368736 -0.14919668] [ 0. 0. 0. 1. ]] SLAMing on 248.73241403699998 meters Centerline goodness : 0.789710 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96097568 -0.21048382 -0.1795057 -11.11902874] [ 0.21600804 0.97632294 0.01157789 -5.35957968] [ 0.17281857 -0.04990074 0.9836888 -0.14897892] [ 0. 0. 0. 1. ]] SLAMing on 248.76241403699999 meters Centerline goodness : 0.789710 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96097568 -0.21048382 -0.1795057 -11.11902874] [ 0.21600804 0.97632294 0.01157789 -5.35957968] [ 0.17281857 -0.04990074 0.9836888 -0.14897892] [ 0. 0. 0. 1. ]] SLAMing on 248.792414037 meters Centerline goodness : 0.841396 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96092644 -0.21075295 -0.17945356 -11.11934289] [ 0.21622869 0.97627744 0.0112927 -5.35931295] [ 0.17281649 -0.04965446 0.98370163 -0.14870945] [ 0. 0. 0. 1. ]] SLAMing on 248.822414037 meters Centerline goodness : 0.840997 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60890489e-01 -2.10987195e-01 -1.79370766e-01 -1.11197805e+01] [ 2.16408555e-01 9.76241080e-01 1.09859318e-02 -5.35909970e+00] [ 1.72791219e-01 -4.93736456e-02 9.83720203e-01 -1.48318797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.852414037 meters Centerline goodness : 0.840760 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60855815e-01 -2.11252051e-01 -1.79244729e-01 -1.11203199e+01] [ 2.16618290e-01 9.76197910e-01 1.06844605e-02 -5.35884711e+00] [ 1.72721216e-01 -4.90939127e-02 9.83746496e-01 -1.47957834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882414037 meters Centerline goodness : 0.841930 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60807990e-01 -2.11564418e-01 -1.79132641e-01 -1.11212420e+01] [ 2.16866872e-01 9.76146585e-01 1.03249730e-02 -5.35886859e+00] [ 1.72675319e-01 -4.87682521e-02 9.83770752e-01 -1.47137420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.912414037 meters Centerline goodness : 0.841274 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60800553e-01 -2.11566564e-01 -1.79169994e-01 -1.11212217e+01] [ 2.16863157e-01 9.76147878e-01 1.02806763e-02 -5.35900094e+00] [ 1.72721362e-01 -4.87330500e-02 9.83764413e-01 -1.46970183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942414037 meters Centerline goodness : 0.839706 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60802775e-01 -2.11359655e-01 -1.79402127e-01 -1.11208023e+01] [ 2.16668167e-01 9.76190964e-01 1.03008317e-02 -5.35896515e+00] [ 1.72953555e-01 -4.87677977e-02 9.83721897e-01 -1.46764593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.972414037 meters Centerline goodness : 0.841827 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60837107e-01 -2.11174484e-01 -1.79436315e-01 -1.11204301e+01] [ 2.16513311e-01 9.76223412e-01 1.04803072e-02 -5.35934009e+00] [ 1.72956758e-01 -4.89202186e-02 9.83713765e-01 -1.46946908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002414037 meters Centerline goodness : 0.839569 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60840785e-01 -2.11047623e-01 -1.79565825e-01 -1.11199738e+01] [ 2.16405502e-01 9.76246425e-01 1.05629505e-02 -5.35976954e+00] [ 1.73071209e-01 -4.90083463e-02 9.83689249e-01 -1.46947432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.032414037 meters Centerline goodness : 0.841990 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60862964e-01 -2.10795048e-01 -1.79743743e-01 -1.11193387e+01] [ 2.16184647e-01 9.76293700e-01 1.07149410e-02 -5.36009956e+00] [ 1.73224027e-01 -4.91534276e-02 9.83655111e-01 -1.47049113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062414037 meters Centerline goodness : 0.842253 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60934880e-01 -2.10387604e-01 -1.79836629e-01 -1.11189660e+01] [ 2.15842224e-01 9.76365223e-01 1.10944104e-02 -5.36110036e+00] [ 1.73252104e-01 -4.94773439e-02 9.83633926e-01 -1.47027945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.092414037 meters Centerline goodness : 0.843076 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96093884 -0.21026652 -0.17995704 -11.11871898] [ 0.21574304 0.976386 0.01119481 -5.36154315] [ 0.17335364 -0.04958201 0.98361077 -0.14688262] [ 0. 0. 0. 1. ]] SLAMing on 249.122414037 meters Centerline goodness : 0.842546 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 9.60921591e-01 -2.10324893e-01 -1.79980928e-01 -1.11189653e+01] [ 2.15789967e-01 9.76376510e-01 1.11175844e-02 -5.36194702e+00] [ 1.73390846e-01 -4.95212054e-02 9.83607272e-01 -1.46436679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15241403699997 meters Centerline goodness : 0.842032 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96093067 -0.21023942 -0.18003233 -11.11899243] [ 0.21572524 0.97638955 0.01122811 -5.36264354] [ 0.17342109 -0.04962695 0.98359661 -0.14613882] [ 0. 0. 0. 1. ]] SLAMing on 249.18241403699997 meters Centerline goodness : 0.843089 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96098463 -0.20994206 -0.18009128 -11.11895079] [ 0.21548838 0.97643773 0.0115812 -5.36411563] [ 0.17341654 -0.04993693 0.98358172 -0.14579694] [ 0. 0. 0. 1. ]] SLAMing on 249.21241403699997 meters Centerline goodness : 0.843684 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96101024 -0.20971838 -0.18021522 -11.11871629] [ 0.21531459 0.97647286 0.01184813 -5.36523155] [ 0.1734905 -0.05018913 0.98355584 -0.1455312 ] [ 0. 0. 0. 1. ]] SLAMing on 249.24241403699997 meters Centerline goodness : 0.844989 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96101787 -0.20960867 -0.18030213 -11.11858882] [ 0.21523127 0.9764896 0.01198215 -5.3661068 ] [ 0.17355159 -0.05032172 0.98353829 -0.14528481] [ 0. 0. 0. 1. ]] SLAMing on 249.27241403699998 meters Centerline goodness : 0.845313 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.14 [[ 0.96106491 -0.20926864 -0.18044631 -11.11849076] [ 0.21495629 0.97654572 0.01233911 -5.36795196] [ 0.17363188 -0.05064675 0.98350744 -0.14464679] [ 0. 0. 0. 1. ]] SLAMing on 249.30241403699998 meters Centerline goodness : 0.792246 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.14 [[ 0.96107394 -0.20918112 -0.18049969 -11.11857689] [ 0.21489454 0.97655755 0.01247724 -5.36891513] [ 0.17365833 -0.05077995 0.9834959 -0.14422372] [ 0. 0. 0. 1. ]] SLAMing on 249.33241403699998 meters Centerline goodness : 0.845883 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.14 [[ 0.96108408 -0.20913601 -0.18049799 -11.11868042] [ 0.21488051 0.97655832 0.01265791 -5.37002072] [ 0.17361959 -0.05095081 0.9834939 -0.14395949] [ 0. 0. 0. 1. ]] SLAMing on 249.36241403699998 meters Centerline goodness : 0.848134 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.14 [[ 0.96107431 -0.20920387 -0.18047136 -11.11878839] [ 0.21500755 0.97652593 0.01299503 -5.37261443] [ 0.17351635 -0.0512919 0.98349439 -0.1435258 ] [ 0. 0. 0. 1. ]] SLAMing on 249.39241403699998 meters Centerline goodness : 0.848118 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.14 [[ 0.9610713 -0.20928507 -0.18039321 -11.11876577] [ 0.21511581 0.97649981 0.0131646 -5.37410102] [ 0.17339879 -0.05145755 0.98350647 -0.14344995] [ 0. 0. 0. 1. ]] SLAMing on 249.42241403699998 meters Centerline goodness : 0.843067 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.14 [[ 9.60590624e-01 -2.12208174e-01 -1.79536467e-01 -1.11172809e+01] [ 2.17455086e-01 9.76020778e-01 9.83493601e-03 -5.37479105e+00] [ 1.73144269e-01 -4.84884653e-02 9.83702156e-01 -1.44995276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45241403699998 meters Centerline goodness : 0.843676 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96048899 -0.21173914 -0.18063065 -11.11474875] [ 0.21733995 0.97602743 0.01156737 -5.37602778] [ 0.17385121 -0.05036859 0.98348298 -0.14512223] [ 0. 0. 0. 1. ]] SLAMing on 249.48241403699998 meters Centerline goodness : 0.844871 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.9603728 -0.2121532 -0.18076255 -11.11434006] [ 0.21773366 0.97594193 0.01137559 -5.37618135] [ 0.17400039 -0.0502829 0.98346098 -0.14504416] [ 0. 0. 0. 1. ]] SLAMing on 249.51241403699999 meters Centerline goodness : 0.844157 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96082652 -0.20874367 -0.18231422 -11.1122796 ] [ 0.21521959 0.97643025 0.01626345 -5.37913614] [ 0.17462222 -0.05486395 0.98310581 -0.14503677] [ 0. 0. 0. 1. ]] SLAMing on 249.542414037 meters Centerline goodness : 0.844575 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.14 [[ 0.96085422 -0.20869787 -0.18222064 -11.1127741 ] [ 0.21519769 0.97643225 0.01643212 -5.37947659] [ 0.17449676 -0.05500233 0.98312035 -0.14464746] [ 0. 0. 0. 1. ]] SLAMing on 249.572414037 meters Centerline goodness : 0.845844 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.14 [[ 0.96090674 -0.20873382 -0.18190226 -11.11362794] [ 0.21517888 0.97643991 0.01622194 -5.37968065] [ 0.17423056 -0.0547293 0.9831828 -0.14426447] [ 0. 0. 0. 1. ]] SLAMing on 249.602414037 meters Centerline goodness : 0.846188 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96116435 -0.21136348 -0.17745017 -11.10613486] [ 0.21880074 0.97549332 0.02321668 -5.37844556] [ 0.16819429 -0.06114128 0.9838559 -0.14828695] [ 0. 0. 0. 1. ]] SLAMing on 249.632414037 meters Centerline goodness : 0.797205 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96142286 -0.21059289 -0.17696532 -11.10714198] [ 0.21802924 0.97566029 0.02345753 -5.379321 ] [ 0.16771804 -0.06113622 0.98393751 -0.14833336] [ 0. 0. 0. 1. ]] SLAMing on 249.662414037 meters Centerline goodness : 0.846079 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96149501 -0.21016815 -0.17707821 -11.10659612] [ 0.21761504 0.97575138 0.02351451 -5.37908044] [ 0.16784231 -0.06114396 0.98391584 -0.14867487] [ 0. 0. 0. 1. ]] SLAMing on 249.692414037 meters Centerline goodness : 0.795998 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96161272 -0.20936537 -0.17738976 -11.10563232] [ 0.21690331 0.97589797 0.02400221 -5.37915054] [ 0.16808907 -0.06155726 0.98384794 -0.14921207] [ 0. 0. 0. 1. ]] SLAMing on 249.722414037 meters Centerline goodness : 0.845959 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.15 [[ 0.96168084 -0.20941452 -0.17696195 -11.10605924] [ 0.21678765 0.9759433 0.02319047 -5.37815422] [ 0.1678484 -0.06066499 0.98394445 -0.14970563] [ 0. 0. 0. 1. ]] SLAMing on 249.752414037 meters Centerline goodness : 0.846229 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.15 [[ 0.96212393 -0.20609975 -0.17843891 -11.103882 ] [ 0.21420729 0.97640901 0.02721553 -5.37956392] [ 0.16862025 -0.06440763 0.98357454 -0.14996728] [ 0. 0. 0. 1. ]] SLAMing on 249.782414037 meters Centerline goodness : 0.848341 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.15 [[ 0.96221104 -0.20596382 -0.17812586 -11.10412593] [ 0.21389276 0.9765029 0.0263056 -5.37770582] [ 0.16852242 -0.06341137 0.98365603 -0.15072074] [ 0. 0. 0. 1. ]] SLAMing on 249.812414037 meters Centerline goodness : 0.845936 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.15 [[ 0.96222157 -0.20587633 -0.17817008 -11.10374763] [ 0.21377677 0.97653301 0.02612997 -5.37709164] [ 0.16860942 -0.06323145 0.98365271 -0.15108851] [ 0. 0. 0. 1. ]] SLAMing on 249.842414037 meters Centerline goodness : 0.840867 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.37, Z:-0.15 [[ 0.96180137 -0.2075119 -0.17854114 -11.05168499] [ 0.21794237 0.97511185 0.04071868 -5.37013882] [ 0.16564798 -0.07807496 0.98308954 -0.15025767] [ 0. 0. 0. 1. ]] SLAMing on 249.872414037 meters Centerline goodness : 0.793654 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.15 [[ 0.96138409 -0.20774505 -0.18050659 -11.11088026] [ 0.21632311 0.97589131 0.02899065 -5.37394427] [ 0.17013215 -0.06691889 0.98314644 -0.15083773] [ 0. 0. 0. 1. ]] SLAMing on 249.90241403699997 meters Centerline goodness : 0.792485 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.15 [[ 0.96132718 -0.20815333 -0.18033923 -11.11135548] [ 0.21659156 0.97585455 0.02821338 -5.37277627] [ 0.17011215 -0.06618225 0.98319976 -0.15073374] [ 0. 0. 0. 1. ]] SLAMing on 249.93241403699997 meters Centerline goodness : 0.844130 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.15 [[ 0.96129803 -0.20839855 -0.18021136 -11.11165973] [ 0.21671721 0.97584557 0.02755114 -5.37131145] [ 0.17011684 -0.06553976 0.98324198 -0.15076997] [ 0. 0. 0. 1. ]] SLAMing on 249.96241403699997 meters Centerline goodness : 0.792487 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.15 [[ 0.96126898 -0.208082 -0.18073137 -11.11087054] [ 0.21650148 0.97588192 0.02795698 -5.3705593 ] [ 0.17055513 -0.06600279 0.98313508 -0.15065028] [ 0. 0. 0. 1. ]] SLAMing on 249.99241403699997 meters Centerline goodness : 0.848060 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.15 [[ 0.96114402 -0.20874784 -0.18062811 -11.11161247] [ 0.21703607 0.97578505 0.02718239 -5.36911718] [ 0.17057994 -0.065329 0.98317577 -0.15009234] [ 0. 0. 0. 1. ]] SLAMing on 250.02241403699998 meters Centerline goodness : 0.793722 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.15 [[ 0.9609611 -0.21008139 -0.18005437 -11.11397603] [ 0.21811158 0.97558281 0.02579749 -5.36664271] [ 0.17023837 -0.06406232 0.98331832 -0.14916084] [ 0. 0. 0. 1. ]] SLAMing on 250.05241403699998 meters Centerline goodness : 0.845989 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.37, Z:-0.15 [[ 0.96083761 -0.21085317 -0.17981108 -11.11512885] [ 0.21874736 0.97546029 0.02503627 -5.36569306] [ 0.17011959 -0.06338899 0.98338251 -0.14846672] [ 0. 0. 0. 1. ]] SLAMing on 250.08241403699998 meters Centerline goodness : 0.794403 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96071847 -0.21159515 -0.17957596 -11.11622998] [ 0.21935697 0.97534216 0.02429402 -5.36471656] [ 0.17000751 -0.06273095 0.98344409 -0.14786336] [ 0. 0. 0. 1. ]] SLAMing on 250.11241403699998 meters Centerline goodness : 0.794930 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96049611 -0.21301104 -0.17909081 -11.1180901 ] [ 0.22057161 0.9750952 0.02318455 -5.36313611] [ 0.16969202 -0.06177102 0.98355933 -0.14730119] [ 0. 0. 0. 1. ]] SLAMing on 250.14241403699998 meters Centerline goodness : 0.795019 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.9603854 -0.21375961 -0.17879236 -11.11894097] [ 0.2211985 0.97496869 0.02252269 -5.36223922] [ 0.16950251 -0.06117907 0.98362901 -0.14708043] [ 0. 0. 0. 1. ]] SLAMing on 250.17241403699998 meters Centerline goodness : 0.844952 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96025843 -0.21453938 -0.1785402 -11.11972868] [ 0.2218652 0.97483162 0.02188952 -5.36147185] [ 0.16935046 -0.06063146 0.9836891 -0.14687638] [ 0. 0. 0. 1. ]] SLAMing on 250.20241403699998 meters Centerline goodness : 0.795379 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96014361 -0.21532364 -0.17821329 -11.12037453] [ 0.22255122 0.97468681 0.02136781 -5.3611644 ] [ 0.16910115 -0.06017775 0.98375985 -0.1469513 ] [ 0. 0. 0. 1. ]] SLAMing on 250.23241403699998 meters Centerline goodness : 0.793923 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.96002879 -0.21604919 -0.17795356 -11.12083741] [ 0.22320108 0.97454712 0.02095684 -5.3609456 ] [ 0.16889642 -0.0598386 0.9838157 -0.14712687] [ 0. 0. 0. 1. ]] SLAMing on 250.26241403699999 meters Centerline goodness : 0.840204 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.95912373 -0.22062326 -0.17722032 -11.12026958] [ 0.22705299 0.9737409 0.0166009 -5.35863066] [ 0.16890413 -0.05616072 0.98403118 -0.14743864] [ 0. 0. 0. 1. ]] SLAMing on 250.292414037 meters Centerline goodness : 0.795917 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.95899763 -0.22147126 -0.17684465 -11.12140178] [ 0.22778018 0.97358198 0.01594748 -5.35813208] [ 0.16864086 -0.0555753 0.98410957 -0.14708874] [ 0. 0. 0. 1. ]] SLAMing on 250.322414037 meters Centerline goodness : 0.843896 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.95879368 -0.22279562 -0.17628612 -11.12343706] [ 0.22895713 0.97331854 0.01515457 -5.35791289] [ 0.16820618 -0.05489207 0.9842223 -0.14635492] [ 0. 0. 0. 1. ]] SLAMing on 250.352414037 meters Centerline goodness : 0.795609 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.36, Z:-0.15 [[ 0.95868532 -0.22359635 -0.17586108 -11.12485462] [ 0.22964184 0.97316653 0.01454427 -5.35738964] [ 0.16789007 -0.05432844 0.98430755 -0.14585749] [ 0. 0. 0. 1. ]] SLAMing on 250.382414037 meters Centerline goodness : 0.842730 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.36, Z:-0.15 [[ 0.95860612 -0.2241172 -0.17562967 -11.1257902 ] [ 0.23008645 0.97306765 0.0141268 -5.35701075] [ 0.16773349 -0.05395205 0.98435494 -0.14539264] [ 0. 0. 0. 1. ]] SLAMing on 250.412414037 meters Centerline goodness : 0.794689 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.36, Z:-0.15 [[ 0.95855275 -0.22437592 -0.17559063 -11.12610832] [ 0.23029803 0.97302172 0.01383997 -5.356662 ] [ 0.16774814 -0.05370451 0.98436598 -0.14507084] [ 0. 0. 0. 1. ]] SLAMing on 250.442414037 meters Centerline goodness : 0.795109 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.36, Z:-0.14 [[ 0.95848455 -0.22480056 -0.17541969 -11.12686032] [ 0.23062773 0.97295115 0.01330042 -5.3554948 ] [ 0.16768485 -0.05320489 0.9844039 -0.14471716] [ 0. 0. 0. 1. ]] SLAMing on 250.472414037 meters Centerline goodness : 0.796033 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.35, Z:-0.14 [[ 0.9584406 -0.22500346 -0.17539972 -11.1270644 ] [ 0.23075966 0.97292563 0.01287224 -5.35444972] [ 0.16775459 -0.05281246 0.98441315 -0.14447885] [ 0. 0. 0. 1. ]] SLAMing on 250.502414037 meters Centerline goodness : 0.793804 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.35, Z:-0.14 [[ 0.95843089 -0.22500488 -0.17545093 -11.12700463] [ 0.23071846 0.97293889 0.0126058 -5.35339517] [ 0.16786667 -0.05256156 0.98440747 -0.14442229] [ 0. 0. 0. 1. ]] SLAMing on 250.532414037 meters Centerline goodness : 0.796199 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.35, Z:-0.14 [[ 0.95842705 -0.22498539 -0.1754969 -11.12694168] [ 0.23065671 0.97295687 0.01234525 -5.35227074] [ 0.16797342 -0.05231156 0.98440258 -0.14439916] [ 0. 0. 0. 1. ]] SLAMing on 250.562414037 meters Centerline goodness : 0.793910 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.35, Z:-0.14 [[ 0.95864789 -0.22400634 -0.17554312 -11.12627491] [ 0.22967741 0.97318761 0.01241617 -5.35027361] [ 0.16805509 -0.05222102 0.98439344 -0.14485146] [ 0. 0. 0. 1. ]] SLAMing on 250.592414037 meters Centerline goodness : 0.794089 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.35, Z:-0.14 [[ 0.95868757 -0.22362254 -0.17581552 -11.12553932] [ 0.22925767 0.97328988 0.01215435 -5.34869086] [ 0.16840148 -0.05195929 0.9843481 -0.14485169] [ 0. 0. 0. 1. ]] SLAMing on 250.622414037 meters Centerline goodness : 0.794091 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.35, Z:-0.14 [[ 0.95872468 -0.22327622 -0.17605319 -11.12490644] [ 0.22886961 0.97338475 0.01186732 -5.34697304] [ 0.1687178 -0.05167072 0.98430912 -0.14485585] [ 0. 0. 0. 1. ]] SLAMing on 250.65241403699997 meters Centerline goodness : 0.793903 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.35, Z:-0.14 [[ 0.95954419 -0.21932249 -0.17655762 -11.1262949 ] [ 0.22540384 0.97415139 0.0149053 -5.34533926] [ 0.16872479 -0.05409906 0.98417744 -0.14433742] [ 0. 0. 0. 1. ]] SLAMing on 250.68241403699997 meters Centerline goodness : 0.793903 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.35, Z:-0.14 [[ 0.95954419 -0.21932249 -0.17655762 -11.1262949 ] [ 0.22540384 0.97415139 0.0149053 -5.34533926] [ 0.16872479 -0.05409906 0.98417744 -0.14433742] [ 0. 0. 0. 1. ]] SLAMing on 250.71241403699997 meters Centerline goodness : 0.793524 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.9595941 -0.21897528 -0.17671727 -11.12603837] [ 0.22500053 0.97424989 0.01455738 -5.34353287] [ 0.16897907 -0.05373066 0.984154 -0.14411595] [ 0. 0. 0. 1. ]] SLAMing on 250.74241403699997 meters Centerline goodness : 0.793567 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.9596159 -0.21881211 -0.17680097 -11.1260371 ] [ 0.22477057 0.97430888 0.0141562 -5.34174657] [ 0.1691612 -0.05332417 0.98414482 -0.14388609] [ 0. 0. 0. 1. ]] SLAMing on 250.77241403699998 meters Centerline goodness : 0.794373 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95964369 -0.21854608 -0.17697909 -11.12578542] [ 0.22446141 0.97438423 0.0138724 -5.34026469] [ 0.16941387 -0.05303754 0.98411684 -0.14365409] [ 0. 0. 0. 1. ]] SLAMing on 250.80241403699998 meters Centerline goodness : 0.792716 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95972249 -0.21806488 -0.17714527 -11.12544917] [ 0.22390541 0.97451836 0.0134287 -5.33770332] [ 0.16970299 -0.05255161 0.9840931 -0.14348588] [ 0. 0. 0. 1. ]] SLAMing on 250.83241403699998 meters Centerline goodness : 0.844481 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95973858 -0.21798174 -0.17716042 -11.12540466] [ 0.22378397 0.97454925 0.01320934 -5.33667755] [ 0.16977216 -0.05232318 0.98409334 -0.1434699 ] [ 0. 0. 0. 1. ]] SLAMing on 250.86241403699998 meters Centerline goodness : 0.792667 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.34, Z:-0.14 [[ 0.95973016 -0.21789251 -0.17731575 -11.12499664] [ 0.22366976 0.97457797 0.01302409 -5.33581955] [ 0.16997017 -0.05215979 0.98406783 -0.14346254] [ 0. 0. 0. 1. ]] SLAMing on 250.89241403699998 meters Centerline goodness : 0.792938 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 0.95972105 -0.21795213 -0.17729177 -11.12515519] [ 0.22368993 0.97457633 0.01279783 -5.33485744] [ 0.16999505 -0.05194073 0.98407512 -0.1434102 ] [ 0. 0. 0. 1. ]] SLAMing on 250.92241403699998 meters Centerline goodness : 0.793878 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 0.95966575 -0.21829096 -0.17717421 -11.12565969] [ 0.22397543 0.97451469 0.01249503 -5.33485605] [ 0.16993132 -0.05167372 0.98410018 -0.14301372] [ 0. 0. 0. 1. ]] SLAMing on 250.95241403699998 meters Centerline goodness : 0.843532 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95962753 -0.21860245 -0.17699707 -11.12623039] [ 0.22424786 0.97445458 0.01229545 -5.33508539] [ 0.16978779 -0.05149027 0.98413457 -0.14273088] [ 0. 0. 0. 1. ]] SLAMing on 250.98241403699998 meters Centerline goodness : 0.794410 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95959469 -0.21892122 -0.17678104 -11.12681514] [ 0.224532 0.97439119 0.01213253 -5.33542601] [ 0.16959782 -0.05133531 0.98417542 -0.14252388] [ 0. 0. 0. 1. ]] SLAMing on 251.01241403699999 meters Centerline goodness : 0.792529 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95952516 -0.21948173 -0.17646311 -11.12774466] [ 0.22502932 0.97428038 0.01181297 -5.33579406] [ 0.16933182 -0.05104421 0.98423637 -0.14214524] [ 0. 0. 0. 1. ]] SLAMing on 251.042414037 meters Centerline goodness : 0.842609 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95947406 -0.21981967 -0.1763203 -11.12811773] [ 0.22533041 0.9742132 0.01161215 -5.33579058] [ 0.16922099 -0.05087188 0.98426435 -0.14206587] [ 0. 0. 0. 1. ]] SLAMing on 251.072414037 meters Centerline goodness : 0.792899 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 0.95943828 -0.22003976 -0.17624042 -11.12823866] [ 0.22553256 0.97416761 0.01151251 -5.33602015] [ 0.1691545 -0.05079349 0.98427983 -0.1420407 ] [ 0. 0. 0. 1. ]] SLAMing on 251.102414037 meters Centerline goodness : 0.793515 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 9.59347909e-01 -2.20739469e-01 -1.75856978e-01 -1.11296058e+01] [ 2.26154878e-01 9.74027930e-01 1.11158560e-02 -5.33614501e+00] [ 1.68835901e-01 -5.04348867e-02 9.84352966e-01 -1.41531530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.132414037 meters Centerline goodness : 0.841973 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 9.59297914e-01 -2.21073003e-01 -1.75710669e-01 -1.11301120e+01] [ 2.26435996e-01 9.73965896e-01 1.08246852e-02 -5.33628446e+00] [ 1.68743153e-01 -5.01713182e-02 9.84382338e-01 -1.41123190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162414037 meters Centerline goodness : 0.794071 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 9.59227901e-01 -2.21557034e-01 -1.75483090e-01 -1.11308860e+01] [ 2.26850753e-01 9.73873515e-01 1.04456983e-02 -5.33620851e+00] [ 1.68584016e-01 -4.98282763e-02 9.84427028e-01 -1.40734242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.192414037 meters Centerline goodness : 0.843774 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 9.59163421e-01 -2.21966704e-01 -1.75317751e-01 -1.11316223e+01] [ 2.27183605e-01 9.73800498e-01 1.00099234e-02 -5.33595496e+00] [ 1.68502644e-01 -4.94304713e-02 9.84461014e-01 -1.40220793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222414037 meters Centerline goodness : 0.793058 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 9.59074431e-01 -2.22507079e-01 -1.75119492e-01 -1.11325829e+01] [ 2.27628146e-01 9.73702176e-01 9.46044214e-03 -5.33527385e+00] [ 1.68409215e-01 -4.89353934e-02 9.84501734e-01 -1.39642291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.252414037 meters Centerline goodness : 0.794292 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.34, Z:-0.14 [[ 9.59052776e-01 -2.22649488e-01 -1.75057069e-01 -1.11326927e+01] [ 2.27740192e-01 9.73677630e-01 9.28861468e-03 -5.33506236e+00] [ 1.68381047e-01 -4.87758022e-02 9.84514471e-01 -1.39596238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282414037 meters Centerline goodness : 0.794650 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59059768e-01 -2.22578390e-01 -1.75109172e-01 -1.11322340e+01] [ 2.27658552e-01 9.73697392e-01 9.21802581e-03 -5.33463785e+00] [ 1.68451610e-01 -4.87057382e-02 9.84505869e-01 -1.39840626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312414037 meters Centerline goodness : 0.793594 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59072587e-01 -2.22440557e-01 -1.75214073e-01 -1.11317903e+01] [ 2.27516155e-01 9.73731101e-01 9.17288508e-03 -5.33432323e+00] [ 1.68570970e-01 -4.86614948e-02 9.84487627e-01 -1.39945428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342414037 meters Centerline goodness : 0.791795 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59083016e-01 -2.22272230e-01 -1.75370536e-01 -1.11311658e+01] [ 2.27337000e-01 9.73773825e-01 9.07892259e-03 -5.33362859e+00] [ 1.68753245e-01 -4.85756518e-02 9.84460638e-01 -1.40157280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372414037 meters Centerline goodness : 0.794520 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59159552e-01 -2.21738307e-01 -1.75627665e-01 -1.11303797e+01] [ 2.26784056e-01 9.73904027e-01 8.94086658e-03 -5.33194867e+00] [ 1.69061958e-01 -4.84052719e-02 9.84416062e-01 -1.40281822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40241403699997 meters Centerline goodness : 0.793529 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59168106e-01 -2.21526443e-01 -1.75848172e-01 -1.11299377e+01] [ 2.26556430e-01 9.73958249e-01 8.80415930e-03 -5.33105890e+00] [ 1.69318423e-01 -4.82842028e-02 9.84377929e-01 -1.40183560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43241403699997 meters Centerline goodness : 0.844659 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59148225e-01 -2.21594102e-01 -1.75871363e-01 -1.11300757e+01] [ 2.26568630e-01 9.73958383e-01 8.46906428e-03 -5.33012395e+00] [ 1.69414694e-01 -4.79700218e-02 9.84376726e-01 -1.39864095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46241403699997 meters Centerline goodness : 0.792492 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59118759e-01 -2.21750559e-01 -1.75834852e-01 -1.11307351e+01] [ 2.26639689e-01 9.73946066e-01 7.96937081e-03 -5.32895835e+00] [ 1.69486450e-01 -4.74947294e-02 9.84387421e-01 -1.39153537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49241403699997 meters Centerline goodness : 0.791920 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59097838e-01 -2.21888733e-01 -1.75774650e-01 -1.11309715e+01] [ 2.26732007e-01 9.73926685e-01 7.70770629e-03 -5.32862483e+00] [ 1.69481369e-01 -4.72461837e-02 9.84400256e-01 -1.38887270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52241403699998 meters Centerline goodness : 0.841991 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59098844e-01 -2.21829790e-01 -1.75843545e-01 -1.11306552e+01] [ 2.26671548e-01 9.73940940e-01 7.68470259e-03 -5.32853781e+00] [ 1.69556531e-01 -4.72291178e-02 9.84388131e-01 -1.38964159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55241403699998 meters Centerline goodness : 0.790532 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59075274e-01 -2.21966822e-01 -1.75799173e-01 -1.11303570e+01] [ 2.26786380e-01 9.73915214e-01 7.55603653e-03 -5.32820602e+00] [ 1.69536300e-01 -4.71156658e-02 9.84397053e-01 -1.39348647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58241403699998 meters Centerline goodness : 0.790129 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.59050533e-01 -2.22147986e-01 -1.75705287e-01 -1.11303897e+01] [ 2.26935336e-01 9.73881872e-01 7.37916208e-03 -5.32787992e+00] [ 1.69476928e-01 -4.69507277e-02 9.84415156e-01 -1.39467488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61241403699998 meters Centerline goodness : 0.842096 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.58995849e-01 -2.22519578e-01 -1.75533468e-01 -1.11308638e+01] [ 2.27258512e-01 9.73808492e-01 7.11268580e-03 -5.32754017e+00] [ 1.69353270e-01 -4.67125109e-02 9.84447770e-01 -1.39410567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64241403699998 meters Centerline goodness : 0.792231 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.58945377e-01 -2.22767588e-01 -1.75494632e-01 -1.11309822e+01] [ 2.27458917e-01 9.73763763e-01 6.82455375e-03 -5.32720983e+00] [ 1.69370024e-01 -4.64621933e-02 9.84456733e-01 -1.39251899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67241403699998 meters Centerline goodness : 0.790328 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.58895822e-01 -2.23185413e-01 -1.75234340e-01 -1.11316932e+01] [ 2.27812495e-01 9.73683420e-01 6.48567958e-03 -5.32702515e+00] [ 1.69175263e-01 -4.61396634e-02 9.84505389e-01 -1.38998544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70241403699998 meters Centerline goodness : 0.844121 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.58713433e-01 -2.24389650e-01 -1.74693558e-01 -1.11337578e+01] [ 2.28863856e-01 9.73442127e-01 5.63567015e-03 -5.32692477e+00] [ 1.68789482e-01 -4.53840340e-02 9.84606724e-01 -1.38029174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73241403699998 meters Centerline goodness : 0.791463 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.33, Z:-0.14 [[ 9.58630883e-01 -2.25034212e-01 -1.74317050e-01 -1.11349331e+01] [ 2.29430642e-01 9.73310981e-01 5.22627774e-03 -5.32694498e+00] [ 1.68488608e-01 -4.50037439e-02 9.84675709e-01 -1.37609244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76241403699999 meters Centerline goodness : 0.792845 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58541332e-01 -2.25627092e-01 -1.74042899e-01 -1.11358267e+01] [ 2.29948440e-01 9.73190935e-01 4.80825864e-03 -5.32689420e+00] [ 1.68292098e-01 -4.46298079e-02 9.84726332e-01 -1.37226029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.792414037 meters Centerline goodness : 0.792713 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58359932e-01 -2.26767174e-01 -1.73559469e-01 -1.11374677e+01] [ 2.30961922e-01 9.72954176e-01 4.09418105e-03 -5.32676216e+00] [ 1.67936984e-01 -4.40093276e-02 9.84814880e-01 -1.36656760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822414037 meters Centerline goodness : 0.841537 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58292475e-01 -2.27253555e-01 -1.73295567e-01 -1.11380741e+01] [ 2.31398816e-01 9.72851436e-01 3.83043099e-03 -5.32688526e+00] [ 1.67720362e-01 -4.37710622e-02 9.84862414e-01 -1.36568209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852414037 meters Centerline goodness : 0.791514 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58228921e-01 -2.27642612e-01 -1.73136294e-01 -1.11384428e+01] [ 2.31752635e-01 9.72767975e-01 3.63086645e-03 -5.32694507e+00] [ 1.67594902e-01 -4.36039935e-02 9.84891182e-01 -1.36516393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882414037 meters Centerline goodness : 0.840372 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58128095e-01 -2.28215575e-01 -1.72939890e-01 -1.11388904e+01] [ 2.32268150e-01 9.72646214e-01 3.29377241e-03 -5.32675611e+00] [ 1.67457639e-01 -4.33242842e-02 9.84926873e-01 -1.36546689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912414037 meters Centerline goodness : 0.791807 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58100870e-01 -2.28383618e-01 -1.72868868e-01 -1.11388648e+01] [ 2.32409275e-01 9.72613014e-01 3.13908197e-03 -5.32659243e+00] [ 1.67417596e-01 -4.31838855e-02 9.84939846e-01 -1.36670572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942414037 meters Centerline goodness : 0.840811 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58059377e-01 -2.28656828e-01 -1.72737617e-01 -1.11390745e+01] [ 2.32638194e-01 9.72559061e-01 2.88839139e-03 -5.32636419e+00] [ 1.67337085e-01 -4.29526179e-02 9.84963640e-01 -1.36658641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972414037 meters Centerline goodness : 0.839995 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.58022782e-01 -2.28920725e-01 -1.72590991e-01 -1.11394307e+01] [ 2.32855239e-01 9.72507859e-01 2.62713808e-03 -5.32600339e+00] [ 1.67244689e-01 -4.27055747e-02 9.84990075e-01 -1.36573892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002414037 meters Centerline goodness : 0.789580 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.57975782e-01 -2.29198107e-01 -1.72483706e-01 -1.11399829e+01] [ 2.33077007e-01 9.72455555e-01 2.30256576e-03 -5.32559091e+00] [ 1.67204994e-01 -4.24077881e-02 9.85009680e-01 -1.36182880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032414037 meters Centerline goodness : 0.792077 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.14 [[ 9.57943646e-01 -2.29403312e-01 -1.72389360e-01 -1.11404466e+01] [ 2.33241490e-01 9.72416643e-01 2.06860187e-03 -5.32539644e+00] [ 1.67159739e-01 -4.21899552e-02 9.85026715e-01 -1.35815649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062414037 meters Centerline goodness : 0.791454 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57889843e-01 -2.29753417e-01 -1.72221996e-01 -1.11414843e+01] [ 2.33520948e-01 9.72350348e-01 1.66372034e-03 -5.32536366e+00] [ 1.67077872e-01 -4.18111046e-02 9.85056758e-01 -1.34890336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092414037 meters Centerline goodness : 0.790931 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57846348e-01 -2.30000599e-01 -1.72133953e-01 -1.11421238e+01] [ 2.33719275e-01 9.72303146e-01 1.37595066e-03 -5.32531473e+00] [ 1.67049914e-01 -4.15489720e-02 9.85072591e-01 -1.34277208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122414037 meters Centerline goodness : 0.792416 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57818916e-01 -2.30171004e-01 -1.72058808e-01 -1.11424866e+01] [ 2.33865129e-01 9.72268264e-01 1.23493595e-03 -5.32527842e+00] [ 1.67003072e-01 -4.14214003e-02 9.85085906e-01 -1.34016599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15241403699997 meters Centerline goodness : 0.842260 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57794673e-01 -2.30328868e-01 -1.71982489e-01 -1.11427471e+01] [ 2.34013883e-01 9.72232531e-01 1.18635526e-03 -5.32561881e+00] [ 1.66933718e-01 -4.13825748e-02 9.85099293e-01 -1.33859614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18241403699997 meters Centerline goodness : 0.792744 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57756451e-01 -2.30478365e-01 -1.71995071e-01 -1.11424397e+01] [ 2.34196945e-01 9.72188212e-01 1.36797617e-03 -5.32725949e+00] [ 1.66896291e-01 -4.15909081e-02 9.85096860e-01 -1.33923225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21241403699997 meters Centerline goodness : 0.793456 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57718744e-01 -2.30660278e-01 -1.71961169e-01 -1.11423455e+01] [ 2.34384905e-01 9.72142874e-01 1.39608173e-03 -5.32831607e+00] [ 1.66848805e-01 -4.16421560e-02 9.85102739e-01 -1.33883975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24241403699997 meters Centerline goodness : 0.792743 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57712970e-01 -2.30775697e-01 -1.71838427e-01 -1.11422382e+01] [ 2.34532322e-01 9.72106996e-01 1.60602480e-03 -5.32952753e+00] [ 1.66674705e-01 -4.18397760e-02 9.85123838e-01 -1.34156997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27241403699998 meters Centerline goodness : 0.841056 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57610805e-01 -2.31200888e-01 -1.71836249e-01 -1.11421601e+01] [ 2.34985164e-01 9.71997414e-01 1.73227179e-03 -5.33190779e+00] [ 1.66623887e-01 -4.20378113e-02 9.85124004e-01 -1.33961072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30241403699998 meters Centerline goodness : 0.792832 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57547161e-01 -2.31628633e-01 -1.71614718e-01 -1.11425789e+01] [ 2.35404077e-01 9.71896103e-01 1.69880302e-03 -5.33296319e+00] [ 1.66398185e-01 -4.20254884e-02 9.85162678e-01 -1.33919123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33241403699998 meters Centerline goodness : 0.841309 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.33, Z:-0.13 [[ 9.57488676e-01 -2.31944526e-01 -1.71514351e-01 -1.11428332e+01] [ 2.35723635e-01 9.71818612e-01 1.71824661e-03 -5.33417470e+00] [ 1.66282301e-01 -4.20751880e-02 9.85180123e-01 -1.33732952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36241403699998 meters Centerline goodness : 0.792040 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.34, Z:-0.13 [[ 9.57432844e-01 -2.32307774e-01 -1.71334311e-01 -1.11433513e+01] [ 2.36080095e-01 9.71732127e-01 1.69206621e-03 -5.33532158e+00] [ 1.66097975e-01 -4.20686603e-02 9.85211495e-01 -1.33438275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39241403699998 meters Centerline goodness : 0.791914 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.34, Z:-0.13 [[ 9.57329602e-01 -2.32983748e-01 -1.70992998e-01 -1.11444427e+01] [ 2.36737547e-01 9.71572304e-01 1.61003725e-03 -5.33748226e+00] [ 1.65756948e-01 -4.20217992e-02 9.85270928e-01 -1.32784834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42241403699998 meters Centerline goodness : 0.792761 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.34, Z:-0.13 [[ 9.57297150e-01 -2.33211541e-01 -1.70864108e-01 -1.11448386e+01] [ 2.36956908e-01 9.71518888e-01 1.57292031e-03 -5.33840979e+00] [ 1.65630885e-01 -4.19931829e-02 9.85293348e-01 -1.32450831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45241403699998 meters Centerline goodness : 0.845105 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.34, Z:-0.13 [[ 9.57258145e-01 -2.33433144e-01 -1.70780006e-01 -1.11453121e+01] [ 2.37168068e-01 9.71467456e-01 1.51283321e-03 -5.33938700e+00] [ 1.65554072e-01 -4.19517359e-02 9.85308023e-01 -1.31929936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48241403699998 meters Centerline goodness : 0.842127 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.34, Z:-0.13 [[ 9.57207934e-01 -2.33710988e-01 -1.70681414e-01 -1.11457222e+01] [ 2.37433968e-01 9.71402610e-01 1.44253595e-03 -5.34034136e+00] [ 1.65463234e-01 -4.19063722e-02 9.85325212e-01 -1.31543451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51241403699999 meters Centerline goodness : 0.790532 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.34, Z:-0.13 [[ 9.57151125e-01 -2.34057613e-01 -1.70524945e-01 -1.11464451e+01] [ 2.37777936e-01 9.71318480e-01 1.43635438e-03 -5.34251038e+00] [ 1.65297841e-01 -4.19218777e-02 9.85352313e-01 -1.30706572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542414037 meters Centerline goodness : 0.791053 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.34, Z:-0.13 [[ 9.57138515e-01 -2.34132898e-01 -1.70492371e-01 -1.11466047e+01] [ 2.37862795e-01 9.71297614e-01 1.49518214e-03 -5.34363689e+00] [ 1.65248762e-01 -4.19848882e-02 9.85357862e-01 -1.30324976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572414037 meters Centerline goodness : 0.791053 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.34, Z:-0.13 [[ 9.57138515e-01 -2.34132898e-01 -1.70492371e-01 -1.11466047e+01] [ 2.37862795e-01 9.71297614e-01 1.49518214e-03 -5.34363689e+00] [ 1.65248762e-01 -4.19848882e-02 9.85357862e-01 -1.30324976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602414037 meters Centerline goodness : 0.841949 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.35, Z:-0.13 [[ 9.57107691e-01 -2.34249838e-01 -1.70504783e-01 -1.11466353e+01] [ 2.38049571e-01 9.71251151e-01 1.89819062e-03 -5.34696536e+00] [ 1.65158316e-01 -4.24053634e-02 9.85355020e-01 -1.29785764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632414037 meters Centerline goodness : 0.843288 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.35, Z:-0.13 [[ 9.57117422e-01 -2.34194367e-01 -1.70526356e-01 -1.11463229e+01] [ 2.38041904e-01 9.71252433e-01 2.18268383e-03 -5.34865171e+00] [ 1.65112966e-01 -4.26815032e-02 9.85350698e-01 -1.29746952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662414037 meters Centerline goodness : 0.841729 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.35, Z:-0.13 [[ 9.57148616e-01 -2.34068497e-01 -1.70524090e-01 -1.11460340e+01] [ 2.37981323e-01 9.71266293e-01 2.58410872e-03 -5.35046521e+00] [ 1.65019442e-01 -4.30549245e-02 9.85350119e-01 -1.29793109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692414037 meters Centerline goodness : 0.841400 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.35, Z:-0.13 [[ 9.57200547e-01 -2.33727214e-01 -1.70700621e-01 -1.11453879e+01] [ 2.37715158e-01 9.71330227e-01 3.01563960e-03 -5.35220929e+00] [ 1.65101836e-01 -4.34646968e-02 9.85318326e-01 -1.29713594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722414037 meters Centerline goodness : 0.844373 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57324156e-01 -2.33086731e-01 -1.70883104e-01 -1.11445605e+01] [ 2.37226910e-01 9.71446312e-01 3.93137609e-03 -5.35530994e+00] [ 1.65087410e-01 -4.43016721e-02 9.85283466e-01 -1.29755754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752414037 meters Centerline goodness : 0.794274 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57380593e-01 -2.32675211e-01 -1.71127575e-01 -1.11439179e+01] [ 2.36884383e-01 9.71528277e-01 4.31236258e-03 -5.35667666e+00] [ 1.65251899e-01 -4.46660224e-02 9.85239441e-01 -1.29539399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782414037 meters Centerline goodness : 0.845170 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57430850e-01 -2.32323751e-01 -1.71323793e-01 -1.11434691e+01] [ 2.36596479e-01 9.71596786e-01 4.66811002e-03 -5.35795407e+00] [ 1.65373134e-01 -4.50039987e-02 9.85203718e-01 -1.29303656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812414037 meters Centerline goodness : 0.844276 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57485270e-01 -2.31939107e-01 -1.71540691e-01 -1.11429264e+01] [ 2.36271750e-01 9.71674160e-01 4.99871570e-03 -5.35901902e+00] [ 1.65522259e-01 -4.53164158e-02 9.85164354e-01 -1.29141865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842414037 meters Centerline goodness : 0.845611 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57682627e-01 -2.30677502e-01 -1.72139119e-01 -1.11415250e+01] [ 2.35167642e-01 9.71937046e-01 5.87870479e-03 -5.36108323e+00] [ 1.65952302e-01 -4.61114842e-02 9.85055107e-01 -1.28754866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872414037 meters Centerline goodness : 0.845710 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57757421e-01 -2.30116611e-01 -1.72473385e-01 -1.11406514e+01] [ 2.34667323e-01 9.72056014e-01 6.19303592e-03 -5.36182076e+00] [ 1.66228671e-01 -4.64052936e-02 9.84994709e-01 -1.28624261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90241403699997 meters Centerline goodness : 0.846460 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57816839e-01 -2.29590650e-01 -1.72843968e-01 -1.11397113e+01] [ 2.34195164e-01 9.72168188e-01 6.45290388e-03 -5.36252178e+00] [ 1.66551881e-01 -4.66599214e-02 9.84928080e-01 -1.28471888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93241403699997 meters Centerline goodness : 0.846192 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.57968628e-01 -2.28462669e-01 -1.73496154e-01 -1.11380659e+01] [ 2.33204087e-01 9.72401346e-01 7.17475238e-03 -5.36397418e+00] [ 1.67068731e-01 -4.73332000e-02 9.84808411e-01 -1.28327772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96241403699997 meters Centerline goodness : 0.847147 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.58039085e-01 -2.27973117e-01 -1.73750883e-01 -1.11372944e+01] [ 2.32759942e-01 9.72505972e-01 7.41236111e-03 -5.36442060e+00] [ 1.67283952e-01 -4.75435770e-02 9.84761742e-01 -1.28300695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99241403699997 meters Centerline goodness : 0.845697 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.36, Z:-0.13 [[ 9.58084262e-01 -2.27563178e-01 -1.74038924e-01 -1.11365827e+01] [ 2.32395309e-01 9.72591472e-01 7.63210186e-03 -5.36486933e+00] [ 1.67531988e-01 -4.77580263e-02 9.84709198e-01 -1.28214007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02241403699998 meters Centerline goodness : 0.848623 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.37, Z:-0.13 [[ 9.58438673e-01 -2.26347574e-01 -1.73672351e-01 -1.11367660e+01] [ 2.31232776e-01 9.72864243e-01 8.15889361e-03 -5.36629748e+00] [ 1.67112875e-01 -4.79785392e-02 9.84769692e-01 -1.28650987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05241403699998 meters Centerline goodness : 0.848098 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.37, Z:-0.13 [[ 9.58561476e-01 -2.25522729e-01 -1.74067216e-01 -1.11355521e+01] [ 2.30554655e-01 9.73017938e-01 8.98014842e-03 -5.36717052e+00] [ 1.67345296e-01 -4.87400311e-02 9.84692826e-01 -1.29063576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08241403699998 meters Centerline goodness : 0.849671 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.37, Z:-0.13 [[ 9.58850334e-01 -2.24435122e-01 -1.73881896e-01 -1.11356224e+01] [ 2.29632788e-01 9.73224849e-01 1.01082301e-02 -5.36988464e+00] [ 1.66957540e-01 -4.96212644e-02 9.84714634e-01 -1.29099568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11241403699998 meters Centerline goodness : 0.848287 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.37, Z:-0.13 [[ 9.58939929e-01 -2.23720369e-01 -1.74308373e-01 -1.11344847e+01] [ 2.29101945e-01 9.73338852e-01 1.11255465e-02 -5.37140812e+00] [ 1.67172100e-01 -5.06031181e-02 9.84628261e-01 -1.29222853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14241403699998 meters Centerline goodness : 0.846747 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.37, Z:-0.13 [[ 0.95901126 -0.22309871 -0.17471222 -11.13337334] [ 0.22867047 0.97342775 0.01217481 -5.37331066] [ 0.16735354 -0.0516273 0.98454427 -0.12923608] [ 0. 0. 0. 1. ]] SLAMing on 253.17241403699998 meters Centerline goodness : 0.849874 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.38, Z:-0.13 [[ 0.95905701 -0.22278371 -0.17486302 -11.13252754] [ 0.22850133 0.97345662 0.01301319 -5.37528441] [ 0.16732244 -0.05243683 0.98450677 -0.12942987] [ 0. 0. 0. 1. ]] SLAMing on 253.20241403699998 meters Centerline goodness : 0.849937 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.38, Z:-0.13 [[ 0.95908366 -0.22262571 -0.17491805 -11.13149505] [ 0.22854118 0.97343105 0.01417426 -5.37893996] [ 0.1671151 -0.05357028 0.98448096 -0.12963881] [ 0. 0. 0. 1. ]] SLAMing on 253.23241403699998 meters Centerline goodness : 0.849681 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.38, Z:-0.13 [[ 0.95891527 -0.22339882 -0.17485555 -11.13121332] [ 0.22936545 0.97323344 0.01442807 -5.38184142] [ 0.16695205 -0.05394112 0.98448838 -0.12910307] [ 0. 0. 0. 1. ]] SLAMing on 253.26241403699999 meters Centerline goodness : 0.849087 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.38, Z:-0.13 [[ 0.9589062 -0.22294196 -0.17548724 -11.12966938] [ 0.22911248 0.97327717 0.01546012 -5.38346089] [ 0.16735102 -0.05503113 0.98436031 -0.12906057] [ 0. 0. 0. 1. ]] SLAMing on 253.292414037 meters Centerline goodness : 0.849023 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.38, Z:-0.13 [[ 0.95884538 -0.2228164 -0.17597835 -11.12839422] [ 0.22912063 0.97326501 0.01609203 -5.38472003] [ 0.167688 -0.05575004 0.9842625 -0.12903331] [ 0. 0. 0. 1. ]] SLAMing on 253.322414037 meters Centerline goodness : 0.841214 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.39, Z:-0.13 [[ 0.95878028 -0.22253725 -0.17668487 -11.12669539] [ 0.22912476 0.97323909 0.017536 -5.38794729] [ 0.16805421 -0.05729605 0.98411125 -0.12867481] [ 0. 0. 0. 1. ]] SLAMing on 253.352414037 meters Centerline goodness : 0.843050 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.39, Z:-0.13 [[ 0.95878547 -0.22214946 -0.17714412 -11.12534769] [ 0.22890019 0.97327664 0.01836524 -5.38964026] [ 0.1683304 -0.05815665 0.98401356 -0.12874257] [ 0. 0. 0. 1. ]] SLAMing on 253.382414037 meters Centerline goodness : 0.840669 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.39, Z:-0.13 [[ 0.95877058 -0.22228578 -0.17705369 -11.12510902] [ 0.2290373 0.97324393 0.01838959 -5.39060805] [ 0.16822868 -0.05818329 0.98402938 -0.12878467] [ 0. 0. 0. 1. ]] SLAMing on 253.412414037 meters Centerline goodness : 0.841703 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.39, Z:-0.13 [[ 0.95873052 -0.22186976 -0.17779091 -11.12356909] [ 0.2288546 0.97326473 0.01952786 -5.39198972] [ 0.16870498 -0.05941022 0.98387451 -0.12864306] [ 0. 0. 0. 1. ]] SLAMing on 253.442414037 meters Centerline goodness : 0.841420 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.39, Z:-0.13 [[ 0.95873137 -0.22154186 -0.17819472 -11.12228598] [ 0.22864758 0.9733014 0.02011624 -5.39290912] [ 0.16898058 -0.06002987 0.9837896 -0.12893122] [ 0. 0. 0. 1. ]] SLAMing on 253.472414037 meters Centerline goodness : 0.840747 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95893326 -0.22069978 -0.17815335 -11.12128771] [ 0.22796407 0.97344026 0.02112944 -5.39500394] [ 0.16875838 -0.06087429 0.98377585 -0.12988267] [ 0. 0. 0. 1. ]] SLAMing on 253.502414037 meters Centerline goodness : 0.839665 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95901364 -0.22002409 -0.17855601 -11.11960578] [ 0.22747264 0.97353334 0.02211396 -5.39645643] [ 0.16896462 -0.0618242 0.98368121 -0.13060277] [ 0. 0. 0. 1. ]] SLAMing on 253.532414037 meters Centerline goodness : 0.840230 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95894068 -0.22033076 -0.17856969 -11.11926727] [ 0.22777846 0.97346268 0.02207687 -5.39741507] [ 0.16896672 -0.06184474 0.98367956 -0.13051396] [ 0. 0. 0. 1. ]] SLAMing on 253.562414037 meters Centerline goodness : 0.838590 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95894632 -0.21978711 -0.17920822 -11.11772939] [ 0.22754474 0.97347948 0.02368725 -5.40018741] [ 0.16924937 -0.06349269 0.98352597 -0.13039703] [ 0. 0. 0. 1. ]] SLAMing on 253.592414037 meters Centerline goodness : 0.840825 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95896701 -0.21944848 -0.17951223 -11.11720288] [ 0.22735485 0.97350463 0.02446455 -5.4013161 ] [ 0.16938728 -0.06427367 0.9834515 -0.13010996] [ 0. 0. 0. 1. ]] SLAMing on 253.622414037 meters Centerline goodness : 0.841779 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95892527 -0.21955844 -0.17960073 -11.11731938] [ 0.22750701 0.973464 0.0246657 -5.40190511] [ 0.16941929 -0.06451299 0.98343031 -0.12955758] [ 0. 0. 0. 1. ]] SLAMing on 253.65241403699997 meters Centerline goodness : 0.842553 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.9588723 -0.21972828 -0.17967583 -11.1177411 ] [ 0.22773439 0.97340344 0.02495569 -5.40284675] [ 0.1694136 -0.06484769 0.98340928 -0.12863964] [ 0. 0. 0. 1. ]] SLAMing on 253.68241403699997 meters Centerline goodness : 0.842350 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95893707 -0.21924946 -0.17991488 -11.11645571] [ 0.22734322 0.97348304 0.02541319 -5.40377581] [ 0.16957225 -0.06527208 0.98335386 -0.12926989] [ 0. 0. 0. 1. ]] SLAMing on 253.71241403699997 meters Centerline goodness : 0.841041 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.40, Z:-0.13 [[ 0.95901602 -0.218725 -0.1801323 -11.11508657] [ 0.22691239 0.97357028 0.02591681 -5.4047622 ] [ 0.1697028 -0.06572889 0.98330091 -0.13005383] [ 0. 0. 0. 1. ]] SLAMing on 253.74241403699997 meters Centerline goodness : 0.841249 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95905981 -0.21857303 -0.18008365 -11.11439626] [ 0.2267457 0.97361052 0.02586404 -5.40531783] [ 0.16967816 -0.06563835 0.98331121 -0.13071424] [ 0. 0. 0. 1. ]] SLAMing on 253.77241403699998 meters Centerline goodness : 0.839460 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95915134 -0.21805577 -0.18022315 -11.11368061] [ 0.22626931 0.97371528 0.02609139 -5.40539405] [ 0.16979666 -0.06580456 0.98327964 -0.13119042] [ 0. 0. 0. 1. ]] SLAMing on 253.80241403699998 meters Centerline goodness : 0.841400 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.40, Z:-0.13 [[ 0.95935073 -0.21712988 -0.18027977 -11.11336502] [ 0.22538918 0.97391064 0.02641546 -5.40499712] [ 0.1698408 -0.0659748 0.98326061 -0.13177948] [ 0. 0. 0. 1. ]] SLAMing on 253.83241403699998 meters Centerline goodness : 0.842470 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95945849 -0.21657007 -0.18037962 -11.11299708] [ 0.22488506 0.97401811 0.02674753 -5.40501735] [ 0.1699003 -0.06622783 0.98323332 -0.13207673] [ 0. 0. 0. 1. ]] SLAMing on 253.86241403699998 meters Centerline goodness : 0.840295 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95958582 -0.21636313 -0.1799501 -11.1137537 ] [ 0.22459706 0.97409226 0.02646567 -5.40504162] [ 0.16956181 -0.06581235 0.98331965 -0.13220403] [ 0. 0. 0. 1. ]] SLAMing on 253.89241403699998 meters Centerline goodness : 0.843361 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95974587 -0.21584077 -0.17972374 -11.11405882] [ 0.2240596 0.97421474 0.02651299 -5.4054233 ] [ 0.16936694 -0.06571456 0.98335977 -0.13232964] [ 0. 0. 0. 1. ]] SLAMing on 253.92241403699998 meters Centerline goodness : 0.842923 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.96001634 -0.2149397 -0.17935871 -11.11480605] [ 0.22324671 0.97438104 0.02724885 -5.40685706] [ 0.16890687 -0.06620058 0.9834063 -0.13223105] [ 0. 0. 0. 1. ]] SLAMing on 253.95241403699998 meters Centerline goodness : 0.844632 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.96011458 -0.21455425 -0.17929436 -11.11476186] [ 0.22288424 0.9744586 0.02744191 -5.4074116 ] [ 0.16882715 -0.06630927 0.98341267 -0.13228944] [ 0. 0. 0. 1. ]] SLAMing on 253.98241403699998 meters Centerline goodness : 0.842191 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.9601139 -0.21432998 -0.17956602 -11.11414351] [ 0.22275142 0.97447638 0.02788517 -5.40782786] [ 0.16900622 -0.06677153 0.98335063 -0.13227841] [ 0. 0. 0. 1. ]] SLAMing on 254.01241403699999 meters Centerline goodness : 0.841522 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.96002238 -0.21428671 -0.18010618 -11.11287223] [ 0.22282549 0.97444593 0.02835352 -5.4079786 ] [ 0.16942795 -0.06735226 0.98323845 -0.13234831] [ 0. 0. 0. 1. ]] SLAMing on 254.042414037 meters Centerline goodness : 0.842250 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95963033 -0.21716913 -0.17873782 -11.11409684] [ 0.22496268 0.97406418 0.02430567 -5.4065195 ] [ 0.16882366 -0.0635338 0.98359648 -0.13279284] [ 0. 0. 0. 1. ]] SLAMing on 254.072414037 meters Centerline goodness : 0.840217 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95961695 -0.2168647 -0.17917871 -11.11291904] [ 0.22478772 0.97408913 0.02491684 -5.40693955] [ 0.16913245 -0.06418779 0.98350096 -0.13300271] [ 0. 0. 0. 1. ]] SLAMing on 254.102414037 meters Centerline goodness : 0.841717 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.9595408 -0.21710976 -0.17928971 -11.11240367] [ 0.22502127 0.97403855 0.02478569 -5.40714534] [ 0.16925388 -0.06412688 0.98348405 -0.13306318] [ 0. 0. 0. 1. ]] SLAMing on 254.132414037 meters Centerline goodness : 0.838350 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95949557 -0.21726749 -0.17934069 -11.1120357 ] [ 0.22519965 0.97399512 0.02487216 -5.40715157] [ 0.16927305 -0.06425219 0.98347257 -0.1333347 ] [ 0. 0. 0. 1. ]] SLAMing on 254.162414037 meters Centerline goodness : 0.839804 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95949472 -0.21692104 -0.17976415 -11.11105025] [ 0.22497741 0.9740313 0.02545975 -5.40723571] [ 0.16957315 -0.06487137 0.98338022 -0.13351151] [ 0. 0. 0. 1. ]] SLAMing on 254.192414037 meters Centerline goodness : 0.840370 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95933014 -0.21742951 -0.18002805 -11.11087947] [ 0.22554552 0.9738947 0.02565806 -5.40751335] [ 0.16974954 -0.06521907 0.98332678 -0.13276471] [ 0. 0. 0. 1. ]] SLAMing on 254.222414037 meters Centerline goodness : 0.840590 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95920216 -0.21801161 -0.18000598 -11.11110663] [ 0.22609469 0.97377347 0.0254247 -5.40752281] [ 0.16974217 -0.06508582 0.98333689 -0.13232565] [ 0. 0. 0. 1. ]] SLAMing on 254.252414037 meters Centerline goodness : 0.839633 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95910304 -0.21816689 -0.18034567 -11.11047554] [ 0.22634413 0.97370503 0.0258234 -5.40819837] [ 0.16996967 -0.06558749 0.98326425 -0.13202088] [ 0. 0. 0. 1. ]] SLAMing on 254.282414037 meters Centerline goodness : 0.838555 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95886775 -0.21908636 -0.18048216 -11.11029936] [ 0.22728306 0.97348688 0.02580143 -5.4089151 ] [ 0.17004427 -0.06576069 0.98323979 -0.13135207] [ 0. 0. 0. 1. ]] SLAMing on 254.312414037 meters Centerline goodness : 0.839143 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95877623 -0.2195362 -0.18042173 -11.11039212] [ 0.22769653 0.97339622 0.02557518 -5.40914144] [ 0.17000715 -0.06560227 0.98325679 -0.13112738] [ 0. 0. 0. 1. ]] SLAMing on 254.342414037 meters Centerline goodness : 0.839981 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95868076 -0.21946078 -0.1810198 -11.10919416] [ 0.2277725 0.97336127 0.02622081 -5.40976644] [ 0.17044323 -0.06636872 0.98312985 -0.13088333] [ 0. 0. 0. 1. ]] SLAMing on 254.372414037 meters Centerline goodness : 0.841085 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95838845 -0.22053418 -0.18126294 -11.10855465] [ 0.22882661 0.97312209 0.02591868 -5.40965435] [ 0.17067502 -0.06631795 0.98309306 -0.13061316] [ 0. 0. 0. 1. ]] SLAMing on 254.40241403699997 meters Centerline goodness : 0.840625 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.9582876 -0.2205099 -0.1818248 -11.10730448] [ 0.22893095 0.97308357 0.02643828 -5.41008546] [ 0.17110082 -0.0669608 0.98297546 -0.13058863] [ 0. 0. 0. 1. ]] SLAMing on 254.43241403699997 meters Centerline goodness : 0.834476 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95825318 -0.22071352 -0.18175915 -11.10656823] [ 0.22910027 0.97304884 0.02624914 -5.41015522] [ 0.17106699 -0.06679439 0.98299267 -0.13134248] [ 0. 0. 0. 1. ]] SLAMing on 254.46241403699997 meters Centerline goodness : 0.841512 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95811685 -0.22108549 -0.18202556 -11.10576366] [ 0.22949842 0.9729547 0.02626085 -5.41042103] [ 0.17129673 -0.06693554 0.98294306 -0.13135621] [ 0. 0. 0. 1. ]] SLAMing on 254.49241403699997 meters Centerline goodness : 0.841512 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.41, Z:-0.13 [[ 0.95811685 -0.22108549 -0.18202556 -11.10576366] [ 0.22949842 0.9729547 0.02626085 -5.41042103] [ 0.17129673 -0.06693554 0.98294306 -0.13135621] [ 0. 0. 0. 1. ]] SLAMing on 254.52241403699998 meters Centerline goodness : 0.839446 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95794671 -0.22128013 -0.18268334 -11.10400382] [ 0.22985437 0.97285305 0.02690546 -5.41146742] [ 0.1717704 -0.06776456 0.98280359 -0.13151776] [ 0. 0. 0. 1. ]] SLAMing on 254.55241403699998 meters Centerline goodness : 0.839994 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95786367 -0.22168716 -0.18262529 -11.10391903] [ 0.23024433 0.97276389 0.02679483 -5.41190999] [ 0.17171121 -0.06771423 0.9828174 -0.13142483] [ 0. 0. 0. 1. ]] SLAMing on 254.58241403699998 meters Centerline goodness : 0.843479 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.9577275 -0.22218408 -0.18273551 -11.10385193] [ 0.23072578 0.97265467 0.02661793 -5.41184958] [ 0.17182447 -0.06765452 0.98280172 -0.1310468 ] [ 0. 0. 0. 1. ]] SLAMing on 254.61241403699998 meters Centerline goodness : 0.842306 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95752528 -0.22272464 -0.18313678 -11.1034934 ] [ 0.23129381 0.97252116 0.0265662 -5.41117038] [ 0.17218745 -0.06779621 0.98272842 -0.13049026] [ 0. 0. 0. 1. ]] SLAMing on 254.64241403699998 meters Centerline goodness : 0.834154 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95758052 -0.22232638 -0.18333175 -11.10307114] [ 0.23097692 0.97258487 0.0269878 -5.41116889] [ 0.17230558 -0.06818839 0.98268058 -0.13061754] [ 0. 0. 0. 1. ]] SLAMing on 254.67241403699998 meters Centerline goodness : 0.841878 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95750474 -0.22227239 -0.18379241 -11.1022693 ] [ 0.23099082 0.97257582 0.02719403 -5.41060604] [ 0.17270757 -0.06849277 0.98258884 -0.13057816] [ 0. 0. 0. 1. ]] SLAMing on 254.70241403699998 meters Centerline goodness : 0.843989 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95746681 -0.22271075 -0.18345906 -11.10330504] [ 0.23124105 0.97254318 0.02621735 -5.40891891] [ 0.17258297 -0.0675255 0.98267768 -0.13032043] [ 0. 0. 0. 1. ]] SLAMing on 254.73241403699998 meters Centerline goodness : 0.843543 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.9578885 -0.21967402 -0.18491334 -11.10183031] [ 0.22898391 0.97295774 0.03032511 -5.41024479] [ 0.17325123 -0.07139025 0.98228684 -0.12999924] [ 0. 0. 0. 1. ]] SLAMing on 254.76241403699999 meters Centerline goodness : 0.841556 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95789666 -0.21958369 -0.18497834 -11.10175496] [ 0.22884425 0.97299986 0.03002646 -5.40925277] [ 0.17339058 -0.07109347 0.98228378 -0.13010501] [ 0. 0. 0. 1. ]] SLAMing on 254.792414037 meters Centerline goodness : 0.835198 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.41, Z:-0.13 [[ 0.95803124 -0.21949103 -0.18439041 -11.103631 ] [ 0.22849423 0.97311865 0.02881819 -5.40647722] [ 0.17310841 -0.06974087 0.9824305 -0.12992757] [ 0. 0. 0. 1. ]] SLAMing on 254.822414037 meters Centerline goodness : 0.839063 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.13 [[ 0.95808956 -0.21907936 -0.18457689 -11.10332932] [ 0.22805561 0.9732272 0.02862605 -5.4049863 ] [ 0.17336387 -0.06952012 0.9824011 -0.13016669] [ 0. 0. 0. 1. ]] SLAMing on 254.852414037 meters Centerline goodness : 0.841500 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.13 [[ 0.95816172 -0.21904526 -0.18424246 -11.10381375] [ 0.22784129 0.97330297 0.02774284 -5.4030048 ] [ 0.1732468 -0.06856017 0.98248921 -0.1307383 ] [ 0. 0. 0. 1. ]] SLAMing on 254.882414037 meters Centerline goodness : 0.835921 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.13 [[ 0.95844454 -0.21686912 -0.18534251 -11.1030446 ] [ 0.22598988 0.97368803 0.02932897 -5.39996154] [ 0.17410524 -0.06999572 0.98223621 -0.13100312] [ 0. 0. 0. 1. ]] SLAMing on 254.912414037 meters Centerline goodness : 0.837156 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.40, Z:-0.13 [[ 0.95845008 -0.21639007 -0.18587303 -11.10174634] [ 0.22548615 0.97381415 0.02901715 -5.39736497] [ 0.17472677 -0.06972328 0.98214521 -0.13182188] [ 0. 0. 0. 1. ]] SLAMing on 254.942414037 meters Centerline goodness : 0.835543 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.39, Z:-0.13 [[ 0.95846786 -0.21662129 -0.18551164 -11.10267053] [ 0.22545434 0.97386094 0.02766255 -5.3944275 ] [ 0.17467025 -0.06833807 0.98225262 -0.13219265] [ 0. 0. 0. 1. ]] SLAMing on 254.972414037 meters Centerline goodness : 0.838576 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.39, Z:-0.13 [[ 0.95857522 -0.21607864 -0.18558981 -11.1029326 ] [ 0.22484884 0.97401038 0.02732738 -5.39222945] [ 0.17486153 -0.06792501 0.98224724 -0.13242109] [ 0. 0. 0. 1. ]] SLAMing on 255.002414037 meters Centerline goodness : 0.836152 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.39, Z:-0.13 [[ 0.95912338 -0.21323512 -0.18604603 -11.1044213 ] [ 0.22232454 0.97453553 0.02919422 -5.38910598] [ 0.17508323 -0.06936346 0.98210721 -0.13190936] [ 0. 0. 0. 1. ]] SLAMing on 255.032414037 meters Centerline goodness : 0.842468 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.39, Z:-0.13 [[ 0.95917493 -0.21305479 -0.18598683 -11.1048589 ] [ 0.22204372 0.9746151 0.02867058 -5.38723137] [ 0.17515717 -0.06879731 0.98213385 -0.13199213] [ 0. 0. 0. 1. ]] SLAMing on 255.062414037 meters Centerline goodness : 0.842427 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.13 [[ 0.95910557 -0.21343746 -0.18590578 -11.10560632] [ 0.22225712 0.97459397 0.02771932 -5.38489059] [ 0.17526631 -0.06790464 0.9821765 -0.13171265] [ 0. 0. 0. 1. ]] SLAMing on 255.092414037 meters Centerline goodness : 0.839901 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.13 [[ 0.95882812 -0.21367424 -0.18706137 -11.10536541] [ 0.22267767 0.9744822 0.02826811 -5.38162424] [ 0.17624781 -0.06875865 0.98194142 -0.1304013 ] [ 0. 0. 0. 1. ]] SLAMing on 255.122414037 meters Centerline goodness : 0.839616 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.13 [[ 0.95857292 -0.21457868 -0.18733377 -11.10577517] [ 0.22346475 0.97432611 0.02742511 -5.37947367] [ 0.17663934 -0.06815146 0.9819134 -0.12953388] [ 0. 0. 0. 1. ]] SLAMing on 255.15241403699997 meters Centerline goodness : 0.841057 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.13 [[ 0.95830784 -0.2155248 -0.18760366 -11.10601239] [ 0.22434754 0.97413838 0.02688129 -5.37801801] [ 0.17695834 -0.06784897 0.98187691 -0.12870276] [ 0. 0. 0. 1. ]] SLAMing on 255.18241403699997 meters Centerline goodness : 0.841491 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.38, Z:-0.13 [[ 0.95773374 -0.21764295 -0.18808941 -11.10583166] [ 0.22631611 0.9737156 0.02566992 -5.375645 ] [ 0.17755871 -0.06715262 0.98181639 -0.12768534] [ 0. 0. 0. 1. ]] SLAMing on 255.21241403699997 meters Centerline goodness : 0.841197 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.13 [[ 0.95748612 -0.21825746 -0.18863723 -11.10452641] [ 0.22698563 0.97355879 0.02570606 -5.3751968 ] [ 0.1780389 -0.06743114 0.98171034 -0.12777017] [ 0. 0. 0. 1. ]] SLAMing on 255.24241403699997 meters Centerline goodness : 0.842012 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.13 [[ 0.95641947 -0.22314829 -0.18832587 -11.10411409] [ 0.23113692 0.97268818 0.02129368 -5.37177134] [ 0.1784307 -0.06389475 0.98187573 -0.12753227] [ 0. 0. 0. 1. ]] SLAMing on 255.27241403699998 meters Centerline goodness : 0.842313 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.13 [[ 0.95608891 -0.22405493 -0.18892691 -11.10287275] [ 0.2320611 0.97247263 0.02108623 -5.37120934] [ 0.17900178 -0.0640029 0.98176473 -0.12728381] [ 0. 0. 0. 1. ]] SLAMing on 255.30241403699998 meters Centerline goodness : 0.840392 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.13 [[ 0.95571766 -0.2252215 -0.18941761 -11.10228409] [ 0.2332024 0.97220873 0.02065988 -5.37010236] [ 0.17950041 -0.06391766 0.98167924 -0.12672608] [ 0. 0. 0. 1. ]] SLAMing on 255.33241403699998 meters Centerline goodness : 0.841757 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.13 [[ 0.95518067 -0.22678468 -0.1902593 -11.10148083] [ 0.2347487 0.97184793 0.0201157 -5.36808433] [ 0.18034117 -0.06387725 0.98152777 -0.12577939] [ 0. 0. 0. 1. ]] SLAMing on 255.36241403699998 meters Centerline goodness : 0.840311 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.13 [[ 0.95494252 -0.22770742 -0.19035262 -11.10183975] [ 0.23556721 0.97166386 0.01942749 -5.36674604] [ 0.18053497 -0.06339297 0.98152354 -0.12517037] [ 0. 0. 0. 1. ]] SLAMing on 255.39241403699998 meters Centerline goodness : 0.839513 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.12 [[ 0.95481335 -0.22851159 -0.19003662 -11.10309553] [ 0.23620514 0.97152596 0.01855895 -5.36513162] [ 0.18038457 -0.06260796 0.98160157 -0.12467883] [ 0. 0. 0. 1. ]] SLAMing on 255.42241403699998 meters Centerline goodness : 0.841368 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.12 [[ 0.95506016 -0.22609074 -0.19168483 -11.1018298 ] [ 0.23451849 0.97185866 0.02217715 -5.36570749] [ 0.18127652 -0.06613415 0.98120594 -0.12386754] [ 0. 0. 0. 1. ]] SLAMing on 255.45241403699998 meters Centerline goodness : 0.839478 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.36, Z:-0.12 [[ 0.95503341 -0.22611727 -0.19178675 -11.10292626] [ 0.23444755 0.97188856 0.02160972 -5.36239238] [ 0.18150902 -0.06560193 0.98119869 -0.12326338] [ 0. 0. 0. 1. ]] SLAMing on 255.48241403699998 meters Centerline goodness : 0.781269 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.36, Z:-0.12 [[ 0.95545205 -0.22289781 -0.19346301 -11.10163669] [ 0.23204187 0.97236699 0.02567107 -5.36292632] [ 0.18239502 -0.069419 0.98077167 -0.12261237] [ 0. 0. 0. 1. ]] SLAMing on 255.51241403699999 meters Centerline goodness : 0.841102 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.36, Z:-0.12 [[ 0.95539534 -0.22326294 -0.19332202 -11.10227443] [ 0.23226736 0.97233218 0.0249398 -5.36073064] [ 0.18240509 -0.06872976 0.98081833 -0.12241925] [ 0. 0. 0. 1. ]] SLAMing on 255.542414037 meters Centerline goodness : 0.840671 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.36, Z:-0.12 [[ 0.95534785 -0.22347755 -0.19330872 -11.10247067] [ 0.2323575 0.97232796 0.02425535 -5.35861923] [ 0.18253895 -0.06808903 0.98083812 -0.12228954] [ 0. 0. 0. 1. ]] SLAMing on 255.572414037 meters Centerline goodness : 0.840103 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.36, Z:-0.12 [[ 0.95538648 -0.22321384 -0.1934225 -11.10188301] [ 0.23197605 0.97243503 0.02360545 -5.35534866] [ 0.18282175 -0.06742172 0.98083154 -0.1227156 ] [ 0. 0. 0. 1. ]] SLAMing on 255.602414037 meters Centerline goodness : 0.779313 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.35, Z:-0.12 [[ 0.9553618 -0.22326949 -0.19348015 -11.10157773] [ 0.23196108 0.97244837 0.02319985 -5.35371099] [ 0.18296964 -0.06704412 0.98082985 -0.12296867] [ 0. 0. 0. 1. ]] SLAMing on 255.632414037 meters Centerline goodness : 0.841357 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.35, Z:-0.12 [[ 0.9553858 -0.22314372 -0.19350675 -11.10115583] [ 0.2317464 0.97251075 0.02272559 -5.35104755] [ 0.18311632 -0.0665562 0.98083571 -0.12348452] [ 0. 0. 0. 1. ]] SLAMing on 255.662414037 meters Centerline goodness : 0.841382 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.35, Z:-0.12 [[ 0.95535436 -0.22322566 -0.19356746 -11.10108173] [ 0.23177079 0.97251279 0.02238716 -5.34992226] [ 0.18324944 -0.06625095 0.98083151 -0.12344322] [ 0. 0. 0. 1. ]] SLAMing on 255.692414037 meters Centerline goodness : 0.840597 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.35, Z:-0.12 [[ 0.95532022 -0.2234357 -0.19349356 -11.10146248] [ 0.23191489 0.97248634 0.02204115 -5.34902472] [ 0.18324506 -0.06593039 0.98085393 -0.12325769] [ 0. 0. 0. 1. ]] SLAMing on 255.722414037 meters Centerline goodness : 0.841666 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.35, Z:-0.12 [[ 0.95522889 -0.22406363 -0.19321815 -11.10295757] [ 0.23240019 0.97238661 0.02131736 -5.34760703] [ 0.1831063 -0.06526689 0.98092421 -0.12242959] [ 0. 0. 0. 1. ]] SLAMing on 255.752414037 meters Centerline goodness : 0.843480 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.35, Z:-0.12 [[ 0.95512777 -0.22464884 -0.19303845 -11.10393083] [ 0.23289295 0.97227926 0.02083063 -5.34717697] [ 0.1830077 -0.0648532 0.98097005 -0.12185691] [ 0. 0. 0. 1. ]] SLAMing on 255.782414037 meters Centerline goodness : 0.844294 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95493855 -0.22580217 -0.19262853 -11.10549104] [ 0.23392627 0.97204399 0.02022322 -5.3476811 ] [ 0.18267696 -0.06437281 0.98106334 -0.12115091] [ 0. 0. 0. 1. ]] SLAMing on 255.812414037 meters Centerline goodness : 0.842844 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95483563 -0.22639246 -0.19244579 -11.1061262 ] [ 0.23445223 0.97192422 0.0198863 -5.3481857 ] [ 0.18254061 -0.0641075 0.98110609 -0.12076464] [ 0. 0. 0. 1. ]] SLAMing on 255.842414037 meters Centerline goodness : 0.844475 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95472437 -0.22698778 -0.19229648 -11.10674967] [ 0.23499003 0.97180069 0.01957304 -5.34854055] [ 0.18243101 -0.06387462 0.98114166 -0.12039898] [ 0. 0. 0. 1. ]] SLAMing on 255.872414037 meters Centerline goodness : 0.784660 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95459856 -0.22760084 -0.19219639 -11.10719956] [ 0.23553491 0.97167655 0.01918287 -5.34892979] [ 0.18238669 -0.0635809 0.98116898 -0.12000081] [ 0. 0. 0. 1. ]] SLAMing on 255.90241403699997 meters Centerline goodness : 0.844156 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95442219 -0.22851646 -0.19198568 -11.10787349] [ 0.23636537 0.97148408 0.01871101 -5.34905591] [ 0.18223525 -0.06323697 0.98121934 -0.119794 ] [ 0. 0. 0. 1. ]] SLAMing on 255.93241403699997 meters Centerline goodness : 0.783925 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95435922 -0.22881429 -0.19194401 -11.10805939] [ 0.23661712 0.9714278 0.01844896 -5.34873622] [ 0.18223836 -0.06302418 0.98123246 -0.11968972] [ 0. 0. 0. 1. ]] SLAMing on 255.96241403699997 meters Centerline goodness : 0.843861 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95428594 -0.22908831 -0.19198147 -11.10826386] [ 0.23683852 0.97137992 0.01812616 -5.3481901 ] [ 0.18233445 -0.06276615 0.98123114 -0.11941324] [ 0. 0. 0. 1. ]] SLAMing on 255.99241403699997 meters Centerline goodness : 0.843615 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95420454 -0.22953119 -0.19185705 -11.10898325] [ 0.23718674 0.97130432 0.01761741 -5.3475818 ] [ 0.18230783 -0.06231656 0.98126475 -0.11885492] [ 0. 0. 0. 1. ]] SLAMing on 256.022414037 meters Centerline goodness : 0.841989 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.9541379 -0.22984436 -0.19181354 -11.10953512] [ 0.23742709 0.97125289 0.01721042 -5.34739555] [ 0.18234373 -0.06196284 0.98128047 -0.11821893] [ 0. 0. 0. 1. ]] SLAMing on 256.052414037 meters Centerline goodness : 0.844216 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95408607 -0.2301189 -0.19174216 -11.11017722] [ 0.23764902 0.97120362 0.01692536 -5.34744905] [ 0.18232583 -0.06171558 0.98129938 -0.11759301] [ 0. 0. 0. 1. ]] SLAMing on 256.082414037 meters Centerline goodness : 0.845306 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95402728 -0.230489 -0.19159011 -11.11100814] [ 0.23795324 0.97113496 0.01658728 -5.34757595] [ 0.18223667 -0.0614142 0.98133485 -0.11694305] [ 0. 0. 0. 1. ]] SLAMing on 256.112414037 meters Centerline goodness : 0.845045 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95401154 -0.2305891 -0.19154804 -11.11163225] [ 0.23800095 0.97112797 0.01630985 -5.34768433] [ 0.18225678 -0.0611484 0.98134772 -0.11614153] [ 0. 0. 0. 1. ]] SLAMing on 256.142414037 meters Centerline goodness : 0.842030 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95398222 -0.2307271 -0.19152786 -11.11188914] [ 0.23809738 0.97110817 0.0160796 -5.34754076] [ 0.18228427 -0.06094194 0.98135545 -0.11577355] [ 0. 0. 0. 1. ]] SLAMing on 256.172414037 meters Centerline goodness : 0.841016 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95395131 -0.23069906 -0.19171555 -11.11141565] [ 0.23807945 0.97111268 0.0160729 -5.34765558] [ 0.18246939 -0.06097629 0.98131891 -0.11574473] [ 0. 0. 0. 1. ]] SLAMing on 256.202414037 meters Centerline goodness : 0.840054 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95397265 -0.230448 -0.19191117 -11.11047997] [ 0.23789226 0.97115353 0.01637381 -5.34860995] [ 0.1826019 -0.06127434 0.9812757 -0.11605175] [ 0. 0. 0. 1. ]] SLAMing on 256.232414037 meters Centerline goodness : 0.840610 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95398184 -0.23030268 -0.19203993 -11.11002572] [ 0.23777074 0.97118163 0.01647179 -5.34910562] [ 0.18271215 -0.06137527 0.98124887 -0.11603489] [ 0. 0. 0. 1. ]] SLAMing on 256.262414037 meters Centerline goodness : 0.838627 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95399486 -0.2301899 -0.19211046 -11.10970341] [ 0.23769773 0.97119608 0.0166721 -5.35002597] [ 0.18273918 -0.06156931 0.98123168 -0.11602448] [ 0. 0. 0. 1. ]] SLAMing on 256.29241403699996 meters Centerline goodness : 0.840125 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95399772 -0.23014975 -0.19214432 -11.1096144 ] [ 0.23765732 0.97120613 0.01666295 -5.3503513 ] [ 0.18277677 -0.06156092 0.98122521 -0.11584368] [ 0. 0. 0. 1. ]] SLAMing on 256.322414037 meters Centerline goodness : 0.842712 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95399393 -0.23016215 -0.19214831 -11.10957598] [ 0.23767629 0.97120092 0.0166957 -5.35071415] [ 0.1827719 -0.0615967 0.98122387 -0.11576646] [ 0. 0. 0. 1. ]] SLAMing on 256.35241403699996 meters Centerline goodness : 0.840492 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95398086 -0.23012212 -0.1922611 -11.10942045] [ 0.23764378 0.97120878 0.0167012 -5.35113647] [ 0.18288235 -0.06162228 0.98120168 -0.11550235] [ 0. 0. 0. 1. ]] SLAMing on 256.382414037 meters Centerline goodness : 0.840492 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95398086 -0.23012212 -0.1922611 -11.10942045] [ 0.23764378 0.97120878 0.0167012 -5.35113647] [ 0.18288235 -0.06162228 0.98120168 -0.11550235] [ 0. 0. 0. 1. ]] SLAMing on 256.41241403699996 meters Centerline goodness : 0.842827 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95400234 -0.22997895 -0.19232581 -11.10936437] [ 0.23752506 0.97123571 0.01682404 -5.35169264] [ 0.18292451 -0.06173237 0.9811869 -0.11525096] [ 0. 0. 0. 1. ]] SLAMing on 256.442414037 meters Centerline goodness : 0.843226 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95398093 -0.23007892 -0.19231245 -11.10937159] [ 0.23761522 0.97121465 0.01676631 -5.35181771] [ 0.1829191 -0.06169111 0.98119051 -0.11520415] [ 0. 0. 0. 1. ]] SLAMing on 256.47241403699996 meters Centerline goodness : 0.842601 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.12 [[ 0.95397088 -0.23014829 -0.19227927 -11.10951991] [ 0.2376761 0.97120046 0.01672541 -5.35210801] [ 0.18289239 -0.06165574 0.98119771 -0.11501845] [ 0. 0. 0. 1. ]] SLAMing on 256.502414037 meters Centerline goodness : 0.843634 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.11 [[ 0.95393867 -0.23028485 -0.19227558 -11.10961511] [ 0.23782827 0.97116197 0.01679721 -5.35340429] [ 0.18286259 -0.06175208 0.9811972 -0.11464589] [ 0. 0. 0. 1. ]] SLAMing on 256.53241403699997 meters Centerline goodness : 0.843974 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.35, Z:-0.11 [[ 0.95388931 -0.23052214 -0.19223613 -11.10979983] [ 0.23804175 0.97111203 0.01666003 -5.35412148] [ 0.18284231 -0.06165205 0.98120727 -0.11428024] [ 0. 0. 0. 1. ]] SLAMing on 256.562414037 meters Centerline goodness : 0.845682 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95379525 -0.23104403 -0.19207624 -11.1104973 ] [ 0.23852809 0.97099587 0.01647343 -5.35531521] [ 0.18269915 -0.06152786 0.98124174 -0.11366905] [ 0. 0. 0. 1. ]] SLAMing on 256.59241403699997 meters Centerline goodness : 0.844676 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.9537521 -0.23120726 -0.19209409 -11.11042328] [ 0.23868863 0.97095703 0.01643712 -5.35586371] [ 0.18271473 -0.06152761 0.98123885 -0.11357633] [ 0. 0. 0. 1. ]] SLAMing on 256.622414037 meters Centerline goodness : 0.845572 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95370927 -0.23140842 -0.19206451 -11.11053083] [ 0.23888237 0.97091022 0.01638786 -5.35637946] [ 0.1826851 -0.06151008 0.98124547 -0.11342736] [ 0. 0. 0. 1. ]] SLAMing on 256.65241403699997 meters Centerline goodness : 0.787827 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95367487 -0.23161928 -0.19198111 -11.11066553] [ 0.23908917 0.97085954 0.01637423 -5.35698389] [ 0.1825941 -0.06151629 0.98126201 -0.11338368] [ 0. 0. 0. 1. ]] SLAMing on 256.682414037 meters Centerline goodness : 0.791933 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95344864 -0.23199027 -0.19265567 -11.10836754] [ 0.23963256 0.97071427 0.01703074 -5.35890894] [ 0.18306264 -0.0624045 0.98111862 -0.11373601] [ 0. 0. 0. 1. ]] SLAMing on 256.712414037 meters Centerline goodness : 0.792138 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95333562 -0.23245362 -0.19265647 -11.10816717] [ 0.24010879 0.97059616 0.01705453 -5.35976619] [ 0.18302724 -0.06251721 0.98111805 -0.11355459] [ 0. 0. 0. 1. ]] SLAMing on 256.742414037 meters Centerline goodness : 0.791278 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95309882 -0.23366251 -0.19236547 -11.10954704] [ 0.2412548 0.97031809 0.01670106 -5.36186048] [ 0.18275328 -0.06232685 0.98118123 -0.11261574] [ 0. 0. 0. 1. ]] SLAMing on 256.772414037 meters Centerline goodness : 0.790687 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95301689 -0.23418927 -0.19213068 -11.11044161] [ 0.24175794 0.97019451 0.01660461 -5.36326791] [ 0.18251551 -0.06227359 0.98122887 -0.11199907] [ 0. 0. 0. 1. ]] SLAMing on 256.802414037 meters Centerline goodness : 0.792748 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.36, Z:-0.11 [[ 0.95292172 -0.23469069 -0.1919908 -11.11114098] [ 0.24224957 0.97007277 0.01655195 -5.36457139] [ 0.18236046 -0.0622824 0.98125713 -0.1114618 ] [ 0. 0. 0. 1. ]] SLAMing on 256.832414037 meters Centerline goodness : 0.792801 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.11 [[ 0.95282026 -0.23469563 -0.19248771 -11.10986946] [ 0.24247519 0.9699986 0.01756395 -5.36673754] [ 0.18259062 -0.06340878 0.98114219 -0.11128729] [ 0. 0. 0. 1. ]] SLAMing on 256.862414037 meters Centerline goodness : 0.792440 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.11 [[ 0.95193495 -0.23868326 -0.19196392 -11.10895658] [ 0.24586833 0.96919975 0.01416363 -5.36813168] [ 0.18267076 -0.06068071 0.98129977 -0.11078966] [ 0. 0. 0. 1. ]] SLAMing on 256.892414037 meters Centerline goodness : 0.792317 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.11 [[ 0.95181264 -0.23851425 -0.19277873 -11.10705706] [ 0.24593808 0.96916662 0.01518282 -5.37014485] [ 0.18321339 -0.06186283 0.98112478 -0.11058431] [ 0. 0. 0. 1. ]] SLAMing on 256.922414037 meters Centerline goodness : 0.793936 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.37, Z:-0.11 [[ 0.9518202 -0.23802745 -0.1933423 -11.10583298] [ 0.24568443 0.96921311 0.01628241 -5.3721965 ] [ 0.18351423 -0.06299911 0.98099625 -0.11032089] [ 0. 0. 0. 1. ]] SLAMing on 256.952414037 meters Centerline goodness : 0.845096 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.37, Z:-0.11 [[ 0.95182982 -0.23777804 -0.19360166 -11.10488297] [ 0.24557008 0.96923086 0.01693742 -5.37363453] [ 0.18361736 -0.06366431 0.980934 -0.11042304] [ 0. 0. 0. 1. ]] SLAMing on 256.982414037 meters Centerline goodness : 0.794093 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95178336 -0.23741768 -0.19427114 -11.10344907] [ 0.24546167 0.9692377 0.0180787 -5.37571334] [ 0.18400271 -0.06489313 0.98078126 -0.1101576 ] [ 0. 0. 0. 1. ]] SLAMing on 257.012414037 meters Centerline goodness : 0.842454 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95181138 -0.23702558 -0.19461234 -11.10250669] [ 0.24518217 0.9692987 0.01859384 -5.37651994] [ 0.18423027 -0.0654133 0.98070399 -0.11023631] [ 0. 0. 0. 1. ]] SLAMing on 257.04241403699996 meters Centerline goodness : 0.796660 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95229577 -0.23343056 -0.19657807 -11.10049576] [ 0.24264893 0.96982104 0.02384641 -5.37986103] [ 0.18507907 -0.0704083 0.98019815 -0.10937659] [ 0. 0. 0. 1. ]] SLAMing on 257.072414037 meters Centerline goodness : 0.841146 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95232786 -0.23319955 -0.19669678 -11.10036906] [ 0.24247031 0.96985944 0.02410027 -5.38100889] [ 0.18514806 -0.07064449 0.98016812 -0.10897093] [ 0. 0. 0. 1. ]] SLAMing on 257.10241403699996 meters Centerline goodness : 0.842039 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95235181 -0.2329264 -0.19690434 -11.09979327] [ 0.2422523 0.96990798 0.02433794 -5.38174754] [ 0.18531015 -0.07087881 0.98012058 -0.10889332] [ 0. 0. 0. 1. ]] SLAMing on 257.132414037 meters Centerline goodness : 0.833976 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95246333 -0.23218062 -0.19724544 -11.09833818] [ 0.24168145 0.97002832 0.02520181 -5.3834059 ] [ 0.18548229 -0.07167437 0.98003016 -0.10942724] [ 0. 0. 0. 1. ]] SLAMing on 257.16241403699996 meters Centerline goodness : 0.844525 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95253344 -0.23156429 -0.19763102 -11.09701383] [ 0.24118638 0.97013714 0.02574986 -5.38422219] [ 0.18576644 -0.07219351 0.97993823 -0.10985258] [ 0. 0. 0. 1. ]] SLAMing on 257.192414037 meters Centerline goodness : 0.842953 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.38, Z:-0.11 [[ 0.95264098 -0.23106624 -0.19769561 -11.09615411] [ 0.24073289 0.97024289 0.02600785 -5.38447925] [ 0.18580322 -0.07236798 0.97991838 -0.11056311] [ 0. 0. 0. 1. ]] SLAMing on 257.22241403699996 meters Centerline goodness : 0.843680 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.38, Z:-0.11 [[ 0.95271508 -0.23031584 -0.19821348 -11.09455973] [ 0.24009289 0.97038932 0.02645676 -5.38452289] [ 0.18625083 -0.0727954 0.97980174 -0.11107598] [ 0. 0. 0. 1. ]] SLAMing on 257.252414037 meters Centerline goodness : 0.843348 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.38, Z:-0.11 [[ 0.95281037 -0.22984758 -0.19829899 -11.09395815] [ 0.23966732 0.97048805 0.0266929 -5.38464864] [ 0.1863115 -0.07295906 0.97977804 -0.1115818 ] [ 0. 0. 0. 1. ]] SLAMing on 257.28241403699997 meters Centerline goodness : 0.795605 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95308282 -0.2291637 -0.19778053 -11.09466926] [ 0.23892506 0.970672 0.02665876 -5.38506358] [ 0.1858708 -0.07266274 0.97988375 -0.11182091] [ 0. 0. 0. 1. ]] SLAMing on 257.312414037 meters Centerline goodness : 0.844062 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95316262 -0.22862172 -0.19802305 -11.09422155] [ 0.23847701 0.97076969 0.02710963 -5.3854592 ] [ 0.18603693 -0.07306383 0.9798224 -0.1117159 ] [ 0. 0. 0. 1. ]] SLAMing on 257.34241403699997 meters Centerline goodness : 0.843264 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95362626 -0.22535793 -0.19952636 -11.09286997] [ 0.23609713 0.9712202 0.03145576 -5.38818547] [ 0.18669522 -0.07710464 0.97938745 -0.11099932] [ 0. 0. 0. 1. ]] SLAMing on 257.372414037 meters Centerline goodness : 0.845566 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.9535884 -0.22555847 -0.19948066 -11.09328582] [ 0.23624781 0.971192 0.03119397 -5.38814779] [ 0.18669796 -0.07687308 0.97940513 -0.11055574] [ 0. 0. 0. 1. ]] SLAMing on 257.40241403699997 meters Centerline goodness : 0.845323 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95362775 -0.22495428 -0.1999742 -11.09315856] [ 0.23592901 0.97122533 0.03253999 -5.38972289] [ 0.1869 -0.07821075 0.97926068 -0.10953654] [ 0. 0. 0. 1. ]] SLAMing on 257.432414037 meters Centerline goodness : 0.844115 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95358469 -0.22498662 -0.20014311 -11.09284449] [ 0.23604602 0.9711845 0.03290823 -5.39060378] [ 0.18697197 -0.07862377 0.97921386 -0.1092251 ] [ 0. 0. 0. 1. ]] SLAMing on 257.462414037 meters Centerline goodness : 0.846207 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95345724 -0.22508597 -0.20063795 -11.09191141] [ 0.23630455 0.97110074 0.03351871 -5.391811 ] [ 0.18729507 -0.07937032 0.97909188 -0.10886877] [ 0. 0. 0. 1. ]] SLAMing on 257.492414037 meters Centerline goodness : 0.846890 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95265063 -0.22893974 -0.20010841 -11.09116823] [ 0.23960765 0.97039092 0.03049013 -5.39250776] [ 0.18720298 -0.07699394 0.97929923 -0.10869515] [ 0. 0. 0. 1. ]] SLAMing on 257.522414037 meters Centerline goodness : 0.846695 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.9524658 -0.22917254 -0.2007208 -11.08941533] [ 0.24002347 0.97026667 0.03116601 -5.39438451] [ 0.18761031 -0.07786226 0.97915261 -0.10857331] [ 0. 0. 0. 1. ]] SLAMing on 257.552414037 meters Centerline goodness : 0.840899 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.39, Z:-0.11 [[ 0.95161446 -0.23292865 -0.20043492 -11.08722375] [ 0.24324384 0.96955741 0.02812216 -5.39498809] [ 0.1877827 -0.07551601 0.97930332 -0.10929108] [ 0. 0. 0. 1. ]] SLAMing on 257.582414037 meters Centerline goodness : 0.837759 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.40, Z:-0.11 [[ 0.95150546 -0.23297822 -0.20089428 -11.08578899] [ 0.24346745 0.96948034 0.02883511 -5.39677245] [ 0.1880451 -0.07634799 0.97918845 -0.10931858] [ 0. 0. 0. 1. ]] SLAMing on 257.612414037 meters Centerline goodness : 0.842656 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.40, Z:-0.11 [[ 0.95136043 -0.23317328 -0.20135428 -11.08442186] [ 0.24379217 0.96938481 0.02929956 -5.39806429] [ 0.18835791 -0.07696304 0.97908017 -0.10928501] [ 0. 0. 0. 1. ]] SLAMing on 257.642414037 meters Centerline goodness : 0.840332 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.40, Z:-0.11 [[ 0.95121094 -0.23356228 -0.20160956 -11.08393546] [ 0.24427555 0.96925261 0.02964505 -5.39963264] [ 0.18848663 -0.07744699 0.97901724 -0.10874206] [ 0. 0. 0. 1. ]] SLAMing on 257.672414037 meters Centerline goodness : 0.839821 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.40, Z:-0.11 [[ 0.95102723 -0.23419803 -0.20173866 -11.08394528] [ 0.24508406 0.96902429 0.03042565 -5.40313342] [ 0.18836403 -0.07837855 0.9789667 -0.10751297] [ 0. 0. 0. 1. ]] SLAMing on 257.702414037 meters Centerline goodness : 0.842606 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.40, Z:-0.11 [[ 0.95106457 -0.23358291 -0.20227508 -11.08285103] [ 0.24476475 0.9690611 0.0317932 -5.40499665] [ 0.18859056 -0.0797472 0.97881254 -0.10726798] [ 0. 0. 0. 1. ]] SLAMing on 257.732414037 meters Centerline goodness : 0.841244 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95115351 -0.23312165 -0.20238897 -11.08233929] [ 0.24444522 0.96911747 0.03252481 -5.40652225] [ 0.18855645 -0.0804091 0.97876496 -0.10729195] [ 0. 0. 0. 1. ]] SLAMing on 257.762414037 meters Centerline goodness : 0.842458 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.9515643 -0.23162865 -0.20217207 -11.08274619] [ 0.24316082 0.96939518 0.03384969 -5.40887415] [ 0.18814407 -0.08137048 0.97876486 -0.10716021] [ 0. 0. 0. 1. ]] SLAMing on 257.79241403699996 meters Centerline goodness : 0.841701 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95216803 -0.22775923 -0.20371986 -11.08122848] [ 0.24030448 0.96992237 0.03878594 -5.41181137] [ 0.1887586 -0.08588552 0.97826063 -0.10667011] [ 0. 0. 0. 1. ]] SLAMing on 257.822414037 meters Centerline goodness : 0.841472 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95220628 -0.22775489 -0.20354586 -11.08182778] [ 0.24026474 0.96993631 0.03868345 -5.41196105] [ 0.18861618 -0.08573952 0.97830091 -0.10626762] [ 0. 0. 0. 1. ]] SLAMing on 257.85241403699996 meters Centerline goodness : 0.841852 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95216604 -0.22784284 -0.20363562 -11.08169862] [ 0.24035099 0.96991729 0.0386246 -5.41219588] [ 0.18870937 -0.08572106 0.97828456 -0.10597956] [ 0. 0. 0. 1. ]] SLAMing on 257.882414037 meters Centerline goodness : 0.840789 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95221276 -0.22683113 -0.20454464 -11.07912357] [ 0.23978124 0.96997824 0.04058529 -5.41506652] [ 0.18919784 -0.08769179 0.9780155 -0.10625416] [ 0. 0. 0. 1. ]] SLAMing on 257.91241403699996 meters Centerline goodness : 0.838871 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95234597 -0.22643372 -0.20436466 -11.07777406] [ 0.23940433 0.97006172 0.0408146 -5.41741932] [ 0.18900453 -0.0877954 0.97804359 -0.10734481] [ 0. 0. 0. 1. ]] SLAMing on 257.942414037 meters Centerline goodness : 0.843955 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95240828 -0.22631983 -0.20420042 -11.07737863] [ 0.23928043 0.97009074 0.04085144 -5.41859374] [ 0.18884744 -0.08776842 0.97807635 -0.10774997] [ 0. 0. 0. 1. ]] SLAMing on 257.97241403699996 meters Centerline goodness : 0.840482 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95246846 -0.22623518 -0.20401343 -11.0773776 ] [ 0.23918657 0.97011182 0.04090047 -5.41960854] [ 0.18866271 -0.08775368 0.97811332 -0.10782473] [ 0. 0. 0. 1. ]] SLAMing on 258.002414037 meters Centerline goodness : 0.842031 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95262019 -0.22570993 -0.20388673 -11.07732725] [ 0.23873509 0.9702021 0.04139367 -5.42090616] [ 0.18846837 -0.08810736 0.97811899 -0.10795631] [ 0. 0. 0. 1. ]] SLAMing on 258.03241403699997 meters Centerline goodness : 0.842816 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95308713 -0.22377504 -0.2038373 -11.07745992] [ 0.23704214 0.97055354 0.04285849 -5.42261589] [ 0.18824435 -0.08916591 0.97806621 -0.10803224] [ 0. 0. 0. 1. ]] SLAMing on 258.062414037 meters Centerline goodness : 0.841650 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.9533535 -0.22313118 -0.2032968 -11.07860235] [ 0.2363234 0.97073179 0.0427907 -5.42273818] [ 0.18779873 -0.08883846 0.97818166 -0.10811546] [ 0. 0. 0. 1. ]] SLAMing on 258.09241403699997 meters Centerline goodness : 0.847858 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95408674 -0.22082905 -0.20236851 -11.08051864] [ 0.23393329 0.97130147 0.04299616 -5.42315205] [ 0.18706603 -0.0883628 0.97836513 -0.10848196] [ 0. 0. 0. 1. ]] SLAMing on 258.122414037 meters Centerline goodness : 0.849386 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95428818 -0.22027398 -0.20202338 -11.08126669] [ 0.23329289 0.97146557 0.04276763 -5.42293877] [ 0.18683816 -0.08794326 0.97844647 -0.10858362] [ 0. 0. 0. 1. ]] SLAMing on 258.15241403699997 meters Centerline goodness : 0.850025 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95454235 -0.21919472 -0.20199646 -11.08137043] [ 0.23229988 0.97167841 0.04333391 -5.42306931] [ 0.18677704 -0.08828781 0.97842711 -0.10877106] [ 0. 0. 0. 1. ]] SLAMing on 258.182414037 meters Centerline goodness : 0.852223 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95469569 -0.21883268 -0.20166405 -11.08193794] [ 0.2318318 0.97180628 0.04297168 -5.42286551] [ 0.18657478 -0.08777702 0.97851165 -0.10892677] [ 0. 0. 0. 1. ]] SLAMing on 258.212414037 meters Centerline goodness : 0.853290 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95501775 -0.21789294 -0.20115606 -11.08258633] [ 0.23082417 0.97204722 0.04294656 -5.42329944] [ 0.18617543 -0.0874464 0.97861731 -0.10935398] [ 0. 0. 0. 1. ]] SLAMing on 258.242414037 meters Centerline goodness : 0.855254 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.9550865 -0.21783934 -0.20088751 -11.08272593] [ 0.23069352 0.97209022 0.04267448 -5.42369877] [ 0.1859846 -0.08710126 0.97868437 -0.10959307] [ 0. 0. 0. 1. ]] SLAMing on 258.272414037 meters Centerline goodness : 0.856823 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95512924 -0.21777674 -0.20075216 -11.08263893] [ 0.23057089 0.97213006 0.04242886 -5.42401078] [ 0.18591719 -0.08681265 0.97872282 -0.10980035] [ 0. 0. 0. 1. ]] SLAMing on 258.302414037 meters Centerline goodness : 0.856823 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95512924 -0.21777674 -0.20075216 -11.08263893] [ 0.23057089 0.97213006 0.04242886 -5.42401078] [ 0.18591719 -0.08681265 0.97872282 -0.10980035] [ 0. 0. 0. 1. ]] SLAMing on 258.332414037 meters Centerline goodness : 0.853764 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95523978 -0.21749412 -0.20053245 -11.0825875 ] [ 0.23026614 0.97220167 0.04244317 -5.42456662] [ 0.18572684 -0.08671924 0.97876724 -0.11020103] [ 0. 0. 0. 1. ]] SLAMing on 258.362414037 meters Centerline goodness : 0.854517 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95540149 -0.21707978 -0.20021078 -11.08292625] [ 0.22978763 0.97232128 0.0422962 -5.42494933] [ 0.18548755 -0.08641582 0.97883945 -0.11037208] [ 0. 0. 0. 1. ]] SLAMing on 258.392414037 meters Centerline goodness : 0.851745 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.12 [[ 0.9564947 -0.22276866 -0.18839325 -11.08086166] [ 0.23431083 0.97129242 0.04110315 -5.4211011 ] [ 0.17382844 -0.08345752 0.98123316 -0.11527184] [ 0. 0. 0. 1. ]] SLAMing on 258.422414037 meters Centerline goodness : 0.851925 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95649798 -0.22270398 -0.18845304 -11.08096311] [ 0.23422988 0.97131682 0.04098783 -5.42095255] [ 0.17391945 -0.08334611 0.9812265 -0.11499891] [ 0. 0. 0. 1. ]] SLAMing on 258.452414037 meters Centerline goodness : 0.849885 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.9566809 -0.22211864 -0.1882152 -11.08152212] [ 0.23361561 0.97146459 0.04099141 -5.42080618] [ 0.17373944 -0.0831857 0.981272 -0.11491596] [ 0. 0. 0. 1. ]] SLAMing on 258.482414037 meters Centerline goodness : 0.850649 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.12 [[ 0.95680817 -0.22164984 -0.18812092 -11.08155171] [ 0.23313197 0.97158065 0.04099428 -5.42061093] [ 0.17368827 -0.08308066 0.98128996 -0.11528764] [ 0. 0. 0. 1. ]] SLAMing on 258.512414037 meters Centerline goodness : 0.849198 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.12 [[ 0.95700004 -0.22116016 -0.18772083 -11.08218513] [ 0.23249668 0.97175745 0.04040733 -5.41983733] [ 0.17348262 -0.08231429 0.98139092 -0.11563894] [ 0. 0. 0. 1. ]] SLAMing on 258.54241403699996 meters Centerline goodness : 0.847705 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.12 [[ 0.9569763 -0.22125587 -0.18772907 -11.08243626] [ 0.23254645 0.97175682 0.04013516 -5.41945093] [ 0.17354686 -0.08206412 0.98140051 -0.11537266] [ 0. 0. 0. 1. ]] SLAMing on 258.572414037 meters Centerline goodness : 0.850240 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95693338 -0.22150641 -0.18765236 -11.0829661 ] [ 0.23272379 0.97173077 0.03973608 -5.41881062] [ 0.17354577 -0.08169595 0.98143142 -0.1149553 ] [ 0. 0. 0. 1. ]] SLAMing on 258.60241403699996 meters Centerline goodness : 0.848867 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95689695 -0.22174782 -0.18755301 -11.08358481] [ 0.23289971 0.97170263 0.03939198 -5.41825729] [ 0.17351067 -0.08137511 0.98146428 -0.11451717] [ 0. 0. 0. 1. ]] SLAMing on 258.632414037 meters Centerline goodness : 0.848776 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95674373 -0.22236485 -0.18760413 -11.08374145] [ 0.23343653 0.97159523 0.03886007 -5.41752202] [ 0.17363417 -0.08097279 0.98147572 -0.11408021] [ 0. 0. 0. 1. ]] SLAMing on 258.66241403699996 meters Centerline goodness : 0.848600 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95655786 -0.22263871 -0.18822607 -11.08218373] [ 0.23377823 0.9715105 0.03892424 -5.41719789] [ 0.17419756 -0.08123644 0.98135409 -0.11420035] [ 0. 0. 0. 1. ]] SLAMing on 258.692414037 meters Centerline goodness : 0.849531 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.9563189 -0.22343514 -0.1884964 -11.08151361] [ 0.23453731 0.9713438 0.03851598 -5.41700866] [ 0.17448899 -0.081043 0.98131831 -0.11395699] [ 0. 0. 0. 1. ]] SLAMing on 258.72241403699996 meters Centerline goodness : 0.850322 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95596676 -0.22451378 -0.18900032 -11.08051637] [ 0.23561271 0.97109737 0.03816487 -5.41666382] [ 0.17496917 -0.08101523 0.9812351 -0.11351555] [ 0. 0. 0. 1. ]] SLAMing on 258.752414037 meters Centerline goodness : 0.851860 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95569791 -0.22544655 -0.18924948 -11.07999729] [ 0.23653107 0.97088508 0.03788414 -5.4164449 ] [ 0.17519865 -0.08096918 0.98119795 -0.11310016] [ 0. 0. 0. 1. ]] SLAMing on 258.78241403699997 meters Centerline goodness : 0.850314 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95506508 -0.22858135 -0.18868296 -11.08028137] [ 0.2391551 0.97035021 0.03500435 -5.41526093] [ 0.17508721 -0.07855593 0.981414 -0.11272008] [ 0. 0. 0. 1. ]] SLAMing on 258.812414037 meters Centerline goodness : 0.852248 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95478778 -0.2292439 -0.18928163 -11.07929988] [ 0.23991244 0.97015609 0.03520202 -5.41528033] [ 0.17556287 -0.07902148 0.98129164 -0.11215687] [ 0. 0. 0. 1. ]] SLAMing on 258.84241403699997 meters Centerline goodness : 0.850854 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.42, Z:-0.11 [[ 0.95445771 -0.23020501 -0.18977919 -11.07863053] [ 0.24091427 0.96991094 0.03511515 -5.41507372] [ 0.17598523 -0.07923645 0.98119865 -0.11137312] [ 0. 0. 0. 1. ]] SLAMing on 258.872414037 meters Centerline goodness : 0.852660 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95413684 -0.23127104 -0.19009628 -11.07856733] [ 0.24197758 0.96965547 0.03485863 -5.41454851] [ 0.17626611 -0.07925894 0.98114641 -0.11043459] [ 0. 0. 0. 1. ]] SLAMing on 258.90241403699997 meters Centerline goodness : 0.852161 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95372691 -0.23220871 -0.19100811 -11.0777033 ] [ 0.243016 0.96939367 0.03491604 -5.41338846] [ 0.17705425 -0.07971839 0.98096726 -0.109145 ] [ 0. 0. 0. 1. ]] SLAMing on 258.932414037 meters Centerline goodness : 0.854181 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95348797 -0.23304522 -0.19118214 -11.07789342] [ 0.24377316 0.9692248 0.03432099 -5.41249557] [ 0.17730013 -0.07932972 0.98095436 -0.10845456] [ 0. 0. 0. 1. ]] SLAMing on 258.962414037 meters Centerline goodness : 0.856267 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.9530984 -0.23424525 -0.19165752 -11.07735233] [ 0.24494843 0.96894471 0.03385866 -5.41166449] [ 0.17777431 -0.07921684 0.98087766 -0.1076635 ] [ 0. 0. 0. 1. ]] SLAMing on 258.992414037 meters Centerline goodness : 0.856614 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95293778 -0.23437385 -0.1922979 -11.07619103] [ 0.2451999 0.96886795 0.03423304 -5.41142304] [ 0.17828794 -0.07977338 0.98073932 -0.10742393] [ 0. 0. 0. 1. ]] SLAMing on 259.022414037 meters Centerline goodness : 0.858031 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95280234 -0.23454713 -0.19275724 -11.0753908 ] [ 0.24538955 0.96882469 0.03409825 -5.4104734 ] [ 0.17875033 -0.07978951 0.98065384 -0.10737075] [ 0. 0. 0. 1. ]] SLAMing on 259.052414037 meters Centerline goodness : 0.854038 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.41, Z:-0.11 [[ 0.95269289 -0.23499054 -0.19275815 -11.07573621] [ 0.24574103 0.96875464 0.03355272 -5.4093774 ] [ 0.17885078 -0.07933402 0.98067248 -0.10703292] [ 0. 0. 0. 1. ]] SLAMing on 259.082414037 meters Centerline goodness : 0.858140 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.41, Z:-0.11 [[ 0.95254256 -0.23518934 -0.193258 -11.07461789] [ 0.24590039 0.96873 0.03309367 -5.40756115] [ 0.17943154 -0.07904535 0.9805897 -0.10729949] [ 0. 0. 0. 1. ]] SLAMing on 259.112414037 meters Centerline goodness : 0.853543 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.40, Z:-0.11 [[ 0.95247042 -0.23550861 -0.19322474 -11.07520671] [ 0.24603689 0.96872942 0.03208043 -5.40490257] [ 0.17962727 -0.07809608 0.98062992 -0.10710559] [ 0. 0. 0. 1. ]] SLAMing on 259.142414037 meters Centerline goodness : 0.856035 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.40, Z:-0.11 [[ 0.95252202 -0.23514751 -0.19341008 -11.07474821] [ 0.24565454 0.96883187 0.03191641 -5.40386309] [ 0.17987679 -0.07791315 0.98059874 -0.1074569 ] [ 0. 0. 0. 1. ]] SLAMing on 259.172414037 meters Centerline goodness : 0.858013 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.40, Z:-0.11 [[ 0.95261348 -0.23508512 -0.19303509 -11.0751833 ] [ 0.24537491 0.96893562 0.03090164 -5.40198268] [ 0.17977406 -0.07680329 0.98070512 -0.10805353] [ 0. 0. 0. 1. ]] SLAMing on 259.202414037 meters Centerline goodness : 0.856559 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.40, Z:-0.11 [[ 0.95260711 -0.23477129 -0.193448 -11.07425563] [ 0.24506921 0.96901635 0.03079615 -5.40091425] [ 0.18022422 -0.07674478 0.98062708 -0.1083858 ] [ 0. 0. 0. 1. ]] SLAMing on 259.232414037 meters Centerline goodness : 0.855198 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.40, Z:-0.11 [[ 0.95260893 -0.23469412 -0.19353269 -11.07397945] [ 0.24493733 0.96906002 0.03046928 -5.39977371] [ 0.18039383 -0.07642869 0.98062058 -0.10868979] [ 0. 0. 0. 1. ]] SLAMing on 259.262414037 meters Centerline goodness : 0.855981 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.40, Z:-0.11 [[ 0.95255283 -0.23466087 -0.19384885 -11.07379463] [ 0.24484543 0.96909733 0.03001816 -5.39758495] [ 0.18081432 -0.07605689 0.98057204 -0.10855167] [ 0. 0. 0. 1. ]] SLAMing on 259.29241403699996 meters Centerline goodness : 0.853927 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.40, Z:-0.11 [[ 0.95253517 -0.23463437 -0.19396767 -11.07367498] [ 0.24478366 0.96912032 0.02977873 -5.39653331] [ 0.18099089 -0.0758454 0.98055585 -0.10859769] [ 0. 0. 0. 1. ]] SLAMing on 259.322414037 meters Centerline goodness : 0.853630 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.40, Z:-0.11 [[ 0.95244126 -0.23474747 -0.19429174 -11.07311751] [ 0.24489284 0.96909794 0.02960885 -5.39555909] [ 0.18133712 -0.07578135 0.98049683 -0.10858078] [ 0. 0. 0. 1. ]] SLAMing on 259.35241403699996 meters Centerline goodness : 0.853129 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95236158 -0.23472577 -0.19470807 -11.0720717 ] [ 0.24488555 0.96910274 0.0295119 -5.3948505 ] [ 0.18176492 -0.07578719 0.98041716 -0.10877412] [ 0. 0. 0. 1. ]] SLAMing on 259.382414037 meters Centerline goodness : 0.852570 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95214607 -0.23567252 -0.19461838 -11.07210525] [ 0.24565282 0.96893906 0.02849192 -5.39327823] [ 0.18185859 -0.07493702 0.98046514 -0.10886511] [ 0. 0. 0. 1. ]] SLAMing on 259.41241403699996 meters Centerline goodness : 0.854013 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95206235 -0.23578302 -0.19489394 -11.07154224] [ 0.24576694 0.96891324 0.0283855 -5.39261179] [ 0.1821425 -0.07492326 0.98041349 -0.10888442] [ 0. 0. 0. 1. ]] SLAMing on 259.442414037 meters Centerline goodness : 0.851106 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.9520148 -0.23569465 -0.19523281 -11.07101814] [ 0.24572456 0.96892065 0.02849932 -5.39215591] [ 0.18244796 -0.07510527 0.98034277 -0.10875893] [ 0. 0. 0. 1. ]] SLAMing on 259.47241403699996 meters Centerline goodness : 0.852519 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95186584 -0.23611928 -0.19544591 -11.07086871] [ 0.24610809 0.96883355 0.02814896 -5.39108407] [ 0.18270804 -0.07489485 0.98031043 -0.10851655] [ 0. 0. 0. 1. ]] SLAMing on 259.502414037 meters Centerline goodness : 0.849933 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95179935 -0.23608773 -0.19580749 -11.07021074] [ 0.24613003 0.96882393 0.02828781 -5.39058878] [ 0.18302458 -0.07511842 0.98023427 -0.10852672] [ 0. 0. 0. 1. ]] SLAMing on 259.53241403699997 meters Centerline goodness : 0.852169 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95173365 -0.23602073 -0.1962072 -11.06931014] [ 0.24610946 0.96882659 0.02837559 -5.38980702] [ 0.18339353 -0.07529445 0.9801518 -0.10879042] [ 0. 0. 0. 1. ]] SLAMing on 259.562414037 meters Centerline goodness : 0.852458 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95153645 -0.23663759 -0.19642058 -11.06915868] [ 0.246676 0.96869462 0.0279586 -5.38899692] [ 0.1836555 -0.07505587 0.98012105 -0.10838047] [ 0. 0. 0. 1. ]] SLAMing on 259.59241403699997 meters Centerline goodness : 0.854416 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95148991 -0.23653718 -0.19676663 -11.06844146] [ 0.24665464 0.96869173 0.02824561 -5.38878986] [ 0.18392507 -0.07540882 0.98004341 -0.1084075 ] [ 0. 0. 0. 1. ]] SLAMing on 259.622414037 meters Centerline goodness : 0.858780 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95126079 -0.237528 -0.19668085 -11.06895205] [ 0.24753523 0.96848574 0.02759843 -5.38774922] [ 0.1839272 -0.07493874 0.98007906 -0.10788923] [ 0. 0. 0. 1. ]] SLAMing on 259.65241403699997 meters Centerline goodness : 0.850284 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.9512214 -0.23742268 -0.19699829 -11.06821041] [ 0.24750278 0.96848641 0.0278647 -5.38765591] [ 0.18417445 -0.07526312 0.98000777 -0.10800445] [ 0. 0. 0. 1. ]] SLAMing on 259.682414037 meters Centerline goodness : 0.860361 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95118809 -0.23771809 -0.19680273 -11.06844386] [ 0.2476978 0.96845029 0.02738296 -5.38708728] [ 0.18408424 -0.07479395 0.98006064 -0.10817651] [ 0. 0. 0. 1. ]] SLAMing on 259.712414037 meters Centerline goodness : 0.852293 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.39, Z:-0.11 [[ 0.95110132 -0.23774935 -0.19718398 -11.06765783] [ 0.24774186 0.96844163 0.02729049 -5.38607014] [ 0.18447288 -0.07480675 0.97998658 -0.10833939] [ 0. 0. 0. 1. ]] SLAMing on 259.742414037 meters Centerline goodness : 0.850515 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95103159 -0.23812436 -0.19706774 -11.06780716] [ 0.24799438 0.9683948 0.02665124 -5.38496937] [ 0.18449307 -0.07421787 0.98002756 -0.10846521] [ 0. 0. 0. 1. ]] SLAMing on 259.772414037 meters Centerline goodness : 0.851976 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95098067 -0.23823615 -0.19717835 -11.06708825] [ 0.24805085 0.96838991 0.02630147 -5.38388379] [ 0.18467957 -0.07392244 0.98001476 -0.10911478] [ 0. 0. 0. 1. ]] SLAMing on 259.802414037 meters Centerline goodness : 0.850087 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95093762 -0.23855309 -0.1970027 -11.06683965] [ 0.24818328 0.96838101 0.0253628 -5.3817452 ] [ 0.1847233 -0.07301121 0.98007483 -0.11006456] [ 0. 0. 0. 1. ]] SLAMing on 259.832414037 meters Centerline goodness : 0.854377 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95094362 -0.23852183 -0.19701158 -11.0667878 ] [ 0.24810612 0.96840715 0.02511876 -5.38098168] [ 0.18479605 -0.0727663 0.98007933 -0.11019177] [ 0. 0. 0. 1. ]] SLAMing on 259.862414037 meters Centerline goodness : 0.848927 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95092994 -0.23847499 -0.1971343 -11.06640268] [ 0.24802381 0.96843423 0.0248862 -5.37992217] [ 0.18497687 -0.07255903 0.98006058 -0.11048267] [ 0. 0. 0. 1. ]] SLAMing on 259.892414037 meters Centerline goodness : 0.848612 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95092559 -0.23851538 -0.19710643 -11.06652319] [ 0.24793911 0.96847254 0.02423078 -5.37762886] [ 0.18511275 -0.07191206 0.98008261 -0.11086143] [ 0. 0. 0. 1. ]] SLAMing on 259.922414037 meters Centerline goodness : 0.852352 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95085782 -0.2384906 -0.19746301 -11.06605362] [ 0.24791534 0.96848195 0.02409762 -5.37644203] [ 0.18549231 -0.07186752 0.98001411 -0.11082006] [ 0. 0. 0. 1. ]] SLAMing on 259.952414037 meters Centerline goodness : 0.852184 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.38, Z:-0.11 [[ 0.95082199 -0.23840345 -0.19774056 -11.06537579] [ 0.24781492 0.96851189 0.02392678 -5.37524316] [ 0.18580986 -0.07175317 0.97996234 -0.11109832] [ 0. 0. 0. 1. ]] SLAMing on 259.982414037 meters Centerline goodness : 0.847310 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.37, Z:-0.11 [[ 0.95072443 -0.23867059 -0.19788738 -11.06510074] [ 0.24802119 0.968469 0.02352215 -5.37408615] [ 0.18603374 -0.07144334 0.9799425 -0.11118805] [ 0. 0. 0. 1. ]] SLAMing on 260.012414037 meters Centerline goodness : 0.850824 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.95055132 -0.23918878 -0.19809319 -11.06413098] [ 0.24838523 0.96839812 0.02257999 -5.37171493] [ 0.18643219 -0.07066686 0.97992307 -0.11196117] [ 0. 0. 0. 1. ]] SLAMing on 260.04241403699996 meters Centerline goodness : 0.851040 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.9503976 -0.23944384 -0.19852218 -11.06306775] [ 0.24861636 0.96834613 0.02226386 -5.37031282] [ 0.18690724 -0.07051538 0.97984349 -0.11229314] [ 0. 0. 0. 1. ]] SLAMing on 260.072414037 meters Centerline goodness : 0.851687 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.95032464 -0.23989703 -0.1983242 -11.06342775] [ 0.24895087 0.9682736 0.02167252 -5.36920229] [ 0.18683291 -0.06996891 0.97989684 -0.11245382] [ 0. 0. 0. 1. ]] SLAMing on 260.10241403699996 meters Centerline goodness : 0.850383 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.95024333 -0.23987099 -0.19874486 -11.06236091] [ 0.24893581 0.96827971 0.0215723 -5.36822233] [ 0.18726605 -0.06997365 0.97981382 -0.11275958] [ 0. 0. 0. 1. ]] SLAMing on 260.132414037 meters Centerline goodness : 0.849983 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.95020052 -0.24019096 -0.19856302 -11.06277695] [ 0.24912925 0.96824368 0.02094734 -5.36625445] [ 0.18722602 -0.06937203 0.97986424 -0.11307184] [ 0. 0. 0. 1. ]] SLAMing on 260.16241403699996 meters Centerline goodness : 0.849362 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.95007354 -0.24031897 -0.19901525 -11.06195021] [ 0.24931011 0.96819512 0.02104004 -5.36570293] [ 0.18762927 -0.0696061 0.97977051 -0.11299169] [ 0. 0. 0. 1. ]] SLAMing on 260.192414037 meters Centerline goodness : 0.849362 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.95007354 -0.24031897 -0.19901525 -11.06195021] [ 0.24931011 0.96819512 0.02104004 -5.36570293] [ 0.18762927 -0.0696061 0.97977051 -0.11299169] [ 0. 0. 0. 1. ]] SLAMing on 260.22241403699996 meters Centerline goodness : 0.848439 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.9499004 -0.24059075 -0.19951269 -11.06089564] [ 0.24966122 0.96810031 0.02123831 -5.36532422] [ 0.18803855 -0.06998486 0.97966506 -0.11303367] [ 0. 0. 0. 1. ]] SLAMing on 260.252414037 meters Centerline goodness : 0.846761 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.949506 -0.24185989 -0.19985531 -11.06006734] [ 0.25091851 0.96778213 0.02091991 -5.36513567] [ 0.18835671 -0.07001098 0.97960207 -0.11282843] [ 0. 0. 0. 1. ]] SLAMing on 260.28241403699997 meters Centerline goodness : 0.841919 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.94926727 -0.24226139 -0.20050205 -11.05888169] [ 0.2514581 0.96763266 0.02135097 -5.36569054] [ 0.18883982 -0.07068564 0.9794606 -0.11243891] [ 0. 0. 0. 1. ]] SLAMing on 260.312414037 meters Centerline goodness : 0.847565 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.94904021 -0.24274089 -0.20099635 -11.05784802] [ 0.25200032 0.96748964 0.0214389 -5.36571442] [ 0.18925779 -0.07099752 0.97935736 -0.11222673] [ 0. 0. 0. 1. ]] SLAMing on 260.34241403699997 meters Centerline goodness : 0.847671 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.37, Z:-0.11 [[ 0.94892373 -0.24341127 -0.20073544 -11.05868935] [ 0.25257553 0.96734974 0.02097831 -5.36550678] [ 0.18907502 -0.07060767 0.97942085 -0.11192138] [ 0. 0. 0. 1. ]] SLAMing on 260.372414037 meters Centerline goodness : 0.846391 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.36, Z:-0.11 [[ 0.94839215 -0.24433259 -0.20212351 -11.05725559] [ 0.25368462 0.9670519 0.02132461 -5.36465572] [ 0.19025363 -0.07149972 0.97912785 -0.11045956] [ 0. 0. 0. 1. ]] SLAMing on 260.40241403699997 meters Centerline goodness : 0.846476 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.36, Z:-0.11 [[ 0.94821172 -0.24465507 -0.20257943 -11.05634006] [ 0.25402845 0.96696378 0.02122703 -5.36389026] [ 0.19069367 -0.07158865 0.97903574 -0.1104713 ] [ 0. 0. 0. 1. ]] SLAMing on 260.432414037 meters Centerline goodness : 0.846580 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94801734 -0.24467518 -0.20346296 -11.05467415] [ 0.25419948 0.96690926 0.02165909 -5.36334341] [ 0.19143077 -0.07225337 0.97884305 -0.11042402] [ 0. 0. 0. 1. ]] SLAMing on 260.462414037 meters Centerline goodness : 0.845932 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94796298 -0.24486813 -0.20348411 -11.05458746] [ 0.25433347 0.96688134 0.02132986 -5.3625388 ] [ 0.19152199 -0.07197274 0.97884588 -0.11046499] [ 0. 0. 0. 1. ]] SLAMing on 260.492414037 meters Centerline goodness : 0.845842 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.947965 -0.24491526 -0.20341799 -11.05450239] [ 0.25430878 0.96689542 0.02098329 -5.36096356] [ 0.19154479 -0.0716224 0.97886711 -0.11077763] [ 0. 0. 0. 1. ]] SLAMing on 260.522414037 meters Centerline goodness : 0.844827 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94828436 -0.24232353 -0.20502702 -11.05308143] [ 0.2524866 0.96728905 0.02454411 -5.36201323] [ 0.19237278 -0.07504137 0.97844852 -0.11018063] [ 0. 0. 0. 1. ]] SLAMing on 260.552414037 meters Centerline goodness : 0.846301 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94825255 -0.24254581 -0.2049113 -11.05371151] [ 0.25257669 0.96728178 0.02389495 -5.36012063] [ 0.19241135 -0.07441427 0.97848883 -0.10982933] [ 0. 0. 0. 1. ]] SLAMing on 260.582414037 meters Centerline goodness : 0.848422 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94818911 -0.24288778 -0.20479973 -11.05443962] [ 0.25283097 0.96722605 0.02345795 -5.35930119] [ 0.19238999 -0.07402229 0.97852276 -0.10938251] [ 0. 0. 0. 1. ]] SLAMing on 260.612414037 meters Centerline goodness : 0.846307 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.36, Z:-0.11 [[ 0.94815618 -0.24312294 -0.20467316 -11.05506936] [ 0.25299781 0.96719017 0.02313598 -5.35864997] [ 0.19233298 -0.07371838 0.97855691 -0.10902396] [ 0. 0. 0. 1. ]] SLAMing on 260.642414037 meters Centerline goodness : 0.846356 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.36, Z:-0.11 [[ 0.94811188 -0.24322044 -0.20476251 -11.05522319] [ 0.25304679 0.96718429 0.02284441 -5.35807158] [ 0.19248685 -0.07347355 0.97854507 -0.10862404] [ 0. 0. 0. 1. ]] SLAMing on 260.672414037 meters Centerline goodness : 0.809705 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.36, Z:-0.11 [[ 0.94808846 -0.24339636 -0.20466189 -11.0554988 ] [ 0.2531673 0.96715887 0.02258382 -5.35767693] [ 0.19244374 -0.07322516 0.97857217 -0.10851275] [ 0. 0. 0. 1. ]] SLAMing on 260.702414037 meters Centerline goodness : 0.808214 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94811334 -0.24315446 -0.20483407 -11.05478092] [ 0.25292399 0.96722368 0.02253459 -5.35718303] [ 0.19264098 -0.07317279 0.97853727 -0.10868218] [ 0. 0. 0. 1. ]] SLAMing on 260.732414037 meters Centerline goodness : 0.809526 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94809686 -0.24311815 -0.20495343 -11.05432353] [ 0.25287893 0.96723748 0.02244771 -5.35685084] [ 0.19278119 -0.07311101 0.97851428 -0.1088159 ] [ 0. 0. 0. 1. ]] SLAMing on 260.762414037 meters Centerline goodness : 0.807180 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94806464 -0.24308236 -0.20514485 -11.05379799] [ 0.25282656 0.96725475 0.02229327 -5.35650924] [ 0.19300823 -0.07300152 0.9784777 -0.10878143] [ 0. 0. 0. 1. ]] SLAMing on 260.79241403699996 meters Centerline goodness : 0.808942 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94806881 -0.24293938 -0.20529488 -11.05327545] [ 0.25268699 0.96729181 0.02226738 -5.35598413] [ 0.19317043 -0.07298636 0.97844682 -0.10893009] [ 0. 0. 0. 1. ]] SLAMing on 260.822414037 meters Centerline goodness : 0.809209 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94804957 -0.24288147 -0.2054522 -11.05291745] [ 0.25261828 0.96731227 0.02215807 -5.35582079] [ 0.19335465 -0.07290793 0.97841628 -0.10880514] [ 0. 0. 0. 1. ]] SLAMing on 260.85241403699996 meters Centerline goodness : 0.808582 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94802935 -0.24294818 -0.20546661 -11.05288311] [ 0.25266014 0.96730449 0.02201992 -5.35580596] [ 0.19339907 -0.07278875 0.97841637 -0.10865864] [ 0. 0. 0. 1. ]] SLAMing on 260.882414037 meters Centerline goodness : 0.847499 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.9480564 -0.24268273 -0.20565544 -11.05219878] [ 0.25243281 0.96736047 0.02216748 -5.35572867] [ 0.19356328 -0.0729302 0.97837337 -0.10886442] [ 0. 0. 0. 1. ]] SLAMing on 260.91241403699996 meters Centerline goodness : 0.808652 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94856273 -0.23933764 -0.20723473 -11.05042716] [ 0.24998254 0.9678903 0.02640266 -5.3575636 ] [ 0.19426134 -0.07684964 0.9779349 -0.10865314] [ 0. 0. 0. 1. ]] SLAMing on 260.942414037 meters Centerline goodness : 0.808314 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94854116 -0.23961677 -0.20701078 -11.05095746] [ 0.2501467 0.96786186 0.02588515 -5.35673443] [ 0.19415532 -0.07633619 0.97799616 -0.10858823] [ 0. 0. 0. 1. ]] SLAMing on 260.97241403699996 meters Centerline goodness : 0.807922 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.9486108 -0.23903862 -0.20735982 -11.05030082] [ 0.24969256 0.96796444 0.02642836 -5.35712424] [ 0.19439954 -0.07684643 0.97790769 -0.1085083 ] [ 0. 0. 0. 1. ]] SLAMing on 261.002414037 meters Centerline goodness : 0.852634 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94862868 -0.2390389 -0.20727766 -11.0506507 ] [ 0.24965009 0.96798035 0.02624632 -5.35719027] [ 0.19436681 -0.07664489 0.97793001 -0.1080756 ] [ 0. 0. 0. 1. ]] SLAMing on 261.03241403699997 meters Centerline goodness : 0.853675 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94864414 -0.23871677 -0.20757795 -11.04999207] [ 0.24941156 0.96803277 0.02657874 -5.35720446] [ 0.19459747 -0.07698611 0.97785733 -0.10812123] [ 0. 0. 0. 1. ]] SLAMing on 261.062414037 meters Centerline goodness : 0.856127 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94867184 -0.2383725 -0.20784679 -11.04916646] [ 0.24912774 0.9680995 0.02680905 -5.35718695] [ 0.19482583 -0.07721339 0.97779394 -0.10837402] [ 0. 0. 0. 1. ]] SLAMing on 261.09241403699997 meters Centerline goodness : 0.854201 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94872283 -0.23804762 -0.20798634 -11.04846561] [ 0.24884393 0.96816741 0.02699202 -5.3569471 ] [ 0.19494021 -0.07736409 0.97775923 -0.10872151] [ 0. 0. 0. 1. ]] SLAMing on 261.122414037 meters Centerline goodness : 0.856174 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94869494 -0.23779431 -0.20840291 -11.04691291] [ 0.24866416 0.96820728 0.02721769 -5.35684751] [ 0.195305 -0.07764362 0.97766427 -0.10935739] [ 0. 0. 0. 1. ]] SLAMing on 261.15241403699997 meters Centerline goodness : 0.856649 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.36, Z:-0.11 [[ 0.94867246 -0.2376706 -0.20864622 -11.04563704] [ 0.24859071 0.96822148 0.0273831 -5.35707517] [ 0.1955076 -0.07784511 0.97760775 -0.10999101] [ 0. 0. 0. 1. ]] SLAMing on 261.182414037 meters Centerline goodness : 0.857037 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94873372 -0.23736026 -0.20872096 -11.04499736] [ 0.24835534 0.96827116 0.0277595 -5.35828967] [ 0.19550948 -0.07817334 0.97758118 -0.11017323] [ 0. 0. 0. 1. ]] SLAMing on 261.212414037 meters Centerline goodness : 0.855989 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94874648 -0.23723405 -0.20880643 -11.04465809] [ 0.24824854 0.96829639 0.02783466 -5.35867506] [ 0.19558318 -0.07824393 0.9775608 -0.11015229] [ 0. 0. 0. 1. ]] SLAMing on 261.242414037 meters Centerline goodness : 0.855428 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94876027 -0.23722241 -0.20875698 -11.04477301] [ 0.24822932 0.96830179 0.02781811 -5.35871866] [ 0.19554067 -0.07821232 0.97757183 -0.11007676] [ 0. 0. 0. 1. ]] SLAMing on 261.272414037 meters Centerline goodness : 0.853385 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94875031 -0.23718202 -0.20884811 -11.04458876] [ 0.24817538 0.9683185 0.02771742 -5.35840088] [ 0.19565742 -0.07812787 0.97755522 -0.11001409] [ 0. 0. 0. 1. ]] SLAMing on 261.302414037 meters Centerline goodness : 0.851330 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94882791 -0.2367633 -0.20897065 -11.04429438] [ 0.2477666 0.96842195 0.02776031 -5.35778597] [ 0.19579914 -0.0781157 0.97752782 -0.10994354] [ 0. 0. 0. 1. ]] SLAMing on 261.332414037 meters Centerline goodness : 0.851663 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94881655 -0.23680273 -0.20897754 -11.04438179] [ 0.24776348 0.96842901 0.027541 -5.35728329] [ 0.19585813 -0.07790836 0.97753255 -0.10978252] [ 0. 0. 0. 1. ]] SLAMing on 261.362414037 meters Centerline goodness : 0.850132 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94878877 -0.23686236 -0.20903611 -11.04444815] [ 0.24778933 0.96842802 0.02734257 -5.35693908] [ 0.19596 -0.07773925 0.97752559 -0.10952974] [ 0. 0. 0. 1. ]] SLAMing on 261.392414037 meters Centerline goodness : 0.847981 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94883284 -0.23654358 -0.20919698 -11.0438247 ] [ 0.24747498 0.96850868 0.02733248 -5.35669875] [ 0.19614377 -0.07770497 0.97749146 -0.10959572] [ 0. 0. 0. 1. ]] SLAMing on 261.422414037 meters Centerline goodness : 0.847434 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.9488061 -0.23655001 -0.20931094 -11.04367398] [ 0.24744733 0.96852183 0.02711603 -5.35606159] [ 0.19630792 -0.07752129 0.97747309 -0.10949651] [ 0. 0. 0. 1. ]] SLAMing on 261.452414037 meters Centerline goodness : 0.846386 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.36, Z:-0.11 [[ 0.94878379 -0.23660192 -0.20935341 -11.04348093] [ 0.24744815 0.96852933 0.02683931 -5.35515819] [ 0.19641468 -0.07726881 0.97747164 -0.10957719] [ 0. 0. 0. 1. ]] SLAMing on 261.482414037 meters Centerline goodness : 0.844186 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94878265 -0.23638639 -0.2096019 -11.04279264] [ 0.24723139 0.968587 0.0267558 -5.35440787] [ 0.19669296 -0.0772056 0.97742067 -0.1096689 ] [ 0. 0. 0. 1. ]] SLAMing on 261.512414037 meters Centerline goodness : 0.842638 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94881676 -0.23607015 -0.20980381 -11.04199929] [ 0.24690732 0.96867205 0.02666895 -5.35336031] [ 0.19693534 -0.07710605 0.97737973 -0.11002822] [ 0. 0. 0. 1. ]] SLAMing on 261.54241403699996 meters Centerline goodness : 0.843742 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94881454 -0.23600976 -0.20988177 -11.04170269] [ 0.24683794 0.96869164 0.02659948 -5.35312323] [ 0.19703298 -0.07704475 0.97736488 -0.11008799] [ 0. 0. 0. 1. ]] SLAMing on 261.572414037 meters Centerline goodness : 0.840533 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94880627 -0.23598279 -0.20994948 -11.04154827] [ 0.24678632 0.96870881 0.02645303 -5.35289196] [ 0.19713745 -0.07691146 0.97735431 -0.10996473] [ 0. 0. 0. 1. ]] SLAMing on 261.60241403699996 meters Centerline goodness : 0.795190 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94892911 -0.23559388 -0.20983106 -11.04148587] [ 0.24638667 0.96880959 0.02648737 -5.35265966] [ 0.19704608 -0.07683421 0.97737881 -0.11042722] [ 0. 0. 0. 1. ]] SLAMing on 261.632414037 meters Centerline goodness : 0.839115 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.9492038 -0.23443895 -0.20988214 -11.04181973] [ 0.24531536 0.96906723 0.02700164 -5.35195713] [ 0.19705967 -0.07711737 0.97735377 -0.11048745] [ 0. 0. 0. 1. ]] SLAMing on 261.66241403699996 meters Centerline goodness : 0.796340 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94932673 -0.23417194 -0.20962409 -11.04250683] [ 0.24495983 0.9691657 0.02669303 -5.35114309] [ 0.19690972 -0.07668989 0.97741763 -0.11055624] [ 0. 0. 0. 1. ]] SLAMing on 261.692414037 meters Centerline goodness : 0.838965 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94947372 -0.23369713 -0.20948821 -11.0426693 ] [ 0.24443439 0.96930243 0.02654485 -5.35029286] [ 0.19685397 -0.07640976 0.9774508 -0.11097221] [ 0. 0. 0. 1. ]] SLAMing on 261.72241403699996 meters Centerline goodness : 0.838428 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94980411 -0.23252305 -0.20929689 -11.04210954] [ 0.24317955 0.96962356 0.02634106 -5.34879776] [ 0.1968143 -0.07591557 0.97749729 -0.11247381] [ 0. 0. 0. 1. ]] SLAMing on 261.752414037 meters Centerline goodness : 0.835458 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.94993734 -0.2318753 -0.20941081 -11.04134176] [ 0.24255158 0.96977756 0.02646157 -5.34831853] [ 0.19694612 -0.07592976 0.97746964 -0.11318392] [ 0. 0. 0. 1. ]] SLAMing on 261.78241403699997 meters Centerline goodness : 0.833547 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.95005623 -0.23173773 -0.2090234 -11.04193 ] [ 0.24226004 0.96986657 0.02586309 -5.34766917] [ 0.19673136 -0.07520941 0.97756857 -0.11348007] [ 0. 0. 0. 1. ]] SLAMing on 261.812414037 meters Centerline goodness : 0.833194 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.95095196 -0.22730754 -0.20981336 -11.04123566] [ 0.23858638 0.97066508 0.02976305 -5.34840226] [ 0.19689314 -0.07836184 0.97728835 -0.1143529 ] [ 0. 0. 0. 1. ]] SLAMing on 261.84241403699997 meters Centerline goodness : 0.833127 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.11 [[ 0.95112309 -0.22690155 -0.20947684 -11.04198753] [ 0.23801967 0.97082302 0.02914285 -5.34706621] [ 0.19675238 -0.07757804 0.97737922 -0.11461302] [ 0. 0. 0. 1. ]] SLAMing on 261.872414037 meters Centerline goodness : 0.833149 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.35, Z:-0.12 [[ 0.9514233 -0.22573939 -0.20936913 -11.04207852] [ 0.23679786 0.97112575 0.02900936 -5.34571712] [ 0.19677519 -0.07717834 0.97740627 -0.11530779] [ 0. 0. 0. 1. ]] SLAMing on 261.90241403699997 meters Centerline goodness : 0.831997 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.34, Z:-0.12 [[ 0.95246291 -0.22107602 -0.20961823 -11.04236096] [ 0.23251256 0.97209075 0.03126463 -5.34418942] [ 0.19685608 -0.07851727 0.97728334 -0.11658086] [ 0. 0. 0. 1. ]] SLAMing on 261.932414037 meters Centerline goodness : 0.831215 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.34, Z:-0.12 [[ 0.95413565 -0.22618992 -0.19612059 -11.04291215] [ 0.23584379 0.97141477 0.02703816 -5.33804689] [ 0.18439868 -0.07205189 0.98020694 -0.12208624] [ 0. 0. 0. 1. ]] SLAMing on 261.962414037 meters Centerline goodness : 0.793211 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.34, Z:-0.12 [[ 0.95504758 -0.22152511 -0.19700444 -11.04162398] [ 0.23184816 0.97226803 0.0306807 -5.33856746] [ 0.18474457 -0.07497664 0.97992242 -0.12323233] [ 0. 0. 0. 1. ]] SLAMing on 261.992414037 meters Centerline goodness : 0.830463 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.33, Z:-0.13 [[ 0.95696529 -0.22464361 -0.18371905 -11.04191233] [ 0.23384773 0.97181697 0.02978291 -5.3338437 ] [ 0.17185075 -0.0714635 0.9825275 -0.12939951] [ 0. 0. 0. 1. ]] SLAMing on 262.022414037 meters Centerline goodness : 0.829947 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.33, Z:-0.13 [[ 0.95862148 -0.21819458 -0.18285506 -11.0442945 ] [ 0.22763579 0.97321782 0.03207847 -5.33303255] [ 0.17095846 -0.07237547 0.9826164 -0.13128429] [ 0. 0. 0. 1. ]] SLAMing on 262.052414037 meters Centerline goodness : 0.830382 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.33, Z:-0.14 [[ 0.96039155 -0.22167904 -0.16883857 -11.04582917] [ 0.22990024 0.97273432 0.03055837 -5.32794861] [ 0.15746092 -0.06816403 0.9851699 -0.13714965] [ 0. 0. 0. 1. ]] SLAMing on 262.082414037 meters Centerline goodness : 0.831655 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.33, Z:-0.14 [[ 0.96190543 -0.2157085 -0.16795176 -11.04901967] [ 0.22420425 0.97397813 0.03315193 -5.32770434] [ 0.15643019 -0.06954452 0.98523761 -0.13795237] [ 0. 0. 0. 1. ]] SLAMing on 262.112414037 meters Centerline goodness : 0.831655 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.33, Z:-0.14 [[ 0.96190543 -0.2157085 -0.16795176 -11.04901967] [ 0.22420425 0.97397813 0.03315193 -5.32770434] [ 0.15643019 -0.06954452 0.98523761 -0.13795237] [ 0. 0. 0. 1. ]] SLAMing on 262.142414037 meters Centerline goodness : 0.831158 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.33, Z:-0.14 [[ 0.96233054 -0.2143553 -0.16724751 -11.05085152] [ 0.22271608 0.97433401 0.03272291 -5.32699072] [ 0.15594061 -0.06873897 0.98537175 -0.1380161 ] [ 0. 0. 0. 1. ]] SLAMing on 262.172414037 meters Centerline goodness : 0.831913 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.33, Z:-0.14 [[ 0.96266004 -0.21332858 -0.16666302 -11.05222581] [ 0.22158949 0.97460057 0.0324319 -5.32660926] [ 0.15551122 -0.06815167 0.9854804 -0.13815093] [ 0. 0. 0. 1. ]] SLAMing on 262.202414037 meters Centerline goodness : 0.829735 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.32, Z:-0.14 [[ 0.9637218 -0.2183587 -0.1534919 -11.05226589] [ 0.22561983 0.97370988 0.03138092 -5.32250979] [ 0.14260428 -0.06487329 0.98765149 -0.14374277] [ 0. 0. 0. 1. ]] SLAMing on 262.232414037 meters Centerline goodness : 0.829456 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.32, Z:-0.14 [[ 0.96378334 -0.21824958 -0.15326053 -11.05267623] [ 0.2254403 0.97376344 0.03100702 -5.32240701] [ 0.14247223 -0.06443515 0.98769923 -0.14372547] [ 0. 0. 0. 1. ]] SLAMing on 262.262414037 meters Centerline goodness : 0.831169 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.32, Z:-0.14 [[ 0.96361977 -0.21892979 -0.15331891 -11.0522682 ] [ 0.22607786 0.97362736 0.03063587 -5.32274338] [ 0.14256839 -0.06418334 0.98770175 -0.14362864] [ 0. 0. 0. 1. ]] SLAMing on 262.29241403699996 meters Centerline goodness : 0.831960 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.32, Z:-0.14 [[ 0.96335463 -0.21983312 -0.1536921 -11.05138615] [ 0.22700183 0.97341525 0.03054389 -5.32313744] [ 0.14289168 -0.06431299 0.9876466 -0.14328641] [ 0. 0. 0. 1. ]] SLAMing on 262.322414037 meters Centerline goodness : 0.828123 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.32, Z:-0.14 [[ 0.96283197 -0.22277672 -0.15272569 -11.05186618] [ 0.22943409 0.97294348 0.02722083 -5.32276061] [ 0.1425293 -0.06124957 0.98789366 -0.14339146] [ 0. 0. 0. 1. ]] SLAMing on 262.35241403699996 meters Centerline goodness : 0.835143 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.32, Z:-0.14 [[ 0.9619376 -0.22683111 -0.15239322 -11.0503442 ] [ 0.23310076 0.97214695 0.02437912 -5.32424063] [ 0.14261866 -0.05897416 0.98801921 -0.14342158] [ 0. 0. 0. 1. ]] SLAMing on 262.382414037 meters Centerline goodness : 0.837050 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.32, Z:-0.14 [[ 0.9612578 -0.2298927 -0.15209467 -11.04918768] [ 0.23580563 0.97155557 0.02180531 -5.32442851] [ 0.14275554 -0.0568253 0.98812537 -0.14360387] [ 0. 0. 0. 1. ]] SLAMing on 262.41241403699996 meters Centerline goodness : 0.836814 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.33, Z:-0.14 [[ 0.96081367 -0.23133091 -0.15271902 -11.04745981] [ 0.23733828 0.97117567 0.02209881 -5.32597934] [ 0.14320485 -0.05747891 0.98802254 -0.14310622] [ 0. 0. 0. 1. ]] SLAMing on 262.442414037 meters Centerline goodness : 0.835280 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.33, Z:-0.14 [[ 0.9597453 -0.23615916 -0.15204544 -11.04686812] [ 0.24174473 0.97015201 0.01909356 -5.32787258] [ 0.14299807 -0.05508113 0.98818906 -0.14244485] [ 0. 0. 0. 1. ]] SLAMing on 262.47241403699996 meters Centerline goodness : 0.835504 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.33, Z:-0.14 [[ 0.95938084 -0.23710213 -0.15287573 -11.04453617] [ 0.24284872 0.96986193 0.01980749 -5.32928787] [ 0.14357195 -0.0561286 0.9880469 -0.14241532] [ 0. 0. 0. 1. ]] SLAMing on 262.502414037 meters Centerline goodness : 0.834067 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.33, Z:-0.14 [[ 0.95891235 -0.23869063 -0.15334239 -11.04397995] [ 0.24453029 0.96943242 0.02014235 -5.330889 ] [ 0.14384729 -0.05681161 0.98796781 -0.14099124] [ 0. 0. 0. 1. ]] SLAMing on 262.53241403699997 meters Centerline goodness : 0.836664 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.33, Z:-0.14 [[ 0.95783489 -0.24277742 -0.15366014 -11.04214283] [ 0.2484063 0.96848376 0.01826257 -5.33234502] [ 0.14438361 -0.05566267 0.98795498 -0.13992465] [ 0. 0. 0. 1. ]] SLAMing on 262.562414037 meters Centerline goodness : 0.841481 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.33, Z:-0.14 [[ 0.95741342 -0.24371129 -0.15480421 -11.03995237] [ 0.24957845 0.96816091 0.0193665 -5.33409933] [ 0.14515555 -0.05717754 0.98775533 -0.13901248] [ 0. 0. 0. 1. ]] SLAMing on 262.59241403699997 meters Centerline goodness : 0.840758 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.33, Z:-0.14 [[ 0.95616842 -0.24829384 -0.15521636 -11.03793463] [ 0.2539154 0.96707375 0.01718525 -5.33487917] [ 0.14583867 -0.05584382 0.98773101 -0.13789084] [ 0. 0. 0. 1. ]] SLAMing on 262.622414037 meters Centerline goodness : 0.841003 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.34, Z:-0.14 [[ 0.95571592 -0.24973306 -0.15569356 -11.03690213] [ 0.25544039 0.96666698 0.01746853 -5.33640791] [ 0.14614135 -0.05646538 0.98765093 -0.13700125] [ 0. 0. 0. 1. ]] SLAMing on 262.65241403699997 meters Centerline goodness : 0.841047 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.34, Z:-0.14 [[ 0.9552469 -0.25076614 -0.15690667 -11.03427215] [ 0.25667367 0.96632563 0.01825915 -5.33776061] [ 0.14704416 -0.05771581 0.98744463 -0.13643712] [ 0. 0. 0. 1. ]] SLAMing on 262.682414037 meters Centerline goodness : 0.839269 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.34, Z:-0.14 [[ 0.9544202 -0.25382984 -0.15701113 -11.03402453] [ 0.25956848 0.96557777 0.01684562 -5.33797899] [ 0.14733053 -0.05683294 0.98745315 -0.13514814] [ 0. 0. 0. 1. ]] SLAMing on 262.712414037 meters Centerline goodness : 0.833648 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.34, Z:-0.13 [[ 0.95369245 -0.25569157 -0.1584062 -11.03083274] [ 0.26161448 0.96501593 0.01738136 -5.33921016] [ 0.14842024 -0.05801783 0.98722103 -0.13459649] [ 0. 0. 0. 1. ]] SLAMing on 262.742414037 meters Centerline goodness : 0.841106 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.34, Z:-0.13 [[ 0.95336372 -0.25656769 -0.15896743 -11.02972976] [ 0.26253215 0.96476697 0.0173658 -5.33952221] [ 0.14891102 -0.05828998 0.98713109 -0.13407023] [ 0. 0. 0. 1. ]] SLAMing on 262.772414037 meters Centerline goodness : 0.840080 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.34, Z:-0.13 [[ 0.95313662 -0.25693738 -0.15973031 -11.02805874] [ 0.26300693 0.96463105 0.01772843 -5.33978771] [ 0.14952572 -0.0589078 0.98700148 -0.13395893] [ 0. 0. 0. 1. ]] SLAMing on 262.802414037 meters Centerline goodness : 0.790064 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.34, Z:-0.13 [[ 0.95290296 -0.25724769 -0.16062248 -11.02611132] [ 0.26342885 0.96450935 0.01808171 -5.33983221] [ 0.15027041 -0.05954271 0.98685028 -0.13395339] [ 0. 0. 0. 1. ]] SLAMing on 262.832414037 meters Centerline goodness : 0.837238 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95263788 -0.25761431 -0.16160427 -11.02442261] [ 0.26393741 0.96436071 0.01858647 -5.33974683] [ 0.15105667 -0.06035959 0.9866806 -0.13351803] [ 0. 0. 0. 1. ]] SLAMing on 262.862414037 meters Centerline goodness : 0.834769 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95255207 -0.25785372 -0.16172821 -11.02433992] [ 0.26418045 0.96429504 0.0185408 -5.33989954] [ 0.1511729 -0.06038651 0.98666115 -0.13318171] [ 0. 0. 0. 1. ]] SLAMing on 262.892414037 meters Centerline goodness : 0.833996 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95253057 -0.25769218 -0.16211187 -11.02367855] [ 0.26410434 0.96430783 0.01895521 -5.34010367] [ 0.15144114 -0.06086986 0.98659031 -0.13305915] [ 0. 0. 0. 1. ]] SLAMing on 262.922414037 meters Centerline goodness : 0.838446 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.9523469 -0.25788667 -0.16287984 -11.02228057] [ 0.26441807 0.96421299 0.01940113 -5.33996447] [ 0.15204756 -0.06154498 0.98645515 -0.13291881] [ 0. 0. 0. 1. ]] SLAMing on 262.952414037 meters Centerline goodness : 0.835975 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95220943 -0.25802297 -0.16346664 -11.02116743] [ 0.26460765 0.96415909 0.01949455 -5.33943291] [ 0.15257781 -0.06181742 0.98635623 -0.13287784] [ 0. 0. 0. 1. ]] SLAMing on 262.982414037 meters Centerline goodness : 0.839600 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95204429 -0.25812587 -0.16426415 -11.01974187] [ 0.26479897 0.9641018 0.01972873 -5.33862087] [ 0.15327487 -0.0622796 0.98621908 -0.13285234] [ 0. 0. 0. 1. ]] SLAMing on 263.012414037 meters Centerline goodness : 0.839904 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95176858 -0.25863988 -0.16505142 -11.01853209] [ 0.26532988 0.96396105 0.01947195 -5.33680121] [ 0.15406692 -0.06232586 0.98609273 -0.13267693] [ 0. 0. 0. 1. ]] SLAMing on 263.04241403699996 meters Centerline goodness : 0.839704 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95166017 -0.2587179 -0.16555353 -11.01775048] [ 0.26545985 0.96392283 0.0195917 -5.33617264] [ 0.1545121 -0.06259245 0.98600618 -0.13257385] [ 0. 0. 0. 1. ]] SLAMing on 263.072414037 meters Centerline goodness : 0.841653 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.34, Z:-0.13 [[ 0.95155604 -0.25881941 -0.16599284 -11.01678643] [ 0.26558472 0.96388924 0.01955206 -5.33546447] [ 0.15493826 -0.06269004 0.98593311 -0.13274175] [ 0. 0. 0. 1. ]] SLAMing on 263.10241403699996 meters Centerline goodness : 0.841193 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.33, Z:-0.13 [[ 0.95142582 -0.25901466 -0.16643411 -11.01611788] [ 0.26578773 0.96383626 0.01940462 -5.33460423] [ 0.15538915 -0.0626982 0.98586163 -0.13256922] [ 0. 0. 0. 1. ]] SLAMing on 263.132414037 meters Centerline goodness : 0.840473 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.33, Z:-0.13 [[ 0.95123021 -0.2593575 -0.16701727 -11.01579574] [ 0.26612735 0.96374828 0.01911798 -5.33260887] [ 0.15600421 -0.06263346 0.9857686 -0.13204154] [ 0. 0. 0. 1. ]] SLAMing on 263.16241403699996 meters Centerline goodness : 0.841042 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.33, Z:-0.13 [[ 0.95115317 -0.25954723 -0.16716128 -11.01590623] [ 0.26625631 0.96372163 0.01866017 -5.33105531] [ 0.15625374 -0.06225643 0.98575296 -0.13187829] [ 0. 0. 0. 1. ]] SLAMing on 263.192414037 meters Centerline goodness : 0.840272 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.33, Z:-0.13 [[ 0.95158794 -0.25676401 -0.16897524 -11.0139963 ] [ 0.26414869 0.96422207 0.02238902 -5.33133001] [ 0.15718096 -0.06593971 0.98536597 -0.13164494] [ 0. 0. 0. 1. ]] SLAMing on 263.22241403699996 meters Centerline goodness : 0.840107 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.33, Z:-0.13 [[ 0.95158818 -0.25658366 -0.16924764 -11.01376846] [ 0.26396754 0.96427413 0.02228331 -5.32979592] [ 0.15748359 -0.06588042 0.98532162 -0.13170407] [ 0. 0. 0. 1. ]] SLAMing on 263.252414037 meters Centerline goodness : 0.839721 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.33, Z:-0.13 [[ 0.95194787 -0.25419747 -0.17081834 -11.0128568 ] [ 0.26206337 0.96473165 0.02481188 -5.32812843] [ 0.15848674 -0.06838485 0.98499008 -0.13112009] [ 0. 0. 0. 1. ]] SLAMing on 263.28241403699997 meters Centerline goodness : 0.839957 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.33, Z:-0.13 [[ 0.95189173 -0.25410574 -0.17126707 -11.01199695] [ 0.26196745 0.96476318 0.02459779 -5.32685825] [ 0.15898172 -0.06828083 0.98491753 -0.13128899] [ 0. 0. 0. 1. ]] SLAMing on 263.312414037 meters Centerline goodness : 0.840019 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.32, Z:-0.13 [[ 0.95162616 -0.25473488 -0.17180741 -11.01133042] [ 0.26249917 0.9646409 0.02370908 -5.32424449] [ 0.15969293 -0.06766148 0.98484521 -0.13120178] [ 0. 0. 0. 1. ]] SLAMing on 263.34241403699997 meters Centerline goodness : 0.839162 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.32, Z:-0.13 [[ 0.95152518 -0.25478675 -0.17228914 -11.01052805] [ 0.26257797 0.96462057 0.02366377 -5.32293706] [ 0.16016443 -0.067756 0.98476214 -0.13122612] [ 0. 0. 0. 1. ]] SLAMing on 263.372414037 meters Centerline goodness : 0.838487 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.32, Z:-0.13 [[ 0.95139672 -0.25514656 -0.17246599 -11.01059202] [ 0.26286215 0.96455699 0.02309318 -5.32145951] [ 0.16046113 -0.06730556 0.98474473 -0.13090348] [ 0. 0. 0. 1. ]] SLAMing on 263.40241403699997 meters Centerline goodness : 0.838215 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.32, Z:-0.13 [[ 0.95146757 -0.25339667 -0.17464132 -11.00884726] [ 0.26175787 0.96477675 0.02624183 -5.32018034] [ 0.1618403 -0.07068199 0.98428237 -0.12992535] [ 0. 0. 0. 1. ]] SLAMing on 263.432414037 meters Centerline goodness : 0.838740 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.32, Z:-0.13 [[ 0.95137771 -0.25388014 -0.17442856 -11.00937667] [ 0.26214195 0.96468732 0.02568993 -5.31898035] [ 0.16174686 -0.07016587 0.98433465 -0.12995409] [ 0. 0. 0. 1. ]] SLAMing on 263.462414037 meters Centerline goodness : 0.841239 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.32, Z:-0.13 [[ 0.95107434 -0.25477684 -0.17477519 -11.00880744] [ 0.26292853 0.96449671 0.02479273 -5.31704909] [ 0.16225348 -0.06953312 0.98429617 -0.1298968 ] [ 0. 0. 0. 1. ]] SLAMing on 263.492414037 meters Centerline goodness : 0.841699 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.32, Z:-0.13 [[ 0.95096664 -0.25530355 -0.1745925 -11.00939847] [ 0.26336184 0.96439203 0.02426005 -5.31600598] [ 0.16218194 -0.0690515 0.98434187 -0.12981613] [ 0. 0. 0. 1. ]] SLAMing on 263.522414037 meters Centerline goodness : 0.840821 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.31, Z:-0.13 [[ 0.95087815 -0.25572351 -0.17445984 -11.00983816] [ 0.26369151 0.96431506 0.02373306 -5.3149172 ] [ 0.16216515 -0.06857082 0.98437823 -0.12967079] [ 0. 0. 0. 1. ]] SLAMing on 263.552414037 meters Centerline goodness : 0.841964 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.31, Z:-0.13 [[ 0.95077339 -0.25629289 -0.17419504 -11.01065852] [ 0.2641455 0.96420626 0.02309656 -5.31368586] [ 0.16204046 -0.06797244 0.98444027 -0.12944947] [ 0. 0. 0. 1. ]] SLAMing on 263.582414037 meters Centerline goodness : 0.841980 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.31, Z:-0.13 [[ 0.95066414 -0.25690666 -0.1738869 -11.01154353] [ 0.26463999 0.96408594 0.02244935 -5.31225193] [ 0.16187453 -0.06735922 0.98450971 -0.12938181] [ 0. 0. 0. 1. ]] SLAMing on 263.612414037 meters Centerline goodness : 0.842783 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.31, Z:-0.13 [[ 0.95054829 -0.25742613 -0.17375193 -11.01232435] [ 0.26505753 0.9639852 0.02184151 -5.31129542] [ 0.16187171 -0.06681566 0.98454721 -0.12889748] [ 0. 0. 0. 1. ]] SLAMing on 263.642414037 meters Centerline goodness : 0.844507 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.31, Z:-0.13 [[ 0.95045966 -0.25787424 -0.17357221 -11.01297757] [ 0.26540941 0.96390065 0.02129253 -5.31027787] [ 0.16181557 -0.06630539 0.98459094 -0.12863648] [ 0. 0. 0. 1. ]] SLAMing on 263.672414037 meters Centerline goodness : 0.844442 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.31, Z:-0.13 [[ 0.95036139 -0.25843866 -0.17327053 -11.01423281] [ 0.26581459 0.96380832 0.02039924 -5.30788154] [ 0.16172763 -0.06544449 0.98466298 -0.12821347] [ 0. 0. 0. 1. ]] SLAMing on 263.702414037 meters Centerline goodness : 0.843584 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.31, Z:-0.13 [[ 0.95032708 -0.25857841 -0.17325023 -11.01458718] [ 0.2658816 0.96379918 0.0199528 -5.30652005] [ 0.16181906 -0.06502573 0.98467571 -0.12795945] [ 0. 0. 0. 1. ]] SLAMing on 263.732414037 meters Centerline goodness : 0.845678 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.30, Z:-0.13 [[ 0.9502586 -0.25883076 -0.17324902 -11.01499685] [ 0.26603354 0.96377013 0.01932078 -5.30489928] [ 0.16197142 -0.06444978 0.98468852 -0.12754866] [ 0. 0. 0. 1. ]] SLAMing on 263.762414037 meters Centerline goodness : 0.845088 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.30, Z:-0.13 [[ 0.95025181 -0.25885384 -0.17325181 -11.01496022] [ 0.26594081 0.96380963 0.01861402 -5.30217975] [ 0.16216345 -0.06376273 0.98470165 -0.12771191] [ 0. 0. 0. 1. ]] SLAMing on 263.79241403699996 meters Centerline goodness : 0.843767 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.30, Z:-0.13 [[ 0.95021982 -0.25894969 -0.17328402 -11.01480597] [ 0.26598445 0.96380406 0.01827597 -5.30088248] [ 0.16227929 -0.06345705 0.98470231 -0.1279324 ] [ 0. 0. 0. 1. ]] SLAMing on 263.822414037 meters Centerline goodness : 0.845492 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.30, Z:-0.13 [[ 0.95020729 -0.25888575 -0.17344816 -11.01430089] [ 0.26588482 0.96383674 0.0180002 -5.29973065] [ 0.16251572 -0.06322115 0.98467849 -0.12810917] [ 0. 0. 0. 1. ]] SLAMing on 263.85241403699996 meters Centerline goodness : 0.843696 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.30, Z:-0.13 [[ 0.95018544 -0.2590186 -0.17336952 -11.0144938 ] [ 0.26590345 0.96384392 0.01732766 -5.29693065] [ 0.16261297 -0.06256404 0.9847044 -0.12834808] [ 0. 0. 0. 1. ]] SLAMing on 263.882414037 meters Centerline goodness : 0.841843 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.30, Z:-0.13 [[ 0.95010949 -0.25944627 -0.17314615 -11.01540679] [ 0.26621857 0.96376809 0.01669543 -5.29530184] [ 0.16254116 -0.06195721 0.98475463 -0.12799924] [ 0. 0. 0. 1. ]] SLAMing on 263.91241403699996 meters Centerline goodness : 0.844433 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.95002491 -0.25984422 -0.17301345 -11.01616212] [ 0.26650606 0.96369972 0.01604263 -5.29381892] [ 0.16256443 -0.06135003 0.9847888 -0.12752843] [ 0. 0. 0. 1. ]] SLAMing on 263.942414037 meters Centerline goodness : 0.842812 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.94992979 -0.26036177 -0.17275749 -11.01736957] [ 0.26686824 0.96361388 0.01515347 -5.29156623] [ 0.16252613 -0.06049822 0.98484782 -0.12693632] [ 0. 0. 0. 1. ]] SLAMing on 263.97241403699996 meters Centerline goodness : 0.843714 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.94988483 -0.26062559 -0.17260681 -11.01781263] [ 0.26706461 0.9635653 0.01477836 -5.29078414] [ 0.16246632 -0.06013491 0.98487994 -0.12680694] [ 0. 0. 0. 1. ]] SLAMing on 264.002414037 meters Centerline goodness : 0.843714 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.94988483 -0.26062559 -0.17260681 -11.01781263] [ 0.26706461 0.9635653 0.01477836 -5.29078414] [ 0.16246632 -0.06013491 0.98487994 -0.12680694] [ 0. 0. 0. 1. ]] SLAMing on 264.03241403699997 meters Centerline goodness : 0.846544 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.94982282 -0.26088775 -0.17255202 -11.01798927] [ 0.26727559 0.96351155 0.0144658 -5.29022694] [ 0.16248191 -0.05985889 0.98489418 -0.12671224] [ 0. 0. 0. 1. ]] SLAMing on 264.062414037 meters Centerline goodness : 0.846924 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.9496879 -0.26161104 -0.17219919 -11.01903395] [ 0.26786887 0.96335733 0.01374522 -5.28879068] [ 0.16229345 -0.05918047 0.98496625 -0.12654752] [ 0. 0. 0. 1. ]] SLAMing on 264.09241403699997 meters Centerline goodness : 0.847298 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.94963604 -0.26185686 -0.17211153 -11.01909837] [ 0.26806882 0.96330549 0.01347766 -5.28792773] [ 0.16226676 -0.05893661 0.98498527 -0.12680049] [ 0. 0. 0. 1. ]] SLAMing on 264.122414037 meters Centerline goodness : 0.849155 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.94959363 -0.26205176 -0.17204886 -11.01908116] [ 0.26822264 0.96326604 0.01323432 -5.2870924 ] [ 0.16226075 -0.05871463 0.98499951 -0.12702717] [ 0. 0. 0. 1. ]] SLAMing on 264.15241403699997 meters Centerline goodness : 0.846641 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.29, Z:-0.13 [[ 0.94953509 -0.26241685 -0.17181531 -11.01918816] [ 0.26851261 0.9631907 0.01283165 -5.28533252] [ 0.16212367 -0.05831867 0.98504561 -0.12775371] [ 0. 0. 0. 1. ]] SLAMing on 264.182414037 meters Centerline goodness : 0.845814 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.28, Z:-0.13 [[ 0.9495084 -0.26257509 -0.17172105 -11.01918982] [ 0.26864082 0.96315709 0.01266971 -5.28478594] [ 0.16206759 -0.05816128 0.98506414 -0.12802479] [ 0. 0. 0. 1. ]] SLAMing on 264.212414037 meters Centerline goodness : 0.847563 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.28, Z:-0.13 [[ 0.94945707 -0.26286473 -0.17156165 -11.01964897] [ 0.26886722 0.96309848 0.01231778 -5.28416055] [ 0.16199285 -0.0578225 0.98509638 -0.12787618] [ 0. 0. 0. 1. ]] SLAMing on 264.242414037 meters Centerline goodness : 0.843384 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.28, Z:-0.13 [[ 0.94933354 -0.26353146 -0.17122208 -11.02088871] [ 0.26938838 0.962963 0.01149601 -5.28237619] [ 0.16185097 -0.05703879 0.98516539 -0.12743991] [ 0. 0. 0. 1. ]] SLAMing on 264.272414037 meters Centerline goodness : 0.786265 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.28, Z:-0.13 [[ 9.49254880e-01 -2.63911105e-01 -1.71073379e-01 -1.10216387e+01] [ 2.69673848e-01 9.62889546e-01 1.09425106e-02 -5.28104005e+00] [ 1.61836918e-01 -5.65212479e-02 9.85197524e-01 -1.27077721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302414037 meters Centerline goodness : 0.843113 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.28, Z:-0.13 [[ 9.49188832e-01 -2.64232300e-01 -1.70944006e-01 -1.10224603e+01] [ 2.69891492e-01 9.62835334e-01 1.03296730e-02 -5.27963198e+00] [ 1.61861496e-01 -5.59411433e-02 9.85226596e-01 -1.26470110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.332414037 meters Centerline goodness : 0.846287 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.28, Z:-0.13 [[ 9.49084882e-01 -2.64739107e-01 -1.70736910e-01 -1.10236707e+01] [ 2.70214313e-01 9.62755884e-01 9.23752474e-03 -5.27666604e+00] [ 1.61932430e-01 -5.49027519e-02 9.85273351e-01 -1.25740362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362414037 meters Centerline goodness : 0.844289 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.28, Z:-0.13 [[ 9.49030714e-01 -2.64946779e-01 -1.70715870e-01 -1.10239928e+01] [ 2.70344188e-01 9.62723948e-01 8.75330834e-03 -5.27522289e+00] [ 1.62033095e-01 -5.44592017e-02 9.85281417e-01 -1.25526471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.392414037 meters Centerline goodness : 0.784840 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.13 [[ 9.48997369e-01 -2.65035179e-01 -1.70764012e-01 -1.10240585e+01] [ 2.70364196e-01 9.62722227e-01 8.31353820e-03 -5.27392756e+00] [ 1.62194930e-01 -5.40580007e-02 9.85276884e-01 -1.25348573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422414037 meters Centerline goodness : 0.843146 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.13 [[ 9.49004851e-01 -2.64941917e-01 -1.70867124e-01 -1.10236567e+01] [ 2.70188471e-01 9.62775966e-01 7.78651661e-03 -5.27101680e+00] [ 1.62443786e-01 -5.35557690e-02 9.85263313e-01 -1.25838145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.452414037 meters Centerline goodness : 0.846051 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.13 [[ 9.48988852e-01 -2.64911048e-01 -1.71003789e-01 -1.10231551e+01] [ 2.70110714e-01 9.62800373e-01 7.45948311e-03 -5.26948725e+00] [ 1.62666413e-01 -5.32689219e-02 9.85242133e-01 -1.26137470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482414037 meters Centerline goodness : 0.847905 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.13 [[ 9.48991252e-01 -2.64847049e-01 -1.71089578e-01 -1.10227858e+01] [ 2.70010889e-01 9.62830200e-01 7.21981178e-03 -5.26811423e+00] [ 1.62818067e-01 -5.30475874e-02 9.85229024e-01 -1.26435770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.512414037 meters Centerline goodness : 0.844946 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.13 [[ 9.48991400e-01 -2.64886540e-01 -1.71027608e-01 -1.10230407e+01] [ 2.69942334e-01 9.62853986e-01 6.58310311e-03 -5.26551224e+00] [ 1.62930839e-01 -5.24149000e-02 9.85244244e-01 -1.26438965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54241403699996 meters Centerline goodness : 0.847118 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.13 [[ 9.48961632e-01 -2.65031603e-01 -1.70968039e-01 -1.10233991e+01] [ 2.70015346e-01 9.62836352e-01 6.15402412e-03 -5.26421004e+00] [ 1.62983232e-01 -5.20039269e-02 9.85257356e-01 -1.26230941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.572414037 meters Centerline goodness : 0.845067 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.13 [[ 9.48928053e-01 -2.65217263e-01 -1.70866477e-01 -1.10240099e+01] [ 2.70123891e-01 9.62808675e-01 5.70419823e-03 -5.26308593e+00] [ 1.62998874e-01 -5.15679913e-02 9.85277681e-01 -1.25798416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60241403699996 meters Centerline goodness : 0.846156 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.48785875e-01 -2.65870546e-01 -1.70640604e-01 -1.10254138e+01] [ 2.70625953e-01 9.62672589e-01 4.80422071e-03 -5.26142131e+00] [ 1.62993731e-01 -5.07379528e-02 9.85321625e-01 -1.24818652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.632414037 meters Centerline goodness : 0.846031 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.48681828e-01 -2.66363707e-01 -1.70449891e-01 -1.10263315e+01] [ 2.71032302e-01 9.62560667e-01 4.29564625e-03 -5.26074602e+00] [ 1.62924157e-01 -5.02726279e-02 9.85356982e-01 -1.24278812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66241403699996 meters Centerline goodness : 0.844524 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.48595632e-01 -2.66770956e-01 -1.70292641e-01 -1.10269893e+01] [ 2.71369649e-01 9.62467357e-01 3.88581874e-03 -5.26025061e+00] [ 1.62864484e-01 -4.98983248e-02 9.85385872e-01 -1.23913729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692414037 meters Centerline goodness : 0.842963 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.48427585e-01 -2.67622548e-01 -1.69891990e-01 -1.10279934e+01] [ 2.72129452e-01 9.62254720e-01 3.37872999e-03 -5.25987612e+00] [ 1.62575144e-01 -4.94370947e-02 9.85456897e-01 -1.23874205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72241403699996 meters Centerline goodness : 0.840428 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.48332574e-01 -2.68129354e-01 -1.69623049e-01 -1.10286054e+01] [ 2.72585617e-01 9.62126505e-01 3.10961100e-03 -5.26005165e+00] [ 1.62365054e-01 -4.91857489e-02 9.85504110e-01 -1.23782978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752414037 meters Centerline goodness : 0.841958 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.48242145e-01 -2.68543799e-01 -1.69472896e-01 -1.10289579e+01] [ 2.72962190e-01 9.62020424e-01 2.88915241e-03 -5.26023876e+00] [ 1.62260524e-01 -4.89993090e-02 9.85530614e-01 -1.23705123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78241403699997 meters Centerline goodness : 0.841136 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.48025754e-01 -2.69536994e-01 -1.69106411e-01 -1.10299144e+01] [ 2.73881469e-01 9.61760297e-01 2.46417257e-03 -5.26058299e+00] [ 1.61975646e-01 -4.86512113e-02 9.85594719e-01 -1.23608366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812414037 meters Centerline goodness : 0.839234 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.47950722e-01 -2.69885581e-01 -1.68971011e-01 -1.10300830e+01] [ 2.74200023e-01 9.61669951e-01 2.29185179e-03 -5.26049405e+00] [ 1.61875806e-01 -4.85044175e-02 9.85618357e-01 -1.23735260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84241403699997 meters Centerline goodness : 0.788299 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.47857887e-01 -2.70391666e-01 -1.68682462e-01 -1.10305439e+01] [ 2.74657308e-01 9.61540021e-01 2.03748562e-03 -5.25984725e+00] [ 1.61644019e-01 -4.82611179e-02 9.85668340e-01 -1.24103296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872414037 meters Centerline goodness : 0.790281 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.47799962e-01 -2.70689232e-01 -1.68530625e-01 -1.10309780e+01] [ 2.74910272e-01 9.61468229e-01 1.78512683e-03 -5.25928823e+00] [ 1.61553627e-01 -4.80227430e-02 9.85694802e-01 -1.24067287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90241403699997 meters Centerline goodness : 0.842431 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.47725897e-01 -2.70967573e-01 -1.68499848e-01 -1.10313695e+01] [ 2.75133421e-01 9.61404986e-01 1.43319052e-03 -5.25870437e+00] [ 1.61608245e-01 -4.77182113e-02 9.85700638e-01 -1.23732946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932414037 meters Centerline goodness : 0.841901 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.47687264e-01 -2.71219419e-01 -1.68311841e-01 -1.10320541e+01] [ 2.75326806e-01 9.61350049e-01 1.11047200e-03 -5.25812608e+00] [ 1.61505415e-01 -4.73931417e-02 9.85733174e-01 -1.23411244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.962414037 meters Centerline goodness : 0.843583 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.47579887e-01 -2.71810720e-01 -1.67962169e-01 -1.10336408e+01] [ 2.75776165e-01 9.61221837e-01 2.94995060e-04 -5.25664539e+00] [ 1.61368722e-01 -4.65994944e-02 9.85793398e-01 -1.22494208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992414037 meters Centerline goodness : 0.846219 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.12 [[ 9.47520155e-01 -2.72062342e-01 -1.67891746e-01 -1.10341374e+01] [ 2.75966244e-01 9.61167324e-01 -8.25264201e-05 -5.25592126e+00] [ 1.61394512e-01 -4.62542589e-02 9.85805435e-01 -1.22101340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.022414037 meters Centerline goodness : 0.847367 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47462350e-01 -2.72277171e-01 -1.67869707e-01 -1.10346051e+01] [ 2.76092749e-01 9.61130788e-01 -6.34339830e-04 -5.25459264e+00] [ 1.61517460e-01 -4.57465959e-02 9.85808987e-01 -1.21597108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052414037 meters Centerline goodness : 0.846445 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47441243e-01 -2.72319090e-01 -1.67920829e-01 -1.10344377e+01] [ 2.76111224e-01 9.61125361e-01 -7.95743608e-04 -5.25414052e+00] [ 1.61609663e-01 -4.56109053e-02 9.85800163e-01 -1.21574718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.082414037 meters Centerline goodness : 0.846408 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47447438e-01 -2.72198412e-01 -1.68081460e-01 -1.10338522e+01] [ 2.75983625e-01 9.61161941e-01 -8.73236981e-04 -5.25383134e+00] [ 1.61791196e-01 -4.55603845e-02 9.85772722e-01 -1.21679565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112414037 meters Centerline goodness : 0.847152 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47426304e-01 -2.72210113e-01 -1.68181605e-01 -1.10335803e+01] [ 2.75979374e-01 9.61163038e-01 -9.99991466e-04 -5.25365735e+00] [ 1.61922150e-01 -4.54672358e-02 9.85755521e-01 -1.21613276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.142414037 meters Centerline goodness : 0.845666 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47405962e-01 -2.72250398e-01 -1.68230985e-01 -1.10333771e+01] [ 2.76008788e-01 9.61154501e-01 -1.08377193e-03 -5.25359250e+00] [ 1.61991025e-01 -4.54064581e-02 9.85747007e-01 -1.21630124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172414037 meters Centerline goodness : 0.846193 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47368786e-01 -2.72396297e-01 -1.68204166e-01 -1.10334989e+01] [ 2.76133195e-01 9.61118604e-01 -1.21981989e-03 -5.25360467e+00] [ 1.61996427e-01 -4.52911344e-02 9.85751424e-01 -1.21471803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.202414037 meters Centerline goodness : 0.848557 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47303856e-01 -2.72691878e-01 -1.68090880e-01 -1.10338942e+01] [ 2.76405698e-01 9.61040091e-01 -1.35428834e-03 -5.25402172e+00] [ 1.61911378e-01 -4.51783544e-02 9.85770573e-01 -1.21192357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232414037 meters Centerline goodness : 0.846682 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.25, Z:-0.12 [[ 9.47224040e-01 -2.73063701e-01 -1.67936990e-01 -1.10345066e+01] [ 2.76746569e-01 9.60941720e-01 -1.53211472e-03 -5.25447283e+00] [ 1.61796025e-01 -4.50247299e-02 9.85796541e-01 -1.20786553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.262414037 meters Centerline goodness : 0.844919 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.47040436e-01 -2.73939113e-01 -1.67546337e-01 -1.10360292e+01] [ 2.77557074e-01 9.60707281e-01 -1.89516538e-03 -5.25572224e+00] [ 1.61482146e-01 -4.47088729e-02 9.85862380e-01 -1.19852614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29241403699996 meters Centerline goodness : 0.845021 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46965029e-01 -2.74353211e-01 -1.67294801e-01 -1.10367480e+01] [ 2.77940171e-01 9.60596199e-01 -2.05044626e-03 -5.25651250e+00] [ 1.61265297e-01 -4.45562448e-02 9.85904785e-01 -1.19444056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322414037 meters Centerline goodness : 0.842015 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46866780e-01 -2.74809733e-01 -1.67101503e-01 -1.10374564e+01] [ 2.78350356e-01 9.60476807e-01 -2.31996512e-03 -5.25712375e+00] [ 1.61134667e-01 -4.43160648e-02 9.85936968e-01 -1.18876465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35241403699996 meters Centerline goodness : 0.844317 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46780981e-01 -2.75225340e-01 -1.66903525e-01 -1.10381036e+01] [ 2.78724777e-01 9.60367627e-01 -2.55350541e-03 -5.25765522e+00] [ 1.60991531e-01 -4.41025374e-02 9.85969925e-01 -1.18440081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382414037 meters Centerline goodness : 0.842362 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46648062e-01 -2.75907251e-01 -1.66531182e-01 -1.10391539e+01] [ 2.79390362e-01 9.60174054e-01 -2.60995819e-03 -5.25924291e+00] [ 1.60619026e-01 -4.40564952e-02 9.86032735e-01 -1.18021507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41241403699996 meters Centerline goodness : 0.841700 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46601029e-01 -2.76072496e-01 -1.66524677e-01 -1.10390780e+01] [ 2.79553846e-01 9.60126404e-01 -2.63345126e-03 -5.25989218e+00] [ 1.60611763e-01 -4.40597862e-02 9.86033771e-01 -1.17908071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442414037 meters Centerline goodness : 0.840903 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46549334e-01 -2.76317691e-01 -1.66411813e-01 -1.10392524e+01] [ 2.79822838e-01 9.60048458e-01 -2.47730145e-03 -5.26164669e+00] [ 1.60447926e-01 -4.42209377e-02 9.86053230e-01 -1.17672909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47241403699996 meters Centerline goodness : 0.840396 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46514788e-01 -2.76463134e-01 -1.66366738e-01 -1.10394148e+01] [ 2.79965816e-01 9.60006734e-01 -2.49259903e-03 -5.26248943e+00] [ 1.60402300e-01 -4.42177176e-02 9.86060797e-01 -1.17359042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502414037 meters Centerline goodness : 0.840468 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46481997e-01 -2.76687003e-01 -1.66181020e-01 -1.10400649e+01] [ 2.80187126e-01 9.59942209e-01 -2.47599124e-03 -5.26359533e+00] [ 1.60209250e-01 -4.42183011e-02 9.86092155e-01 -1.16868658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53241403699997 meters Centerline goodness : 0.838472 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46496280e-01 -2.76701969e-01 -1.66074720e-01 -1.10402816e+01] [ 2.80204633e-01 9.59937211e-01 -2.43188242e-03 -5.26393300e+00] [ 1.60094211e-01 -4.42331383e-02 9.86110173e-01 -1.16745437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562414037 meters Centerline goodness : 0.839550 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46480484e-01 -2.76792201e-01 -1.66014372e-01 -1.10406672e+01] [ 2.80272960e-01 9.59916937e-01 -2.55781728e-03 -5.26403229e+00] [ 1.60067991e-01 -4.41084153e-02 9.86120016e-01 -1.16323632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59241403699997 meters Centerline goodness : 0.841886 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.26, Z:-0.12 [[ 9.46473321e-01 -2.76811803e-01 -1.66022524e-01 -1.10408478e+01] [ 2.80285088e-01 9.59913261e-01 -2.60785362e-03 -5.26477056e+00] [ 1.60089107e-01 -4.40653740e-02 9.86118512e-01 -1.15772298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622414037 meters Centerline goodness : 0.841475 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.12 [[ 9.46488428e-01 -2.76719870e-01 -1.66089642e-01 -1.10405715e+01] [ 2.80221294e-01 9.59932314e-01 -2.44526429e-03 -5.26549802e+00] [ 1.60111467e-01 -4.42274400e-02 9.86107627e-01 -1.15762591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65241403699997 meters Centerline goodness : 0.842448 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.12 [[ 9.46510297e-01 -2.76583789e-01 -1.66191653e-01 -1.10399805e+01] [ 2.80138304e-01 9.59957276e-01 -2.13507408e-03 -5.26687502e+00] [ 1.60127414e-01 -4.45357782e-02 9.86091160e-01 -1.15888878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682414037 meters Centerline goodness : 0.840459 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.12 [[ 9.46515725e-01 -2.76518229e-01 -1.66269814e-01 -1.10395959e+01] [ 2.80091624e-01 9.59971114e-01 -2.03516247e-03 -5.26745987e+00] [ 1.60176978e-01 -4.46444688e-02 9.86078195e-01 -1.15917267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.712414037 meters Centerline goodness : 0.840557 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.12 [[ 9.46496318e-01 -2.76578768e-01 -1.66279601e-01 -1.10395308e+01] [ 2.80158467e-01 9.59951674e-01 -2.00442245e-03 -5.26780946e+00] [ 1.60174762e-01 -4.46874596e-02 9.86076608e-01 -1.15870248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742414037 meters Centerline goodness : 0.841757 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.12 [[ 9.46501964e-01 -2.76568439e-01 -1.66264640e-01 -1.10395648e+01] [ 2.80156541e-01 9.59952353e-01 -1.94754139e-03 -5.26826676e+00] [ 1.60144761e-01 -4.47367747e-02 9.86079245e-01 -1.15704459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.772414037 meters Centerline goodness : 0.841374 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.12 [[ 9.46490447e-01 -2.76681314e-01 -1.66142360e-01 -1.10398549e+01] [ 2.80264072e-01 9.59920947e-01 -1.95568759e-03 -5.26867429e+00] [ 1.60024634e-01 -4.47126947e-02 9.86099838e-01 -1.15537340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802414037 meters Centerline goodness : 0.840552 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.11 [[ 9.46419032e-01 -2.77134415e-01 -1.65793644e-01 -1.10409819e+01] [ 2.80685104e-01 9.59797628e-01 -2.09435050e-03 -5.27006537e+00] [ 1.59708763e-01 -4.45536731e-02 9.86158243e-01 -1.14750652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.832414037 meters Centerline goodness : 0.841787 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.11 [[ 9.46363276e-01 -2.77431307e-01 -1.65615278e-01 -1.10416014e+01] [ 2.80966488e-01 9.59715136e-01 -2.16560966e-03 -5.27091986e+00] [ 1.59544297e-01 -4.44828896e-02 9.86188060e-01 -1.14308357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862414037 meters Centerline goodness : 0.838886 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.27, Z:-0.11 [[ 9.46274396e-01 -2.77898550e-01 -1.65339539e-01 -1.10424629e+01] [ 2.81425172e-01 9.59580697e-01 -2.18126951e-03 -5.27269880e+00] [ 1.59262802e-01 -4.44666286e-02 9.86234292e-01 -1.13674735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.892414037 meters Centerline goodness : 0.841164 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.28, Z:-0.12 [[ 9.47869569e-01 -2.74955010e-01 -1.61068381e-01 -1.10572561e+01] [ 2.77565932e-01 9.60684527e-01 -6.51104637e-03 -5.27736667e+00] [ 1.56526146e-01 -3.85354725e-02 9.86921771e-01 -1.15293537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922414037 meters Centerline goodness : 0.841164 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.28, Z:-0.12 [[ 9.47869569e-01 -2.74955010e-01 -1.61068381e-01 -1.10572561e+01] [ 2.77565932e-01 9.60684527e-01 -6.51104637e-03 -5.27736667e+00] [ 1.56526146e-01 -3.85354725e-02 9.86921771e-01 -1.15293537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.952414037 meters Centerline goodness : 0.839493 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.28, Z:-0.12 [[ 9.47827060e-01 -2.75110877e-01 -1.61052380e-01 -1.10573183e+01] [ 2.77723994e-01 9.60638875e-01 -6.50649412e-03 -5.27825680e+00] [ 1.56503184e-01 -3.85610790e-02 9.86924413e-01 -1.15024540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982414037 meters Centerline goodness : 0.841734 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.28, Z:-0.12 [[ 9.47811919e-01 -2.75069779e-01 -1.61211608e-01 -1.10565046e+01] [ 2.77749752e-01 9.60633959e-01 -6.12142793e-03 -5.28015380e+00] [ 1.56549165e-01 -3.89745218e-02 9.86900879e-01 -1.15225589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.012414037 meters Centerline goodness : 0.839968 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.28, Z:-0.12 [[ 9.47829921e-01 -2.74992704e-01 -1.61237257e-01 -1.10560353e+01] [ 2.77716743e-01 9.60645233e-01 -5.84351118e-03 -5.28110054e+00] [ 1.56498726e-01 -3.92396312e-02 9.86898374e-01 -1.15555490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04241403699996 meters Centerline goodness : 0.838764 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.28, Z:-0.12 [[ 9.47875909e-01 -2.74761793e-01 -1.61360523e-01 -1.10552840e+01] [ 2.77568454e-01 9.60691053e-01 -5.33430097e-03 -5.28300044e+00] [ 1.56483273e-01 -3.97323355e-02 9.86881111e-01 -1.15793134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.072414037 meters Centerline goodness : 0.838097 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.28, Z:-0.12 [[ 9.47898167e-01 -2.74590742e-01 -1.61520863e-01 -1.10549144e+01] [ 2.77443967e-01 9.60728455e-01 -5.06752813e-03 -5.28405844e+00] [ 1.56569186e-01 -4.00094885e-02 9.86856287e-01 -1.15639390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10241403699996 meters Centerline goodness : 0.840552 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.28, Z:-0.12 [[ 9.47911188e-01 -2.74519757e-01 -1.61565104e-01 -1.10549157e+01] [ 2.77386580e-01 9.60745446e-01 -4.98723936e-03 -5.28478621e+00] [ 1.56592034e-01 -4.00885317e-02 9.86849454e-01 -1.15282339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.132414037 meters Centerline goodness : 0.838966 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.47918144e-01 -2.74468518e-01 -1.61611339e-01 -1.10549540e+01] [ 2.77344126e-01 9.60757949e-01 -4.93951775e-03 -5.28538392e+00] [ 1.56625120e-01 -4.01396969e-02 9.86842123e-01 -1.14936514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16241403699996 meters Centerline goodness : 0.838057 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.47965115e-01 -2.74230323e-01 -1.61740133e-01 -1.10549637e+01] [ 2.77152217e-01 9.60814718e-01 -4.66116315e-03 -5.28708791e+00] [ 1.56680533e-01 -4.04080164e-02 9.86822377e-01 -1.14249020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192414037 meters Centerline goodness : 0.837961 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.47972315e-01 -2.74156957e-01 -1.61822286e-01 -1.10548384e+01] [ 2.77095917e-01 9.60831399e-01 -4.56892881e-03 -5.28786469e+00] [ 1.56736537e-01 -4.05090767e-02 9.86809340e-01 -1.13980731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22241403699996 meters Centerline goodness : 0.839904 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48005613e-01 -2.73986302e-01 -1.61916224e-01 -1.10545970e+01] [ 2.76954543e-01 9.60872972e-01 -4.39468694e-03 -5.28869399e+00] [ 1.56785007e-01 -4.06772459e-02 9.86794722e-01 -1.13813216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252414037 meters Centerline goodness : 0.838872 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48049731e-01 -2.73720580e-01 -1.62107223e-01 -1.10541025e+01] [ 2.76748415e-01 9.60933886e-01 -4.04744486e-03 -5.29021920e+00] [ 1.56882193e-01 -4.10257382e-02 9.86764849e-01 -1.13601932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28241403699997 meters Centerline goodness : 0.838939 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48071300e-01 -2.73546554e-01 -1.62274745e-01 -1.10537392e+01] [ 2.76600160e-01 9.60977120e-01 -3.91500384e-03 -5.29097909e+00] [ 1.57013252e-01 -4.11735175e-02 9.86737848e-01 -1.13357520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312414037 meters Centerline goodness : 0.839316 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48104733e-01 -2.73264293e-01 -1.62554733e-01 -1.10531383e+01] [ 2.76368075e-01 9.61044932e-01 -3.65036556e-03 -5.29227641e+00] [ 1.57219917e-01 -4.14640099e-02 9.86692776e-01 -1.13049489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34241403699997 meters Centerline goodness : 0.841078 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48132003e-01 -2.73069800e-01 -1.62722430e-01 -1.10527476e+01] [ 2.76200322e-01 9.61093677e-01 -3.51085016e-03 -5.29280215e+00] [ 1.57350206e-01 -4.16152381e-02 9.86665640e-01 -1.12888709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372414037 meters Centerline goodness : 0.840458 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48140159e-01 -2.72942602e-01 -1.62888229e-01 -1.10524923e+01] [ 2.76083770e-01 9.61127285e-01 -3.47767048e-03 -5.29318616e+00] [ 1.57505525e-01 -4.16734773e-02 9.86638399e-01 -1.12586336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40241403699997 meters Centerline goodness : 0.840011 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48188183e-01 -2.72683774e-01 -1.63042110e-01 -1.10518315e+01] [ 2.75880345e-01 9.61186826e-01 -3.14991429e-03 -5.29415208e+00] [ 1.57572858e-01 -4.19934019e-02 9.86614083e-01 -1.12788309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.432414037 meters Centerline goodness : 0.841080 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48207502e-01 -2.72509172e-01 -1.63221584e-01 -1.10513551e+01] [ 2.75726358e-01 9.61231318e-01 -3.05443133e-03 -5.29449271e+00] [ 1.57726058e-01 -4.21082581e-02 9.86584707e-01 -1.12731990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.462414037 meters Centerline goodness : 0.841626 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48219416e-01 -2.72448464e-01 -1.63253710e-01 -1.10514416e+01] [ 2.75667385e-01 9.61248255e-01 -3.04706600e-03 -5.29491259e+00] [ 1.57757513e-01 -4.21144362e-02 9.86579415e-01 -1.12368775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.492414037 meters Centerline goodness : 0.839566 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.29, Z:-0.11 [[ 9.48212727e-01 -2.72466242e-01 -1.63262890e-01 -1.10515517e+01] [ 2.75667244e-01 9.61247921e-01 -3.16311615e-03 -5.29488090e+00] [ 1.57797956e-01 -4.20069239e-02 9.86577530e-01 -1.12096735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.522414037 meters Centerline goodness : 0.841233 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.48190930e-01 -2.72590581e-01 -1.63181906e-01 -1.10518934e+01] [ 2.75775982e-01 9.61216442e-01 -3.24952663e-03 -5.29503971e+00] [ 1.57738921e-01 -4.19204786e-02 9.86590648e-01 -1.11811997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.552414037 meters Centerline goodness : 0.841674 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.48184808e-01 -2.72619489e-01 -1.63169189e-01 -1.10519739e+01] [ 2.75801263e-01 9.61209115e-01 -3.27126885e-03 -5.29562072e+00] [ 1.57731524e-01 -4.19005011e-02 9.86592679e-01 -1.11524457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.582414037 meters Centerline goodness : 0.841002 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.48157724e-01 -2.72792840e-01 -1.63036795e-01 -1.10522993e+01] [ 2.75955693e-01 9.61164453e-01 -3.36892368e-03 -5.29593254e+00] [ 1.57624191e-01 -4.17966609e-02 9.86614238e-01 -1.11353362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612414037 meters Centerline goodness : 0.841681 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.48105383e-01 -2.73042595e-01 -1.62923062e-01 -1.10525669e+01] [ 2.76198557e-01 9.61094572e-01 -3.40294057e-03 -5.29688372e+00] [ 1.57513618e-01 -4.17727683e-02 9.86632908e-01 -1.11061039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.642414037 meters Centerline goodness : 0.842054 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.48061712e-01 -2.73289296e-01 -1.62763482e-01 -1.10529842e+01] [ 2.76425970e-01 9.61028833e-01 -3.50210764e-03 -5.29728383e+00] [ 1.57377488e-01 -4.16718393e-02 9.86658900e-01 -1.10863749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672414037 meters Centerline goodness : 0.842721 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.48027467e-01 -2.73452765e-01 -1.62688376e-01 -1.10531402e+01] [ 2.76588875e-01 9.60981971e-01 -3.49949204e-03 -5.29781740e+00] [ 1.57297542e-01 -4.16801804e-02 9.86671296e-01 -1.10753858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.702414037 meters Centerline goodness : 0.842190 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.47971981e-01 -2.73741062e-01 -1.62526781e-01 -1.10533764e+01] [ 2.76873971e-01 9.60899864e-01 -3.50084977e-03 -5.29878937e+00] [ 1.57130289e-01 -4.16807279e-02 9.86697922e-01 -1.10653266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732414037 meters Centerline goodness : 0.843009 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.47917835e-01 -2.73974144e-01 -1.62449828e-01 -1.10535890e+01] [ 2.77094836e-01 9.60835916e-01 -3.57685998e-03 -5.29921340e+00] [ 1.57067596e-01 -4.16234390e-02 9.86710322e-01 -1.10493933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.762414037 meters Centerline goodness : 0.842111 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.47873684e-01 -2.74186687e-01 -1.62348823e-01 -1.10537360e+01] [ 2.77300107e-01 9.60776557e-01 -3.61362137e-03 -5.29966751e+00] [ 1.56971750e-01 -4.15940893e-02 9.86726812e-01 -1.10469076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79241403699996 meters Centerline goodness : 0.841302 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.47781373e-01 -2.74594553e-01 -1.62198337e-01 -1.10540746e+01] [ 2.77687343e-01 9.60664233e-01 -3.73785792e-03 -5.30044934e+00] [ 1.56844537e-01 -4.14977532e-02 9.86751097e-01 -1.10263718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822414037 meters Centerline goodness : 0.843203 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.30, Z:-0.11 [[ 9.47726531e-01 -2.74824080e-01 -1.62130033e-01 -1.10544200e+01] [ 2.77893276e-01 9.60604088e-01 -3.88764796e-03 -5.30067025e+00] [ 1.56811192e-01 -4.13704189e-02 9.86761744e-01 -1.09930581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85241403699996 meters Centerline goodness : 0.843502 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47577789e-01 -2.75539171e-01 -1.61785350e-01 -1.10556587e+01] [ 2.78535775e-01 9.60416165e-01 -4.31410905e-03 -5.30117784e+00] [ 1.56569971e-01 -4.09750539e-02 9.86816543e-01 -1.09184827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882414037 meters Centerline goodness : 0.844464 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47508912e-01 -2.75862981e-01 -1.61636868e-01 -1.10562018e+01] [ 2.78819076e-01 9.60332832e-01 -4.55785822e-03 -5.30131006e+00] [ 1.56482536e-01 -4.07488311e-02 9.86839779e-01 -1.08786802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91241403699996 meters Centerline goodness : 0.844705 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47443985e-01 -2.76201884e-01 -1.61438581e-01 -1.10568128e+01] [ 2.79115571e-01 9.60245509e-01 -4.80213377e-03 -5.30123453e+00] [ 1.56347031e-01 -4.05102689e-02 9.86871078e-01 -1.08526408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942414037 meters Centerline goodness : 0.849289 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47342134e-01 -2.76646787e-01 -1.61274415e-01 -1.10573225e+01] [ 2.79494811e-01 9.60133058e-01 -5.21170540e-03 -5.30089069e+00] [ 1.56286698e-01 -4.01380939e-02 9.86895841e-01 -1.08260665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97241403699996 meters Centerline goodness : 0.848672 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47273558e-01 -2.76960525e-01 -1.61138682e-01 -1.10577562e+01] [ 2.79753262e-01 9.60055875e-01 -5.55243083e-03 -5.30040378e+00] [ 1.56239943e-01 -3.98194011e-02 9.86916154e-01 -1.08048348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002414037 meters Centerline goodness : 0.844737 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47224678e-01 -2.77248275e-01 -1.60931050e-01 -1.10581585e+01] [ 2.80005418e-01 9.59981209e-01 -5.74837335e-03 -5.30008749e+00] [ 1.56084510e-01 -3.96165648e-02 9.86948911e-01 -1.08127971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03241403699997 meters Centerline goodness : 0.851017 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47139240e-01 -2.77714380e-01 -1.60629959e-01 -1.10589739e+01] [ 2.80394666e-01 9.59864795e-01 -6.19726165e-03 -5.29954488e+00] [ 1.55904111e-01 -3.91701140e-02 9.86995243e-01 -1.07836547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062414037 meters Centerline goodness : 0.848700 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47073213e-01 -2.77980195e-01 -1.60559457e-01 -1.10592728e+01] [ 2.80608328e-01 9.59800134e-01 -6.53214680e-03 -5.29898623e+00] [ 1.55920796e-01 -3.88678996e-02 9.87004555e-01 -1.07630995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09241403699997 meters Centerline goodness : 0.851510 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.47002030e-01 -2.78328381e-01 -1.60376020e-01 -1.10598617e+01] [ 2.80885331e-01 9.59716052e-01 -6.96635899e-03 -5.29833198e+00] [ 1.55854376e-01 -3.84501154e-02 9.87031409e-01 -1.07330739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122414037 meters Centerline goodness : 0.850523 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.46941469e-01 -2.78603820e-01 -1.60255315e-01 -1.10603493e+01] [ 2.81096299e-01 9.59651282e-01 -7.36806090e-03 -5.29736092e+00] [ 1.55841988e-01 -3.80700535e-02 9.87048097e-01 -1.07089782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15241403699997 meters Centerline goodness : 0.849510 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.46898640e-01 -2.78838877e-01 -1.60099491e-01 -1.10606976e+01] [ 2.81296335e-01 9.59591082e-01 -7.57143780e-03 -5.29698298e+00] [ 1.55741255e-01 -3.78660158e-02 9.87071845e-01 -1.07066760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182414037 meters Centerline goodness : 0.849637 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.46837277e-01 -2.79161997e-01 -1.59899188e-01 -1.10611292e+01] [ 2.81571626e-01 9.59508077e-01 -7.85294501e-03 -5.29660036e+00] [ 1.55616806e-01 -3.75876133e-02 9.87102113e-01 -1.07020179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.212414037 meters Centerline goodness : 0.851748 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.46736384e-01 -2.79686863e-01 -1.59579064e-01 -1.10620758e+01] [ 2.82006554e-01 9.59375789e-01 -8.39045035e-03 -5.29599450e+00] [ 1.55442989e-01 -3.70587974e-02 9.87149494e-01 -1.06635556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242414037 meters Centerline goodness : 0.849870 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.30, Z:-0.11 [[ 9.46675398e-01 -2.79955793e-01 -1.59469258e-01 -1.10625593e+01] [ 2.82237402e-01 9.59305788e-01 -8.62866760e-03 -5.29559873e+00] [ 1.55395428e-01 -3.68396419e-02 9.87165185e-01 -1.06413800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.272414037 meters Centerline goodness : 0.851914 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.29, Z:-0.11 [[ 9.46615652e-01 -2.80299084e-01 -1.59220700e-01 -1.10632161e+01] [ 2.82502194e-01 9.59223514e-01 -9.09726766e-03 -5.29453919e+00] [ 1.55278196e-01 -3.63685813e-02 9.87201098e-01 -1.06233884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302414037 meters Centerline goodness : 0.852200 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.29, Z:-0.11 [[ 9.46574766e-01 -2.80462986e-01 -1.59175140e-01 -1.10634802e+01] [ 2.82615684e-01 9.59186959e-01 -9.42084598e-03 -5.29372055e+00] [ 1.55320917e-01 -3.60678559e-02 9.87205410e-01 -1.06052617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.332414037 meters Centerline goodness : 0.852321 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.29, Z:-0.11 [[ 9.46514588e-01 -2.80739969e-01 -1.59044665e-01 -1.10640238e+01] [ 2.82820137e-01 9.59122129e-01 -9.87478372e-03 -5.29271048e+00] [ 1.55315504e-01 -3.56344070e-02 9.87222003e-01 -1.05717101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362414037 meters Centerline goodness : 0.848216 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.29, Z:-0.11 [[ 9.46487278e-01 -2.80915897e-01 -1.58896483e-01 -1.10641954e+01] [ 2.82970451e-01 9.59076306e-01 -1.00181481e-02 -5.29233307e+00] [ 1.55208109e-01 -3.54809597e-02 9.87244420e-01 -1.05866248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.392414037 meters Centerline goodness : 0.850245 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.29, Z:-0.11 [[ 9.46417701e-01 -2.81189121e-01 -1.58827619e-01 -1.10644752e+01] [ 2.83191279e-01 9.59007507e-01 -1.03586417e-02 -5.29185190e+00] [ 1.55229617e-01 -3.51749949e-02 9.87251987e-01 -1.05681891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422414037 meters Centerline goodness : 0.794628 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.29, Z:-0.11 [[ 9.46348163e-01 -2.81482671e-01 -1.58721958e-01 -1.10647825e+01] [ 2.83446644e-01 9.58929400e-01 -1.06021761e-02 -5.29157811e+00] [ 1.55187481e-01 -3.49558566e-02 9.87266395e-01 -1.05563049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.452414037 meters Centerline goodness : 0.850352 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.29, Z:-0.11 [[ 0.94622606 -0.28206711 -0.15841207 -11.06583289] [ 0.28393946 0.95877721 -0.01116455 -5.29100603] [ 0.15503104 -0.03441525 0.98730997 -0.10502505] [ 0. 0. 0. 1. ]] SLAMing on 267.482414037 meters Centerline goodness : 0.848539 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.29, Z:-0.11 [[ 0.94616687 -0.2823872 -0.15819523 -11.0663759 ] [ 0.28421559 0.95869235 -0.01142309 -5.29042973] [ 0.15488629 -0.0341534 0.98734178 -0.10501615] [ 0. 0. 0. 1. ]] SLAMing on 267.512414037 meters Centerline goodness : 0.847092 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.29, Z:-0.10 [[ 0.94611847 -0.28253259 -0.15822507 -11.06658018] [ 0.2842969 0.95866305 -0.01185019 -5.28908418] [ 0.15503259 -0.03377121 0.98733196 -0.10477697] [ 0. 0. 0. 1. ]] SLAMing on 267.54241403699996 meters Centerline goodness : 0.849083 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.29, Z:-0.10 [[ 0.94606536 -0.28268542 -0.15826969 -11.06660083] [ 0.28439897 0.95862844 -0.01219607 -5.28806255] [ 0.15516948 -0.03347346 0.9873206 -0.10465578] [ 0. 0. 0. 1. ]] SLAMing on 267.572414037 meters Centerline goodness : 0.848200 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.29, Z:-0.10 [[ 0.94600117 -0.28289948 -0.15827091 -11.06691538] [ 0.28455221 0.95857772 -0.01260123 -5.28730395] [ 0.15527985 -0.03311556 0.98731531 -0.10422843] [ 0. 0. 0. 1. ]] SLAMing on 267.60241403699996 meters Centerline goodness : 0.847425 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.29, Z:-0.10 [[ 0.94594462 -0.2831606 -0.15814185 -11.06757795] [ 0.28472993 0.95851791 -0.01312591 -5.28588356] [ 0.15529854 -0.03261133 0.98732916 -0.10386712] [ 0. 0. 0. 1. ]] SLAMing on 267.632414037 meters Centerline goodness : 0.848311 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.28, Z:-0.10 [[ 0.94585231 -0.28354079 -0.15801276 -11.06821866] [ 0.28502665 0.95842223 -0.01366141 -5.28488216] [ 0.15531651 -0.03211617 0.98734256 -0.10342653] [ 0. 0. 0. 1. ]] SLAMing on 267.66241403699996 meters Centerline goodness : 0.851119 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.28, Z:-0.10 [[ 0.94575527 -0.28401618 -0.15773961 -11.06927098] [ 0.28539864 0.95830217 -0.01430242 -5.28356512] [ 0.15522433 -0.03149208 0.98737716 -0.10291285] [ 0. 0. 0. 1. ]] SLAMing on 267.692414037 meters Centerline goodness : 0.847971 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.28, Z:-0.10 [[ 0.94567861 -0.28435878 -0.15758189 -11.06984903] [ 0.28567993 0.95821251 -0.01468907 -5.28286078] [ 0.1551739 -0.03112685 0.98739667 -0.10264677] [ 0. 0. 0. 1. ]] SLAMing on 267.72241403699996 meters Centerline goodness : 0.848471 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.29, Z:-0.11 [[ 0.94760358 -0.28168008 -0.15067773 -11.07802442] [ 0.28258538 0.95911169 -0.01582016 -5.28548446] [ 0.14897299 -0.02758808 0.98845634 -0.10716924] [ 0. 0. 0. 1. ]] SLAMing on 267.752414037 meters Centerline goodness : 0.846694 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.29, Z:-0.11 [[ 0.94746631 -0.28234401 -0.15029786 -11.07883397] [ 0.28319877 0.95892545 -0.01613834 -5.28552289] [ 0.148681 -0.02727364 0.98850903 -0.1071573 ] [ 0. 0. 0. 1. ]] SLAMing on 267.78241403699997 meters Centerline goodness : 0.846890 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.29, Z:-0.11 [[ 0.94737449 -0.28278318 -0.15005081 -11.07940089] [ 0.28360331 0.95880215 -0.01635833 -5.28576762] [ 0.14849489 -0.02705744 0.98854295 -0.10699101] [ 0. 0. 0. 1. ]] SLAMing on 267.812414037 meters Centerline goodness : 0.846890 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.29, Z:-0.11 [[ 0.94737449 -0.28278318 -0.15005081 -11.07940089] [ 0.28360331 0.95880215 -0.01635833 -5.28576762] [ 0.14849489 -0.02705744 0.98854295 -0.10699101] [ 0. 0. 0. 1. ]] SLAMing on 267.84241403699997 meters Centerline goodness : 0.847239 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.29, Z:-0.11 [[ 0.94919 -0.28045802 -0.14276428 -11.08825286] [ 0.28081662 0.9595917 -0.01804979 -5.28931428] [ 0.14205762 -0.0229579 0.98959212 -0.11132672] [ 0. 0. 0. 1. ]] SLAMing on 267.872414037 meters Centerline goodness : 0.842433 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.29, Z:-0.11 [[ 0.94883184 -0.28202842 -0.14204965 -11.09055089] [ 0.28227335 0.95914885 -0.0188476 -5.29012532] [ 0.14156231 -0.02221363 0.98968008 -0.11031377] [ 0. 0. 0. 1. ]] SLAMing on 267.90241403699997 meters Centerline goodness : 0.847383 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.29, Z:-0.11 [[ 0.94869478 -0.28266429 -0.14170081 -11.09158643] [ 0.28287704 0.95896667 -0.01906599 -5.29076283] [ 0.14127563 -0.0219961 0.98972591 -0.10991705] [ 0. 0. 0. 1. ]] SLAMing on 267.932414037 meters Centerline goodness : 0.848782 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.29, Z:-0.11 [[ 0.94832835 -0.28419031 -0.14110004 -11.09334609] [ 0.28430482 0.95852993 -0.0197774 -5.29209549] [ 0.14086915 -0.02135995 0.98979777 -0.10911555] [ 0. 0. 0. 1. ]] SLAMing on 267.962414037 meters Centerline goodness : 0.846165 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.29, Z:-0.11 [[ 0.94819494 -0.28472631 -0.1409159 -11.09398154] [ 0.28481855 0.9583739 -0.01994629 -5.29303794] [ 0.14072935 -0.02122249 0.98982062 -0.10863792] [ 0. 0. 0. 1. ]] SLAMing on 267.992414037 meters Centerline goodness : 0.845090 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.29, Z:-0.11 [[ 0.9480942 -0.28522992 -0.1405748 -11.09461387] [ 0.28531124 0.95822603 -0.02000928 -5.29385809] [ 0.14040967 -0.02113689 0.98986785 -0.1086229 ] [ 0. 0. 0. 1. ]] SLAMing on 268.022414037 meters Centerline goodness : 0.848243 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94790593 -0.28601132 -0.14025646 -11.09533266] [ 0.2860684 0.95799645 -0.02019087 -5.29513924] [ 0.14014001 -0.0209839 0.98990932 -0.10836331] [ 0. 0. 0. 1. ]] SLAMing on 268.052414037 meters Centerline goodness : 0.847690 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94785622 -0.28620375 -0.14019983 -11.09537152] [ 0.28626562 0.95793812 -0.02016289 -5.29558903] [ 0.14007345 -0.02102287 0.98991791 -0.10838692] [ 0. 0. 0. 1. ]] SLAMing on 268.082414037 meters Centerline goodness : 0.846129 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94780334 -0.28639212 -0.14017266 -11.09541317] [ 0.28645448 0.95788153 -0.02016951 -5.29611643] [ 0.14004519 -0.02103635 0.98992162 -0.10832669] [ 0. 0. 0. 1. ]] SLAMing on 268.112414037 meters Centerline goodness : 0.846533 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94768078 -0.2869534 -0.13985309 -11.09622184] [ 0.28699865 0.9577162 -0.02028431 -5.29726233] [ 0.13976022 -0.0209146 0.98996447 -0.10796529] [ 0. 0. 0. 1. ]] SLAMing on 268.142414037 meters Centerline goodness : 0.849420 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94764844 -0.28715806 -0.13965203 -11.09666281] [ 0.28720565 0.95765482 -0.02025263 -5.29806878] [ 0.13955414 -0.02091648 0.98999351 -0.10780986] [ 0. 0. 0. 1. ]] SLAMing on 268.172414037 meters Centerline goodness : 0.847502 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94762316 -0.28734657 -0.13943561 -11.09722054] [ 0.2874061 0.95759686 -0.02014903 -5.29949501] [ 0.13931286 -0.02098096 0.99002612 -0.10742296] [ 0. 0. 0. 1. ]] SLAMing on 268.202414037 meters Centerline goodness : 0.848451 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94760898 -0.28741849 -0.13938376 -11.09747554] [ 0.28748177 0.95757476 -0.02011986 -5.30007265] [ 0.13925319 -0.02100454 0.99003402 -0.10715444] [ 0. 0. 0. 1. ]] SLAMing on 268.232414037 meters Centerline goodness : 0.850580 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94759904 -0.28744614 -0.13939432 -11.09763425] [ 0.28751187 0.95756601 -0.02010616 -5.30053355] [ 0.1392587 -0.02102494 0.99003281 -0.10682482] [ 0. 0. 0. 1. ]] SLAMing on 268.262414037 meters Centerline goodness : 0.844069 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94762584 -0.28731488 -0.13948269 -11.09750453] [ 0.28740157 0.95760216 -0.01996086 -5.30098745] [ 0.13930397 -0.02117212 0.9900233 -0.10669476] [ 0. 0. 0. 1. ]] SLAMing on 268.29241403699996 meters Centerline goodness : 0.851796 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94770279 -0.28692837 -0.13975524 -11.09720228] [ 0.2870314 0.95771532 -0.0198578 -5.30144699] [ 0.1395435 -0.02129485 0.98998694 -0.10607463] [ 0. 0. 0. 1. ]] SLAMing on 268.322414037 meters Centerline goodness : 0.850558 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94774017 -0.28675021 -0.13986739 -11.09699447] [ 0.28685273 0.9577687 -0.01986536 -5.30145067] [ 0.13965701 -0.02129414 0.98997095 -0.10587779] [ 0. 0. 0. 1. ]] SLAMing on 268.35241403699996 meters Centerline goodness : 0.852269 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94786254 -0.28618399 -0.14019747 -11.09645409] [ 0.28632056 0.95793272 -0.01963288 -5.30189541] [ 0.13991836 -0.02153214 0.9899289 -0.10546279] [ 0. 0. 0. 1. ]] SLAMing on 268.382414037 meters Centerline goodness : 0.852616 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94790852 -0.28590633 -0.14045288 -11.09598705] [ 0.28606134 0.95801243 -0.0195214 -5.30201472] [ 0.1401369 -0.02167363 0.9898949 -0.10531652] [ 0. 0. 0. 1. ]] SLAMing on 268.41241403699996 meters Centerline goodness : 0.852420 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94795171 -0.28565301 -0.14067666 -11.09552859] [ 0.28580654 0.95808795 -0.01954771 -5.30176587] [ 0.14036448 -0.02167602 0.9898626 -0.10515942] [ 0. 0. 0. 1. ]] SLAMing on 268.442414037 meters Centerline goodness : 0.852067 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.30, Z:-0.11 [[ 0.94811515 -0.2849087 -0.14108397 -11.0943899 ] [ 0.28509674 0.95830417 -0.01931225 -5.30128734] [ 0.14070359 -0.02191234 0.98980925 -0.10537959] [ 0. 0. 0. 1. ]] SLAMing on 268.47241403699996 meters Centerline goodness : 0.853474 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95029553 -0.28087624 -0.13433888 -11.1022513 ] [ 0.28073288 0.95956905 -0.02040322 -5.30438278] [ 0.13463822 -0.01832425 0.99072538 -0.10992228] [ 0. 0. 0. 1. ]] SLAMing on 268.502414037 meters Centerline goodness : 0.854401 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95034136 -0.28063928 -0.13450985 -11.10173077] [ 0.28050615 0.95963681 -0.02033444 -5.30423106] [ 0.13478725 -0.01840618 0.99070359 -0.11004497] [ 0. 0. 0. 1. ]] SLAMing on 268.53241403699997 meters Centerline goodness : 0.853376 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95036952 -0.28049364 -0.1346146 -11.10139697] [ 0.28036228 0.95967905 -0.02032543 -5.30413032] [ 0.13488796 -0.01842419 0.99068955 -0.11008857] [ 0. 0. 0. 1. ]] SLAMing on 268.562414037 meters Centerline goodness : 0.852603 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95032412 -0.28070897 -0.13448623 -11.10181025] [ 0.28055361 0.95961942 -0.02049956 -5.30412135] [ 0.13481001 -0.01824937 0.9907034 -0.10984826] [ 0. 0. 0. 1. ]] SLAMing on 268.59241403699997 meters Centerline goodness : 0.850373 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95023934 -0.28112491 -0.13421621 -11.10255702] [ 0.28095372 0.95950001 -0.02060908 -5.30474614] [ 0.13457418 -0.01812498 0.99073774 -0.10954782] [ 0. 0. 0. 1. ]] SLAMing on 268.622414037 meters Centerline goodness : 0.849056 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95016999 -0.28140716 -0.13411561 -11.10290131] [ 0.28121908 0.95941945 -0.02074008 -5.30476567] [ 0.13450954 -0.01800927 0.99074863 -0.10939032] [ 0. 0. 0. 1. ]] SLAMing on 268.65241403699997 meters Centerline goodness : 0.847324 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95010899 -0.28167034 -0.13399525 -11.10320072] [ 0.28145262 0.95934616 -0.02096118 -5.30464068] [ 0.13445197 -0.01779791 0.99076027 -0.10924846] [ 0. 0. 0. 1. ]] SLAMing on 268.682414037 meters Centerline goodness : 0.848459 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95006032 -0.28190332 -0.13385032 -11.10356188] [ 0.28165877 0.95928137 -0.02115631 -5.3043528 ] [ 0.13436415 -0.01760034 0.99077571 -0.10913814] [ 0. 0. 0. 1. ]] SLAMing on 268.712414037 meters Centerline goodness : 0.845384 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.95003757 -0.28204972 -0.13370331 -11.10375774] [ 0.2817969 0.95923965 -0.02120839 -5.30419249] [ 0.13423533 -0.01752841 0.99079444 -0.10928391] [ 0. 0. 0. 1. ]] SLAMing on 268.742414037 meters Centerline goodness : 0.846039 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94992149 -0.28253381 -0.13350584 -11.10438385] [ 0.28222766 0.95910401 -0.021611 -5.30354558] [ 0.13415182 -0.01715029 0.99081237 -0.10908357] [ 0. 0. 0. 1. ]] SLAMing on 268.772414037 meters Centerline goodness : 0.846858 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.30, Z:-0.11 [[ 0.94986344 -0.28277871 -0.1334003 -11.10468652] [ 0.28244864 0.95903487 -0.02179164 -5.30343608] [ 0.13409775 -0.01697965 0.99082263 -0.10895395] [ 0. 0. 0. 1. ]] SLAMing on 268.802414037 meters Centerline goodness : 0.844250 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.30, Z:-0.11 [[ 0.94979972 -0.28306489 -0.13324697 -11.10506156] [ 0.28270954 0.95895371 -0.02197939 -5.30329267] [ 0.13399927 -0.01679418 0.99083911 -0.10885263] [ 0. 0. 0. 1. ]] SLAMing on 268.832414037 meters Centerline goodness : 0.844443 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.30, Z:-0.11 [[ 0.94960416 -0.28395428 -0.1327475 -11.10644354] [ 0.28354177 0.95869815 -0.02240344 -5.30334689] [ 0.13362634 -0.01636506 0.99089666 -0.1085258 ] [ 0. 0. 0. 1. ]] SLAMing on 268.862414037 meters Centerline goodness : 0.842866 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.30, Z:-0.11 [[ 0.94952892 -0.28425599 -0.13263997 -11.10676101] [ 0.28382418 0.95861104 -0.02255475 -5.30342623] [ 0.13356146 -0.01623004 0.99090763 -0.10836882] [ 0. 0. 0. 1. ]] SLAMing on 268.892414037 meters Centerline goodness : 0.842325 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.31, Z:-0.11 [[ 0.95100905 -0.28199297 -0.12673496 -11.11348573] [ 0.28137429 0.95931922 -0.02313322 -5.3058249 ] [ 0.12810269 -0.01366006 0.99166683 -0.11218755] [ 0. 0. 0. 1. ]] SLAMing on 268.922414037 meters Centerline goodness : 0.842791 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.31, Z:-0.11 [[ 0.95092915 -0.28232087 -0.1266044 -11.11391331] [ 0.28166997 0.9592262 -0.02339085 -5.30550897] [ 0.12804598 -0.01341761 0.99167746 -0.11198405] [ 0. 0. 0. 1. ]] SLAMing on 268.952414037 meters Centerline goodness : 0.840134 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.30, Z:-0.11 [[ 0.95081923 -0.28278458 -0.12639492 -11.11460748] [ 0.28208363 0.95909486 -0.02378813 -5.30481087] [ 0.12795164 -0.01303573 0.99169474 -0.11171058] [ 0. 0. 0. 1. ]] SLAMing on 268.982414037 meters Centerline goodness : 0.830329 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.29, Z:-0.10 [[ 9.48500185e-01 -2.89653490e-01 -1.28250746e-01 -1.10765997e+01] [ 2.87159667e-01 9.57131203e-01 -3.79365950e-02 -5.29161384e+00] [ 1.33741258e-01 -8.45573963e-04 9.91015924e-01 -1.01878303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.012414037 meters Centerline goodness : 0.845999 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.26, Z:-0.07 [[ 0.95245838 -0.28664228 -0.10324359 -10.96902205] [ 0.27824818 0.9564273 -0.08845769 -5.26342949] [ 0.1241007 0.05552493 0.99071489 -0.06777401] [ 0. 0. 0. 1. ]] SLAMing on 269.04241403699996 meters Centerline goodness : 0.843093 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.26, Z:-0.07 [[ 0.95332107 -0.28345678 -0.10407304 -10.96972091] [ 0.27549005 0.95757692 -0.08456753 -5.2649699 ] [ 0.12362918 0.05194892 0.99096778 -0.06816091] [ 0. 0. 0. 1. ]] SLAMing on 269.072414037 meters Centerline goodness : 0.845320 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.27, Z:-0.08 [[ 0.9543771 -0.28035404 -0.10279089 -10.99733277] [ 0.2733278 0.95880825 -0.0773218 -5.27090376] [ 0.12023423 0.04569854 0.99169318 -0.07748794] [ 0. 0. 0. 1. ]] SLAMing on 269.10241403699996 meters Centerline goodness : 0.844848 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.27, Z:-0.08 [[ 0.95520142 -0.27732862 -0.10333965 -10.99867156] [ 0.27071103 0.95984141 -0.0736207 -5.2722215 ] [ 0.1196068 0.04234741 0.99191779 -0.07765124] [ 0. 0. 0. 1. ]] SLAMing on 269.132414037 meters Centerline goodness : 0.844653 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.27, Z:-0.08 [[ 0.95596433 -0.27449494 -0.10384957 -11.00032782] [ 0.268253 0.9607869 -0.07020579 -5.27328561] [ 0.11904844 0.03925627 0.9921121 -0.07744041] [ 0. 0. 0. 1. ]] SLAMing on 269.16241403699996 meters Centerline goodness : 0.845366 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.27, Z:-0.08 [[ 0.95663942 -0.27202422 -0.10413382 -11.00290138] [ 0.26612041 0.96159572 -0.06718331 -5.27348629] [ 0.11841012 0.03655807 0.99229157 -0.07674595] [ 0. 0. 0. 1. ]] SLAMing on 269.192414037 meters Centerline goodness : 0.844045 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.28, Z:-0.09 [[ 0.9577295 -0.26903427 -0.10185659 -11.03362017] [ 0.26423598 0.96269799 -0.05824021 -5.28094765] [ 0.11372574 0.02886419 0.9930928 -0.08623392] [ 0. 0. 0. 1. ]] SLAMing on 269.22241403699996 meters Centerline goodness : 0.843307 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.28, Z:-0.09 [[ 0.95839785 -0.26652901 -0.10215603 -11.03594597] [ 0.26207103 0.9634759 -0.05507237 -5.28121325] [ 0.11310325 0.02600911 0.99324276 -0.08586967] [ 0. 0. 0. 1. ]] SLAMing on 269.252414037 meters Centerline goodness : 0.841935 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.28, Z:-0.09 [[ 0.95907178 -0.26391526 -0.10261605 -11.03750228] [ 0.25979366 0.96426909 -0.05188812 -5.28248491] [ 0.11264355 0.02310543 0.99336679 -0.08551823] [ 0. 0. 0. 1. ]] SLAMing on 269.28241403699997 meters Centerline goodness : 0.845731 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.28, Z:-0.08 [[ 0.95968129 -0.26158836 -0.10287545 -11.03957192] [ 0.25776759 0.96496032 -0.04906575 -5.28337138] [ 0.11210576 0.02056952 0.99348336 -0.08491542] [ 0. 0. 0. 1. ]] SLAMing on 269.312414037 meters Centerline goodness : 0.843789 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.28, Z:-0.08 [[ 0.96037071 -0.25891833 -0.10319594 -11.04158763] [ 0.25541847 0.96573434 -0.04602806 -5.28285258] [ 0.11157737 0.01784585 0.9935955 -0.08465047] [ 0. 0. 0. 1. ]] SLAMing on 269.34241403699997 meters Centerline goodness : 0.845572 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.28, Z:-0.08 [[ 0.96112095 -0.25605265 -0.1033613 -11.04347904] [ 0.25290956 0.96654843 -0.04267173 -5.28333203] [ 0.11082991 0.01487163 0.99372811 -0.0847389 ] [ 0. 0. 0. 1. ]] SLAMing on 269.372414037 meters Centerline goodness : 0.843712 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.28, Z:-0.08 [[ 0.96188652 -0.25307917 -0.10356283 -11.04546685] [ 0.2502668 0.96736994 -0.03952114 -5.28210188] [ 0.11018555 0.01209652 0.99383742 -0.08486458] [ 0. 0. 0. 1. ]] SLAMing on 269.40241403699997 meters Centerline goodness : 0.843185 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.28, Z:-0.08 [[ 0.96185668 -0.25317578 -0.10360383 -11.04539272] [ 0.25032599 0.96734077 -0.03985887 -5.28052793] [ 0.11031151 0.01240379 0.99381966 -0.08494086] [ 0. 0. 0. 1. ]] SLAMing on 269.432414037 meters Centerline goodness : 0.842892 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.28, Z:-0.08 [[ 9.62491242e-01 -2.50806948e-01 -1.03472139e-01 -1.10483783e+01] [ 2.48261274e-01 9.67986263e-01 -3.69991269e-02 -5.27972806e+00] [ 1.09439247e-01 9.92321065e-03 9.93943953e-01 -8.46562199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.462414037 meters Centerline goodness : 0.843304 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.28, Z:-0.08 [[ 9.62387561e-01 -2.51271365e-01 -1.03309645e-01 -1.10491967e+01] [ 2.48667314e-01 9.67860097e-01 -3.75685960e-02 -5.27848985e+00] [ 1.09429196e-01 1.04658174e-02 9.93939494e-01 -8.41225449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492414037 meters Centerline goodness : 0.844659 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.63501074e-01 -2.48499389e-01 -9.95677400e-02 -1.10766044e+01] [ 2.46336503e-01 9.68599839e-01 -3.36553051e-02 -5.28368724e+00] [ 1.04804620e-01 7.89975378e-03 9.94461455e-01 -9.03868088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.522414037 meters Centerline goodness : 0.843343 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.63909048e-01 -2.46960219e-01 -9.94484683e-02 -1.10800408e+01] [ 2.45012966e-01 9.69006863e-01 -3.15332492e-02 -5.28329301e+00] [ 1.04153706e-01 6.02902009e-03 9.94542938e-01 -8.91550185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552414037 meters Centerline goodness : 0.846115 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.63876288e-01 -2.47069062e-01 -9.94956294e-02 -1.10799995e+01] [ 2.45087730e-01 9.68977230e-01 -3.18611370e-02 -5.28217929e+00] [ 1.04280901e-01 6.32503653e-03 9.94527771e-01 -8.90402394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.582414037 meters Centerline goodness : 0.843303 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.63848116e-01 -2.47162574e-01 -9.95362783e-02 -1.10799009e+01] [ 2.45147987e-01 9.68951440e-01 -3.21802894e-02 -5.28101615e+00] [ 1.04399583e-01 6.61579301e-03 9.94513428e-01 -8.90148047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612414037 meters Centerline goodness : 0.842177 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.64544308e-01 -2.44276262e-01 -9.99168977e-02 -1.10813352e+01] [ 2.42583452e-01 9.69698704e-01 -2.89429234e-02 -5.28037550e+00] [ 1.03959355e-01 3.67854608e-03 9.94574744e-01 -8.92597169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.642414037 meters Centerline goodness : 0.841105 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.64568638e-01 -2.44083738e-01 -1.00152244e-01 -1.10805579e+01] [ 2.42370933e-01 9.69746675e-01 -2.91155960e-02 -5.27918752e+00] [ 1.04228949e-01 3.80999788e-03 9.94546032e-01 -8.95202454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672414037 meters Centerline goodness : 0.838231 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.64574771e-01 -2.44067120e-01 -1.00133675e-01 -1.10805036e+01] [ 2.42327956e-01 9.69749837e-01 -2.93669103e-02 -5.27794878e+00] [ 1.04272112e-01 4.06139192e-03 9.94540513e-01 -8.96356375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.702414037 meters Centerline goodness : 0.840074 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.64609515e-01 -2.43818479e-01 -1.00404348e-01 -1.10797181e+01] [ 2.42053221e-01 9.69811611e-01 -2.95918573e-02 -5.27649198e+00] [ 1.04588344e-01 4.24139143e-03 9.94506556e-01 -8.97743525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732414037 meters Centerline goodness : 0.837068 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.65423486e-01 -2.40392264e-01 -1.00841716e-01 -1.10810507e+01] [ 2.38952333e-01 9.70674958e-01 -2.63041565e-02 -5.27528898e+00] [ 1.04207844e-01 1.29828729e-03 9.94554694e-01 -8.98343731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.762414037 meters Centerline goodness : 0.837068 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.65423486e-01 -2.40392264e-01 -1.00841716e-01 -1.10810507e+01] [ 2.38952333e-01 9.70674958e-01 -2.63041565e-02 -5.27528898e+00] [ 1.04207844e-01 1.29828729e-03 9.94554694e-01 -8.98343731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79241403699996 meters Centerline goodness : 0.832545 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.28, Z:-0.09 [[ 9.66197513e-01 -2.37123505e-01 -1.01167232e-01 -1.10826000e+01] [ 2.36034885e-01 9.71477702e-01 -2.27729716e-02 -5.27573664e+00] [ 1.03681717e-01 -1.87580750e-03 9.94608759e-01 -8.98007742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822414037 meters Centerline goodness : 0.832371 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.27, Z:-0.09 [[ 9.66956988e-01 -2.33909132e-01 -1.01393790e-01 -1.10847306e+01] [ 2.33120698e-01 9.72247749e-01 -1.97244756e-02 -5.27461686e+00] [ 1.03193619e-01 -4.56427150e-03 9.94650815e-01 -8.92023114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85241403699996 meters Centerline goodness : 0.830421 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.27, Z:-0.09 [[ 9.66952276e-01 -2.33894626e-01 -1.01472160e-01 -1.10846554e+01] [ 2.33060461e-01 9.72253103e-01 -2.01674293e-02 -5.27310277e+00] [ 1.03373676e-01 -4.14820680e-03 9.94633940e-01 -8.89553956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882414037 meters Centerline goodness : 0.833071 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.27, Z:-0.09 [[ 9.67004351e-01 -2.33607278e-01 -1.01637716e-01 -1.10842608e+01] [ 2.32720954e-01 9.72324088e-01 -2.06597342e-02 -5.27126691e+00] [ 1.03651064e-01 -3.67517338e-03 9.94606932e-01 -8.86086234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91241403699996 meters Centerline goodness : 0.832276 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.27, Z:-0.09 [[ 9.67010568e-01 -2.33495755e-01 -1.01834635e-01 -1.10837878e+01] [ 2.32584311e-01 9.72351618e-01 -2.09014159e-02 -5.27043781e+00] [ 1.03899464e-01 -3.47324842e-03 9.94581740e-01 -8.84876744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942414037 meters Centerline goodness : 0.791823 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.27, Z:-0.09 [[ 9.67019175e-01 -2.33370423e-01 -1.02039997e-01 -1.10833531e+01] [ 2.32432188e-01 9.72382453e-01 -2.11575991e-02 -5.26965649e+00] [ 1.04159460e-01 -3.25757571e-03 9.94555275e-01 -8.82593647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97241403699996 meters Centerline goodness : 0.792780 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.27, Z:-0.09 [[ 9.67048390e-01 -2.33174364e-01 -1.02211191e-01 -1.10829133e+01] [ 2.32228210e-01 9.72429651e-01 -2.12280942e-02 -5.26884749e+00] [ 1.04343040e-01 -3.20772763e-03 9.94536194e-01 -8.83316808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002414037 meters Centerline goodness : 0.833480 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.27, Z:-0.09 [[ 9.67826959e-01 -2.29662782e-01 -1.02790970e-01 -1.10838150e+01] [ 2.29078036e-01 9.73248592e-01 -1.76190627e-02 -5.26892919e+00] [ 1.04087610e-01 -6.49494966e-03 9.94546924e-01 -8.83013554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03241403699997 meters Centerline goodness : 0.836561 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.70054410e-01 -2.24064844e-01 -9.37517301e-02 -1.11217804e+01] [ 2.23635028e-01 9.74554394e-01 -1.52022022e-02 -5.27624384e+00] [ 9.47724396e-02 -6.21920750e-03 9.95479536e-01 -9.95164732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062414037 meters Centerline goodness : 0.836070 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.70127989e-01 -2.23631461e-01 -9.40247599e-02 -1.11209453e+01] [ 2.23191723e-01 9.74654438e-01 -1.53029699e-02 -5.27529881e+00] [ 9.50638751e-02 -6.13970880e-03 9.95452241e-01 -9.95394916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09241403699997 meters Centerline goodness : 0.836495 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.70158732e-01 -2.23420642e-01 -9.42085515e-02 -1.11202211e+01] [ 2.22993587e-01 9.74701836e-01 -1.51720251e-02 -5.27525668e+00] [ 9.52149918e-02 -6.28863016e-03 9.95436868e-01 -9.98643408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122414037 meters Centerline goodness : 0.837919 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.70152289e-01 -2.23443590e-01 -9.42204816e-02 -1.11200235e+01] [ 2.23020175e-01 9.74696315e-01 -1.51358924e-02 -5.27535895e+00] [ 9.52183744e-02 -6.32894763e-03 9.95436289e-01 -1.00032375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15241403699997 meters Centerline goodness : 0.838220 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.70058358e-01 -2.23954255e-01 -9.39748585e-02 -1.11208520e+01] [ 2.23518370e-01 9.74580017e-01 -1.52751382e-02 -5.27616333e+00] [ 9.50069513e-02 -6.18733171e-03 9.95457380e-01 -9.96306137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182414037 meters Centerline goodness : 0.839671 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.70026204e-01 -2.24269209e-01 -9.35547199e-02 -1.11218604e+01] [ 2.23826421e-01 9.74508363e-01 -1.53356948e-02 -5.27678729e+00] [ 9.46091811e-02 -6.06399226e-03 9.95496023e-01 -9.93792101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.212414037 meters Centerline goodness : 0.837735 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.69976510e-01 -2.24549819e-01 -9.33967314e-02 -1.11222918e+01] [ 2.24099198e-01 9.74444314e-01 -1.54217027e-02 -5.27726662e+00] [ 9.44728543e-02 -5.97144323e-03 9.95509529e-01 -9.91940916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242414037 meters Centerline goodness : 0.840192 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.69891667e-01 -2.25078966e-01 -9.30032989e-02 -1.11235603e+01] [ 2.24610700e-01 9.74323556e-01 -1.56090459e-02 -5.27868896e+00] [ 9.41285728e-02 -5.75045245e-03 9.95543442e-01 -9.83460010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.272414037 meters Centerline goodness : 0.839100 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.69819059e-01 -2.25498091e-01 -9.27448283e-02 -1.11244521e+01] [ 2.25008649e-01 9.74228037e-01 -1.58379327e-02 -5.27924642e+00] [ 9.39260356e-02 -5.50845956e-03 9.95563939e-01 -9.78044592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302414037 meters Centerline goodness : 0.839843 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.28, Z:-0.10 [[ 9.69747768e-01 -2.25884923e-01 -9.25487303e-02 -1.11254086e+01] [ 2.25376799e-01 9.74139573e-01 -1.60433800e-02 -5.28081447e+00] [ 9.37793383e-02 -5.30030463e-03 9.95578898e-01 -9.67089225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.332414037 meters Centerline goodness : 0.841122 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.28, Z:-0.10 [[ 9.69738654e-01 -2.25950827e-01 -9.24833301e-02 -1.11255558e+01] [ 2.25460025e-01 9.74123337e-01 -1.58587752e-02 -5.28171710e+00] [ 9.36734736e-02 -5.47242662e-03 9.95587933e-01 -9.66703681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362414037 meters Centerline goodness : 0.838901 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.28, Z:-0.10 [[ 9.69749712e-01 -2.25870139e-01 -9.25644429e-02 -1.11252495e+01] [ 2.25400083e-01 9.74140757e-01 -1.56392975e-02 -5.28269959e+00] [ 9.37032468e-02 -5.69782885e-03 9.95583867e-01 -9.67125984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.392414037 meters Centerline goodness : 0.839096 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.28, Z:-0.10 [[ 9.69820014e-01 -2.25441303e-01 -9.28728082e-02 -1.11239356e+01] [ 2.25031313e-01 9.74236050e-01 -1.50008762e-02 -5.28434083e+00] [ 9.38618550e-02 -6.35114000e-03 9.95564973e-01 -9.73548879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422414037 meters Centerline goodness : 0.837003 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.69884375e-01 -2.25046064e-01 -9.31588294e-02 -1.11229058e+01] [ 2.24677674e-01 9.74324339e-01 -1.45610701e-02 -5.28531940e+00] [ 9.40438265e-02 -6.80815479e-03 9.95544779e-01 -9.77465753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.452414037 meters Centerline goodness : 0.840925 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.69942429e-01 -2.24698597e-01 -9.33928576e-02 -1.11221050e+01] [ 2.24358762e-01 9.74402284e-01 -1.42595787e-02 -5.28595101e+00] [ 9.42063210e-02 -7.12253557e-03 9.95527216e-01 -9.79866482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482414037 meters Centerline goodness : 0.842125 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.70044330e-01 -2.24143621e-01 -9.36676801e-02 -1.11212598e+01] [ 2.23834301e-01 9.74527635e-01 -1.39317820e-02 -5.28657572e+00] [ 9.44044628e-02 -7.45159365e-03 9.95506038e-01 -9.80035202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.512414037 meters Centerline goodness : 0.842206 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.70093541e-01 -2.23854128e-01 -9.38501555e-02 -1.11207851e+01] [ 2.23549634e-01 9.74593695e-01 -1.38813389e-02 -5.28681590e+00] [ 9.45731648e-02 -7.51397067e-03 9.95489556e-01 -9.78233372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54241403699996 meters Centerline goodness : 0.847787 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.70233620e-01 -2.23106555e-01 -9.41816706e-02 -1.11198619e+01] [ 2.22822999e-01 9.74763329e-01 -1.36515179e-02 -5.28757367e+00] [ 9.48505819e-02 -7.74068066e-03 9.95461425e-01 -9.74495082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.572414037 meters Centerline goodness : 0.847884 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.70300749e-01 -2.22700420e-01 -9.44509332e-02 -1.11191800e+01] [ 2.22430561e-01 9.74854921e-01 -1.35102945e-02 -5.28779213e+00] [ 9.50847052e-02 -7.89972526e-03 9.95437840e-01 -9.73472222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60241403699996 meters Centerline goodness : 0.849873 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.70375259e-01 -2.22271556e-01 -9.46953694e-02 -1.11184031e+01] [ 2.22010861e-01 9.74951919e-01 -1.34138871e-02 -5.28784821e+00] [ 9.53049577e-02 -8.00689637e-03 9.95415920e-01 -9.73702166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.632414037 meters Centerline goodness : 0.849670 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.71094579e-01 -2.19156042e-01 -9.45830176e-02 -1.11184170e+01] [ 2.19114252e-01 9.75637696e-01 -1.09558152e-02 -5.28954901e+00] [ 9.46797905e-02 -1.00853544e-02 9.95456691e-01 -9.75574178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66241403699996 meters Centerline goodness : 0.850849 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.71195757e-01 -2.18552234e-01 -9.49406305e-02 -1.11174370e+01] [ 2.18524549e-01 9.75771502e-01 -1.08165118e-02 -5.28931303e+00] [ 9.50043345e-02 -1.02419081e-02 9.95424171e-01 -9.75678384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692414037 meters Centerline goodness : 0.848985 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.71272717e-01 -2.18076985e-01 -9.52456751e-02 -1.11166280e+01] [ 2.18052056e-01 9.75877411e-01 -1.07972497e-02 -5.28894258e+00] [ 9.53027345e-02 -1.02814411e-02 9.95395238e-01 -9.74632270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72241403699996 meters Centerline goodness : 0.849173 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.72125231e-01 -2.13975975e-01 -9.58478874e-02 -1.11172577e+01] [ 2.14326602e-01 9.76738775e-01 -6.74334115e-03 -5.29067960e+00] [ 9.50612612e-02 -1.39873799e-02 9.95373151e-01 -9.72155714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752414037 meters Centerline goodness : 0.848658 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.72164386e-01 -2.13691947e-01 -9.60841203e-02 -1.11167792e+01] [ 2.14039959e-01 9.76801296e-01 -6.79139736e-03 -5.29044169e+00] [ 9.53063602e-02 -1.39634866e-02 9.95350048e-01 -9.69587277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78241403699997 meters Centerline goodness : 0.845620 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.72269230e-01 -2.13109437e-01 -9.63167288e-02 -1.11161071e+01] [ 2.13460823e-01 9.76928227e-01 -6.76138549e-03 -5.29012891e+00] [ 9.55354462e-02 -1.39859611e-02 9.95327771e-01 -9.67080619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812414037 meters Centerline goodness : 0.845075 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.10 [[ 9.72320831e-01 -2.12756785e-01 -9.65751087e-02 -1.11153143e+01] [ 2.13118765e-01 9.77003522e-01 -6.67162153e-03 -5.29018658e+00] [ 9.57736540e-02 -1.40950113e-02 9.95303340e-01 -9.67803506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84241403699997 meters Centerline goodness : 0.843176 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.72342701e-01 -2.12571097e-01 -9.67636358e-02 -1.11148520e+01] [ 2.12935164e-01 9.77043575e-01 -6.66853993e-03 -5.29020835e+00] [ 9.59598275e-02 -1.41202745e-02 9.95285049e-01 -9.66856983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872414037 meters Centerline goodness : 0.842511 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.72397811e-01 -2.12228796e-01 -9.69610035e-02 -1.11141452e+01] [ 2.12613231e-01 9.77115018e-01 -6.46964613e-03 -5.29071580e+00] [ 9.61150978e-02 -1.43241225e-02 9.95267154e-01 -9.67863646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90241403699997 meters Centerline goodness : 0.842589 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.72427327e-01 -2.12047486e-01 -9.70616114e-02 -1.11136808e+01] [ 2.12437627e-01 9.77153561e-01 -6.41656617e-03 -5.29064009e+00] [ 9.62047159e-02 -1.43798941e-02 9.95257691e-01 -9.69496764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932414037 meters Centerline goodness : 0.839686 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.72450951e-01 -2.11895156e-01 -9.71575585e-02 -1.11135302e+01] [ 2.12274181e-01 9.77188275e-01 -6.53817099e-03 -5.29037410e+00] [ 9.63266337e-02 -1.42659906e-02 9.95247538e-01 -9.66050637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.962414037 meters Centerline goodness : 0.840559 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.72423325e-01 -2.12016141e-01 -9.71701211e-02 -1.11137809e+01] [ 2.12373514e-01 9.77165115e-01 -6.76975110e-03 -5.29022296e+00] [ 9.63865490e-02 -1.40532962e-02 9.95244763e-01 -9.61053897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992414037 meters Centerline goodness : 0.840232 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.72394325e-01 -2.12142548e-01 -9.71844469e-02 -1.11140649e+01] [ 2.12483496e-01 9.77139955e-01 -6.94775790e-03 -5.29036142e+00] [ 9.64367212e-02 -1.38941307e-02 9.95242137e-01 -9.55765983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.022414037 meters Centerline goodness : 0.837543 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.09 [[ 9.72337841e-01 -2.12517233e-01 -9.69306347e-02 -1.11150079e+01] [ 2.12838819e-01 9.77061307e-01 -7.13012410e-03 -5.29134333e+00] [ 9.62224469e-02 -1.36977123e-02 9.95265599e-01 -9.48286094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052414037 meters Centerline goodness : 0.836632 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.29, Z:-0.09 [[ 9.72308190e-01 -2.12663756e-01 -9.69067116e-02 -1.11152369e+01] [ 2.12965336e-01 9.77032177e-01 -7.34099762e-03 -5.29163669e+00] [ 9.62421395e-02 -1.35000583e-02 9.95266396e-01 -9.43596506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.082414037 meters Centerline goodness : 0.838601 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.09 [[ 9.72377488e-01 -2.12257145e-01 -9.71026544e-02 -1.11144868e+01] [ 2.12577166e-01 9.77118066e-01 -7.15779271e-03 -5.29169821e+00] [ 9.64000505e-02 -1.36817306e-02 9.95248633e-01 -9.45395063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112414037 meters Centerline goodness : 0.838218 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.09 [[ 9.72409224e-01 -2.12008281e-01 -9.73282543e-02 -1.11138510e+01] [ 2.12320422e-01 9.77173143e-01 -7.25855010e-03 -5.29102519e+00] [ 9.66454289e-02 -1.36064949e-02 9.95225866e-01 -9.45933355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.142414037 meters Centerline goodness : 0.838912 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.09 [[ 9.72453027e-01 -2.11707075e-01 -9.75460183e-02 -1.11131316e+01] [ 2.12016207e-01 9.77238847e-01 -7.30501784e-03 -5.29036322e+00] [ 9.68722825e-02 -1.35775501e-02 9.95204206e-01 -9.47486176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172414037 meters Centerline goodness : 0.836435 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.73286412e-01 -2.07544753e-01 -9.81770578e-02 -1.11133441e+01] [ 2.08230496e-01 9.78074137e-01 -3.32300963e-03 -5.29062727e+00] [ 9.67141144e-02 -1.72092173e-02 9.95163415e-01 -9.51355794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.202414037 meters Centerline goodness : 0.839714 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.74186739e-01 -2.02949820e-01 -9.88512438e-02 -1.11131810e+01] [ 2.04007127e-01 9.78969219e-01 6.01013388e-04 -5.28970751e+00] [ 9.66503493e-02 -2.07518575e-02 9.95102040e-01 -9.56895252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232414037 meters Centerline goodness : 0.837302 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.74956869e-01 -1.99000561e-01 -9.92868610e-02 -1.11139228e+01] [ 2.00407117e-01 9.79703276e-01 4.29859509e-03 -5.28959613e+00] [ 9.64162402e-02 -2.40887384e-02 9.95049567e-01 -9.58180012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.262414037 meters Centerline goodness : 0.838799 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 9.75732844e-01 -1.94918721e-01 -9.97602644e-02 -1.11145309e+01] [ 1.96683881e-01 9.80433663e-01 8.07984545e-03 -5.28934227e+00] [ 9.62334083e-02 -2.75050066e-02 9.94978696e-01 -9.59862223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29241403699996 meters Centerline goodness : 0.836101 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 0.97647839 -0.1908268 -0.10037477 -11.1149231 ] [ 0.19294296 0.98113993 0.01172436 -5.28885367] [ 0.09624437 -0.03081518 0.99488062 -0.09594122] [ 0. 0. 0. 1. ]] SLAMing on 271.322414037 meters Centerline goodness : 0.846554 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.29, Z:-0.10 [[ 0.97751487 -0.18503458 -0.10112803 -11.11362909] [ 0.18751967 0.98213755 0.01556304 -5.28519867] [ 0.09644193 -0.0341766 0.99475168 -0.09696536] [ 0. 0. 0. 1. ]] SLAMing on 271.35241403699996 meters Centerline goodness : 0.804691 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.10 [[ 0.9782653 -0.18063939 -0.10181555 -11.11340554] [ 0.18348525 0.98283421 0.01923761 -5.28404259] [ 0.09659274 -0.03750113 0.99461727 -0.09732739] [ 0. 0. 0. 1. ]] SLAMing on 271.382414037 meters Centerline goodness : 0.805240 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.10 [[ 0.9789944 -0.17624987 -0.10249848 -11.11326148] [ 0.17944401 0.98350506 0.02275194 -5.28236958] [ 0.09679774 -0.04066676 0.99447293 -0.09754079] [ 0. 0. 0. 1. ]] SLAMing on 271.41241403699996 meters Centerline goodness : 0.806369 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.10 [[ 0.98049825 -0.16690669 -0.10375612 -11.11247073] [ 0.1708424 0.98483493 0.03021639 -5.27877426] [ 0.09713933 -0.04735306 0.99414367 -0.09871846] [ 0. 0. 0. 1. ]] SLAMing on 271.442414037 meters Centerline goodness : 0.806605 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.28, Z:-0.10 [[ 0.98117117 -0.1624819 -0.10441634 -11.11217903] [ 0.16676881 0.98542098 0.03366974 -5.27647452] [ 0.09742333 -0.05044916 0.99396357 -0.09911753] [ 0. 0. 0. 1. ]] SLAMing on 271.47241403699996 meters Centerline goodness : 0.807894 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.27, Z:-0.10 [[ 0.98251248 -0.15340475 -0.10552828 -11.11141364] [ 0.1584341 0.98651781 0.04100293 -5.27214498] [ 0.09781548 -0.05700517 0.9935706 -0.10064435] [ 0. 0. 0. 1. ]] SLAMing on 271.502414037 meters Centerline goodness : 0.810547 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.27, Z:-0.10 [[ 0.98311036 -0.14924185 -0.1059287 -11.11150126] [ 0.15461743 0.98697415 0.04444642 -5.26994578] [ 0.09791562 -0.06007416 0.9933799 -0.10128943] [ 0. 0. 0. 1. ]] SLAMing on 271.53241403699997 meters Centerline goodness : 0.814266 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.27, Z:-0.10 [[ 0.9836913 -0.14499533 -0.10643204 -11.1111888 ] [ 0.15074724 0.98740109 0.04810768 -5.26817558] [ 0.09811572 -0.06336744 0.99315551 -0.10219164] [ 0. 0. 0. 1. ]] SLAMing on 271.562414037 meters Centerline goodness : 0.814371 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.26, Z:-0.10 [[ 0.98430513 -0.14078743 -0.10640639 -11.11166869] [ 0.14679956 0.98785487 0.05091806 -5.26277278] [ 0.09794545 -0.06573932 0.99301814 -0.10328776] [ 0. 0. 0. 1. ]] SLAMing on 271.59241403699997 meters Centerline goodness : 0.813902 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.26, Z:-0.10 [[ 0.98428946 -0.1409884 -0.10628516 -11.11195417] [ 0.14687737 0.98790316 0.0497432 -5.25891682] [ 0.09798623 -0.0645726 0.99309067 -0.10305524] [ 0. 0. 0. 1. ]] SLAMing on 271.622414037 meters Centerline goodness : 0.813902 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.26, Z:-0.10 [[ 0.98428946 -0.1409884 -0.10628516 -11.11195417] [ 0.14687737 0.98790316 0.0497432 -5.25891682] [ 0.09798623 -0.0645726 0.99309067 -0.10305524] [ 0. 0. 0. 1. ]] SLAMing on 271.65241403699997 meters Centerline goodness : 0.818509 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.25, Z:-0.10 [[ 0.98428604 -0.14165251 -0.10543035 -11.11380116] [ 0.14728357 0.98794567 0.04765399 -5.25183856] [ 0.09740915 -0.06243332 0.99328422 -0.10270646] [ 0. 0. 0. 1. ]] SLAMing on 271.682414037 meters Centerline goodness : 0.819190 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.25, Z:-0.10 [[ 0.98421146 -0.14239761 -0.10512247 -11.1149549 ] [ 0.14787483 0.98792399 0.04625167 -5.24818235] [ 0.09726688 -0.06106639 0.99338313 -0.10206582] [ 0. 0. 0. 1. ]] SLAMing on 271.712414037 meters Centerline goodness : 0.819898 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.24, Z:-0.10 [[ 0.98412552 -0.14328551 -0.1047197 -11.11639112] [ 0.14859948 0.9878822 0.04479894 -5.24439884] [ 0.09703169 -0.05964907 0.99349224 -0.10141676] [ 0. 0. 0. 1. ]] SLAMing on 271.742414037 meters Centerline goodness : 0.819544 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.24, Z:-0.10 [[ 0.98396177 -0.14507082 -0.1037964 -11.11931613] [ 0.1500771 0.9877764 0.04212661 -5.23688202] [ 0.0964163 -0.05702844 0.99370602 -0.10050829] [ 0. 0. 0. 1. ]] SLAMing on 271.772414037 meters Centerline goodness : 0.819885 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.23, Z:-0.10 [[ 0.98386431 -0.14599973 -0.10341712 -11.12042029] [ 0.15086424 0.98771013 0.04084948 -5.23335511] [ 0.09618212 -0.05579229 0.99379888 -0.10038827] [ 0. 0. 0. 1. ]] SLAMing on 271.802414037 meters Centerline goodness : 0.824204 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.23, Z:-0.10 [[ 0.98370064 -0.14750534 -0.10283594 -11.12141711] [ 0.15215342 0.98759183 0.03888082 -5.22642193] [ 0.09582481 -0.05389393 0.99393815 -0.10135418] [ 0. 0. 0. 1. ]] SLAMing on 271.832414037 meters Centerline goodness : 0.821918 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.22, Z:-0.10 [[ 0.98360522 -0.14838446 -0.10248329 -11.12188732] [ 0.15291903 0.98751311 0.03786327 -5.22284922] [ 0.09558527 -0.05291416 0.99401386 -0.10216289] [ 0. 0. 0. 1. ]] SLAMing on 271.862414037 meters Centerline goodness : 0.824768 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.22, Z:-0.10 [[ 0.98351097 -0.14916612 -0.10225282 -11.12205141] [ 0.15360206 0.98744238 0.03693169 -5.2193355 ] [ 0.09545982 -0.05202897 0.99407264 -0.10301451] [ 0. 0. 0. 1. ]] SLAMing on 271.892414037 meters Centerline goodness : 0.824407 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.21, Z:-0.10 [[ 0.98329658 -0.1512298 -0.10127872 -11.12344086] [ 0.15541053 0.98724029 0.03470113 -5.21137553] [ 0.09473859 -0.04986128 0.99425271 -0.10475213] [ 0. 0. 0. 1. ]] SLAMing on 271.922414037 meters Centerline goodness : 0.826226 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.21, Z:-0.10 [[ 0.98316026 -0.15247829 -0.10072868 -11.1250839 ] [ 0.15649364 0.98712094 0.03319623 -5.20708879] [ 0.09436969 -0.04840061 0.99435997 -0.10461402] [ 0. 0. 0. 1. ]] SLAMing on 271.952414037 meters Centerline goodness : 0.825593 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.20, Z:-0.10 [[ 0.98287719 -0.15531454 -0.09914551 -11.12978222] [ 0.15897741 0.98682231 0.03013163 -5.19802913] [ 0.09315912 -0.04537759 0.99461664 -0.10420289] [ 0. 0. 0. 1. ]] SLAMing on 271.982414037 meters Centerline goodness : 0.829039 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.10 [[ 0.98270241 -0.15694337 -0.09830946 -11.13250985] [ 0.1603919 0.98665143 0.02816725 -5.19310539] [ 0.0925765 -0.04344807 0.99475718 -0.10344377] [ 0. 0. 0. 1. ]] SLAMing on 272.012414037 meters Centerline goodness : 0.824822 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.19, Z:-0.10 [[ 0.98251596 -0.15863809 -0.09744919 -11.13537846] [ 0.16188237 0.98645981 0.02628972 -5.18837356] [ 0.09195916 -0.04160538 0.99489321 -0.10271633] [ 0. 0. 0. 1. ]] SLAMing on 272.04241403699996 meters Centerline goodness : 0.826427 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.18, Z:-0.10 [[ 0.98211238 -0.16227807 -0.09550444 -11.14168905] [ 0.16513099 0.98601003 0.02271497 -5.1788601 ] [ 0.0904822 -0.0380794 0.9951698 -0.10162569] [ 0. 0. 0. 1. ]] SLAMing on 272.072414037 meters Centerline goodness : 0.828758 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.17, Z:-0.10 [[ 0.98190966 -0.16401957 -0.09460973 -11.14452198] [ 0.16668318 0.98578856 0.02091968 -5.17409081] [ 0.08983396 -0.03631109 0.99529461 -0.10119007] [ 0. 0. 0. 1. ]] SLAMing on 272.10241403699996 meters Centerline goodness : 0.827210 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.16, Z:-0.10 [[ 0.98151658 -0.16727189 -0.09298025 -11.14898383] [ 0.16962141 0.98534651 0.01791192 -5.16405053] [ 0.08862161 -0.03335229 0.99550682 -0.10193447] [ 0. 0. 0. 1. ]] SLAMing on 272.132414037 meters Centerline goodness : 0.831194 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.16, Z:-0.10 [[ 0.98137561 -0.16835227 -0.0925172 -11.14997573] [ 0.17057942 0.98520308 0.01665968 -5.15924427] [ 0.08834354 -0.03213093 0.99557171 -0.10261071] [ 0. 0. 0. 1. ]] SLAMing on 272.16241403699996 meters Centerline goodness : 0.833617 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.15, Z:-0.10 [[ 0.98120262 -0.16963599 -0.09200568 -11.15125728] [ 0.17172901 0.98502584 0.01527218 -5.15379685] [ 0.08803726 -0.03078515 0.99564136 -0.10330398] [ 0. 0. 0. 1. ]] SLAMing on 272.192414037 meters Centerline goodness : 0.831724 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.14, Z:-0.10 [[ 0.98084132 -0.17245431 -0.090608 -11.15471078] [ 0.17428671 0.98461361 0.01265609 -5.14258758] [ 0.08703127 -0.02820538 0.99580621 -0.10490097] [ 0. 0. 0. 1. ]] SLAMing on 272.22241403699996 meters Centerline goodness : 0.831578 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.13, Z:-0.11 [[ 9.80383209e-01 -1.76035650e-01 -8.86578445e-02 -1.11603043e+01] [ 1.77570339e-01 9.84060611e-01 9.66896368e-03 -5.13137911e+00] [ 8.55426103e-02 -2.52222931e-02 9.96015210e-01 -1.05883914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252414037 meters Centerline goodness : 0.831480 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.13, Z:-0.11 [[ 9.80139906e-01 -1.77825655e-01 -8.77713003e-02 -1.11632548e+01] [ 1.79184827e-01 9.83784557e-01 7.79373292e-03 -5.12599976e+00] [ 8.49621241e-02 -2.33662339e-02 9.96110163e-01 -1.05437730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28241403699997 meters Centerline goodness : 0.833970 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.12, Z:-0.11 [[ 9.79890621e-01 -1.79688124e-01 -8.67556901e-02 -1.11664834e+01] [ 1.80880449e-01 9.83486672e-01 6.01898272e-03 -5.12077754e+00] [ 8.42415252e-02 -2.15903529e-02 9.96211434e-01 -1.05159692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312414037 meters Centerline goodness : 0.834037 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.11, Z:-0.11 [[ 9.79845015e-01 -1.80921340e-01 -8.46830232e-02 -1.11741502e+01] [ 1.82085471e-01 9.83263369e-01 6.16669786e-03 -5.11200509e+00] [ 8.21500274e-02 -2.14619563e-02 9.96388859e-01 -1.05913054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34241403699997 meters Centerline goodness : 0.837051 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.11, Z:-0.11 [[ 0.98118401 -0.17327701 -0.08516469 -11.17679749] [ 0.17499283 0.98448314 0.01305563 -5.10729033] [ 0.08158096 -0.02771319 0.99628135 -0.10613742] [ 0. 0. 0. 1. ]] SLAMing on 272.372414037 meters Centerline goodness : 0.843183 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.10, Z:-0.11 [[ 0.98309041 -0.16179991 -0.08575572 -11.1805654 ] [ 0.16432181 0.9861347 0.02316686 -5.09983748] [ 0.08081829 -0.03686665 0.99604681 -0.10632973] [ 0. 0. 0. 1. ]] SLAMing on 272.40241403699997 meters Centerline goodness : 0.844248 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.10, Z:-0.11 [[ 0.98377031 -0.15716671 -0.08657137 -11.1797142 ] [ 0.15997894 0.98676406 0.02652226 -5.09615267] [ 0.0812571 -0.0399414 0.99589255 -0.10669824] [ 0. 0. 0. 1. ]] SLAMing on 272.432414037 meters Centerline goodness : 0.842981 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.10, Z:-0.11 [[ 0.98456566 -0.15148896 -0.08764447 -11.17635883] [ 0.15472396 0.98746063 0.03133697 -5.0951918 ] [ 0.08179826 -0.044414 0.9956588 -0.10931755] [ 0. 0. 0. 1. ]] SLAMing on 272.462414037 meters Centerline goodness : 0.838552 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.11 [[ 0.98467053 -0.15048218 -0.08819893 -11.1735681 ] [ 0.15381695 0.98757195 0.03227972 -5.09653914] [ 0.08224526 -0.04535138 0.99557972 -0.11096055] [ 0. 0. 0. 1. ]] SLAMing on 272.492414037 meters Centerline goodness : 0.832095 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.11 [[ 0.98428276 -0.15261242 -0.08886447 -11.16779033] [ 0.15578172 0.9873403 0.02985295 -5.09908719] [ 0.08318354 -0.0432272 0.99559626 -0.11328692] [ 0. 0. 0. 1. ]] SLAMing on 272.522414037 meters Centerline goodness : 0.830409 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.11 [[ 0.98434154 -0.15208595 -0.08911561 -11.16614226] [ 0.15532991 0.98738758 0.03063324 -5.10110188] [ 0.08333276 -0.04399589 0.99555011 -0.11444004] [ 0. 0. 0. 1. ]] SLAMing on 272.552414037 meters Centerline goodness : 0.827748 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.12 [[ 0.98438062 -0.15175837 -0.08924227 -11.16520549] [ 0.15506383 0.98740809 0.03131236 -5.10268637] [ 0.08336663 -0.04466153 0.99551763 -0.11532557] [ 0. 0. 0. 1. ]] SLAMing on 272.582414037 meters Centerline goodness : 0.830521 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.11 [[ 0.98434916 -0.15192872 -0.08929946 -11.16540219] [ 0.1552406 0.98737906 0.03135201 -5.10346686] [ 0.08340915 -0.04472423 0.99551125 -0.11499252] [ 0. 0. 0. 1. ]] SLAMing on 272.612414037 meters Centerline goodness : 0.829223 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.11 [[ 0.98433351 -0.15191425 -0.08949635 -11.16544704] [ 0.15519357 0.98740197 0.03085942 -5.10260756] [ 0.08368089 -0.04426522 0.99550897 -0.11390388] [ 0. 0. 0. 1. ]] SLAMing on 272.642414037 meters Centerline goodness : 0.833328 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.11 [[ 0.98482852 -0.14862703 -0.08957002 -11.16827305] [ 0.15220303 0.98774783 0.03447421 -5.103797 ] [ 0.08334879 -0.04758401 0.99538372 -0.11239186] [ 0. 0. 0. 1. ]] SLAMing on 272.672414037 meters Centerline goodness : 0.830737 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.10, Z:-0.11 [[ 0.98482387 -0.14874401 -0.08942684 -11.1687846 ] [ 0.15230151 0.98773763 0.03433094 -5.10410495] [ 0.08322373 -0.04742977 0.99540154 -0.11190687] [ 0. 0. 0. 1. ]] SLAMing on 272.702414037 meters Centerline goodness : 0.826457 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.11, Z:-0.11 [[ 0.9848346 -0.14864452 -0.0894741 -11.16855519] [ 0.15221518 0.98774628 0.03446476 -5.10506267] [ 0.08325471 -0.04756141 0.99539267 -0.11181292] [ 0. 0. 0. 1. ]] SLAMing on 272.732414037 meters Centerline goodness : 0.824908 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.11, Z:-0.11 [[ 0.984897 -0.14813818 -0.08962693 -11.16770575] [ 0.15173541 0.98781143 0.03471239 -5.10639124] [ 0.08339228 -0.04778771 0.99537031 -0.11169101] [ 0. 0. 0. 1. ]] SLAMing on 272.762414037 meters Centerline goodness : 0.825052 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.11, Z:-0.11 [[ 0.98492924 -0.14783709 -0.08976963 -11.16703457] [ 0.15145903 0.98784598 0.03493551 -5.10671985] [ 0.0835138 -0.04800543 0.99534965 -0.11195659] [ 0. 0. 0. 1. ]] SLAMing on 272.79241403699996 meters Centerline goodness : 0.821219 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.11, Z:-0.11 [[ 0.98497227 -0.14718483 -0.09036729 -11.16531609] [ 0.15083306 0.98794203 0.03492749 -5.10646736] [ 0.08413685 -0.04803298 0.99529585 -0.1117327 ] [ 0. 0. 0. 1. ]] SLAMing on 272.822414037 meters Centerline goodness : 0.822809 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.11, Z:-0.11 [[ 0.98500512 -0.14675828 -0.09070235 -11.16410525] [ 0.1504399 0.98799426 0.03514501 -5.10636124] [ 0.08445558 -0.04826327 0.99525771 -0.11212268] [ 0. 0. 0. 1. ]] SLAMing on 272.85241403699996 meters Centerline goodness : 0.820007 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.11, Z:-0.11 [[ 0.98513633 -0.14537485 -0.09150175 -11.16101243] [ 0.14912393 0.98818005 0.03552794 -5.10562413] [ 0.08525534 -0.04864497 0.99517094 -0.11275428] [ 0. 0. 0. 1. ]] SLAMing on 272.882414037 meters Centerline goodness : 0.820731 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.11, Z:-0.11 [[ 0.9857629 -0.14074646 -0.09198875 -11.16088729] [ 0.14488774 0.98864021 0.03997602 -5.10677217] [ 0.08531729 -0.05273492 0.99495728 -0.1131343 ] [ 0. 0. 0. 1. ]] SLAMing on 272.91241403699996 meters Centerline goodness : 0.820743 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.11, Z:-0.11 [[ 0.98645395 -0.13510011 -0.09304071 -11.15849852] [ 0.13969701 0.98918132 0.04477791 -5.10780851] [ 0.08598463 -0.05716886 0.9946549 -0.11399485] [ 0. 0. 0. 1. ]] SLAMing on 272.942414037 meters Centerline goodness : 0.820240 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.11, Z:-0.11 [[ 0.98651861 -0.13416534 -0.09370535 -11.15617034] [ 0.13881699 0.98929529 0.04499638 -5.10770602] [ 0.08666531 -0.05739766 0.99458264 -0.11426288] [ 0. 0. 0. 1. ]] SLAMing on 272.97241403699996 meters Centerline goodness : 0.816487 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.9865828 -0.13324543 -0.09434002 -11.1538819 ] [ 0.13796 0.98940019 0.04532445 -5.10803104] [ 0.08730076 -0.05773147 0.99450774 -0.11463827] [ 0. 0. 0. 1. ]] SLAMing on 273.002414037 meters Centerline goodness : 0.815077 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98667232 -0.13212225 -0.09498129 -11.15127282] [ 0.13690736 0.98952744 0.0457365 -5.10893432] [ 0.08794378 -0.05813057 0.99442784 -0.11499343] [ 0. 0. 0. 1. ]] SLAMing on 273.03241403699997 meters Centerline goodness : 0.814475 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.12 [[ 0.98670122 -0.13177007 -0.09517007 -11.15039632] [ 0.13658087 0.98956438 0.04591306 -5.1089603 ] [ 0.08812694 -0.05830089 0.99440165 -0.11532888] [ 0. 0. 0. 1. ]] SLAMing on 273.062414037 meters Centerline goodness : 0.811466 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98671991 -0.13111043 -0.09588465 -11.14865404] [ 0.13594335 0.98966147 0.04571196 -5.10802071] [ 0.08890003 -0.05813978 0.99434227 -0.11475157] [ 0. 0. 0. 1. ]] SLAMing on 273.09241403699997 meters Centerline goodness : 0.813593 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98671596 -0.1309113 -0.09619689 -11.14810226] [ 0.13572858 0.98970805 0.0453402 -5.10724858] [ 0.08927129 -0.05779457 0.99432913 -0.11401124] [ 0. 0. 0. 1. ]] SLAMing on 273.122414037 meters Centerline goodness : 0.812486 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98672103 -0.13070779 -0.09642142 -11.14770386] [ 0.13548632 0.98976713 0.04477138 -5.10587927] [ 0.08958279 -0.05724064 0.99433316 -0.11315015] [ 0. 0. 0. 1. ]] SLAMing on 273.15241403699997 meters Centerline goodness : 0.810920 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98670997 -0.13079429 -0.09641725 -11.14773259] [ 0.13554524 0.98977288 0.04446507 -5.10541604] [ 0.0896154 -0.05694303 0.99434731 -0.11289774] [ 0. 0. 0. 1. ]] SLAMing on 273.182414037 meters Centerline goodness : 0.808253 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98668915 -0.1308607 -0.09654014 -11.14750451] [ 0.13559692 0.98977672 0.04422128 -5.10572526] [ 0.08976636 -0.0567232 0.99434626 -0.11251189] [ 0. 0. 0. 1. ]] SLAMing on 273.212414037 meters Centerline goodness : 0.810837 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98668488 -0.13090853 -0.09651889 -11.14745028] [ 0.13563102 0.9897783 0.04408101 -5.10597453] [ 0.08976173 -0.05658502 0.99435455 -0.11235569] [ 0. 0. 0. 1. ]] SLAMing on 273.242414037 meters Centerline goodness : 0.809869 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98668267 -0.13067163 -0.09686189 -11.14687762] [ 0.13537269 0.98983335 0.04363681 -5.10521417] [ 0.09017504 -0.05616814 0.99434079 -0.11137886] [ 0. 0. 0. 1. ]] SLAMing on 273.272414037 meters Centerline goodness : 0.807853 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98667172 -0.13056012 -0.09712349 -11.14661354] [ 0.1352563 0.98985861 0.04342417 -5.10517198] [ 0.09046906 -0.05598196 0.99432458 -0.11060281] [ 0. 0. 0. 1. ]] SLAMing on 273.302414037 meters Centerline goodness : 0.806130 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98667633 -0.13027775 -0.09745523 -11.14569504] [ 0.13501237 0.98988198 0.04365002 -5.10642589] [ 0.09078255 -0.0562261 0.99428223 -0.11044631] [ 0. 0. 0. 1. ]] SLAMing on 273.332414037 meters Centerline goodness : 0.809449 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98666409 -0.1302931 -0.09755864 -11.14562011] [ 0.13502864 0.98988218 0.0435952 -5.10699732] [ 0.0908914 -0.05618702 0.9942745 -0.11003403] [ 0. 0. 0. 1. ]] SLAMing on 273.362414037 meters Centerline goodness : 0.808453 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.11, Z:-0.11 [[ 0.98665491 -0.13027102 -0.09768087 -11.1453473 ] [ 0.13500582 0.98988894 0.04351217 -5.10763573] [ 0.09102484 -0.05611898 0.99426613 -0.10965318] [ 0. 0. 0. 1. ]] SLAMing on 273.392414037 meters Centerline goodness : 0.808547 Centerline is valid? [False, False] Translation: X:-12.29, Y:-5.51, Z:-0.31 [[ 0.66702982 0.3931794 0.63283582 -12.28980973] [ -0.6838183 0.66026915 0.31054337 -5.50736602] [ -0.29574271 -0.6398864 0.70928248 -0.31223056] [ 0. 0. 0. 1. ]] SLAMing on 273.422414037 meters Centerline goodness : 0.807223 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.15, Z:0.38 [[ 0.93727172 0.34387428 -0.05720317 -11.19013094] [ -0.29188508 0.68443095 -0.66809983 -5.14622541] [ -0.19059072 0.64288783 0.74186954 0.37685018] [ 0. 0. 0. 1. ]] SLAMing on 273.452414037 meters Centerline goodness : 0.812134 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.15, Z:0.37 [[ 0.93722433 0.343928 -0.05765488 -11.18752123] [ -0.29272501 0.68603272 -0.66608646 -5.14742257] [ -0.18953265 0.64114946 0.74364288 0.37285836] [ 0. 0. 0. 1. ]] SLAMing on 273.482414037 meters Centerline goodness : 0.811311 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.15, Z:0.37 [[ 0.93703822 0.34440011 -0.05786144 -11.18529557] [ -0.29367144 0.68742043 -0.66423658 -5.14813986] [ -0.18898801 0.63940731 0.74527969 0.36985622] [ 0. 0. 0. 1. ]] SLAMing on 273.512414037 meters Centerline goodness : 0.812519 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.15, Z:0.36 [[ 0.93636507 0.34633779 -0.05718899 -11.18241235] [ -0.29621455 0.69217542 -0.65814142 -5.15007481] [ -0.18835443 0.63320085 0.75071918 0.36340871] [ 0. 0. 0. 1. ]] SLAMing on 273.54241403699996 meters Centerline goodness : 0.812519 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.15, Z:0.36 [[ 0.93636507 0.34633779 -0.05718899 -11.18241235] [ -0.29621455 0.69217542 -0.65814142 -5.15007481] [ -0.18835443 0.63320085 0.75071918 0.36340871] [ 0. 0. 0. 1. ]] SLAMing on 273.572414037 meters Centerline goodness : 0.813430 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.15, Z:0.36 [[ 0.93543841 0.34891018 -0.05671566 -11.18001334] [ -0.29877877 0.69467071 -0.65434231 -5.15137918] [ -0.18890798 0.62904236 0.75406862 0.35979232] [ 0. 0. 0. 1. ]] SLAMing on 273.60241403699996 meters Centerline goodness : 0.814794 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.15, Z:0.36 [[ 0.9351453 0.34959045 -0.05735658 -11.17681839] [ -0.3002648 0.69622767 -0.65200313 -5.15196983] [ -0.18800083 0.62693983 0.75604374 0.3582186 ] [ 0. 0. 0. 1. ]] SLAMing on 273.632414037 meters Centerline goodness : 0.817279 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.15, Z:0.35 [[ 0.93390039 0.3529251 -0.05721829 -11.17307852] [ -0.30361784 0.69833776 -0.64818252 -5.15296328] [ -0.18880219 0.6227104 0.75933226 0.35447863] [ 0. 0. 0. 1. ]] SLAMing on 273.66241403699996 meters Centerline goodness : 0.816642 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.15, Z:0.35 [[ 0.93273001 0.3561357 -0.05641013 -11.17104358] [ -0.30635287 0.70020217 -0.64487584 -5.15398426] [ -0.19016481 0.61877645 0.76220276 0.3508712 ] [ 0. 0. 0. 1. ]] SLAMing on 273.692414037 meters Centerline goodness : 0.816944 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.15, Z:0.35 [[ 0.93131868 0.35998476 -0.05528552 -11.16903126] [ -0.30954095 0.70237545 -0.64097825 -5.15470772] [ -0.1919112 0.61406815 0.76556541 0.34755546] [ 0. 0. 0. 1. ]] SLAMing on 273.72241403699996 meters Centerline goodness : 0.817500 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:0.35 [[ 0.93101563 0.36075927 -0.05534116 -11.16797034] [ -0.31048986 0.70316007 -0.6396577 -5.15536424] [ -0.19184875 0.61271418 0.76666511 0.34674247] [ 0. 0. 0. 1. ]] SLAMing on 273.752414037 meters Centerline goodness : 0.822588 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:0.34 [[ 0.92969355 0.36443386 -0.05345909 -11.16699891] [ -0.31350056 0.70672229 -0.63424049 -5.15741683] [ -0.19335798 0.60640875 0.77128537 0.34232543] [ 0. 0. 0. 1. ]] SLAMing on 273.78241403699997 meters Centerline goodness : 0.822805 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:0.34 [[ 0.92952902 0.36482813 -0.05363054 -11.16595521] [ -0.31408979 0.7071301 -0.63349398 -5.15786785] [ -0.19319266 0.60569584 0.77188674 0.34166797] [ 0. 0. 0. 1. ]] SLAMing on 273.812414037 meters Centerline goodness : 0.822700 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.16, Z:0.34 [[ 0.92878836 0.36677184 -0.05320335 -11.16428174] [ -0.31598132 0.70866174 -0.63083623 -5.15945542] [ -0.19366979 0.60272461 0.77408982 0.33799504] [ 0. 0. 0. 1. ]] SLAMing on 273.84241403699997 meters Centerline goodness : 0.826352 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.16, Z:0.34 [[ 0.92873427 0.36685021 -0.05360579 -11.16254213] [ -0.3164835 0.70916209 -0.63002169 -5.15993019] [ -0.19310839 0.60208808 0.77472517 0.3365614 ] [ 0. 0. 0. 1. ]] SLAMing on 273.872414037 meters Centerline goodness : 0.829658 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.16, Z:0.33 [[ 0.92819276 0.3682348 -0.05349145 -11.15897728] [ -0.31861697 0.71227179 -0.62542156 -5.16190227] [ -0.19220153 0.59755505 0.77845137 0.33127227] [ 0. 0. 0. 1. ]] SLAMing on 273.90241403699997 meters Centerline goodness : 0.823456 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.16, Z:0.33 [[ 0.92808391 0.36841622 -0.05412721 -11.15596056] [ -0.31953248 0.71329401 -0.62378735 -5.16247445] [ -0.19120476 0.5962224 0.77971763 0.32915489] [ 0. 0. 0. 1. ]] SLAMing on 273.932414037 meters Centerline goodness : 0.827560 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.16, Z:0.33 [[ 0.92802326 0.36848629 -0.0546871 -11.15301495] [ -0.32049283 0.71492799 -0.6214196 -5.16348647] [ -0.18988726 0.59421867 0.78156702 0.3271137 ] [ 0. 0. 0. 1. ]] SLAMing on 273.962414037 meters Centerline goodness : 0.826497 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.16, Z:0.32 [[ 0.92773313 0.36918907 -0.05486958 -11.15042365] [ -0.32178912 0.71666294 -0.6187455 -5.1646211 ] [ -0.18911108 0.59168713 0.78367298 0.32481002] [ 0. 0. 0. 1. ]] SLAMing on 273.992414037 meters Centerline goodness : 0.829513 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.32 [[ 0.92695223 0.37126982 -0.0540211 -11.14856419] [ -0.32393997 0.71937754 -0.61445817 -5.1663764 ] [ -0.18926821 0.58707297 0.78709775 0.32113302] [ 0. 0. 0. 1. ]] SLAMing on 274.022414037 meters Centerline goodness : 0.831249 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.32 [[ 0.9260322 0.37368284 -0.05315538 -11.1475617 ] [ -0.32618996 0.72145053 -0.61082669 -5.16840708] [ -0.18990647 0.58298394 0.78997801 0.31840963] [ 0. 0. 0. 1. ]] SLAMing on 274.052414037 meters Centerline goodness : 0.836602 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.32 [[ 0.92497075 0.37647727 -0.05190345 -11.14712047] [ -0.32844874 0.72321195 -0.6075244 -5.16981325] [ -0.19118193 0.57898993 0.79260339 0.31601626] [ 0. 0. 0. 1. ]] SLAMing on 274.082414037 meters Centerline goodness : 0.835268 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.31 [[ 0.92412286 0.37898419 -0.04866128 -11.14811465] [ -0.3298205 0.72689863 -0.60235937 -5.16937481] [ -0.19291286 0.57270355 0.7967404 0.30982747] [ 0. 0. 0. 1. ]] SLAMing on 274.112414037 meters Centerline goodness : 0.834480 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.31 [[ 0.92336738 0.38092885 -0.04781102 -11.14701734] [ -0.33170809 0.72888649 -0.59891087 -5.17130414] [ -0.19329363 0.56887406 0.79938719 0.30623008] [ 0. 0. 0. 1. ]] SLAMing on 274.142414037 meters Centerline goodness : 0.832302 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.30 [[ 0.92333291 0.38096773 -0.04816556 -11.14571705] [ -0.33220768 0.72957698 -0.59779217 -5.17318754] [ -0.19259905 0.56796216 0.80020285 0.30378512] [ 0. 0. 0. 1. ]] SLAMing on 274.172414037 meters Centerline goodness : 0.831599 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.29 [[ 0.92406172 0.38002728 -0.04109996 -11.15391871] [ -0.32940225 0.73715543 -0.58999664 -5.16584365] [ -0.19391776 0.55873173 0.80635895 0.29388949] [ 0. 0. 0. 1. ]] SLAMing on 274.202414037 meters Centerline goodness : 0.831022 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.29 [[ 0.92412344 0.37985264 -0.04132597 -11.15175991] [ -0.3300353 0.7390314 -0.58728978 -5.16809621] [ -0.19254238 0.55636729 0.80832102 0.29021092] [ 0. 0. 0. 1. ]] SLAMing on 274.232414037 meters Centerline goodness : 0.829291 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.28 [[ 0.9237586 0.38111258 -0.03772612 -11.15416048] [ -0.33046931 0.74345078 -0.5814387 -5.16733327] [ -0.19354609 0.54957632 0.81271506 0.28366719] [ 0. 0. 0. 1. ]] SLAMing on 274.262414037 meters Centerline goodness : 0.829737 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:0.28 [[ 0.92327559 0.38233846 -0.03714151 -11.15274713] [ -0.33240178 0.74672172 -0.57612128 -5.1705875 ] [ -0.19253895 0.54426461 0.81651992 0.28031142] [ 0. 0. 0. 1. ]] SLAMing on 274.29241403699996 meters Centerline goodness : 0.823965 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.17, Z:0.27 [[ 0.92347181 0.38234096 -0.03186239 -11.15875446] [ -0.33103907 0.75206766 -0.56991873 -5.16633127] [ -0.1939406 0.53685158 0.82108308 0.27381168] [ 0. 0. 0. 1. ]] SLAMing on 274.322414037 meters Centerline goodness : 0.827234 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.16, Z:0.27 [[ 0.92326338 0.38319829 -0.02727267 -11.16347743] [ -0.33069917 0.75663011 -0.56404692 -5.16435175] [ -0.1955065 0.52978292 0.82529223 0.26735652] [ 0. 0. 0. 1. ]] SLAMing on 274.35241403699996 meters Centerline goodness : 0.823956 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.17, Z:0.26 [[ 0.92334016 0.38304812 -0.02677847 -11.16330602] [ -0.33080613 0.75812342 -0.56197526 -5.16633713] [ -0.19496218 0.5277528 0.82672046 0.26399972] [ 0. 0. 0. 1. ]] SLAMing on 274.382414037 meters Centerline goodness : 0.868872 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:0.26 [[ 0.92356833 0.38282957 -0.02151883 -11.16944013] [ -0.32922716 0.76298433 -0.55629524 -5.16291175] [ -0.19654773 0.52086125 0.83070606 0.25636449] [ 0. 0. 0. 1. ]] SLAMing on 274.41241403699996 meters Centerline goodness : 0.865976 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.17, Z:0.25 [[ 0.92390184 0.38200099 -0.02192349 -11.16899007] [ -0.32919257 0.76436122 -0.55442239 -5.1666921 ] [ -0.19503244 0.51944891 0.83194662 0.25354633] [ 0. 0. 0. 1. ]] SLAMing on 274.442414037 meters Centerline goodness : 0.821965 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.17, Z:0.25 [[ 0.9239744 0.38183415 -0.02177107 -11.16828776] [ -0.32939804 0.76557923 -0.55261684 -5.16827996] [ -0.1943405 0.51777516 0.83315104 0.25075358] [ 0. 0. 0. 1. ]] SLAMing on 274.47241403699996 meters Centerline goodness : 0.818522 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:0.24 [[ 0.92602592 0.37720536 -0.01386055 -11.18401451] [ -0.32381574 0.77501556 -0.54267324 -5.15747277] [ -0.19395711 0.50701775 0.83982953 0.24312027] [ 0. 0. 0. 1. ]] SLAMing on 274.502414037 meters Centerline goodness : 0.818171 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:0.24 [[ 0.92849026 0.37112786 -0.01303665 -11.17338781] [ -0.32022194 0.78236899 -0.53418787 -5.15983016] [ -0.18805254 0.50016285 0.84526526 0.23621451] [ 0. 0. 0. 1. ]] SLAMing on 274.53241403699997 meters Centerline goodness : 0.820640 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:0.22 [[ 9.30424573e-01 3.66445558e-01 -5.26945622e-03 -1.11665678e+01] [-3.15081249e-01 7.92499021e-01 -5.22177276e-01 -5.16167254e+00] [-1.87173505e-01 4.87506876e-01 8.52820688e-01 2.23447217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562414037 meters Centerline goodness : 0.811192 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:0.22 [[ 9.30355986e-01 3.66652716e-01 -1.87754029e-03 -1.11720037e+01] [-3.15485124e-01 7.97891463e-01 -5.13651972e-01 -5.16121478e+00] [-1.86833817e-01 4.78471523e-01 8.57996577e-01 2.15450453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59241403699997 meters Centerline goodness : 0.813045 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.15, Z:0.21 [[ 9.31735056e-01 3.63111151e-01 4.48086246e-03 -1.11937716e+01] [-3.12452768e-01 8.07912567e-01 -4.99650429e-01 -5.15157260e+00] [-1.85048787e-01 4.64141762e-01 8.66215545e-01 2.09158446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622414037 meters Centerline goodness : 0.861493 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.15, Z:0.20 [[ 0.9328093 0.36005662 0.01503459 -11.19224621] [ -0.30799717 0.81820838 -0.48546143 -5.15409409] [ -0.18709503 0.44821232 0.8741288 0.19522307] [ 0. 0. 0. 1. ]] SLAMing on 274.65241403699997 meters Centerline goodness : 0.817082 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.15, Z:0.19 [[ 0.93304605 0.35918375 0.02030049 -11.20438569] [ -0.30703243 0.82444337 -0.47542005 -5.15065978] [ -0.18749976 0.43735589 0.87952468 0.18757839] [ 0. 0. 0. 1. ]] SLAMing on 274.682414037 meters Centerline goodness : 0.819547 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.15, Z:0.17 [[ 0.93367351 0.35676836 0.03114657 -11.20018514] [ -0.30252884 0.83228108 -0.46452612 -5.15397987] [ -0.19165092 0.42429299 0.88501151 0.17462545] [ 0. 0. 0. 1. ]] SLAMing on 274.712414037 meters Centerline goodness : 0.826374 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.15, Z:0.17 [[ 0.93268006 0.35845957 0.04018268 -11.24036167] [ -0.30465302 0.84248566 -0.4443022 -5.14580648] [ -0.1931177 0.40215003 0.89497537 0.16811059] [ 0. 0. 0. 1. ]] SLAMing on 274.742414037 meters Centerline goodness : 0.827903 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.15, Z:0.15 [[ 0.93260898 0.35715976 0.0517435 -11.23718262] [ -0.30172585 0.85032651 -0.43116857 -5.14882138] [ -0.19799493 0.38649933 0.90078648 0.15493258] [ 0. 0. 0. 1. ]] SLAMing on 274.772414037 meters Centerline goodness : 0.826328 Centerline is valid? [False, False] Translation: X:-11.26, Y:-5.14, Z:0.15 [[ 0.93420317 0.35227694 0.05626187 -11.26024324] [ -0.30049855 0.86206813 -0.4080921 -5.14191187] [ -0.192263 0.36433433 0.91120549 0.14892337] [ 0. 0. 0. 1. ]] SLAMing on 274.802414037 meters Centerline goodness : 0.823924 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.13, Z:0.14 [[ 0.93345818 0.35279048 0.0647665 -11.29691467] [ -0.30186222 0.87019489 -0.38940987 -5.13390965] [ -0.19373957 0.34394727 0.91878466 0.1428591 ] [ 0. 0. 0. 1. ]] SLAMing on 274.832414037 meters Centerline goodness : 0.824395 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.14, Z:0.13 [[ 0.93369983 0.3500341 0.07537085 -11.29386102] [ -0.29855567 0.87729845 -0.37578178 -5.13731404] [ -0.19765917 0.32836499 0.92363807 0.13065202] [ 0. 0. 0. 1. ]] SLAMing on 274.862414037 meters Centerline goodness : 0.820923 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.14, Z:0.12 [[ 0.93346733 0.34802742 0.08669287 -11.29094123] [ -0.29584478 0.8837947 -0.36246764 -5.14092861] [ -0.20276738 0.31270407 0.92795558 0.11837259] [ 0. 0. 0. 1. ]] SLAMing on 274.892414037 meters Centerline goodness : 0.821251 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.14, Z:0.11 [[ 0.93510176 0.34172219 0.09386501 -11.30234483] [ -0.29225657 0.89343824 -0.34110731 -5.13942622] [ -0.20042653 0.29153738 0.93532623 0.11011494] [ 0. 0. 0. 1. ]] SLAMing on 274.922414037 meters Centerline goodness : 0.820515 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.14, Z:0.10 [[ 0.93660206 0.33711283 0.09555902 -11.30724344] [ -0.29138745 0.90081357 -0.32191345 -5.14046375] [ -0.19460202 0.2736601 0.94193429 0.10396572] [ 0. 0. 0. 1. ]] SLAMing on 274.952414037 meters Centerline goodness : 0.819868 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.14, Z:0.09 [[ 0.93704601 0.33282239 0.10570728 -11.30910633] [ -0.28807878 0.9078427 -0.30468384 -5.14225062] [ -0.19737119 0.25505075 0.94656945 0.09291996] [ 0. 0. 0. 1. ]] SLAMing on 274.982414037 meters Centerline goodness : 0.819489 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.14, Z:0.09 [[ 0.93867254 0.32792263 0.10658617 -11.31300843] [ -0.28681509 0.91413361 -0.28652548 -5.14348962] [ -0.19139219 0.23838308 0.95212527 0.0885439 ] [ 0. 0. 0. 1. ]] SLAMing on 275.012414037 meters Centerline goodness : 0.820504 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.15, Z:0.08 [[ 0.93870812 0.32413434 0.11732006 -11.31166217] [ -0.28347148 0.91950727 -0.27230551 -5.14525302] [ -0.19614021 0.2223585 0.95503179 0.07795068] [ 0. 0. 0. 1. ]] SLAMing on 275.04241403699996 meters Centerline goodness : 0.818256 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.15, Z:0.07 [[ 0.93849291 0.32068714 0.12802664 -11.31086619] [ -0.28088208 0.92465628 -0.25713038 -5.14848931] [ -0.20083904 0.20535465 0.95785863 0.06743724] [ 0. 0. 0. 1. ]] SLAMing on 275.072414037 meters Centerline goodness : 0.819186 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.15, Z:0.06 [[ 0.93822755 0.31714283 0.13838168 -11.30890718] [ -0.27820135 0.92919328 -0.24331842 -5.15150319] [ -0.20575001 0.18979008 0.9600243 0.05772497] [ 0. 0. 0. 1. ]] SLAMing on 275.10241403699996 meters Centerline goodness : 0.820362 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.15, Z:0.05 [[ 0.93802886 0.31293876 0.1488999 -11.30635608] [ -0.27481901 0.93345203 -0.23052509 -5.1527356 ] [ -0.21113115 0.17531867 0.96160647 0.0480473 ] [ 0. 0. 0. 1. ]] SLAMing on 275.132414037 meters Centerline goodness : 0.819820 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.16, Z:0.04 [[ 0.93752377 0.30942877 0.1590692 -11.30287078] [ -0.27244072 0.93726696 -0.21750103 -5.15567533] [ -0.21639138 0.16057546 0.96301106 0.03808765] [ 0. 0. 0. 1. ]] SLAMing on 275.16241403699996 meters Centerline goodness : 0.822306 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.16, Z:0.03 [[ 0.93745111 0.30429728 0.16908157 -11.29995659] [ -0.26830074 0.94104272 -0.20604202 -5.15733552] [ -0.221811 0.14778961 0.96382473 0.02887316] [ 0. 0. 0. 1. ]] SLAMing on 275.192414037 meters Centerline goodness : 0.823187 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.16, Z:0.03 [[ 0.93998502 0.29937172 0.16372148 -11.29228819] [ -0.26527596 0.94295055 -0.20117886 -5.15800917] [ -0.21460852 0.14567374 0.96577551 0.03094928] [ 0. 0. 0. 1. ]] SLAMing on 275.22241403699996 meters Centerline goodness : 0.822849 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.16, Z:0.02 [[ 0.93989747 0.29434934 0.17306416 -11.28782933] [ -0.26144678 0.94638711 -0.1897288 -5.16115512] [ -0.21963224 0.13307856 0.96646354 0.02049122] [ 0. 0. 0. 1. ]] SLAMing on 275.252414037 meters Centerline goodness : 0.822949 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.16, Z:0.02 [[ 0.93995494 0.2940462 0.17326729 -11.28801478] [ -0.26113819 0.94649418 -0.18961966 -5.16082012] [ -0.21975342 0.13298723 0.96644857 0.01968401] [ 0. 0. 0. 1. ]] SLAMing on 275.28241403699997 meters Centerline goodness : 0.822532 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.16, Z:0.02 [[ 0.9402012 0.29361629 0.17265915 -11.28700346] [ -0.26080946 0.9466023 -0.18953234 -5.16095541] [ -0.21908933 0.13316739 0.96657452 0.01898118] [ 0. 0. 0. 1. ]] SLAMing on 275.312414037 meters Centerline goodness : 0.824883 Centerline is valid? [False, False] Translation: X:-11.28, Y:-5.16, Z:0.02 [[ 0.94205876 0.29048536 0.16776041 -11.27931366] [ -0.2588356 0.94758743 -0.18730241 -5.16157675] [ -0.21337626 0.13302751 0.96787099 0.01916311] [ 0. 0. 0. 1. ]] SLAMing on 275.34241403699997 meters Centerline goodness : 0.825968 Centerline is valid? [False, False] Translation: X:-11.28, Y:-5.16, Z:0.02 [[ 0.94195345 0.29100244 0.16745531 -11.27765136] [ -0.25945025 0.94746632 -0.18706453 -5.16126076] [ -0.2130945 0.13275976 0.96796982 0.01828494] [ 0. 0. 0. 1. ]] SLAMing on 275.372414037 meters Centerline goodness : 0.824727 Centerline is valid? [False, False] Translation: X:-11.28, Y:-5.16, Z:0.02 [[ 0.9418571 0.29161741 0.16692663 -11.27566494] [ -0.26013057 0.94726974 -0.18711527 -5.16062196] [ -0.21269062 0.13281313 0.96805133 0.01806529] [ 0. 0. 0. 1. ]] SLAMing on 275.40241403699997 meters Centerline goodness : 0.821248 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.16, Z:0.02 [[ 0.94158715 0.29281633 0.16634971 -11.27265208] [ -0.26138582 0.94689703 -0.1872524 -5.1595539 ] [ -0.21234661 0.132833 0.96812412 0.01768092] [ 0. 0. 0. 1. ]] SLAMing on 275.432414037 meters Centerline goodness : 0.821248 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.16, Z:0.02 [[ 0.94158715 0.29281633 0.16634971 -11.27265208] [ -0.26138582 0.94689703 -0.1872524 -5.1595539 ] [ -0.21234661 0.132833 0.96812412 0.01768092] [ 0. 0. 0. 1. ]] SLAMing on 275.462414037 meters Centerline goodness : 0.820702 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.16, Z:0.02 [[ 0.94147257 0.29343339 0.16591038 -11.27079548] [ -0.26209569 0.94672675 -0.18712114 -5.15922812] [ -0.21197938 0.13268502 0.96822488 0.01713628] [ 0. 0. 0. 1. ]] SLAMing on 275.492414037 meters Centerline goodness : 0.818744 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.16, Z:0.02 [[ 0.94132684 0.29414799 0.16547125 -11.26877186] [ -0.26293958 0.94655131 -0.18682448 -5.15908347] [ -0.21158108 0.13235396 0.96835731 0.01631434] [ 0. 0. 0. 1. ]] SLAMing on 275.522414037 meters Centerline goodness : 0.816752 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.16, Z:0.01 [[ 0.93994181 0.29774106 0.16691211 -11.26802833] [ -0.26733563 0.94618902 -0.18236776 -5.15921388] [ -0.21222877 0.12679353 0.96895942 0.0144427 ] [ 0. 0. 0. 1. ]] SLAMing on 275.552414037 meters Centerline goodness : 0.815340 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.16, Z:0.01 [[ 0.93976251 0.29871608 0.166178 -11.26519962] [ -0.26842653 0.9458914 -0.18230922 -5.15868867] [ -0.21164504 0.12672079 0.9690966 0.0140946 ] [ 0. 0. 0. 1. ]] SLAMing on 275.582414037 meters Centerline goodness : 0.815221 Centerline is valid? [False, False] Translation: X:-11.26, Y:-5.16, Z:0.01 [[ 0.93829373 0.30261548 0.16741787 -11.26378713] [ -0.27319676 0.9453989 -0.17772017 -5.15907256] [ -0.21205755 0.1210157 0.96973543 0.01224824] [ 0. 0. 0. 1. ]] SLAMing on 275.612414037 meters Centerline goodness : 0.815017 Centerline is valid? [False, False] Translation: X:-11.26, Y:-5.16, Z:0.01 [[ 9.36807895e-01 3.05977208e-01 1.69614019e-01 -1.12649951e+01] [-2.77451473e-01 9.45118519e-01 -1.72544674e-01 -5.16167591e+00] [-2.13100089e-01 1.14581554e-01 9.70288318e-01 9.13674881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.642414037 meters Centerline goodness : 0.810453 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.16, Z:0.00 [[ 9.34899101e-01 3.07129104e-01 1.77863386e-01 -1.13029387e+01] [-2.83308454e-01 9.47658472e-01 -1.47240414e-01 -5.15719166e+00] [-2.13775562e-01 8.72647297e-02 9.72977326e-01 2.22377012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.672414037 meters Centerline goodness : 0.808175 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.16, Z:-0.00 [[ 9.33641711e-01 3.09862005e-01 1.79718370e-01 -1.13036772e+01] [-2.87041268e-01 9.47315376e-01 -1.42129827e-01 -5.15979758e+00] [-2.14290609e-01 8.11117462e-02 9.73396332e-01 -1.04024302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.702414037 meters Centerline goodness : 0.807339 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.16, Z:-0.01 [[ 9.32100289e-01 3.12646836e-01 1.82868827e-01 -1.13056602e+01] [-2.91524679e-01 9.47203964e-01 -1.33484126e-01 -5.16475401e+00] [-2.14947467e-01 7.11098165e-02 9.74033357e-01 -5.86571414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.732414037 meters Centerline goodness : 0.805485 Centerline is valid? [False, False] Translation: X:-11.31, Y:-5.17, Z:-0.01 [[ 9.30439342e-01 3.16454594e-01 1.84767748e-01 -1.13050875e+01] [-2.96322660e-01 9.46379598e-01 -1.28679985e-01 -5.16595152e+00] [-2.15581799e-01 6.49780499e-02 9.74321477e-01 -1.04377396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.762414037 meters Centerline goodness : 0.804148 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.16, Z:-0.01 [[ 9.30152315e-01 3.17319899e-01 1.84728861e-01 -1.13041669e+01] [-2.97134393e-01 9.46081347e-01 -1.29000922e-01 -5.16436567e+00] [-2.15703089e-01 6.51012086e-02 9.74286411e-01 -1.11118134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79241403699996 meters Centerline goodness : 0.802926 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.02 [[ 0.92865105 0.32016225 0.18735889 -11.30429827] [ -0.30150615 0.94568189 -0.12157222 -5.16735338] [ -0.21610475 0.05640831 0.97473937 -0.01582653] [ 0. 0. 0. 1. ]] SLAMing on 275.822414037 meters Centerline goodness : 0.802965 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.02 [[ 0.92672325 0.32469226 0.18910037 -11.30406233] [ -0.30674039 0.94440758 -0.11834125 -5.16703145] [ -0.21701231 0.05166486 0.9748007 -0.01848683] [ 0. 0. 0. 1. ]] SLAMing on 275.85241403699996 meters Centerline goodness : 0.804705 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.02 [[ 0.92546333 0.32760296 0.19024702 -11.30319002] [ -0.31050087 0.9436505 -0.11451177 -5.16799343] [ -0.21704109 0.04690458 0.97503494 -0.02150721] [ 0. 0. 0. 1. ]] SLAMing on 275.882414037 meters Centerline goodness : 0.803828 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.02 [[ 0.92364709 0.33163003 0.19208741 -11.30330111] [ -0.31528156 0.94247125 -0.11111019 -5.16857807] [ -0.21788433 0.04206498 0.97506767 -0.0249504 ] [ 0. 0. 0. 1. ]] SLAMing on 275.91241403699996 meters Centerline goodness : 0.805260 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.03 [[ 0.92318008 0.33305126 0.1918734 -11.30182479] [ -0.31693642 0.94201886 -0.11023508 -5.16902031] [ -0.21746229 0.04095517 0.97520912 -0.02647004] [ 0. 0. 0. 1. ]] SLAMing on 275.942414037 meters Centerline goodness : 0.801578 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.03 [[ 0.92275763 0.33431722 0.19170381 -11.3008582 ] [ -0.31828994 0.94159099 -0.10999058 -5.16912714] [ -0.21727832 0.04047725 0.97527008 -0.02766585] [ 0. 0. 0. 1. ]] SLAMing on 275.97241403699996 meters Centerline goodness : 0.802220 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.03 [[ 0.92191101 0.33648705 0.19198064 -11.29998278] [ -0.3206741 0.94087651 -0.1091765 -5.16985164] [ -0.21736655 0.0390878 0.97530709 -0.03023615] [ 0. 0. 0. 1. ]] SLAMing on 276.002414037 meters Centerline goodness : 0.804324 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.03 [[ 0.9216386 0.33733573 0.19179912 -11.29881341] [ -0.32164434 0.94059558 -0.10874222 -5.17018954] [ -0.21708804 0.03852992 0.97539132 -0.03212445] [ 0. 0. 0. 1. ]] SLAMing on 276.03241403699997 meters Centerline goodness : 0.802043 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.03 [[ 0.9209297 0.33919311 0.19192841 -11.29779586] [ -0.32372135 0.93997933 -0.10790431 -5.17056841] [ -0.21700914 0.03724096 0.97545894 -0.03427849] [ 0. 0. 0. 1. ]] SLAMing on 276.062414037 meters Centerline goodness : 0.802427 Centerline is valid? [False, False] Translation: X:-11.30, Y:-5.17, Z:-0.04 [[ 0.92079184 0.33977104 0.19156729 -11.29634417] [ -0.32456423 0.93981164 -0.10682761 -5.17090413] [ -0.2163341 0.0361901 0.97564842 -0.03518774] [ 0. 0. 0. 1. ]] SLAMing on 276.09241403699997 meters Centerline goodness : 0.804665 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.17, Z:-0.04 [[ 0.92059996 0.34048985 0.19121292 -11.29477689] [ -0.32562545 0.93960494 -0.10540696 -5.17161301] [ -0.2155546 0.03477385 0.97587243 -0.03622199] [ 0. 0. 0. 1. ]] SLAMing on 276.122414037 meters Centerline goodness : 0.804994 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.17, Z:-0.04 [[ 0.92070561 0.34047801 0.19072469 -11.29301692] [ -0.32595369 0.93965436 -0.10394169 -5.17243593] [ -0.21460515 0.03353228 0.9761251 -0.037222 ] [ 0. 0. 0. 1. ]] SLAMing on 276.15241403699997 meters Centerline goodness : 0.802729 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.17, Z:-0.04 [[ 0.92084902 0.34049425 0.19000197 -11.29100809] [ -0.32622239 0.93967508 -0.10290625 -5.17280583] [ -0.2135791 0.03277823 0.97637572 -0.03825023] [ 0. 0. 0. 1. ]] SLAMing on 276.182414037 meters Centerline goodness : 0.803842 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.17, Z:-0.04 [[ 0.92106734 0.34037085 0.18916298 -11.28889617] [ -0.3263023 0.93973597 -0.10209368 -5.17292136] [ -0.21251297 0.03231084 0.9766239 -0.03910188] [ 0. 0. 0. 1. ]] SLAMing on 276.212414037 meters Centerline goodness : 0.804730 Centerline is valid? [False, False] Translation: X:-11.29, Y:-5.17, Z:-0.04 [[ 0.92113054 0.34070096 0.18825882 -11.28604804] [ -0.32695673 0.93965163 -0.10076755 -5.17210135] [ -0.21122931 0.03126758 0.97693629 -0.04018402] [ 0. 0. 0. 1. ]] SLAMing on 276.242414037 meters Centerline goodness : 0.807050 Centerline is valid? [False, False] Translation: X:-11.28, Y:-5.17, Z:-0.04 [[ 0.92121408 0.34090081 0.18748666 -11.28302024] [ -0.32757773 0.93962893 -0.09894595 -5.1714557 ] [ -0.20989864 0.02973395 0.97727092 -0.04163553] [ 0. 0. 0. 1. ]] SLAMing on 276.272414037 meters Centerline goodness : 0.809506 Centerline is valid? [False, False] Translation: X:-11.28, Y:-5.17, Z:-0.04 [[ 0.92160574 0.34009994 0.18701574 -11.28140824] [ -0.32702218 0.93994298 -0.09779409 -5.17143224] [ -0.2090439 0.0289693 0.97747707 -0.04241863] [ 0. 0. 0. 1. ]] SLAMing on 276.302414037 meters Centerline goodness : 0.812213 Centerline is valid? [False, False] Translation: X:-11.28, Y:-5.17, Z:-0.05 [[ 0.92321068 0.33125465 0.19481375 -11.27723423] [ -0.31762525 0.9430966 -0.09840228 -5.16750914] [ -0.2163244 0.02896827 0.97589169 -0.05032765] [ 0. 0. 0. 1. ]] SLAMing on 276.332414037 meters Centerline goodness : 0.813418 Centerline is valid? [False, False] Translation: X:-11.28, Y:-5.17, Z:-0.05 [[ 0.92512562 0.32675398 0.19332466 -11.27625229] [ -0.31257054 0.94454272 -0.10069113 -5.16601417] [ -0.21550463 0.03272435 0.97595434 -0.04929709] [ 0. 0. 0. 1. ]] SLAMing on 276.362414037 meters Centerline goodness : 0.810327 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.17, Z:-0.05 [[ 0.92588556 0.32520278 0.19229947 -11.27406351] [ -0.31142575 0.94511485 -0.098853 -5.16790963] [ -0.21389236 0.03163956 0.97634471 -0.05035529] [ 0. 0. 0. 1. ]] SLAMing on 276.392414037 meters Centerline goodness : 0.816377 Centerline is valid? [False, False] Translation: X:-11.27, Y:-5.17, Z:-0.05 [[ 0.92712484 0.32258951 0.19072373 -11.27090466] [ -0.30929251 0.94604402 -0.09663775 -5.16994288] [ -0.21160737 0.03060584 0.97687543 -0.0513914 ] [ 0. 0. 0. 1. ]] SLAMing on 276.422414037 meters Centerline goodness : 0.821256 Centerline is valid? [False, False] Translation: X:-11.26, Y:-5.16, Z:-0.05 [[ 0.92940559 0.31289373 0.1957109 -11.26448098] [ -0.29720435 0.9489409 -0.10573901 -5.16197852] [ -0.21880315 0.0401083 0.97494436 -0.0508401 ] [ 0. 0. 0. 1. ]] SLAMing on 276.452414037 meters Centerline goodness : 0.823398 Centerline is valid? [False, False] Translation: X:-11.26, Y:-5.16, Z:-0.05 [[ 0.93003026 0.31174347 0.19457576 -11.26196187] [ -0.29660509 0.94938888 -0.10337398 -5.16332693] [ -0.21695422 0.03842877 0.97542508 -0.05095815] [ 0. 0. 0. 1. ]] SLAMing on 276.482414037 meters Centerline goodness : 0.825303 Centerline is valid? [False, False] Translation: X:-11.25, Y:-5.16, Z:-0.05 [[ 0.93297015 0.30095598 0.19746441 -11.25260079] [ -0.28372052 0.95244708 -0.11111806 -5.15629504] [ -0.22151605 0.04764513 0.97399209 -0.04936236] [ 0. 0. 0. 1. ]] SLAMing on 276.512414037 meters Centerline goodness : 0.823533 Centerline is valid? [False, False] Translation: X:-11.25, Y:-5.16, Z:-0.05 [[ 0.93341405 0.30016095 0.19657472 -11.2505388 ] [ -0.28346646 0.95278458 -0.10884995 -5.15815877] [ -0.21996586 0.04587973 0.97442807 -0.04999911] [ 0. 0. 0. 1. ]] SLAMing on 276.54241403699996 meters Centerline goodness : 0.821480 Centerline is valid? [False, False] Translation: X:-11.25, Y:-5.16, Z:-0.05 [[ 0.93509427 0.29636165 0.19434115 -11.24876533] [ -0.27893996 0.95372672 -0.1122401 -5.15634369] [ -0.21861201 0.05074556 0.9744915 -0.04804593] [ 0. 0. 0. 1. ]] SLAMing on 276.572414037 meters Centerline goodness : 0.822110 Centerline is valid? [False, False] Translation: X:-11.25, Y:-5.16, Z:-0.05 [[ 0.93521817 0.29599956 0.19429679 -11.24856314] [ -0.27862544 0.95384614 -0.11200631 -5.156984 ] [ -0.21848306 0.05061431 0.97452724 -0.04876067] [ 0. 0. 0. 1. ]] SLAMing on 276.60241403699996 meters Centerline goodness : 0.822732 Centerline is valid? [False, False] Translation: X:-11.25, Y:-5.16, Z:-0.05 [[ 0.93541697 0.29556534 0.19400057 -11.24807503] [ -0.27819876 0.95397091 -0.11200425 -5.15714035] [ -0.21817548 0.05079996 0.97458649 -0.04903816] [ 0. 0. 0. 1. ]] SLAMing on 276.632414037 meters Centerline goodness : 0.822485 Centerline is valid? [False, False] Translation: X:-11.25, Y:-5.16, Z:-0.05 [[ 0.93557322 0.29549954 0.19334624 -11.24630851] [ -0.27824043 0.95399759 -0.11167297 -5.15673413] [ -0.21745115 0.0506815 0.97475452 -0.04948534] [ 0. 0. 0. 1. ]] SLAMing on 276.66241403699996 meters Centerline goodness : 0.823966 Centerline is valid? [False, False] Translation: X:-11.25, Y:-5.16, Z:-0.05 [[ 0.93571043 0.29536803 0.19288265 -11.24508006] [ -0.27809699 0.95402154 -0.11182557 -5.15534887] [ -0.2170439 0.05099627 0.97482887 -0.04926832] [ 0. 0. 0. 1. ]] SLAMing on 276.692414037 meters Centerline goodness : 0.819637 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.05 [[ 0.9345511 0.29819143 0.19415487 -11.24468964] [ -0.28188475 0.95341165 -0.10745793 -5.15558266] [ -0.21715255 0.04569563 0.97506753 -0.05063975] [ 0. 0. 0. 1. ]] SLAMing on 276.72241403699996 meters Centerline goodness : 0.820874 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.15, Z:-0.05 [[ 0.93464737 0.29835966 0.19343168 -11.24267976] [ -0.28217863 0.95336915 -0.10706302 -5.15419352] [ -0.21635508 0.04548389 0.97525468 -0.05056081] [ 0. 0. 0. 1. ]] SLAMing on 276.752414037 meters Centerline goodness : 0.822151 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.05 [[ 0.93324475 0.30181615 0.19483645 -11.24185978] [ -0.28662352 0.95252888 -0.10264351 -5.1553118 ] [ -0.21656682 0.03994681 0.97545019 -0.05361593] [ 0. 0. 0. 1. ]] SLAMing on 276.78241403699997 meters Centerline goodness : 0.821933 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.15, Z:-0.05 [[ 0.93311954 0.30232865 0.19464148 -11.24068326] [ -0.28720381 0.95237789 -0.10242234 -5.15433931] [ -0.21633744 0.03967051 0.97551236 -0.05432594] [ 0. 0. 0. 1. ]] SLAMing on 276.812414037 meters Centerline goodness : 0.820247 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.15, Z:-0.06 [[ 0.93244845 0.30410704 0.19508664 -11.24055452] [ -0.28894464 0.95182402 -0.10267439 -5.15356832] [ -0.21691215 0.03936934 0.97539693 -0.0551329 ] [ 0. 0. 0. 1. ]] SLAMing on 276.84241403699997 meters Centerline goodness : 0.822486 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.15, Z:-0.06 [[ 0.93218043 0.30483612 0.19522957 -11.23987004] [ -0.28974081 0.95160995 -0.10241469 -5.15330794] [ -0.2170021 0.038903 0.97539564 -0.05645946] [ 0. 0. 0. 1. ]] SLAMing on 276.872414037 meters Centerline goodness : 0.821273 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.06 [[ 0.93143903 0.30655419 0.19607616 -11.23836319] [ -0.29257865 0.95126889 -0.09739221 -5.15547135] [ -0.21637714 0.03334721 0.97574018 -0.05985252] [ 0. 0. 0. 1. ]] SLAMing on 276.90241403699997 meters Centerline goodness : 0.820949 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.06 [[ 0.92996703 0.31017656 0.19736216 -11.23779887] [ -0.29685373 0.95022427 -0.09461348 -5.15709033] [ -0.2168852 0.02939972 0.97575431 -0.06359638] [ 0. 0. 0. 1. ]] SLAMing on 276.932414037 meters Centerline goodness : 0.819551 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.07 [[ 0.92901076 0.31819932 0.18891319 -11.23703475] [ -0.30768449 0.94782625 -0.08340055 -5.16404507] [ -0.20559488 0.01935435 0.97844578 -0.06573321] [ 0. 0. 0. 1. ]] SLAMing on 276.962414037 meters Centerline goodness : 0.817581 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.07 [[ 0.92709463 0.32275287 0.19059416 -11.23966029] [ -0.31214133 0.94630214 -0.08414308 -5.16388533] [ -0.20751708 0.01851628 0.97805614 -0.06611909] [ 0. 0. 0. 1. ]] SLAMing on 276.992414037 meters Centerline goodness : 0.819108 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.07 [[ 0.92626393 0.32498314 0.1908431 -11.23876447] [ -0.3146881 0.94557265 -0.0828478 -5.16450782] [ -0.20738016 0.01668288 0.97811817 -0.06770514] [ 0. 0. 0. 1. ]] SLAMing on 277.022414037 meters Centerline goodness : 0.821711 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.16, Z:-0.07 [[ 0.92507794 0.3274612 0.19235374 -11.24133302] [ -0.31716271 0.94473312 -0.08298884 -5.16442081] [ -0.20889857 0.01576371 0.97781025 -0.0666891 ] [ 0. 0. 0. 1. ]] SLAMing on 277.052414037 meters Centerline goodness : 0.822587 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.17, Z:-0.07 [[ 9.23791060e-01 3.29924171e-01 1.94319628e-01 -1.12429114e+01] [-3.20699927e-01 9.43956360e-01 -7.80893541e-02 -5.16655119e+00] [-2.09192814e-01 9.81995672e-03 9.77825104e-01 -6.86134042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.082414037 meters Centerline goodness : 0.823458 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.17, Z:-0.07 [[ 9.23631418e-01 3.30626323e-01 1.93884598e-01 -1.12409513e+01] [-3.21776376e-01 9.43726102e-01 -7.64264936e-02 -5.16733983e+00] [-2.08242567e-01 8.20242726e-03 9.78042818e-01 -6.99228868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112414037 meters Centerline goodness : 0.824611 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.17, Z:-0.07 [[ 9.23591993e-01 3.30677783e-01 1.93984625e-01 -1.12409642e+01] [-3.21887912e-01 9.43710767e-01 -7.61456572e-02 -5.16756716e+00] [-2.08245056e-01 7.88621351e-03 9.78044889e-01 -7.02995235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.142414037 meters Centerline goodness : 0.823597 Centerline is valid? [False, False] Translation: X:-11.24, Y:-5.17, Z:-0.07 [[ 9.23671529e-01 3.30304837e-01 1.94241141e-01 -1.12419035e+01] [-3.21567332e-01 9.43843708e-01 -7.58518682e-02 -5.16809688e+00] [-2.08387518e-01 7.60060554e-03 9.78016806e-01 -7.05743999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172414037 meters Centerline goodness : 0.823357 Centerline is valid? [False, False] Translation: X:-11.23, Y:-5.18, Z:-0.09 [[ 0.92532805 0.32702032 0.19190026 -11.23149805] [ -0.32303967 0.94492327 -0.05258694 -5.17663573] [ -0.19852802 -0.01333122 0.98000454 -0.08973512] [ 0. 0. 0. 1. ]] SLAMing on 277.202414037 meters Centerline goodness : 0.823767 Centerline is valid? [False, False] Translation: X:-11.23, Y:-5.18, Z:-0.09 [[ 0.92645237 0.32480448 0.19023159 -11.22866942] [ -0.32085064 0.94569514 -0.05211111 -5.1774538 ] [ -0.19682701 -0.01275747 0.98035523 -0.08993534] [ 0. 0. 0. 1. ]] SLAMing on 277.23241403699996 meters Centerline goodness : 0.824408 Centerline is valid? [False, False] Translation: X:-11.23, Y:-5.18, Z:-0.09 [[ 0.92747773 0.32266785 0.18886639 -11.22539212] [ -0.31901468 0.94641446 -0.05029217 -5.17895075] [ -0.19497355 -0.01360628 0.98071412 -0.09145932] [ 0. 0. 0. 1. ]] SLAMing on 277.262414037 meters Centerline goodness : 0.825282 Centerline is valid? [False, False] Translation: X:-11.22, Y:-5.18, Z:-0.09 [[ 0.93012813 0.3163929 0.18643279 -11.22149872] [ -0.31288642 0.94853918 -0.04873925 -5.18138809] [ -0.19225956 -0.01299854 0.98125802 -0.09156614] [ 0. 0. 0. 1. ]] SLAMing on 277.29241403699996 meters Centerline goodness : 0.825912 Centerline is valid? [False, False] Translation: X:-11.22, Y:-5.18, Z:-0.09 [[ 9.31587647e-01 3.07479716e-01 1.93908949e-01 -1.12190517e+01] [-3.02053274e-01 9.51542494e-01 -5.77122305e-02 -5.17685059e+00] [-2.02257945e-01 -4.80683188e-03 9.79320488e-01 -9.18214169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.322414037 meters Centerline goodness : 0.827766 Centerline is valid? [False, False] Translation: X:-11.22, Y:-5.18, Z:-0.09 [[ 9.33513340e-01 3.02594895e-01 1.92325696e-01 -1.12189183e+01] [-2.96585969e-01 9.53118718e-01 -6.00122630e-02 -5.17799857e+00] [-2.01468626e-01 -1.01885498e-03 9.79494438e-01 -8.96603986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35241403699996 meters Centerline goodness : 0.827766 Centerline is valid? [False, False] Translation: X:-11.22, Y:-5.18, Z:-0.09 [[ 9.33513340e-01 3.02594895e-01 1.92325696e-01 -1.12189183e+01] [-2.96585969e-01 9.53118718e-01 -6.00122630e-02 -5.17799857e+00] [-2.01468626e-01 -1.01885498e-03 9.79494438e-01 -8.96603986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.382414037 meters Centerline goodness : 0.829268 Centerline is valid? [False, False] Translation: X:-11.21, Y:-5.17, Z:-0.09 [[ 9.34806706e-01 2.94657947e-01 1.98275354e-01 -1.12139933e+01] [-2.86424558e-01 9.55566431e-01 -6.96689941e-02 -5.17297632e+00] [-2.09993795e-01 8.33611224e-03 9.77667180e-01 -9.08018431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41241403699996 meters Centerline goodness : 0.829030 Centerline is valid? [False, False] Translation: X:-11.21, Y:-5.17, Z:-0.09 [[ 0.93612673 0.29161173 0.19654348 -11.21323899] [ -0.28268284 0.95645527 -0.0726893 -5.17262121] [ -0.2091821 0.01248693 0.97779698 -0.08863482] [ 0. 0. 0. 1. ]] SLAMing on 277.442414037 meters Centerline goodness : 0.827582 Centerline is valid? [False, False] Translation: X:-11.21, Y:-5.17, Z:-0.09 [[ 0.93798254 0.28685677 0.19468425 -11.21227019] [ -0.27740731 0.95783755 -0.07478248 -5.17373646] [ -0.20792775 0.01613783 0.97801105 -0.08742661] [ 0. 0. 0. 1. ]] SLAMing on 277.47241403699996 meters Centerline goodness : 0.828165 Centerline is valid? [False, False] Translation: X:-11.21, Y:-5.17, Z:-0.08 [[ 0.93938018 0.28339943 0.19300164 -11.21179242] [ -0.27317593 0.9587769 -0.07824171 -5.17254598] [ -0.20721917 0.02077531 0.97807392 -0.08481577] [ 0. 0. 0. 1. ]] SLAMing on 277.502414037 meters Centerline goodness : 0.828360 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.17, Z:-0.09 [[ 0.9419824 0.2724158 0.19610912 -11.20487936] [ -0.2622238 0.96195425 -0.07669878 -5.17187674] [ -0.20954196 0.02082442 0.97757788 -0.08980296] [ 0. 0. 0. 1. ]] SLAMing on 277.53241403699997 meters Centerline goodness : 0.828033 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.17, Z:-0.09 [[ 0.94384651 0.26489186 0.19744893 -11.19326823] [ -0.25468017 0.96404156 -0.07590709 -5.17194001] [ -0.21045614 0.02135832 0.97736996 -0.09484911] [ 0. 0. 0. 1. ]] SLAMing on 277.562414037 meters Centerline goodness : 0.831847 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.17, Z:-0.09 [[ 0.94511187 0.26153391 0.19586618 -11.19274798] [ -0.25039029 0.96482614 -0.08009508 -5.16992045] [ -0.20992439 0.02665582 0.97735419 -0.09260431] [ 0. 0. 0. 1. ]] SLAMing on 277.59241403699997 meters Centerline goodness : 0.826214 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.17, Z:-0.09 [[ 0.94678562 0.25691293 0.19388847 -11.19221619] [ -0.24481896 0.9658908 -0.08437203 -5.16771134] [ -0.20895136 0.03241465 0.97738867 -0.08953262] [ 0. 0. 0. 1. ]] SLAMing on 277.622414037 meters Centerline goodness : 0.826683 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.16, Z:-0.09 [[ 0.94858319 0.25218471 0.19129243 -11.19003149] [ -0.23957491 0.96699033 -0.0867961 -5.16493844] [ -0.20686658 0.03650445 0.97768791 -0.08713141] [ 0. 0. 0. 1. ]] SLAMing on 277.65241403699997 meters Centerline goodness : 0.826642 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.16, Z:-0.09 [[ 0.94871975 0.2515289 0.19147859 -11.19085707] [ -0.23888395 0.96715476 -0.08686845 -5.16458631] [ -0.20703936 0.03667265 0.97764504 -0.08729392] [ 0. 0. 0. 1. ]] SLAMing on 277.682414037 meters Centerline goodness : 0.823267 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.16, Z:-0.09 [[ 0.9489822 0.25007969 0.19207535 -11.19298415] [ -0.2373035 0.96750981 -0.08724574 -5.16282397] [ -0.20765317 0.0372145 0.97749437 -0.08736591] [ 0. 0. 0. 1. ]] SLAMing on 277.712414037 meters Centerline goodness : 0.822108 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.16, Z:-0.09 [[ 0.94910272 0.24956445 0.19214996 -11.19342069] [ -0.23672248 0.96762969 -0.08749428 -5.16209839] [ -0.20776547 0.03755484 0.97745749 -0.08734232] [ 0. 0. 0. 1. ]] SLAMing on 277.742414037 meters Centerline goodness : 0.821169 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.94959373 0.24762965 0.19222724 -11.19556733] [ -0.23454651 0.96807383 -0.08843642 -5.16041419] [ -0.20798964 0.03889244 0.9773575 -0.08621417] [ 0. 0. 0. 1. ]] SLAMing on 277.772414037 meters Centerline goodness : 0.823343 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.94973885 0.24689133 0.19245981 -11.19667646] [ -0.23374573 0.96825091 -0.08861773 -5.16003902] [ -0.20822834 0.03917704 0.97729531 -0.08612249] [ 0. 0. 0. 1. ]] SLAMing on 277.802414037 meters Centerline goodness : 0.821566 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95018987 0.24487148 0.19281384 -11.19937462] [ -0.23154395 0.96872476 -0.08921741 -5.15906011] [ -0.20863034 0.0401286 0.97717096 -0.08558583] [ 0. 0. 0. 1. ]] SLAMing on 277.832414037 meters Centerline goodness : 0.822940 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95031767 0.24418617 0.19305293 -11.20041782] [ -0.2308534 0.96889738 -0.08913239 -5.15920154] [ -0.20881337 0.04013716 0.97713151 -0.08586864] [ 0. 0. 0. 1. ]] SLAMing on 277.862414037 meters Centerline goodness : 0.823860 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95044887 0.24353023 0.19323555 -11.20146889] [ -0.23015708 0.96905446 -0.08922539 -5.15950842] [ -0.20898485 0.04032964 0.97708692 -0.08583927] [ 0. 0. 0. 1. ]] SLAMing on 277.892414037 meters Centerline goodness : 0.823603 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95053875 0.24302258 0.19343247 -11.20223763] [ -0.22969452 0.9691914 -0.08892949 -5.16004105] [ -0.20908496 0.04010055 0.97707493 -0.08637746] [ 0. 0. 0. 1. ]] SLAMing on 277.922414037 meters Centerline goodness : 0.814365 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95086889 0.24151778 0.1936944 -11.20422422] [ -0.22812323 0.96955133 -0.0890506 -5.1597982 ] [ -0.20930397 0.04048925 0.97701201 -0.08643539] [ 0. 0. 0. 1. ]] SLAMing on 277.952414037 meters Centerline goodness : 0.815337 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95094177 0.24124303 0.19367901 -11.20436324] [ -0.22786533 0.96962123 -0.08894975 -5.15993923] [ -0.20925379 0.0404533 0.97702425 -0.08671928] [ 0. 0. 0. 1. ]] SLAMing on 277.98241403699996 meters Centerline goodness : 0.819076 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95095827 0.24121691 0.19363048 -11.2040731 ] [ -0.22787874 0.96963434 -0.08877232 -5.16021697] [ -0.20916415 0.04029451 0.97705 -0.08726519] [ 0. 0. 0. 1. ]] SLAMing on 278.012414037 meters Centerline goodness : 0.818805 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.9509988 0.24116937 0.19349062 -11.20348346] [ -0.22785986 0.96964892 -0.0886615 -5.15963197] [ -0.20900041 0.04022824 0.97708777 -0.08775846] [ 0. 0. 0. 1. ]] SLAMing on 278.04241403699996 meters Centerline goodness : 0.812862 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95096672 0.24126691 0.1935267 -11.20307649] [ -0.22804282 0.96964217 -0.088264 -5.15955074] [ -0.20894683 0.03980375 0.97711662 -0.08865895] [ 0. 0. 0. 1. ]] SLAMing on 278.072414037 meters Centerline goodness : 0.814809 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.9509546 0.24150501 0.19328908 -11.20204978] [ -0.22830558 0.96958465 -0.08821662 -5.15875344] [ -0.20871488 0.03976102 0.97716793 -0.08899172] [ 0. 0. 0. 1. ]] SLAMing on 278.10241403699996 meters Centerline goodness : 0.813935 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95091404 0.24180757 0.19311029 -11.20112015] [ -0.228654 0.9695164 -0.08806421 -5.15863245] [ -0.20851819 0.03958606 0.97721702 -0.08953826] [ 0. 0. 0. 1. ]] SLAMing on 278.132414037 meters Centerline goodness : 0.812916 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95085299 0.24247142 0.19257779 -11.19898458] [ -0.22942253 0.96936454 -0.0877365 -5.15836303] [ -0.20795167 0.03924283 0.97735158 -0.09043036] [ 0. 0. 0. 1. ]] SLAMing on 278.16241403699996 meters Centerline goodness : 0.812916 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95085299 0.24247142 0.19257779 -11.19898458] [ -0.22942253 0.96936454 -0.0877365 -5.15836303] [ -0.20795167 0.03924283 0.97735158 -0.09043036] [ 0. 0. 0. 1. ]] SLAMing on 278.192414037 meters Centerline goodness : 0.751665 Centerline is valid? [False, False] Translation: X:-11.20, Y:-5.16, Z:-0.09 [[ 0.95074738 0.24354308 0.1917451 -11.19589779] [ -0.23058718 0.96910444 -0.08755646 -5.1578764 ] [ -0.2071448 0.03903012 0.97753142 -0.09105025] [ 0. 0. 0. 1. ]] SLAMing on 278.22241403699996 meters Centerline goodness : 0.745702 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.16, Z:-0.09 [[ 0.95064053 0.24441256 0.19116768 -11.19348291] [ -0.23163138 0.96891271 -0.08691981 -5.15830693] [ -0.20646909 0.03834906 0.97770132 -0.09237045] [ 0. 0. 0. 1. ]] SLAMing on 278.252414037 meters Centerline goodness : 0.743879 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.16, Z:-0.09 [[ 0.95038315 0.24613036 0.19024118 -11.18912494] [ -0.23353312 0.96850467 -0.08637697 -5.15797669] [ -0.20550947 0.0376636 0.97793012 -0.09399801] [ 0. 0. 0. 1. ]] SLAMing on 278.28241403699997 meters Centerline goodness : 0.787891 Centerline is valid? [False, False] Translation: X:-11.19, Y:-5.16, Z:-0.09 [[ 0.95029457 0.24701821 0.18953163 -11.18638647] [ -0.23453426 0.96829188 -0.08604948 -5.15784088] [ -0.20477773 0.03732069 0.97809675 -0.09497732] [ 0. 0. 0. 1. ]] SLAMing on 278.312414037 meters Centerline goodness : 0.793614 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:-0.10 [[ 0.95020106 0.24798517 0.18873609 -11.18341799] [ -0.23564224 0.9680619 -0.08560891 -5.15786236] [ -0.20393796 0.03687148 0.97828922 -0.09605452] [ 0. 0. 0. 1. ]] SLAMing on 278.34241403699997 meters Centerline goodness : 0.747016 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:-0.10 [[ 0.94900256 0.25181023 0.1896991 -11.18179825] [ -0.24049944 0.9672769 -0.0808419 -5.15884318] [ -0.20384837 0.03109664 0.97850848 -0.09834237] [ 0. 0. 0. 1. ]] SLAMing on 278.372414037 meters Centerline goodness : 0.799811 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:-0.10 [[ 0.94888628 0.25271591 0.18907538 -11.17932095] [ -0.24151288 0.96705256 -0.08050388 -5.15876985] [ -0.20319045 0.03072489 0.97865705 -0.09906408] [ 0. 0. 0. 1. ]] SLAMing on 278.40241403699997 meters Centerline goodness : 0.806955 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:-0.10 [[ 0.94868953 0.25418981 0.18808431 -11.17574102] [ -0.24303271 0.96666615 -0.08057077 -5.1583505 ] [ -0.202295 0.030726 0.9788425 -0.09886213] [ 0. 0. 0. 1. ]] SLAMing on 278.432414037 meters Centerline goodness : 0.800076 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:-0.10 [[ 0.94745395 0.25706192 0.19039479 -11.17785685] [ -0.24737493 0.96613371 -0.07342547 -5.16312733] [ -0.20282172 0.02246835 0.97895788 -0.10174166] [ 0. 0. 0. 1. ]] SLAMing on 278.462414037 meters Centerline goodness : 0.809633 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:-0.10 [[ 0.94717034 0.25814599 0.19033915 -11.17676408] [ -0.2484552 0.96584674 -0.07355329 -5.16339637] [ -0.20282594 0.02237674 0.9789591 -0.10263658] [ 0. 0. 0. 1. ]] SLAMing on 278.492414037 meters Centerline goodness : 0.813051 Centerline is valid? [False, False] Translation: X:-11.18, Y:-5.16, Z:-0.10 [[ 0.94705175 0.25871413 0.19015779 -11.17601547] [ -0.24893227 0.96568459 -0.07406746 -5.16326822] [ -0.20279474 0.02280931 0.97895558 -0.10258995] [ 0. 0. 0. 1. ]] SLAMing on 278.522414037 meters Centerline goodness : 0.809601 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:-0.10 [[ 0.94697594 0.25924245 0.18981548 -11.1745755 ] [ -0.24968287 0.96556593 -0.0730815 -5.16378362] [ -0.20222518 0.02181275 0.9790961 -0.10332188] [ 0. 0. 0. 1. ]] SLAMing on 278.552414037 meters Centerline goodness : 0.812669 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:-0.10 [[ 0.9468659 0.2599244 0.18943143 -11.17349748] [ -0.25030061 0.96537421 -0.07349993 -5.16353402] [ -0.20197665 0.02217977 0.97913916 -0.10303203] [ 0. 0. 0. 1. ]] SLAMing on 278.582414037 meters Centerline goodness : 0.811248 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.17, Z:-0.11 [[ 0.94583159 0.26326124 0.18998982 -11.17165861] [ -0.2548135 0.96459266 -0.0680521 -5.16578663] [ -0.20117826 0.01595386 0.97942472 -0.10532 ] [ 0. 0. 0. 1. ]] SLAMing on 278.612414037 meters Centerline goodness : 0.815956 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:-0.10 [[ 0.94574107 0.26409575 0.18928089 -11.17018353] [ -0.25552682 0.96435216 -0.06878189 -5.16458188] [ -0.20069845 0.01668352 0.979511 -0.10415968] [ 0. 0. 0. 1. ]] SLAMing on 278.642414037 meters Centerline goodness : 0.819129 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.17, Z:-0.11 [[ 9.44946446e-01 2.66556743e-01 1.89799149e-01 -1.11683186e+01] [-2.59108884e-01 9.63758428e-01 -6.35002209e-02 -5.16645455e+00] [-1.99846941e-01 1.08256624e-02 9.79767322e-01 -1.07258849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.672414037 meters Centerline goodness : 0.817313 Centerline is valid? [False, False] Translation: X:-11.17, Y:-5.16, Z:-0.11 [[ 9.44378587e-01 2.68685361e-01 1.89624001e-01 -1.11666793e+01] [-2.61185289e-01 9.63166456e-01 -6.39736117e-02 -5.16439334e+00] [-1.99828250e-01 1.08883094e-02 9.79770440e-01 -1.08135947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.702414037 meters Centerline goodness : 0.819323 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.16, Z:-0.11 [[ 9.44130831e-01 2.69887137e-01 1.89150488e-01 -1.11645395e+01] [-2.62576379e-01 9.62840143e-01 -6.31862713e-02 -5.16473759e+00] [-1.99174845e-01 9.98965647e-03 9.79913051e-01 -1.10026275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73241403699996 meters Centerline goodness : 0.817775 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.17, Z:-0.11 [[ 9.42843186e-01 2.73637003e-01 1.90182853e-01 -1.11629673e+01] [-2.67229045e-01 9.61820687e-01 -5.90728644e-02 -5.16666724e+00] [-1.99086324e-01 4.87406534e-03 9.79969836e-01 -1.14741516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.762414037 meters Centerline goodness : 0.791196 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.17, Z:-0.12 [[ 9.41981143e-01 2.76358974e-01 1.90518355e-01 -1.11604145e+01] [-2.70997366e-01 9.61054297e-01 -5.41762523e-02 -5.16895039e+00] [-1.98070577e-01 -5.96964327e-04 9.80187579e-01 -1.18726631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79241403699996 meters Centerline goodness : 0.795296 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.17, Z:-0.12 [[ 9.41446318e-01 2.78154326e-01 1.90549208e-01 -1.11601270e+01] [-2.72765083e-01 9.60536162e-01 -5.44930376e-02 -5.16872472e+00] [-1.98186879e-01 -6.72901095e-04 9.80164021e-01 -1.18330677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.822414037 meters Centerline goodness : 0.794867 Centerline is valid? [False, False] Translation: X:-11.16, Y:-5.17, Z:-0.12 [[ 9.39826591e-01 2.82937277e-01 1.91500591e-01 -1.11576788e+01] [-2.78770070e-01 9.59109963e-01 -4.89420736e-02 -5.17028506e+00] [-1.97517662e-01 -7.38757113e-03 9.80271491e-01 -1.22564509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85241403699996 meters Centerline goodness : 0.793101 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.17, Z:-0.13 [[ 0.93909884 0.28545334 0.19133679 -11.15479706] [ -0.28204943 0.95832552 -0.0453908 -5.17148492] [ -0.19631988 -0.01133999 0.98047433 -0.12557561] [ 0. 0. 0. 1. ]] SLAMing on 278.882414037 meters Centerline goodness : 0.790756 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.18, Z:-0.13 [[ 0.93846858 0.29507832 0.17945895 -11.14893637] [ -0.29361727 0.95527217 -0.03527006 -5.17942311] [ -0.18183957 -0.01959241 0.98313301 -0.1258682 ] [ 0. 0. 0. 1. ]] SLAMing on 278.91241403699996 meters Centerline goodness : 0.791187 Centerline is valid? [False, False] Translation: X:-11.15, Y:-5.18, Z:-0.13 [[ 0.93831298 0.29596808 0.17880615 -11.14653522] [ -0.29461133 0.95498629 -0.03471817 -5.18054368] [ -0.18103289 -0.02010181 0.98327159 -0.12677677] [ 0. 0. 0. 1. ]] SLAMing on 278.942414037 meters Centerline goodness : 0.793509 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.18, Z:-0.13 [[ 0.93814855 0.29687904 0.17815764 -11.14408339] [ -0.29564943 0.95468987 -0.03403913 -5.18168967] [ -0.1801908 -0.02073844 0.98341303 -0.12789304] [ 0. 0. 0. 1. ]] SLAMing on 278.97241403699996 meters Centerline goodness : 0.790778 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.18, Z:-0.13 [[ 0.93769552 0.29885555 0.17723565 -11.13948454] [ -0.29783644 0.95404758 -0.03296473 -5.18335446] [ -0.17894294 -0.02187635 0.98361621 -0.1300397 ] [ 0. 0. 0. 1. ]] SLAMing on 279.002414037 meters Centerline goodness : 0.790621 Centerline is valid? [False, False] Translation: X:-11.14, Y:-5.18, Z:-0.13 [[ 0.93732718 0.30000351 0.17724463 -11.1372177 ] [ -0.29915207 0.95366356 -0.03215361 -5.18385577] [ -0.17867794 -0.02288464 0.98364144 -0.1314919 ] [ 0. 0. 0. 1. ]] SLAMing on 279.03241403699997 meters Centerline goodness : 0.789238 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.18, Z:-0.13 [[ 0.93716477 0.30094607 0.17650399 -11.13453331] [ -0.30014746 0.95336077 -0.03185513 -5.18432838] [ -0.17785865 -0.02312372 0.98378432 -0.13215194] [ 0. 0. 0. 1. ]] SLAMing on 279.062414037 meters Centerline goodness : 0.788850 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.18, Z:-0.13 [[ 0.93689378 0.30211166 0.17595054 -11.13184547] [ -0.30139696 0.95298069 -0.03142725 -5.18441994] [ -0.17717201 -0.02358696 0.98389722 -0.13274868] [ 0. 0. 0. 1. ]] SLAMing on 279.09241403699997 meters Centerline goodness : 0.790063 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.13 [[ 0.93676692 0.30288192 0.17530055 -11.12977577] [ -0.30219258 0.95273384 -0.03127108 -5.18502298] [ -0.17648621 -0.02368082 0.98401821 -0.13287222] [ 0. 0. 0. 1. ]] SLAMing on 279.122414037 meters Centerline goodness : 0.786790 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.13 [[ 0.9364383 0.30344008 0.17608928 -11.12934864] [ -0.30292382 0.95252753 -0.03047069 -5.18570511] [ -0.17697592 -0.02480772 0.98390249 -0.13402093] [ 0. 0. 0. 1. ]] SLAMing on 279.15241403699997 meters Centerline goodness : 0.783544 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.13 [[ 0.93628121 0.30416627 0.1756712 -11.12752108] [ -0.3036879 0.95229063 -0.03026911 -5.18607313] [ -0.17649688 -0.02500882 0.98398344 -0.13449333] [ 0. 0. 0. 1. ]] SLAMing on 279.182414037 meters Centerline goodness : 0.784772 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.14 [[ 0.93623925 0.30452712 0.17526923 -11.12621753] [ -0.30463062 0.95208824 -0.02698448 -5.18799462] [ -0.17508928 -0.02812845 0.98415067 -0.13534914] [ 0. 0. 0. 1. ]] SLAMing on 279.212414037 meters Centerline goodness : 0.786146 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.14 [[ 0.93620702 0.30481129 0.17494712 -11.12563187] [ -0.30494713 0.95199278 -0.02677672 -5.18922368] [ -0.17471024 -0.02828107 0.98421365 -0.13507131] [ 0. 0. 0. 1. ]] SLAMing on 279.242414037 meters Centerline goodness : 0.786146 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.14 [[ 0.93620702 0.30481129 0.17494712 -11.12563187] [ -0.30494713 0.95199278 -0.02677672 -5.18922368] [ -0.17471024 -0.02828107 0.98421365 -0.13507131] [ 0. 0. 0. 1. ]] SLAMing on 279.272414037 meters Centerline goodness : 0.784027 Centerline is valid? [False, False] Translation: X:-11.13, Y:-5.19, Z:-0.14 [[ 0.93595221 0.30530379 0.175451 -11.12518295] [ -0.3056116 0.95180285 -0.02593983 -5.19047288] [ -0.17491429 -0.02934142 0.98414637 -0.13613769] [ 0. 0. 0. 1. ]] SLAMing on 279.302414037 meters Centerline goodness : 0.786726 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.19, Z:-0.14 [[ 0.93582983 0.30584277 0.17516485 -11.12394072] [ -0.30626394 0.9516103 -0.025303 -5.19191282] [ -0.17442741 -0.02996737 0.98421392 -0.13683949] [ 0. 0. 0. 1. ]] SLAMing on 279.332414037 meters Centerline goodness : 0.786711 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.19, Z:-0.14 [[ 0.93573818 0.30623135 0.17497548 -11.12295278] [ -0.30672236 0.95147295 -0.02491222 -5.19292868] [ -0.17411334 -0.03035758 0.98425757 -0.13734393] [ 0. 0. 0. 1. ]] SLAMing on 279.362414037 meters Centerline goodness : 0.785874 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.19, Z:-0.14 [[ 0.93622648 0.30557327 0.17350778 -11.11907973] [ -0.30630099 0.95165103 -0.02323824 -5.19368439] [ -0.17221984 -0.03138935 0.98455829 -0.13947508] [ 0. 0. 0. 1. ]] SLAMing on 279.392414037 meters Centerline goodness : 0.786148 Centerline is valid? [False, False] Translation: X:-11.12, Y:-5.19, Z:-0.14 [[ 0.93702709 0.30389747 0.17212369 -11.11604124] [ -0.30459925 0.95220348 -0.02297469 -5.19456031] [ -0.17087873 -0.03090085 0.98480739 -0.14140223] [ 0. 0. 0. 1. ]] SLAMing on 279.422414037 meters Centerline goodness : 0.786120 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.20, Z:-0.14 [[ 0.93770712 0.30271455 0.17049708 -11.11363076] [ -0.30335917 0.9526011 -0.02289868 -5.19568983] [ -0.16934747 -0.0302496 0.98509208 -0.14120678] [ 0. 0. 0. 1. ]] SLAMing on 279.452414037 meters Centerline goodness : 0.787333 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.20, Z:-0.14 [[ 0.9383553 0.30125457 0.16951407 -11.11260611] [ -0.30178148 0.95309298 -0.02327458 -5.19619673] [ -0.16857425 -0.02931638 0.9852529 -0.14011338] [ 0. 0. 0. 1. ]] SLAMing on 279.48241403699996 meters Centerline goodness : 0.787754 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.20, Z:-0.14 [[ 0.93887364 0.30028652 0.16835763 -11.10930415] [ -0.30116775 0.95334228 -0.0208923 -5.19793711] [ -0.16677613 -0.03108866 0.98550455 -0.14157241] [ 0. 0. 0. 1. ]] SLAMing on 279.512414037 meters Centerline goodness : 0.787386 Centerline is valid? [False, False] Translation: X:-11.11, Y:-5.20, Z:-0.14 [[ 0.93958171 0.29835633 0.16783836 -11.10816774] [ -0.29931595 0.95394118 -0.02015391 -5.19795616] [ -0.16612097 -0.03130045 0.98560849 -0.14160047] [ 0. 0. 0. 1. ]] SLAMing on 279.54241403699996 meters Centerline goodness : 0.792569 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.19, Z:-0.14 [[ 0.9404946 0.29110072 0.17530056 -11.10386827] [ -0.29110635 0.95633007 -0.02626586 -5.19355026] [ -0.17529121 -0.02632821 0.98416453 -0.1432076 ] [ 0. 0. 0. 1. ]] SLAMing on 279.572414037 meters Centerline goodness : 0.791773 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.19, Z:-0.14 [[ 0.94085929 0.29045655 0.17440981 -11.10261934] [ -0.2904441 0.956534 -0.02617133 -5.19362838] [ -0.17443054 -0.02603276 0.98432529 -0.14207999] [ 0. 0. 0. 1. ]] SLAMing on 279.60241403699996 meters Centerline goodness : 0.791634 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.19, Z:-0.14 [[ 0.94145577 0.28298316 0.18325272 -11.1006743 ] [ -0.28156876 0.9589296 -0.03424996 -5.18603112] [ -0.18541862 -0.01935342 0.98246902 -0.14446368] [ 0. 0. 0. 1. ]] SLAMing on 279.632414037 meters Centerline goodness : 0.794556 Centerline is valid? [False, False] Translation: X:-11.10, Y:-5.19, Z:-0.14 [[ 0.94179969 0.28197034 0.18304666 -11.10037274] [ -0.28061554 0.9592245 -0.03381231 -5.18591688] [ -0.18511691 -0.01952131 0.98252259 -0.14412148] [ 0. 0. 0. 1. ]] SLAMing on 279.66241403699996 meters Centerline goodness : 0.796080 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.43538243e-01 2.72872631e-01 1.87819357e-01 -1.10940530e+01] [-2.69401272e-01 9.62009705e-01 -4.42750768e-02 -5.17910058e+00] [-1.92765501e-01 -8.82354541e-03 9.81205181e-01 -1.43792648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692414037 meters Centerline goodness : 0.794029 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.43956315e-01 2.72044570e-01 1.86917703e-01 -1.10927738e+01] [-2.68617691e-01 9.62244895e-01 -4.39237834e-02 -5.18035629e+00] [-1.91809832e-01 -8.74726892e-03 9.81393129e-01 -1.43590185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72241403699996 meters Centerline goodness : 0.799180 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.44959295e-01 2.69323991e-01 1.85786220e-01 -1.10925556e+01] [-2.65031437e-01 9.63041985e-01 -4.80465723e-02 -5.17869001e+00] [-1.91860025e-01 -3.83713384e-03 9.81414799e-01 -1.42355221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752414037 meters Centerline goodness : 0.800298 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.45221930e-01 2.68700413e-01 1.85352614e-01 -1.10921931e+01] [-2.64353077e-01 9.63217855e-01 -4.82578017e-02 -5.17877708e+00] [-1.91501839e-01 -3.38420145e-03 9.81486420e-01 -1.41670819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78241403699997 meters Centerline goodness : 0.799994 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.45429321e-01 2.68352735e-01 1.84797752e-01 -1.10915687e+01] [-2.64040322e-01 9.63314788e-01 -4.80346541e-02 -5.17906379e+00] [-1.90908638e-01 -3.38068759e-03 9.81601988e-01 -1.40649357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812414037 meters Centerline goodness : 0.800192 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.45772704e-01 2.67724564e-01 1.83949860e-01 -1.10903707e+01] [-2.63519798e-01 9.63488605e-01 -4.74027823e-02 -5.17907616e+00] [-1.89924483e-01 -3.64217226e-03 9.81791946e-01 -1.39318898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84241403699997 meters Centerline goodness : 0.802859 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.45978216e-01 2.67433592e-01 1.83315269e-01 -1.10895344e+01] [-2.63259946e-01 9.63569538e-01 -4.72011347e-02 -5.17949247e+00] [-1.89260178e-01 -3.60832251e-03 9.81920346e-01 -1.38362070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872414037 meters Centerline goodness : 0.800318 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.46366691e-01 2.66608531e-01 1.82510212e-01 -1.10887363e+01] [-2.62532218e-01 9.63797354e-01 -4.65993123e-02 -5.18054119e+00] [-1.88326633e-01 -3.81477372e-03 9.82099041e-01 -1.37040342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90241403699997 meters Centerline goodness : 0.804403 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.14 [[ 9.46663565e-01 2.66051479e-01 1.81782026e-01 -1.10873061e+01] [-2.62170231e-01 9.63947961e-01 -4.55093133e-02 -5.18204033e+00] [-1.87336233e-01 -4.57582690e-03 9.82285192e-01 -1.37441017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932414037 meters Centerline goodness : 0.804891 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.13 [[ 9.47721765e-01 2.63347629e-01 1.80198452e-01 -1.10867690e+01] [-2.58641296e-01 9.64700933e-01 -4.95660053e-02 -5.18032103e+00] [-1.86890705e-01 3.68020844e-04 9.82380644e-01 -1.34948963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962414037 meters Centerline goodness : 0.809546 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.13 [[ 9.48990088e-01 2.60034842e-01 1.78324687e-01 -1.10858940e+01] [-2.54563467e-01 9.65585224e-01 -5.33161963e-02 -5.17997249e+00] [-1.86051751e-01 5.20159133e-03 9.82526177e-01 -1.32485938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992414037 meters Centerline goodness : 0.808813 Centerline is valid? [False, False] Translation: X:-11.09, Y:-5.18, Z:-0.13 [[ 9.49254135e-01 2.59282201e-01 1.78014967e-01 -1.10859070e+01] [-2.53930319e-01 9.65789927e-01 -5.26232868e-02 -5.18127457e+00] [-1.85569343e-01 4.74947521e-03 9.82619693e-01 -1.32113971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022414037 meters Centerline goodness : 0.811576 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.18, Z:-0.13 [[ 9.50698756e-01 2.55426991e-01 1.75866223e-01 -1.10842486e+01] [-2.49529782e-01 9.66789724e-01 -5.52495903e-02 -5.17999442e+00] [-1.84137894e-01 8.64185655e-03 9.82862429e-01 -1.30114002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.052414037 meters Centerline goodness : 0.812759 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.18, Z:-0.13 [[ 0.95179015 0.2524456 0.17426053 -11.08303908] [ -0.24583494 0.96752082 -0.05889513 -5.17708426] [ -0.18346851 0.01321648 0.98293674 -0.12826142] [ 0. 0. 0. 1. ]] SLAMing on 280.082414037 meters Centerline goodness : 0.812798 Centerline is valid? [False, False] Translation: X:-11.08, Y:-5.18, Z:-0.13 [[ 0.95194414 0.25215367 0.17384155 -11.08210054] [ -0.24579761 0.96761234 -0.05753174 -5.178511 ] [ -0.18271807 0.01203716 0.98309166 -0.12858907] [ 0. 0. 0. 1. ]] SLAMing on 280.112414037 meters Centerline goodness : 0.814652 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95365602 0.24575664 0.17361988 -11.06846721] [ -0.23933922 0.969243 -0.05731269 -5.17747487] [ -0.18236483 0.01310255 0.98314363 -0.13150123] [ 0. 0. 0. 1. ]] SLAMing on 280.142414037 meters Centerline goodness : 0.815329 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95370203 0.24547645 0.17376349 -11.06919103] [ -0.23904947 0.96931354 -0.05732898 -5.17758577] [ -0.18250422 0.01313669 0.98311731 -0.13119269] [ 0. 0. 0. 1. ]] SLAMing on 280.172414037 meters Centerline goodness : 0.818659 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95387057 0.24504857 0.17344202 -11.06985123] [ -0.23850594 0.96941117 -0.05793883 -5.17557174] [ -0.18233446 0.01389919 0.98313832 -0.12774412] [ 0. 0. 0. 1. ]] SLAMing on 280.202414037 meters Centerline goodness : 0.818244 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95385799 0.24530389 0.17315003 -11.0691006 ] [ -0.23876874 0.96934619 -0.05794354 -5.17542156] [ -0.1820561 0.01392709 0.98318951 -0.12754786] [ 0. 0. 0. 1. ]] SLAMing on 280.23241403699996 meters Centerline goodness : 0.818068 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95384317 0.24550867 0.17294132 -11.06855663] [ -0.23901656 0.96929696 -0.057745 -5.17562805] [ -0.18180839 0.01374383 0.98323792 -0.12755936] [ 0. 0. 0. 1. ]] SLAMing on 280.262414037 meters Centerline goodness : 0.820280 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95378352 0.24591834 0.17268804 -11.06750447] [ -0.23950794 0.96919866 -0.05735774 -5.17620323] [ -0.18147434 0.01334671 0.98330511 -0.1281461 ] [ 0. 0. 0. 1. ]] SLAMing on 280.29241403699996 meters Centerline goodness : 0.818553 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95368927 0.24647915 0.17240885 -11.06624063] [ -0.24025949 0.96906931 -0.05639199 -5.17777337] [ -0.18097557 0.01235757 0.98340995 -0.12947483] [ 0. 0. 0. 1. ]] SLAMing on 280.322414037 meters Centerline goodness : 0.820884 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.18, Z:-0.13 [[ 0.95361059 0.24690967 0.17222792 -11.06522369] [ -0.24081829 0.96896808 -0.05574423 -5.17886512] [ -0.18064714 0.01168265 0.98347858 -0.13055371] [ 0. 0. 0. 1. ]] SLAMing on 280.35241403699996 meters Centerline goodness : 0.819267 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 9.53463207e-01 2.47721070e-01 1.71878401e-01 -1.10632539e+01] [-2.41913080e-01 9.68777858e-01 -5.42910946e-02 -5.18115617e+00] [-1.79961037e-01 1.01849278e-02 9.83621010e-01 -1.33091151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.382414037 meters Centerline goodness : 0.818099 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 9.53494459e-01 2.47664615e-01 1.71786366e-01 -1.10627501e+01] [-2.41832703e-01 9.68790567e-01 -5.44222531e-02 -5.18146939e+00] [-1.79903477e-01 1.03477556e-02 9.83629840e-01 -1.33834469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41241403699996 meters Centerline goodness : 0.817623 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.14 [[ 9.53592136e-01 2.47630052e-01 1.71293305e-01 -1.10611995e+01] [-2.42090628e-01 9.68813580e-01 -5.28429226e-02 -5.18285957e+00] [-1.79036775e-01 8.92209183e-03 9.83801926e-01 -1.35077951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442414037 meters Centerline goodness : 0.815888 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.9541432 0.2459487 0.17064578 -11.06129982] [ -0.23954578 0.96918226 -0.05747658 -5.18084747] [ -0.17952315 0.01396341 0.98365465 -0.13382153] [ 0. 0. 0. 1. ]] SLAMing on 280.47241403699996 meters Centerline goodness : 0.816372 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95419467 0.24572039 0.17068688 -11.06158576] [ -0.23934576 0.96924221 -0.05729866 -5.18103852] [ -0.17951638 0.0138209 0.98365789 -0.13355111] [ 0. 0. 0. 1. ]] SLAMing on 280.502414037 meters Centerline goodness : 0.817350 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95424398 0.24539055 0.17088565 -11.06235108] [ -0.23892351 0.96931899 -0.05776027 -5.18062799] [ -0.17981653 0.01428879 0.98359638 -0.13290118] [ 0. 0. 0. 1. ]] SLAMing on 280.53241403699997 meters Centerline goodness : 0.814857 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95447884 0.2445582 0.17076721 -11.06328521] [ -0.23805328 0.96952442 -0.05790534 -5.18039316] [ -0.1797242 0.01461773 0.98360842 -0.13083795] [ 0. 0. 0. 1. ]] SLAMing on 280.562414037 meters Centerline goodness : 0.817822 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95470475 0.2439239 0.17041116 -11.06340972] [ -0.23740935 0.96968065 -0.0579331 -5.18060321] [ -0.17937567 0.0148518 0.98366854 -0.12953019] [ 0. 0. 0. 1. ]] SLAMing on 280.59241403699997 meters Centerline goodness : 0.819899 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95489715 0.24327216 0.17026475 -11.06372432] [ -0.23679031 0.9698453 -0.05770994 -5.18142023] [ -0.17916969 0.01479002 0.98370701 -0.12891068] [ 0. 0. 0. 1. ]] SLAMing on 280.622414037 meters Centerline goodness : 0.813773 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95612003 0.23955538 0.16866449 -11.06339408] [ -0.23226801 0.97067487 -0.06198277 -5.18037245] [ -0.17856669 0.0200876 0.98372274 -0.12671401] [ 0. 0. 0. 1. ]] SLAMing on 280.65241403699997 meters Centerline goodness : 0.812547 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95642331 0.23850352 0.16843553 -11.06349526] [ -0.23137917 0.97094805 -0.06102096 -5.18184697] [ -0.17809587 0.0193894 0.98382209 -0.12716889] [ 0. 0. 0. 1. ]] SLAMing on 280.682414037 meters Centerline goodness : 0.812037 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.13 [[ 0.95770976 0.23445941 0.16679569 -11.06276385] [ -0.22663789 0.97182441 -0.06475022 -5.18141282] [ -0.17727742 0.0242097 0.9838631 -0.12613484] [ 0. 0. 0. 1. ]] SLAMing on 280.712414037 meters Centerline goodness : 0.811665 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.9588575 0.23092449 0.16512474 -11.06188945] [ -0.22226363 0.97251414 -0.06939109 -5.17954708] [ -0.17661024 0.02983494 0.98382859 -0.12418148] [ 0. 0. 0. 1. ]] SLAMing on 280.742414037 meters Centerline goodness : 0.808562 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.95907061 0.23036174 0.16467251 -11.06125948] [ -0.22180146 0.97265722 -0.06886247 -5.18095746] [ -0.17603318 0.02951937 0.98394153 -0.12464004] [ 0. 0. 0. 1. ]] SLAMing on 280.772414037 meters Centerline goodness : 0.808330 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.95918242 0.23005811 0.16444556 -11.06082861] [ -0.22147164 0.97272095 -0.06902373 -5.18103994] [ -0.17583911 0.02978632 0.98396818 -0.12488034] [ 0. 0. 0. 1. ]] SLAMing on 280.802414037 meters Centerline goodness : 0.809319 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.95926559 0.22968077 0.16448788 -11.06101818] [ -0.22100162 0.97279358 -0.06950497 -5.17973204] [ -0.17597671 0.03032164 0.98392723 -0.12466659] [ 0. 0. 0. 1. ]] SLAMing on 280.832414037 meters Centerline goodness : 0.811479 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.9594937 0.22897593 0.16413978 -11.06109816] [ -0.22018212 0.9729329 -0.07015276 -5.17827374] [ -0.17576028 0.03117048 0.98393939 -0.12331697] [ 0. 0. 0. 1. ]] SLAMing on 280.862414037 meters Centerline goodness : 0.812467 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.95984243 0.22752909 0.16411286 -11.06313743] [ -0.21855921 0.97323514 -0.07102981 -5.17726438] [ -0.17588175 0.03230905 0.98388096 -0.12119538] [ 0. 0. 0. 1. ]] SLAMing on 280.892414037 meters Centerline goodness : 0.812145 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.95987314 0.22745722 0.16403284 -11.06300734] [ -0.21847293 0.97324794 -0.07111974 -5.17687633] [ -0.17582132 0.0324292 0.9838878 -0.12108439] [ 0. 0. 0. 1. ]] SLAMing on 280.922414037 meters Centerline goodness : 0.812445 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.18, Z:-0.12 [[ 0.95993328 0.22729847 0.16390091 -11.0626921 ] [ -0.21825452 0.97327158 -0.07146612 -5.17598112] [ -0.17576423 0.03283059 0.98388469 -0.12102271] [ 0. 0. 0. 1. ]] SLAMing on 280.952414037 meters Centerline goodness : 0.811164 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.17, Z:-0.12 [[ 0.96000044 0.22709034 0.16379602 -11.0621032 ] [ -0.21795274 0.97330028 -0.07199426 -5.17394026] [ -0.17577191 0.03341473 0.98386365 -0.12125016] [ 0. 0. 0. 1. ]] SLAMing on 280.98241403699996 meters Centerline goodness : 0.812681 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.17, Z:-0.12 [[ 0.96003275 0.22711755 0.16356876 -11.06118655] [ -0.2179503 0.97328511 -0.07220635 -5.17280944] [ -0.17559837 0.0336706 0.98388592 -0.12164302] [ 0. 0. 0. 1. ]] SLAMing on 281.012414037 meters Centerline goodness : 0.811214 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.17, Z:-0.12 [[ 0.96008192 0.22704439 0.16338163 -11.06031121] [ -0.21782843 0.9732898 -0.07251031 -5.17133904] [ -0.17548073 0.03402667 0.98389466 -0.12211747] [ 0. 0. 0. 1. ]] SLAMing on 281.04241403699996 meters Centerline goodness : 0.810521 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.17, Z:-0.12 [[ 0.96018747 0.22664271 0.16331901 -11.05966376] [ -0.21736184 0.97336832 -0.07285569 -5.16879661] [ -0.17548176 0.03445581 0.98387954 -0.1229235 ] [ 0. 0. 0. 1. ]] SLAMing on 281.072414037 meters Centerline goodness : 0.808236 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.17, Z:-0.12 [[ 0.96027436 0.22632535 0.16324826 -11.05955232] [ -0.21699635 0.9734304 -0.07311529 -5.16764021] [ -0.17545866 0.03478646 0.98387203 -0.12293527] [ 0. 0. 0. 1. ]] SLAMing on 281.10241403699996 meters Centerline goodness : 0.809089 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.17, Z:-0.12 [[ 0.96037005 0.2258531 0.16333934 -11.05998124] [ -0.2164612 0.97352712 -0.07341318 -5.16658704] [ -0.17559587 0.03514719 0.98383472 -0.12281372] [ 0. 0. 0. 1. ]] SLAMing on 281.132414037 meters Centerline goodness : 0.810918 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.16, Z:-0.12 [[ 0.96063543 0.22456026 0.1635612 -11.06162172] [ -0.21494436 0.97377894 -0.07452184 -5.16431848] [ -0.1760071 0.03643176 0.98371451 -0.12165219] [ 0. 0. 0. 1. ]] SLAMing on 281.16241403699996 meters Centerline goodness : 0.810918 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.16, Z:-0.12 [[ 0.96063543 0.22456026 0.1635612 -11.06162172] [ -0.21494436 0.97377894 -0.07452184 -5.16431848] [ -0.1760071 0.03643176 0.98371451 -0.12165219] [ 0. 0. 0. 1. ]] SLAMing on 281.192414037 meters Centerline goodness : 0.812717 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.16, Z:-0.12 [[ 0.96075023 0.22391084 0.16377708 -11.06269891] [ -0.21417366 0.97390403 -0.07510379 -5.16325113] [ -0.17631971 0.03707924 0.98363433 -0.12094832] [ 0. 0. 0. 1. ]] SLAMing on 281.22241403699996 meters Centerline goodness : 0.815504 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.16, Z:-0.12 [[ 0.96189089 0.22025908 0.16202423 -11.0635056 ] [ -0.20988929 0.97454715 -0.07876758 -5.15939765] [ -0.17524952 0.04175867 0.98363805 -0.11695667] [ 0. 0. 0. 1. ]] SLAMing on 281.252414037 meters Centerline goodness : 0.814808 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.16, Z:-0.12 [[ 0.96208512 0.21927465 0.16220617 -11.06534563] [ -0.20881277 0.974746 -0.07916735 -5.15950006] [ -0.1754692 0.04229501 0.98357597 -0.11580438] [ 0. 0. 0. 1. ]] SLAMing on 281.28241403699997 meters Centerline goodness : 0.817231 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.16, Z:-0.11 [[ 0.96223087 0.21866607 0.16216318 -11.06639623] [ -0.20811249 0.97485668 -0.07964704 -5.15935612] [ -0.17550197 0.04289066 0.98354433 -0.1143887 ] [ 0. 0. 0. 1. ]] SLAMing on 281.312414037 meters Centerline goodness : 0.819957 Centerline is valid? [False, False] Translation: X:-11.07, Y:-5.16, Z:-0.11 [[ 0.96221764 0.21904188 0.16173393 -11.06534785] [ -0.20849017 0.97476586 -0.07977072 -5.15901449] [ -0.17512584 0.04303686 0.98360499 -0.11386196] [ 0. 0. 0. 1. ]] SLAMing on 281.34241403699997 meters Centerline goodness : 0.817041 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.16, Z:-0.12 [[ 0.96202237 0.22032267 0.16115482 -11.06225682] [ -0.20997239 0.97452068 -0.07887358 -5.16011192] [ -0.17442635 0.04204008 0.98377237 -0.11610108] [ 0. 0. 0. 1. ]] SLAMing on 281.372414037 meters Centerline goodness : 0.814842 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.16, Z:-0.12 [[ 0.9618764 0.22121451 0.16080402 -11.06014981] [ -0.21105618 0.9743617 -0.0779395 -5.16174869] [ -0.17392263 0.04102948 0.98390421 -0.118194 ] [ 0. 0. 0. 1. ]] SLAMing on 281.40241403699997 meters Centerline goodness : 0.810516 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.16, Z:-0.12 [[ 0.9616017 0.22264252 0.16047576 -11.05706075] [ -0.21283639 0.97411788 -0.07612504 -5.16433301] [ -0.17327098 0.03904689 0.98409985 -0.12213806] [ 0. 0. 0. 1. ]] SLAMing on 281.432414037 meters Centerline goodness : 0.809895 Centerline is valid? [False, False] Translation: X:-11.06, Y:-5.17, Z:-0.12 [[ 0.96151743 0.22326222 0.16011936 -11.05544146] [ -0.21357769 0.97399961 -0.07556015 -5.16506943] [ -0.17282592 0.03845448 0.98420143 -0.1233049 ] [ 0. 0. 0. 1. ]] SLAMing on 281.462414037 meters Centerline goodness : 0.812553 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.16, Z:-0.12 [[ 0.96146821 0.22390078 0.15952216 -11.05379069] [ -0.21419506 0.97384045 -0.0758634 -5.16417747] [ -0.172335 0.03877139 0.98427508 -0.12240158] [ 0. 0. 0. 1. ]] SLAMing on 281.492414037 meters Centerline goodness : 0.814506 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.16, Z:-0.12 [[ 0.96146365 0.22410179 0.15926719 -11.05324942] [ -0.21435526 0.97378129 -0.07616974 -5.16362064] [ -0.17216119 0.03909468 0.98429271 -0.12160466] [ 0. 0. 0. 1. ]] SLAMing on 281.522414037 meters Centerline goodness : 0.813593 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.16, Z:-0.12 [[ 0.96148769 0.22413216 0.15907924 -11.05308335] [ -0.21434229 0.97376114 -0.07646324 -5.16312445] [ -0.17204305 0.03942106 0.98430034 -0.1208081 ] [ 0. 0. 0. 1. ]] SLAMing on 281.552414037 meters Centerline goodness : 0.815672 Centerline is valid? [False, False] Translation: X:-11.05, Y:-5.16, Z:-0.12 [[ 0.96148598 0.22424476 0.15893081 -11.05299956] [ -0.21447007 0.97373648 -0.07641899 -5.16347323] [ -0.17189329 0.03938989 0.98432776 -0.12030174] [ 0. 0. 0. 1. ]] SLAMing on 281.582414037 meters Centerline goodness : 0.817517 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.96211763 0.21833326 0.16327968 -11.04132747] [ -0.20851266 0.97512015 -0.075254 -5.16199624] [ -0.17564776 0.03835732 0.98370554 -0.12530952] [ 0. 0. 0. 1. ]] SLAMing on 281.612414037 meters Centerline goodness : 0.817577 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.96203185 0.21888998 0.16303954 -11.04032299] [ -0.20920445 0.97502286 -0.07459167 -5.16337513] [ -0.17529464 0.03765096 0.98379581 -0.12608447] [ 0. 0. 0. 1. ]] SLAMing on 281.642414037 meters Centerline goodness : 0.816148 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.96200598 0.21908785 0.16292638 -11.03963735] [ -0.2093527 0.97496664 -0.07490989 -5.16362116] [ -0.17525963 0.03795468 0.98379038 -0.12687925] [ 0. 0. 0. 1. ]] SLAMing on 281.672414037 meters Centerline goodness : 0.813222 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.96203589 0.21907769 0.16276334 -11.03862571] [ -0.20939219 0.97497687 -0.07466595 -5.16394728] [ -0.17504814 0.03774995 0.98383591 -0.12853684] [ 0. 0. 0. 1. ]] SLAMing on 281.702414037 meters Centerline goodness : 0.815261 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.96201697 0.21928063 0.16260182 -11.03726961] [ -0.20975942 0.97496448 -0.07379198 -5.16463229] [ -0.17471215 0.03688187 0.98392855 -0.13074449] [ 0. 0. 0. 1. ]] SLAMing on 281.73241403699996 meters Centerline goodness : 0.811723 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.96196749 0.21945097 0.16266477 -11.03642319] [ -0.20989467 0.97492044 -0.07398888 -5.16523525] [ -0.17482214 0.03703242 0.98390336 -0.1329864 ] [ 0. 0. 0. 1. ]] SLAMing on 281.762414037 meters Centerline goodness : 0.814437 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.96194643 0.2194431 0.16279988 -11.03651728] [ -0.20988881 0.97492481 -0.07394803 -5.16544771] [ -0.17494503 0.03696417 0.98388408 -0.13324375] [ 0. 0. 0. 1. ]] SLAMing on 281.79241403699996 meters Centerline goodness : 0.812586 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96298854 0.21142216 0.1671937 -11.02813714] [ -0.20184392 0.97672758 -0.07254147 -5.16279704] [ -0.17863957 0.03610958 0.98325175 -0.13792809] [ 0. 0. 0. 1. ]] SLAMing on 281.822414037 meters Centerline goodness : 0.817547 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96309857 0.21093878 0.16717047 -11.02902569] [ -0.20129459 0.97681639 -0.07287128 -5.16265299] [ -0.17866623 0.03653171 0.98323131 -0.1361537 ] [ 0. 0. 0. 1. ]] SLAMing on 281.85241403699996 meters Centerline goodness : 0.817977 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96307536 0.21092082 0.1673268 -11.02990198] [ -0.2013635 0.97684022 -0.07235968 -5.16377224] [ -0.17871371 0.03599431 0.9832425 -0.13501948] [ 0. 0. 0. 1. ]] SLAMing on 281.882414037 meters Centerline goodness : 0.814797 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96306202 0.21102868 0.1672676 -11.02975016] [ -0.20151959 0.97682614 -0.07211481 -5.1643948 ] [ -0.17860965 0.03574334 0.98327057 -0.13518963] [ 0. 0. 0. 1. ]] SLAMing on 281.91241403699996 meters Centerline goodness : 0.817125 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96305941 0.21092418 0.16741434 -11.02990234] [ -0.20147715 0.97686284 -0.07173534 -5.16458094] [ -0.17867156 0.03535523 0.98327335 -0.13562801] [ 0. 0. 0. 1. ]] SLAMing on 281.942414037 meters Centerline goodness : 0.818256 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.14 [[ 0.96297549 0.21133256 0.16738208 -11.02906783] [ -0.20210596 0.97681854 -0.07056003 -5.16576277] [ -0.17841356 0.03411866 0.98336388 -0.13710753] [ 0. 0. 0. 1. ]] SLAMing on 281.97241403699996 meters Centerline goodness : 0.814821 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.9631359 0.21707033 0.15890155 -11.03504343] [ -0.20683385 0.97521774 -0.07855012 -5.1648776 ] [ -0.17201452 0.04278822 0.98416471 -0.12699111] [ 0. 0. 0. 1. ]] SLAMing on 282.002414037 meters Centerline goodness : 0.813818 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96248793 0.21905493 0.16009975 -11.03477164] [ -0.2100117 0.97507451 -0.07158759 -5.16936229] [ -0.1717908 0.03527937 0.98450154 -0.13133569] [ 0. 0. 0. 1. ]] SLAMing on 282.03241403699997 meters Centerline goodness : 0.812574 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96255128 0.21895848 0.15985059 -11.03393845] [ -0.20985776 0.97508008 -0.07196217 -5.16924768] [ -0.17162386 0.0357214 0.98451472 -0.13212228] [ 0. 0. 0. 1. ]] SLAMing on 282.062414037 meters Centerline goodness : 0.815199 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96259315 0.21873733 0.15990123 -11.03407874] [ -0.20958482 0.97511884 -0.07223198 -5.16921625] [ -0.17172253 0.03601714 0.98448674 -0.13213627] [ 0. 0. 0. 1. ]] SLAMing on 282.09241403699997 meters Centerline goodness : 0.813171 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96256507 0.21892405 0.15981469 -11.03326953] [ -0.21000861 0.97512517 -0.07090335 -5.1704242 ] [ -0.17136178 0.03468663 0.98459737 -0.13325151] [ 0. 0. 0. 1. ]] SLAMing on 282.122414037 meters Centerline goodness : 0.812861 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96247024 0.21903139 0.16023823 -11.03413573] [ -0.2101078 0.97510611 -0.07087162 -5.17166621] [ -0.17177239 0.03454452 0.98453081 -0.13332392] [ 0. 0. 0. 1. ]] SLAMing on 282.15241403699997 meters Centerline goodness : 0.812992 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96239638 0.21914086 0.16053191 -11.03494697] [ -0.21013203 0.97506909 -0.07130776 -5.17168607] [ -0.17215615 0.03489343 0.98445148 -0.13266005] [ 0. 0. 0. 1. ]] SLAMing on 282.182414037 meters Centerline goodness : 0.812946 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.9623149 0.21930942 0.16078994 -11.03529481] [ -0.21037993 0.97505159 -0.07081449 -5.17154088] [ -0.17230877 0.03431886 0.98444497 -0.13283138] [ 0. 0. 0. 1. ]] SLAMing on 282.212414037 meters Centerline goodness : 0.814253 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.96201969 0.22015005 0.16140651 -11.03658776] [ -0.2110134 0.97483281 -0.07193292 -5.16978614] [ -0.1731804 0.03514194 0.98426297 -0.13171857] [ 0. 0. 0. 1. ]] SLAMing on 282.242414037 meters Centerline goodness : 0.815050 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.96193063 0.22030832 0.16172108 -11.03712658] [ -0.21103474 0.9747745 -0.07265688 -5.1678617 ] [ -0.1736485 0.03576211 0.98415815 -0.13133458] [ 0. 0. 0. 1. ]] SLAMing on 282.272414037 meters Centerline goodness : 0.817348 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.9616315 0.22139702 0.16201304 -11.0371681 ] [ -0.21181241 0.97447154 -0.07443606 -5.16394536] [ -0.17435702 0.03726369 0.98397716 -0.13091606] [ 0. 0. 0. 1. ]] SLAMing on 282.302414037 meters Centerline goodness : 0.811811 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.96076457 0.2244211 0.16299269 -11.03631377] [ -0.21555197 0.97394897 -0.07043264 -5.16533956] [ -0.17455313 0.03253579 0.98411007 -0.13407962] [ 0. 0. 0. 1. ]] SLAMing on 282.332414037 meters Centerline goodness : 0.809515 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.16, Z:-0.13 [[ 0.96059282 0.2250349 0.1631586 -11.03569391] [ -0.21602843 0.97378599 -0.07122194 -5.16290925] [ -0.17490898 0.03316839 0.98402577 -0.13498867] [ 0. 0. 0. 1. ]] SLAMing on 282.362414037 meters Centerline goodness : 0.813267 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.95953471 0.2285272 0.16452496 -11.03470576] [ -0.22011071 0.97310626 -0.06793733 -5.16075621] [ -0.1756258 0.02897452 0.98403052 -0.13904378] [ 0. 0. 0. 1. ]] SLAMing on 282.392414037 meters Centerline goodness : 0.814248 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.95949591 0.22865688 0.16457104 -11.03453431] [ -0.22022459 0.97307413 -0.06802838 -5.15933874] [ -0.17569498 0.02903037 0.98401652 -0.13929011] [ 0. 0. 0. 1. ]] SLAMing on 282.422414037 meters Centerline goodness : 0.813971 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.95963451 0.22841835 0.16409349 -11.03358462] [ -0.22010759 0.97314384 -0.06740716 -5.15943971] [ -0.1750836 0.02856802 0.98413902 -0.13912847] [ 0. 0. 0. 1. ]] SLAMing on 282.452414037 meters Centerline goodness : 0.815572 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.95942189 0.2291311 0.16434285 -11.03352558] [ -0.22061411 0.97294724 -0.06857898 -5.15646246] [ -0.1756105 0.02953982 0.98401644 -0.1390554 ] [ 0. 0. 0. 1. ]] SLAMing on 282.48241403699996 meters Centerline goodness : 0.815222 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.95936243 0.22911394 0.1647135 -11.03411569] [ -0.22051727 0.97294226 -0.06896006 -5.15537875] [ -0.17605644 0.02983552 0.98392783 -0.1390678 ] [ 0. 0. 0. 1. ]] SLAMing on 282.512414037 meters Centerline goodness : 0.818644 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.95926827 0.229462 0.16477736 -11.03347594] [ -0.22097784 0.97288096 -0.06834785 -5.15566526] [ -0.17599199 0.02915178 0.98395985 -0.14017329] [ 0. 0. 0. 1. ]] SLAMing on 282.54241403699996 meters Centerline goodness : 0.815569 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.15, Z:-0.14 [[ 0.96018792 0.22649689 0.16351857 -11.03345888] [ -0.21732171 0.9734252 -0.07221256 -5.15452223] [ -0.17552901 0.03380149 0.98389381 -0.13743438] [ 0. 0. 0. 1. ]] SLAMing on 282.572414037 meters Centerline goodness : 0.817943 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96026281 0.22621919 0.16346319 -11.03346596] [ -0.21706346 0.97349169 -0.07209289 -5.15520691] [ -0.17543885 0.03374624 0.98391179 -0.13754344] [ 0. 0. 0. 1. ]] SLAMing on 282.60241403699996 meters Centerline goodness : 0.815188 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.9601483 0.22671718 0.16344588 -11.03255358] [ -0.21758269 0.97338149 -0.07201564 -5.15546002] [ -0.17542238 0.0335827 0.98392032 -0.13917864] [ 0. 0. 0. 1. ]] SLAMing on 282.632414037 meters Centerline goodness : 0.816005 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96019319 0.22656502 0.16339318 -11.03202186] [ -0.21764104 0.97345529 -0.07083202 -5.15596314] [ -0.17510401 0.03245136 0.98401499 -0.13997898] [ 0. 0. 0. 1. ]] SLAMing on 282.66241403699996 meters Centerline goodness : 0.818423 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.15, Z:-0.14 [[ 0.96116846 0.22342614 0.16197518 -11.03161431] [ -0.21388939 0.97402608 -0.07432714 -5.15417059] [ -0.17437468 0.03679613 0.98399162 -0.13701466] [ 0. 0. 0. 1. ]] SLAMing on 282.692414037 meters Centerline goodness : 0.819638 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96143935 0.22277954 0.16125648 -11.03066264] [ -0.21338991 0.9741909 -0.07359919 -5.15515714] [ -0.17349099 0.03635065 0.98416437 -0.13640526] [ 0. 0. 0. 1. ]] SLAMing on 282.72241403699996 meters Centerline goodness : 0.817189 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.96180461 0.22179372 0.16043516 -11.02984075] [ -0.2125329 0.9744258 -0.07296659 -5.15610562] [ -0.17251569 0.03608185 0.98434569 -0.13530425] [ 0. 0. 0. 1. ]] SLAMing on 282.752414037 meters Centerline goodness : 0.814057 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.13 [[ 0.96231893 0.2202671 0.1594512 -11.02893391] [ -0.21123003 0.9747973 -0.07177818 -5.15832925] [ -0.17124297 0.03539262 0.98459291 -0.13429277] [ 0. 0. 0. 1. ]] SLAMing on 282.78241403699997 meters Centerline goodness : 0.813764 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.13 [[ 0.9624773 0.21976183 0.15919226 -11.02859264] [ -0.21084453 0.97493009 -0.07110487 -5.15908053] [ -0.17082746 0.03487201 0.98468367 -0.13431228] [ 0. 0. 0. 1. ]] SLAMing on 282.812414037 meters Centerline goodness : 0.815476 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.13 [[ 0.96257382 0.21965934 0.15874951 -11.02750841] [ -0.2108093 0.97495987 -0.07080035 -5.15968728] [ -0.17032636 0.03468469 0.98477708 -0.13485102] [ 0. 0. 0. 1. ]] SLAMing on 282.84241403699997 meters Centerline goodness : 0.812498 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.16, Z:-0.14 [[ 0.9627417 0.21933428 0.15817993 -11.02586685] [ -0.21066554 0.97506007 -0.06984197 -5.16131989] [ -0.16955367 0.03391672 0.98493716 -0.13673899] [ 0. 0. 0. 1. ]] SLAMing on 282.872414037 meters Centerline goodness : 0.810555 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.14 [[ 0.96279822 0.21934472 0.15782104 -11.02436063] [ -0.21084085 0.97508527 -0.06895538 -5.16216735] [ -0.16901397 0.033115 0.98505719 -0.1385269 ] [ 0. 0. 0. 1. ]] SLAMing on 282.90241403699997 meters Centerline goodness : 0.810680 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.14 [[ 0.96340034 0.21748188 0.15672083 -11.02366984] [ -0.2083099 0.97533861 -0.07294917 -5.16091255] [ -0.168721 0.03763276 0.98494518 -0.13717126] [ 0. 0. 0. 1. ]] SLAMing on 282.932414037 meters Centerline goodness : 0.812568 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.14 [[ 0.96344724 0.21729736 0.15668848 -11.02380416] [ -0.20818235 0.97539113 -0.07261034 -5.1615825 ] [ -0.16861059 0.03733646 0.98497536 -0.136844 ] [ 0. 0. 0. 1. ]] SLAMing on 282.962414037 meters Centerline goodness : 0.815183 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.14 [[ 0.96357517 0.21695475 0.15637625 -11.02366366] [ -0.20784612 0.97546222 -0.0726185 -5.1618999 ] [ -0.16829405 0.03747118 0.98502438 -0.13576273] [ 0. 0. 0. 1. ]] SLAMing on 282.992414037 meters Centerline goodness : 0.817343 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96361039 0.21688982 0.1562492 -11.02380677] [ -0.20811798 0.97554757 -0.07066719 -5.1641566 ] [ -0.16775552 0.03557737 0.98518645 -0.13484997] [ 0. 0. 0. 1. ]] SLAMing on 283.022414037 meters Centerline goodness : 0.813804 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96376759 0.21635877 0.15601574 -11.02408927] [ -0.20760911 0.97566458 -0.07054839 -5.16497513] [ -0.1674828 0.03560196 0.98523196 -0.13368606] [ 0. 0. 0. 1. ]] SLAMing on 283.052414037 meters Centerline goodness : 0.813804 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96376759 0.21635877 0.15601574 -11.02408927] [ -0.20760911 0.97566458 -0.07054839 -5.16497513] [ -0.1674828 0.03560196 0.98523196 -0.13368606] [ 0. 0. 0. 1. ]] SLAMing on 283.082414037 meters Centerline goodness : 0.811393 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96480441 0.21289541 0.15436317 -11.02275237] [ -0.20370673 0.97628657 -0.0732673 -5.16493411] [ -0.16630096 0.0392438 0.98529382 -0.13268809] [ 0. 0. 0. 1. ]] SLAMing on 283.112414037 meters Centerline goodness : 0.814195 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96574573 0.20975327 0.15277028 -11.02102672] [ -0.20009315 0.97680521 -0.07625168 -5.16388391] [ -0.16522084 0.04307145 0.98531565 -0.13226183] [ 0. 0. 0. 1. ]] SLAMing on 283.142414037 meters Centerline goodness : 0.812235 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96676214 0.20629137 0.15104581 -11.01937142] [ -0.19601806 0.97731759 -0.08017007 -5.16220023] [ -0.16415813 0.04789768 0.98527048 -0.13105856] [ 0. 0. 0. 1. ]] SLAMing on 283.172414037 meters Centerline goodness : 0.810075 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96799719 0.20232146 0.14848389 -11.01586312] [ -0.19173291 0.97796426 -0.08260992 -5.16335266] [ -0.1619257 0.05149692 0.98545834 -0.13114475] [ 0. 0. 0. 1. ]] SLAMing on 283.202414037 meters Centerline goodness : 0.808147 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.16, Z:-0.13 [[ 0.96803672 0.20185698 0.14885785 -11.01692587] [ -0.19132248 0.97808484 -0.08213251 -5.16430799] [ -0.16217463 0.05102743 0.98544182 -0.13188776] [ 0. 0. 0. 1. ]] SLAMing on 283.23241403699996 meters Centerline goodness : 0.808903 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.17, Z:-0.13 [[ 0.9680797 0.20155454 0.14898814 -11.01740314] [ -0.19109321 0.97817193 -0.0816275 -5.16536072] [ -0.16218841 0.05055131 0.9854641 -0.13260581] [ 0. 0. 0. 1. ]] SLAMing on 283.262414037 meters Centerline goodness : 0.807296 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.17, Z:-0.13 [[ 0.96838564 0.19984271 0.14930554 -11.02029745] [ -0.18927324 0.97848828 -0.08207508 -5.16586618] [ -0.16249583 0.05122078 0.98537888 -0.13137393] [ 0. 0. 0. 1. ]] SLAMing on 283.29241403699996 meters Centerline goodness : 0.811160 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.17, Z:-0.13 [[ 0.96846284 0.19920594 0.14965537 -11.02181382] [ -0.18862742 0.9786211 -0.08197824 -5.16650214] [ -0.16278645 0.05116377 0.98533387 -0.13109971] [ 0. 0. 0. 1. ]] SLAMing on 283.322414037 meters Centerline goodness : 0.812575 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.17, Z:-0.13 [[ 0.9688048 0.19750692 0.14969392 -11.02439165] [ -0.18680101 0.97891664 -0.08262924 -5.16684092] [ -0.16285772 0.05208863 0.98527364 -0.12924803] [ 0. 0. 0. 1. ]] SLAMing on 283.35241403699996 meters Centerline goodness : 0.811252 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96888658 0.19702935 0.14979398 -11.02514492] [ -0.1863261 0.97901378 -0.08255061 -5.16743855] [ -0.16291526 0.05207165 0.98526502 -0.12924425] [ 0. 0. 0. 1. ]] SLAMing on 283.382414037 meters Centerline goodness : 0.809543 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96895522 0.19657714 0.14994402 -11.02597723] [ -0.18588368 0.97910935 -0.0824145 -5.16807166] [ -0.16301239 0.05198381 0.98525359 -0.1292559 ] [ 0. 0. 0. 1. ]] SLAMing on 283.41241403699996 meters Centerline goodness : 0.810826 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96903842 0.19611881 0.15000653 -11.0265483 ] [ -0.18545957 0.97921128 -0.08215844 -5.16884278] [ -0.1630009 0.05179454 0.98526546 -0.12960216] [ 0. 0. 0. 1. ]] SLAMing on 283.442414037 meters Centerline goodness : 0.809541 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96932674 0.19466616 0.15003583 -11.02807519] [ -0.18402521 0.97949964 -0.08194625 -5.1694284 ] [ -0.1629122 0.05182231 0.98527867 -0.12992457] [ 0. 0. 0. 1. ]] SLAMing on 283.47241403699996 meters Centerline goodness : 0.813074 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96958417 0.19324733 0.15020656 -11.02965585] [ -0.1825783 0.9797683 -0.08197099 -5.16943136] [ -0.1630083 0.05205332 0.9852506 -0.13020766] [ 0. 0. 0. 1. ]] SLAMing on 283.502414037 meters Centerline goodness : 0.812023 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96962105 0.19284192 0.15048922 -11.0303146 ] [ -0.18224262 0.97987564 -0.08143314 -5.17021458] [ -0.16316445 0.05153374 0.98525207 -0.13124504] [ 0. 0. 0. 1. ]] SLAMing on 283.53241403699997 meters Centerline goodness : 0.808753 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96972591 0.19202014 0.15086393 -11.03177444] [ -0.18144234 0.98004915 -0.08113167 -5.17116955] [ -0.16343298 0.05130237 0.98521963 -0.13182431] [ 0. 0. 0. 1. ]] SLAMing on 283.562414037 meters Centerline goodness : 0.810877 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.96981677 0.19127995 0.15121975 -11.03302172] [ -0.18071129 0.98020201 -0.08091635 -5.17168877] [ -0.16370358 0.05114691 0.98518279 -0.13237961] [ 0. 0. 0. 1. ]] SLAMing on 283.59241403699997 meters Centerline goodness : 0.808644 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97068869 0.18762164 0.15020518 -11.03278299] [ -0.17633783 0.98062408 -0.08533099 -5.17044487] [ -0.16330476 0.05634297 0.98496549 -0.13173456] [ 0. 0. 0. 1. ]] SLAMing on 283.622414037 meters Centerline goodness : 0.807219 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97079544 0.18688316 0.15043568 -11.03398251] [ -0.17556933 0.98075718 -0.08538597 -5.17067573] [ -0.16349807 0.05648042 0.98492555 -0.13162086] [ 0. 0. 0. 1. ]] SLAMing on 283.65241403699997 meters Centerline goodness : 0.806894 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.97116514 0.1847859 0.1506401 -11.03689556] [ -0.17327415 0.98107863 -0.08637591 -5.16962475] [ -0.16375083 0.05778324 0.98480798 -0.12983592] [ 0. 0. 0. 1. ]] SLAMing on 283.682414037 meters Centerline goodness : 0.806328 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.9712603 0.18418288 0.15076505 -11.03788987] [ -0.17260493 0.98116869 -0.08669223 -5.16926792] [ -0.16389317 0.05817793 0.98476107 -0.12916426] [ 0. 0. 0. 1. ]] SLAMing on 283.712414037 meters Centerline goodness : 0.807198 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.97130552 0.18434134 0.15027923 -11.03690154] [ -0.17271171 0.98110596 -0.08718803 -5.16783613] [ -0.16351221 0.05873123 0.98479155 -0.12821522] [ 0. 0. 0. 1. ]] SLAMing on 283.742414037 meters Centerline goodness : 0.807954 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.97059735 0.18707116 0.15147662 -11.03819088] [ -0.17609466 0.98086655 -0.083015 -5.16802868] [ -0.16410806 0.05389992 0.9849687 -0.12884664] [ 0. 0. 0. 1. ]] SLAMing on 283.772414037 meters Centerline goodness : 0.808624 Centerline is valid? [False, False] Translation: X:-11.04, Y:-5.17, Z:-0.13 [[ 0.97056202 0.18760125 0.15104678 -11.03654166] [ -0.17668955 0.98077759 -0.08280175 -5.16792432] [ -0.16367701 0.05367584 0.98505266 -0.12953083] [ 0. 0. 0. 1. ]] SLAMing on 283.802414037 meters Centerline goodness : 0.804622 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.9705095 0.18820139 0.15063713 -11.03480936] [ -0.17736651 0.98067979 -0.08251229 -5.16796729] [ -0.16325571 0.05336098 0.98513967 -0.1303727 ] [ 0. 0. 0. 1. ]] SLAMing on 283.832414037 meters Centerline goodness : 0.803882 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97041182 0.1892024 0.15001117 -11.03218114] [ -0.17850401 0.98052002 -0.08195613 -5.1682722 ] [ -0.16259525 0.05275361 0.98528161 -0.13170258] [ 0. 0. 0. 1. ]] SLAMing on 283.862414037 meters Centerline goodness : 0.800062 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97034829 0.1896557 0.14984962 -11.03111902] [ -0.1790591 0.98046345 -0.08142024 -5.16868894] [ -0.16236389 0.05217405 0.98535062 -0.13276595] [ 0. 0. 0. 1. ]] SLAMing on 283.892414037 meters Centerline goodness : 0.800566 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97031174 0.19006735 0.14956445 -11.03014867] [ -0.17956895 0.98040981 -0.08094191 -5.16944902] [ -0.16201887 0.05168175 0.98543335 -0.13332791] [ 0. 0. 0. 1. ]] SLAMing on 283.922414037 meters Centerline goodness : 0.797182 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97030035 0.19030075 0.14934138 -11.02970422] [ -0.17988729 0.98038691 -0.08051124 -5.17045828] [ -0.16173368 0.05125547 0.98550246 -0.13349641] [ 0. 0. 0. 1. ]] SLAMing on 283.952414037 meters Centerline goodness : 0.797710 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97029321 0.19033831 0.1493399 -11.02988566] [ -0.17996344 0.98039199 -0.08027896 -5.17142154] [ -0.1616918 0.0510184 0.98552163 -0.13348529] [ 0. 0. 0. 1. ]] SLAMing on 283.98241403699996 meters Centerline goodness : 0.795352 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97026499 0.19048693 0.14933376 -11.02981985] [ -0.18017911 0.98038484 -0.07988153 -5.17247416] [ -0.16162095 0.05059943 0.98555485 -0.13381199] [ 0. 0. 0. 1. ]] SLAMing on 284.012414037 meters Centerline goodness : 0.794951 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.17, Z:-0.13 [[ 0.97022319 0.19070222 0.1493306 -11.03017959] [ -0.18050593 0.98037873 -0.07921591 -5.17471873] [ -0.16150719 0.04990206 0.98560906 -0.13380571] [ 0. 0. 0. 1. ]] SLAMing on 284.04241403699996 meters Centerline goodness : 0.792902 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.18, Z:-0.13 [[ 0.9701884 0.19072389 0.14952882 -11.03060139] [ -0.18063963 0.9804139 -0.07847238 -5.17686067] [ -0.16156669 0.04912216 0.98563848 -0.13477439] [ 0. 0. 0. 1. ]] SLAMing on 284.072414037 meters Centerline goodness : 0.791396 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.18, Z:-0.14 [[ 0.97001788 0.19183203 0.14921726 -11.02899158] [ -0.1820754 0.98029361 -0.07663543 -5.18091027] [ -0.16097786 0.04716895 0.98583022 -0.13702575] [ 0. 0. 0. 1. ]] SLAMing on 284.10241403699996 meters Centerline goodness : 0.792280 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.18, Z:-0.14 [[ 0.96994383 0.19242733 0.14893186 -11.02797109] [ -0.18280843 0.98021336 -0.07591346 -5.18263338] [ -0.16059282 0.0464058 0.98592923 -0.13777773] [ 0. 0. 0. 1. ]] SLAMing on 284.132414037 meters Centerline goodness : 0.790672 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.19, Z:-0.14 [[ 0.96988134 0.19295308 0.14865835 -11.02715838] [ -0.18348763 0.98015037 -0.07508357 -5.18509442] [ -0.16019514 0.04554518 0.98603405 -0.13854389] [ 0. 0. 0. 1. ]] SLAMing on 284.16241403699996 meters Centerline goodness : 0.790942 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.19, Z:-0.14 [[ 0.96979837 0.19342335 0.14858842 -11.02667274] [ -0.18412629 0.98010568 -0.07409698 -5.18782485] [ -0.15996445 0.0445001 0.98611922 -0.13969835] [ 0. 0. 0. 1. ]] SLAMing on 284.192414037 meters Centerline goodness : 0.790473 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.19, Z:-0.14 [[ 0.96977773 0.19338239 0.14877636 -11.0276729 ] [ -0.18426111 0.98016576 -0.07295837 -5.19184123] [ -0.15993436 0.04333971 0.98617578 -0.14042896] [ 0. 0. 0. 1. ]] SLAMing on 284.22241403699996 meters Centerline goodness : 0.789070 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.19, Z:-0.14 [[ 0.96975595 0.19341121 0.1488808 -11.0281251 ] [ -0.18439108 0.98018951 -0.0723081 -5.19404385] [ -0.1599166 0.04266891 0.98620791 -0.14090576] [ 0. 0. 0. 1. ]] SLAMing on 284.252414037 meters Centerline goodness : 0.787374 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.20, Z:-0.14 [[ 0.97047356 0.19069837 0.14769967 -11.02750859] [ -0.18117397 0.98054245 -0.07558106 -5.19674771] [ -0.15923898 0.04659009 0.98614011 -0.14056824] [ 0. 0. 0. 1. ]] SLAMing on 284.28241403699997 meters Centerline goodness : 0.789750 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.20, Z:-0.14 [[ 0.97047959 0.19049627 0.14792074 -11.02846088] [ -0.1810522 0.98060911 -0.07500582 -5.19894595] [ -0.15934075 0.04601024 0.98615089 -0.14092977] [ 0. 0. 0. 1. ]] SLAMing on 284.312414037 meters Centerline goodness : 0.789617 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.20, Z:-0.14 [[ 0.97059968 0.18973321 0.14811337 -11.03044909] [ -0.18042686 0.98079713 -0.07404822 -5.20309554] [ -0.15931857 0.04514755 0.98619435 -0.14115235] [ 0. 0. 0. 1. ]] SLAMing on 284.34241403699997 meters Centerline goodness : 0.789162 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.21, Z:-0.14 [[ 0.97058278 0.18966021 0.14831749 -11.03115774] [ -0.18046474 0.98084642 -0.07329928 -5.20554003] [ -0.15937864 0.04437694 0.98621962 -0.1418093 ] [ 0. 0. 0. 1. ]] SLAMing on 284.372414037 meters Centerline goodness : 0.788838 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.21, Z:-0.14 [[ 0.97054978 0.18974108 0.14842995 -11.03142982] [ -0.18064148 0.98085997 -0.07267998 -5.20737176] [ -0.15937937 0.04372694 0.98624853 -0.1423983 ] [ 0. 0. 0. 1. ]] SLAMing on 284.40241403699997 meters Centerline goodness : 0.791164 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.21, Z:-0.14 [[ 0.97049642 0.19012197 0.14829141 -11.03124861] [ -0.18119348 0.98083151 -0.07168319 -5.21043982] [ -0.15907743 0.04269884 0.98634232 -0.14300119] [ 0. 0. 0. 1. ]] SLAMing on 284.432414037 meters Centerline goodness : 0.843889 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.21, Z:-0.14 [[ 0.97050273 0.19049075 0.14777591 -11.02991094] [ -0.18170377 0.98078916 -0.07096729 -5.21162526] [ -0.15845562 0.0420225 0.98647145 -0.14332267] [ 0. 0. 0. 1. ]] SLAMing on 284.462414037 meters Centerline goodness : 0.843072 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.21, Z:-0.14 [[ 0.97039397 0.19121003 0.14756107 -11.02906659] [ -0.18261823 0.98069916 -0.06985508 -5.21401559] [ -0.15807001 0.0408396 0.98658299 -0.14421888] [ 0. 0. 0. 1. ]] SLAMing on 284.492414037 meters Centerline goodness : 0.789167 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.22, Z:-0.14 [[ 0.97035013 0.19151761 0.14745044 -11.02859757] [ -0.18313097 0.9806906 -0.06862208 -5.21560492] [ -0.1577456 0.03958471 0.98668606 -0.144852 ] [ 0. 0. 0. 1. ]] SLAMing on 284.522414037 meters Centerline goodness : 0.788571 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.22, Z:-0.15 [[ 0.96986715 0.19345132 0.14810233 -11.02882389] [ -0.18607401 0.98055998 -0.06227827 -5.22084691] [ -0.15727103 0.03284365 0.98700918 -0.14676031] [ 0. 0. 0. 1. ]] SLAMing on 284.552414037 meters Centerline goodness : 0.790216 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.22, Z:-0.15 [[ 0.97052597 0.19106857 0.14687456 -11.02772347] [ -0.1829559 0.98083424 -0.06701738 -5.21887494] [ -0.15686451 0.03817054 0.98688223 -0.14540864] [ 0. 0. 0. 1. ]] SLAMing on 284.582414037 meters Centerline goodness : 0.789839 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.22, Z:-0.15 [[ 0.97049448 0.19115262 0.14697327 -11.02789589] [ -0.18333459 0.98088974 -0.06514403 -5.22318724] [ -0.15661702 0.03627664 0.98699297 -0.14675014] [ 0. 0. 0. 1. ]] SLAMing on 284.612414037 meters Centerline goodness : 0.789368 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.23, Z:-0.15 [[ 0.97045175 0.19131047 0.14704998 -11.02800344] [ -0.18393013 0.98095823 -0.0623751 -5.22752068] [ -0.1561829 0.0334851 0.9871604 -0.14751777] [ 0. 0. 0. 1. ]] SLAMing on 284.642414037 meters Centerline goodness : 0.789988 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.23, Z:-0.15 [[ 0.97052097 0.19107603 0.14689792 -11.02809357] [ -0.18374128 0.98101084 -0.06210367 -5.22818619] [ -0.15597497 0.0332817 0.98720015 -0.1469576 ] [ 0. 0. 0. 1. ]] SLAMing on 284.672414037 meters Centerline goodness : 0.791505 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.23, Z:-0.15 [[ 0.9711662 0.18873067 0.14566038 -11.02711975] [ -0.18074374 0.98128851 -0.06636686 -5.22603174] [ -0.15546031 0.03812605 0.98710612 -0.14503904] [ 0. 0. 0. 1. ]] SLAMing on 284.702414037 meters Centerline goodness : 0.790463 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.23, Z:-0.14 [[ 0.97126641 0.18846931 0.14533024 -11.02693839] [ -0.18060225 0.98136153 -0.0656686 -5.22712345] [ -0.15499802 0.03753474 0.98720148 -0.14451102] [ 0. 0. 0. 1. ]] SLAMing on 284.73241403699996 meters Centerline goodness : 0.794641 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.23, Z:-0.14 [[ 0.97214848 0.18521204 0.14360997 -11.025807 ] [ -0.17697447 0.98184492 -0.06826856 -5.22655673] [ -0.15364688 0.04095188 0.98727685 -0.14227922] [ 0. 0. 0. 1. ]] SLAMing on 284.762414037 meters Centerline goodness : 0.794976 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.23, Z:-0.14 [[ 0.97217134 0.18508989 0.14361271 -11.02605849] [ -0.17692282 0.98188623 -0.06780674 -5.22838606] [ -0.15356169 0.04051141 0.98730828 -0.14238454] [ 0. 0. 0. 1. ]] SLAMing on 284.79241403699996 meters Centerline goodness : 0.791650 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.23, Z:-0.14 [[ 0.97299273 0.18199514 0.14199616 -11.02410973] [ -0.17325052 0.98225748 -0.07179481 -5.22695113] [ -0.15254309 0.04525492 0.98726015 -0.14172255] [ 0. 0. 0. 1. ]] SLAMing on 284.822414037 meters Centerline goodness : 0.790791 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.23, Z:-0.14 [[ 0.97294933 0.18235616 0.14183031 -11.02346563] [ -0.17383523 0.98225396 -0.07041649 -5.23024988] [ -0.15215427 0.04385657 0.98738325 -0.14293457] [ 0. 0. 0. 1. ]] SLAMing on 284.85241403699996 meters Centerline goodness : 0.793647 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.23, Z:-0.14 [[ 0.9729094 0.18266334 0.14170885 -11.02294043] [ -0.17434133 0.98225225 -0.06917811 -5.23221318] [ -0.15183014 0.04259833 0.98748822 -0.14373007] [ 0. 0. 0. 1. ]] SLAMing on 284.882414037 meters Centerline goodness : 0.792078 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.15 [[ 0.97288976 0.18303778 0.14136014 -11.02178107] [ -0.1750772 0.98227634 -0.06694154 -5.2356967 ] [ -0.15110755 0.0403778 0.98769233 -0.14516381] [ 0. 0. 0. 1. ]] SLAMing on 284.91241403699996 meters Centerline goodness : 0.795066 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.23, Z:-0.14 [[ 0.97331171 0.18125856 0.14074675 -11.02159994] [ -0.17260132 0.98238906 -0.07155785 -5.23362692] [ -0.15123854 0.04535502 0.98745624 -0.14397056] [ 0. 0. 0. 1. ]] SLAMing on 284.942414037 meters Centerline goodness : 0.794747 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.15 [[ 0.97284629 0.18338633 0.14120746 -11.02136833] [ -0.17575658 0.98229614 -0.06483757 -5.23909111] [ -0.15059787 0.03825885 0.98785451 -0.14550957] [ 0. 0. 0. 1. ]] SLAMing on 284.97241403699996 meters Centerline goodness : 0.794747 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.15 [[ 0.97284629 0.18338633 0.14120746 -11.02136833] [ -0.17575658 0.98229614 -0.06483757 -5.23909111] [ -0.15059787 0.03825885 0.98785451 -0.14550957] [ 0. 0. 0. 1. ]] SLAMing on 285.002414037 meters Centerline goodness : 0.796880 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.14 [[ 0.97339548 0.18114531 0.14031253 -11.02126794] [ -0.17292786 0.98252875 -0.06879836 -5.2380365 ] [ -0.1503236 0.04270407 0.98771412 -0.14340954] [ 0. 0. 0. 1. ]] SLAMing on 285.03241403699997 meters Centerline goodness : 0.797660 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.14 [[ 0.97336684 0.18127137 0.14034844 -11.02119386] [ -0.17320008 0.98254777 -0.0678352 -5.23980651] [ -0.15019563 0.04172017 0.98777563 -0.14390795] [ 0. 0. 0. 1. ]] SLAMing on 285.062414037 meters Centerline goodness : 0.795470 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.14 [[ 0.97337642 0.18138882 0.14013011 -11.02080939] [ -0.17367906 0.98262037 -0.06551947 -5.24364121] [ -0.1495792 0.03943744 0.98796293 -0.14455682] [ 0. 0. 0. 1. ]] SLAMing on 285.09241403699997 meters Centerline goodness : 0.794971 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.14 [[ 0.9740034 0.17880315 0.13909278 -11.02018599] [ -0.17039343 0.98286642 -0.07028281 -5.24131701] [ -0.14927641 0.0447552 0.98778212 -0.14303034] [ 0. 0. 0. 1. ]] SLAMing on 285.122414037 meters Centerline goodness : 0.795686 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.14 [[ 0.97403659 0.17875966 0.1389162 -11.01979651] [ -0.17050167 0.98291547 -0.06932787 -5.24310972] [ -0.14893591 0.04384244 0.98787445 -0.14359275] [ 0. 0. 0. 1. ]] SLAMing on 285.15241403699997 meters Centerline goodness : 0.797160 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.25, Z:-0.16 [[ 0.97322021 0.17586157 0.14803758 -11.0205525 ] [ -0.17076485 0.98421098 -0.04656308 -5.25375778] [ -0.15388887 0.02003651 0.98788499 -0.15600109] [ 0. 0. 0. 1. ]] SLAMing on 285.182414037 meters Centerline goodness : 0.798713 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.25, Z:-0.15 [[ 0.97386067 0.17335899 0.14677216 -11.01933552] [ -0.16760699 0.98454495 -0.05078523 -5.25238251] [ -0.15330786 0.02485769 0.98786578 -0.15460719] [ 0. 0. 0. 1. ]] SLAMing on 285.212414037 meters Centerline goodness : 0.795945 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.25, Z:-0.16 [[ 0.97383964 0.1735365 0.14670186 -11.01903565] [ -0.16785329 0.98452454 -0.0503658 -5.25351281] [ -0.15317188 0.02442383 0.98789769 -0.15505309] [ 0. 0. 0. 1. ]] SLAMing on 285.242414037 meters Centerline goodness : 0.798499 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.16 [[ 0.97383488 0.17340943 0.14688364 -11.0196972 ] [ -0.16780943 0.98456123 -0.04979133 -5.25559282] [ -0.15325022 0.02384007 0.9878998 -0.15547008] [ 0. 0. 0. 1. ]] SLAMing on 285.272414037 meters Centerline goodness : 0.798571 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.16 [[ 0.97381201 0.17346453 0.14697017 -11.01984157] [ -0.16795844 0.98456673 -0.0491764 -5.25734569] [ -0.1532323 0.02320369 0.98791773 -0.15609065] [ 0. 0. 0. 1. ]] SLAMing on 285.302414037 meters Centerline goodness : 0.797877 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.16 [[ 0.97383655 0.17303658 0.14731164 -11.02104788] [ -0.16763868 0.98465983 -0.04839732 -5.26016739] [ -0.15342636 0.02243595 0.98790535 -0.15680136] [ 0. 0. 0. 1. ]] SLAMing on 285.332414037 meters Centerline goodness : 0.797624 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.16 [[ 0.97383788 0.17296767 0.14738376 -11.02125839] [ -0.16763233 0.98468137 -0.04797909 -5.26164462] [ -0.15342488 0.02201757 0.98791499 -0.1572672 ] [ 0. 0. 0. 1. ]] SLAMing on 285.362414037 meters Centerline goodness : 0.797670 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.16 [[ 0.97386235 0.17269329 0.14754373 -11.02206299] [ -0.16737964 0.98473323 -0.04779664 -5.26281779] [ -0.15354537 0.02185153 0.98789996 -0.15709921] [ 0. 0. 0. 1. ]] SLAMing on 285.392414037 meters Centerline goodness : 0.800373 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.16 [[ 0.97393607 0.17199339 0.14787427 -11.02390941] [ -0.16670959 0.9848609 -0.04750713 -5.26468389] [ -0.1538065 0.02161685 0.9878645 -0.15654513] [ 0. 0. 0. 1. ]] SLAMing on 285.422414037 meters Centerline goodness : 0.799794 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97394662 0.17194779 0.14785783 -11.0240689 ] [ -0.1667155 0.98487585 -0.04717518 -5.26572936] [ -0.15373327 0.02129591 0.98788287 -0.15663327] [ 0. 0. 0. 1. ]] SLAMing on 285.452414037 meters Centerline goodness : 0.804316 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.9739632 0.17182904 0.14788667 -11.02435686] [ -0.1666353 0.98490186 -0.04691496 -5.26677028] [ -0.1537152 0.02105031 0.98789095 -0.15671444] [ 0. 0. 0. 1. ]] SLAMing on 285.48241403699996 meters Centerline goodness : 0.803977 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97394855 0.17180923 0.14800611 -11.02443 ] [ -0.16669014 0.98491615 -0.04641744 -5.2678695 ] [ -0.15374856 0.02053704 0.98789656 -0.15745409] [ 0. 0. 0. 1. ]] SLAMing on 285.512414037 meters Centerline goodness : 0.803398 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97392966 0.17177046 0.1481753 -11.02443393] [ -0.1667694 0.98493935 -0.0456339 -5.26983369] [ -0.15378223 0.01973311 0.9879077 -0.15884348] [ 0. 0. 0. 1. ]] SLAMing on 285.54241403699996 meters Centerline goodness : 0.804529 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97390435 0.17192241 0.14816542 -11.02391777] [ -0.16700267 0.98492333 -0.04512365 -5.27080229] [ -0.15368935 0.01920209 0.98793262 -0.15991972] [ 0. 0. 0. 1. ]] SLAMing on 285.572414037 meters Centerline goodness : 0.803380 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97387152 0.17209671 0.14817887 -11.02328093] [ -0.16726099 0.9849036 -0.04459445 -5.27131049] [ -0.15361646 0.01864472 0.98795463 -0.16117295] [ 0. 0. 0. 1. ]] SLAMing on 285.60241403699996 meters Centerline goodness : 0.802684 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97386439 0.17224571 0.1480526 -11.02265826] [ -0.16743665 0.98488032 -0.04444918 -5.2710425 ] [ -0.15347028 0.01849804 0.98798011 -0.16161601] [ 0. 0. 0. 1. ]] SLAMing on 285.632414037 meters Centerline goodness : 0.803629 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97388407 0.17230685 0.14785187 -11.02219823] [ -0.16749103 0.98486779 -0.04452173 -5.27035097] [ -0.15328594 0.01859514 0.9880069 -0.16146811] [ 0. 0. 0. 1. ]] SLAMing on 285.66241403699996 meters Centerline goodness : 0.806743 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97388822 0.17232333 0.14780528 -11.02214224] [ -0.16746756 0.98485979 -0.04478624 -5.26914312] [ -0.15328519 0.0188642 0.98800192 -0.16096465] [ 0. 0. 0. 1. ]] SLAMing on 285.692414037 meters Centerline goodness : 0.803815 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97391087 0.17223292 0.14776145 -11.02219535] [ -0.16736935 0.98487425 -0.04483535 -5.26889567] [ -0.15324857 0.01893489 0.98800625 -0.16077559] [ 0. 0. 0. 1. ]] SLAMing on 285.72241403699996 meters Centerline goodness : 0.805073 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97392502 0.17208418 0.14784142 -11.02239201] [ -0.16722009 0.9849004 -0.04481794 -5.26893593] [ -0.15332153 0.01892726 0.98799507 -0.16084492] [ 0. 0. 0. 1. ]] SLAMing on 285.752414037 meters Centerline goodness : 0.806882 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.9739597 0.17177417 0.14797346 -11.02292191] [ -0.16690035 0.98495355 -0.04484158 -5.26896108] [ -0.15344961 0.01897707 0.98797423 -0.16080629] [ 0. 0. 0. 1. ]] SLAMing on 285.78241403699997 meters Centerline goodness : 0.806283 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.27, Z:-0.16 [[ 0.97410652 0.17067754 0.14827561 -11.02469124] [ -0.16570905 0.98513222 -0.04533233 -5.26887276] [ -0.15380829 0.01958791 0.98790654 -0.16004817] [ 0. 0. 0. 1. ]] SLAMing on 285.812414037 meters Centerline goodness : 0.809638 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.9741377 0.17035923 0.14843675 -11.02510187] [ -0.16540683 0.98518977 -0.04518522 -5.26932847] [ -0.15393608 0.01946417 0.98788908 -0.16045842] [ 0. 0. 0. 1. ]] SLAMing on 285.84241403699997 meters Centerline goodness : 0.808129 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97422757 0.16942314 0.14891755 -11.02640447] [ -0.16450365 0.98535652 -0.04484498 -5.27019683] [ -0.15433466 0.01919173 0.98783222 -0.16159805] [ 0. 0. 0. 1. ]] SLAMing on 285.872414037 meters Centerline goodness : 0.806708 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97425686 0.16899956 0.14920695 -11.02696736] [ -0.164114 0.98543438 -0.04456088 -5.27093276] [ -0.15456442 0.0189268 0.9878014 -0.16248559] [ 0. 0. 0. 1. ]] SLAMing on 285.90241403699997 meters Centerline goodness : 0.808099 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97428681 0.1685907 0.14947373 -11.02763363] [ -0.16372458 0.9855076 -0.04437381 -5.27165533] [ -0.15478851 0.01876029 0.98776949 -0.16303229] [ 0. 0. 0. 1. ]] SLAMing on 285.932414037 meters Centerline goodness : 0.806491 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97440102 0.16763129 0.14980791 -11.02884176] [ -0.16270791 0.98566454 -0.04462689 -5.27121791] [ -0.1551412 0.01910955 0.98770746 -0.16316806] [ 0. 0. 0. 1. ]] SLAMing on 285.962414037 meters Centerline goodness : 0.807090 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97442605 0.1674929 0.14979987 -11.02874068] [ -0.1625599 0.9856866 -0.04467896 -5.27057357] [ -0.15513914 0.01918489 0.98770633 -0.16332575] [ 0. 0. 0. 1. ]] SLAMing on 285.992414037 meters Centerline goodness : 0.809314 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97445909 0.16733011 0.1497669 -11.02858641] [ -0.16236444 0.98570972 -0.04487914 -5.2695598 ] [ -0.15513632 0.01941606 0.98770225 -0.16334738] [ 0. 0. 0. 1. ]] SLAMing on 286.022414037 meters Centerline goodness : 0.810037 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97453739 0.16692018 0.14971483 -11.02874039] [ -0.161854 0.9857654 -0.04549562 -5.26734344] [ -0.15517784 0.02010524 0.98768194 -0.16270877] [ 0. 0. 0. 1. ]] SLAMing on 286.052414037 meters Centerline goodness : 0.811224 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.9745522 0.16694341 0.14959247 -11.02831388] [ -0.16187456 0.98576043 -0.04553033 -5.26657195] [ -0.15506333 0.02015647 0.98769888 -0.16283334] [ 0. 0. 0. 1. ]] SLAMing on 286.082414037 meters Centerline goodness : 0.808845 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.27, Z:-0.16 [[ 0.97458507 0.16684413 0.14948903 -11.02796222] [ -0.16173787 0.98577153 -0.04577512 -5.26532904] [ -0.15499934 0.02043371 0.98770323 -0.16289456] [ 0. 0. 0. 1. ]] SLAMing on 286.112414037 meters Centerline goodness : 0.809118 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.16 [[ 0.97462109 0.16694253 0.149144 -11.02663388] [ -0.16178009 0.98574538 -0.04618716 -5.26285382] [ -0.15472861 0.02088645 0.98773621 -0.16318063] [ 0. 0. 0. 1. ]] SLAMing on 286.142414037 meters Centerline goodness : 0.809535 Centerline is valid? [False, False] Translation: X:-11.03, Y:-5.26, Z:-0.16 [[ 0.97463829 0.16710589 0.14884835 -11.02542986] [ -0.16193734 0.98571527 -0.0462786 -5.26160331] [ -0.15445552 0.02100078 0.98777652 -0.16371955] [ 0. 0. 0. 1. ]] SLAMing on 286.172414037 meters Centerline goodness : 0.806205 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.16 [[ 0.97464564 0.16753088 0.14832152 -11.02306782] [ -0.16236215 0.98564046 -0.04638337 -5.25907725] [ -0.15396234 0.02112554 0.98785085 -0.16490294] [ 0. 0. 0. 1. ]] SLAMing on 286.202414037 meters Centerline goodness : 0.805971 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.17 [[ 0.97465559 0.16769325 0.14807249 -11.02187136] [ -0.16252029 0.98561093 -0.0464569 -5.25779616] [ -0.15373237 0.02121469 0.98788476 -0.16560346] [ 0. 0. 0. 1. ]] SLAMing on 286.23241403699996 meters Centerline goodness : 0.807810 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.26, Z:-0.17 [[ 0.974669 0.16792485 0.14772132 -11.02042789] [ -0.16274245 0.9855683 -0.04658354 -5.25632632] [ -0.15341198 0.021363 0.98793137 -0.16621197] [ 0. 0. 0. 1. ]] SLAMing on 286.262414037 meters Centerline goodness : 0.806663 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.25, Z:-0.17 [[ 0.97473129 0.16795222 0.14727855 -11.01905204] [ -0.16264676 0.98554312 -0.0474425 -5.25226101] [ -0.15311744 0.02228931 0.9879566 -0.16570603] [ 0. 0. 0. 1. ]] SLAMing on 286.29241403699996 meters Centerline goodness : 0.806190 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.25, Z:-0.17 [[ 0.97477491 0.16790025 0.14704893 -11.01846387] [ -0.16251345 0.98553821 -0.04799812 -5.25026481] [ -0.15298123 0.02288993 0.98796396 -0.16528541] [ 0. 0. 0. 1. ]] SLAMing on 286.322414037 meters Centerline goodness : 0.804776 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.25, Z:-0.17 [[ 0.97478675 0.16803907 0.14681166 -11.01765769] [ -0.1626264 0.98550917 -0.04821132 -5.24885968] [ -0.15278563 0.0231203 0.98798887 -0.16529463] [ 0. 0. 0. 1. ]] SLAMing on 286.35241403699996 meters Centerline goodness : 0.805439 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.25, Z:-0.17 [[ 0.97482867 0.16801713 0.14655819 -11.01694738] [ -0.16253907 0.98550093 -0.04867204 -5.24700369] [ -0.15261097 0.02362547 0.98800391 -0.16505451] [ 0. 0. 0. 1. ]] SLAMing on 286.382414037 meters Centerline goodness : 0.804358 Centerline is valid? [False, False] Translation: X:-11.02, Y:-5.24, Z:-0.16 [[ 0.97487782 0.16807871 0.14616014 -11.01565503] [ -0.16248524 0.98546918 -0.04948771 -5.24341861] [ -0.15235415 0.0244956 0.98802236 -0.1646655 ] [ 0. 0. 0. 1. ]] SLAMing on 286.41241403699996 meters Centerline goodness : 0.800104 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.24, Z:-0.16 [[ 0.97492592 0.16807952 0.14583799 -11.01484966] [ -0.16242935 0.98545717 -0.04990871 -5.24171208] [ -0.15210573 0.02496892 0.98804878 -0.16438172] [ 0. 0. 0. 1. ]] SLAMing on 286.442414037 meters Centerline goodness : 0.806293 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.24, Z:-0.16 [[ 0.97495654 0.16833209 0.14534116 -11.01304077] [ -0.16264033 0.98540348 -0.05028018 -5.23896958] [ -0.15168345 0.02538266 0.98810316 -0.16468073] [ 0. 0. 0. 1. ]] SLAMing on 286.47241403699996 meters Centerline goodness : 0.846416 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.24, Z:-0.16 [[ 0.97496865 0.16848746 0.14507965 -11.01207233] [ -0.16277354 0.98537128 -0.05047991 -5.23773076] [ -0.15146255 0.0256012 0.98813141 -0.16487241] [ 0. 0. 0. 1. ]] SLAMing on 286.502414037 meters Centerline goodness : 0.845592 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.24, Z:-0.17 [[ 0.97498369 0.16873489 0.14469048 -11.01071526] [ -0.16301223 0.98532458 -0.05062094 -5.23644497] [ -0.1511086 0.02576827 0.98818125 -0.1651958 ] [ 0. 0. 0. 1. ]] SLAMing on 286.53241403699997 meters Centerline goodness : 0.790815 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.23, Z:-0.17 [[ 0.97497485 0.16930641 0.14408119 -11.00824974] [ -0.1635264 0.98521245 -0.05114235 -5.2333441 ] [ -0.15060931 0.02630142 0.98824343 -0.16555995] [ 0. 0. 0. 1. ]] SLAMing on 286.562414037 meters Centerline goodness : 0.790140 Centerline is valid? [False, False] Translation: X:-11.01, Y:-5.23, Z:-0.17 [[ 0.97494868 0.16993095 0.14352195 -11.00603856] [ -0.16417188 0.98510488 -0.05114651 -5.2320662 ] [ -0.15007555 0.02630295 0.98832458 -0.16629838] [ 0. 0. 0. 1. ]] SLAMing on 286.59241403699997 meters Centerline goodness : 0.800997 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.23, Z:-0.17 [[ 0.9749072 0.17060901 0.14299828 -11.00377709] [ -0.1648795 0.98498959 -0.05109073 -5.23080783] [ -0.14956836 0.02623123 0.98840337 -0.1671653 ] [ 0. 0. 0. 1. ]] SLAMing on 286.622414037 meters Centerline goodness : 0.788955 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.23, Z:-0.17 [[ 0.97487958 0.17124928 0.14242014 -11.00154576] [ -0.16553585 0.98487743 -0.05113061 -5.2293405 ] [ -0.14902246 0.02627055 0.98848478 -0.16775846] [ 0. 0. 0. 1. ]] SLAMing on 286.65241403699997 meters Centerline goodness : 0.788443 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.23, Z:-0.17 [[ 0.97485635 0.17187015 0.14183003 -10.99930117] [ -0.16609551 0.98475422 -0.05168577 -5.22625168] [ -0.14855096 0.02682887 0.98854076 -0.16759075] [ 0. 0. 0. 1. ]] SLAMing on 286.682414037 meters Centerline goodness : 0.796633 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.23, Z:-0.17 [[ 0.97487138 0.17196929 0.14160631 -10.9985914 ] [ -0.16616892 0.98473031 -0.05190478 -5.22516523] [ -0.14837006 0.02706991 0.98856135 -0.16752248] [ 0. 0. 0. 1. ]] SLAMing on 286.712414037 meters Centerline goodness : 0.795590 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.22, Z:-0.17 [[ 0.97491788 0.17198197 0.1412704 -10.99781178] [ -0.16611656 0.98471281 -0.05240193 -5.22344217] [ -0.14812296 0.02762023 0.98858318 -0.16705985] [ 0. 0. 0. 1. ]] SLAMing on 286.742414037 meters Centerline goodness : 0.795890 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.22, Z:-0.17 [[ 0.97493017 0.17201863 0.14114093 -10.99739364] [ -0.16613532 0.98470184 -0.05254839 -5.22297429] [ -0.14802103 0.02778252 0.9885939 -0.16711158] [ 0. 0. 0. 1. ]] SLAMing on 286.772414037 meters Centerline goodness : 0.794750 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.22, Z:-0.17 [[ 0.97493665 0.17201512 0.14110045 -10.99703721] [ -0.16612344 0.98470047 -0.05261175 -5.22257062] [ -0.1479917 0.02785303 0.98859631 -0.16745654] [ 0. 0. 0. 1. ]] SLAMing on 286.802414037 meters Centerline goodness : 0.793374 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.22, Z:-0.17 [[ 0.97493188 0.17216303 0.14095292 -10.99614965] [ -0.16628545 0.98467613 -0.05255543 -5.22203952] [ -0.14784108 0.02779955 0.98862035 -0.16823938] [ 0. 0. 0. 1. ]] SLAMing on 286.832414037 meters Centerline goodness : 0.792584 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.22, Z:-0.17 [[ 0.97493465 0.17228264 0.14078751 -10.9954513 ] [ -0.1664215 0.98465691 -0.0524848 -5.22180571] [ -0.14766962 0.02773918 0.98864767 -0.16867497] [ 0. 0. 0. 1. ]] SLAMing on 286.862414037 meters Centerline goodness : 0.792584 Centerline is valid? [False, False] Translation: X:-11.00, Y:-5.22, Z:-0.17 [[ 0.97493465 0.17228264 0.14078751 -10.9954513 ] [ -0.1664215 0.98465691 -0.0524848 -5.22180571] [ -0.14766962 0.02773918 0.98864767 -0.16867497] [ 0. 0. 0. 1. ]] SLAMing on 286.892414037 meters Centerline goodness : 0.793545 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.22, Z:-0.17 [[ 0.97493708 0.17254086 0.14045403 -10.9944364 ] [ -0.16668499 0.98460992 -0.05253014 -5.22115694] [ -0.14735602 0.027802 0.9886927 -0.16872648] [ 0. 0. 0. 1. ]] SLAMing on 286.922414037 meters Centerline goodness : 0.792270 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.22, Z:-0.17 [[ 0.97491433 0.17304617 0.13998956 -10.99293219] [ -0.16720411 0.98452033 -0.05255952 -5.22056732] [ -0.14691779 0.0278342 0.98875701 -0.16880323] [ 0. 0. 0. 1. ]] SLAMing on 286.952414037 meters Centerline goodness : 0.795471 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.22, Z:-0.17 [[ 0.97487332 0.17366839 0.13950378 -10.99121505] [ -0.16784212 0.98441027 -0.05258741 -5.21999328] [ -0.14646173 0.02785145 0.98882418 -0.1689384 ] [ 0. 0. 0. 1. ]] SLAMing on 286.98241403699996 meters Centerline goodness : 0.798884 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.22, Z:-0.17 [[ 0.97482365 0.1743294 0.13902556 -10.98942022] [ -0.16854168 0.98429743 -0.05246208 -5.21969038] [ -0.14598818 0.02770967 0.98889819 -0.16933935] [ 0. 0. 0. 1. ]] SLAMing on 287.012414037 meters Centerline goodness : 0.796790 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.22, Z:-0.17 [[ 0.97471428 0.17542746 0.13840982 -10.98672136] [ -0.16974842 0.98411914 -0.05191333 -5.2198546 ] [ -0.14531878 0.02710582 0.98901351 -0.17051928] [ 0. 0. 0. 1. ]] SLAMing on 287.04241403699996 meters Centerline goodness : 0.795718 Centerline is valid? [False, False] Translation: X:-10.99, Y:-5.22, Z:-0.17 [[ 0.97463332 0.17611537 0.13810602 -10.98512851] [ -0.17054091 0.98401416 -0.05130235 -5.22074191] [ -0.14493341 0.02644825 0.98908786 -0.17172218] [ 0. 0. 0. 1. ]] SLAMing on 287.072414037 meters Centerline goodness : 0.794629 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.22, Z:-0.17 [[ 0.97460649 0.17646495 0.13784887 -10.98419333] [ -0.17093809 0.9839585 -0.05104739 -5.22123532] [ -0.14464564 0.02618749 0.98913692 -0.17214019] [ 0. 0. 0. 1. ]] SLAMing on 287.10241403699996 meters Centerline goodness : 0.797642 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.22, Z:-0.17 [[ 0.97458373 0.1769064 0.13744338 -10.98297566] [ -0.17143103 0.98388567 -0.05079749 -5.22163934] [ -0.14421498 0.02594435 0.98920621 -0.17238035] [ 0. 0. 0. 1. ]] SLAMing on 287.132414037 meters Centerline goodness : 0.796330 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.22, Z:-0.17 [[ 0.97455647 0.17735153 0.13706246 -10.98179914] [ -0.17191304 0.98380956 -0.05064235 -5.2217948 ] [ -0.14382486 0.025791 0.98926702 -0.17252349] [ 0. 0. 0. 1. ]] SLAMing on 287.16241403699996 meters Centerline goodness : 0.794941 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.22, Z:-0.17 [[ 0.97444669 0.17828038 0.13663732 -10.97986116] [ -0.17295392 0.98365961 -0.05000707 -5.22299984] [ -0.14331989 0.02509726 0.98935814 -0.17356989] [ 0. 0. 0. 1. ]] SLAMing on 287.192414037 meters Centerline goodness : 0.791039 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.22, Z:-0.17 [[ 0.97437976 0.17885516 0.1363632 -10.97860951] [ -0.17360797 0.98356779 -0.04954474 -5.22407653] [ -0.14298378 0.02460165 0.98941922 -0.17437888] [ 0. 0. 0. 1. ]] SLAMing on 287.22241403699996 meters Centerline goodness : 0.791652 Centerline is valid? [False, False] Translation: X:-10.98, Y:-5.23, Z:-0.18 [[ 0.97429793 0.1795285 0.13606268 -10.97711957] [ -0.17440473 0.98346481 -0.04878484 -5.22546092] [ -0.14257113 0.02380099 0.98949835 -0.17565842] [ 0. 0. 0. 1. ]] SLAMing on 287.252414037 meters Centerline goodness : 0.791381 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.23, Z:-0.18 [[ 0.97419487 0.1805609 0.13543305 -10.97488862] [ -0.17553184 0.98328828 -0.04829833 -5.22639977] [ -0.14189052 0.02327917 0.98960859 -0.17621577] [ 0. 0. 0. 1. ]] SLAMing on 287.28241403699997 meters Centerline goodness : 0.791220 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.23, Z:-0.18 [[ 0.97416574 0.18099627 0.13506092 -10.9738212 ] [ -0.17598655 0.98320921 -0.04825327 -5.22643245] [ -0.1415268 0.02323778 0.98966164 -0.17607367] [ 0. 0. 0. 1. ]] SLAMing on 287.312414037 meters Centerline goodness : 0.793924 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.23, Z:-0.18 [[ 0.97410111 0.18188184 0.13433546 -10.97178411] [ -0.17690932 0.98304767 -0.04817016 -5.2260168 ] [ -0.14081944 0.02315742 0.98976443 -0.17558949] [ 0. 0. 0. 1. ]] SLAMing on 287.34241403699997 meters Centerline goodness : 0.796451 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.23, Z:-0.18 [[ 0.97407034 0.18242402 0.13382247 -10.9701963 ] [ -0.17748333 0.9829493 -0.04806599 -5.22588972] [ -0.14030909 0.0230684 0.98983898 -0.17569026] [ 0. 0. 0. 1. ]] SLAMing on 287.372414037 meters Centerline goodness : 0.795030 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.23, Z:-0.18 [[ 0.97401748 0.18298486 0.13344093 -10.96884116] [ -0.17810206 0.98285249 -0.047756 -5.22606995] [ -0.13989137 0.02274907 0.98990549 -0.17605956] [ 0. 0. 0. 1. ]] SLAMing on 287.40241403699997 meters Centerline goodness : 0.795649 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.23, Z:-0.18 [[ 0.97398319 0.18345915 0.13303942 -10.96748929] [ -0.17861584 0.98276816 -0.04757223 -5.22628483] [ -0.13947447 0.02257161 0.98996838 -0.17637964] [ 0. 0. 0. 1. ]] SLAMing on 287.432414037 meters Centerline goodness : 0.795245 Centerline is valid? [False, False] Translation: X:-10.97, Y:-5.23, Z:-0.18 [[ 0.97386995 0.18439304 0.13257649 -10.96530055] [ -0.17967414 0.98261129 -0.04682158 -5.22752843] [ -0.13890473 0.02177756 0.99006627 -0.17783932] [ 0. 0. 0. 1. ]] SLAMing on 287.462414037 meters Centerline goodness : 0.792746 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.23, Z:-0.18 [[ 0.97382 0.18479989 0.13237679 -10.96422427] [ -0.18015373 0.98254537 -0.04635985 -5.2282814 ] [ -0.13863349 0.02129797 0.99011472 -0.17881837] [ 0. 0. 0. 1. ]] SLAMing on 287.492414037 meters Centerline goodness : 0.795649 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.23, Z:-0.18 [[ 0.97377309 0.18507122 0.13234281 -10.96385914] [ -0.18052915 0.98251023 -0.04563857 -5.23024524] [ -0.13847455 0.02054988 0.99015277 -0.17974844] [ 0. 0. 0. 1. ]] SLAMing on 287.522414037 meters Centerline goodness : 0.792834 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.23, Z:-0.18 [[ 0.97376248 0.18509917 0.13238175 -10.96388148] [ -0.18059639 0.98251106 -0.04535366 -5.23127974] [ -0.13846146 0.02025603 0.99016065 -0.18013025] [ 0. 0. 0. 1. ]] SLAMing on 287.552414037 meters Centerline goodness : 0.794859 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.23, Z:-0.18 [[ 0.97376398 0.18517817 0.13226016 -10.96389082] [ -0.18073125 0.98250359 -0.04497677 -5.23285325] [ -0.1382748 0.01989321 0.99019409 -0.18014007] [ 0. 0. 0. 1. ]] SLAMing on 287.582414037 meters Centerline goodness : 0.794844 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.23, Z:-0.18 [[ 0.97373756 0.18544989 0.13207385 -10.96342955] [ -0.18106206 0.98245997 -0.04459755 -5.2335825 ] [ -0.13802788 0.01951274 0.99023611 -0.18026637] [ 0. 0. 0. 1. ]] SLAMing on 287.612414037 meters Centerline goodness : 0.795800 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.23, Z:-0.18 [[ 0.97379923 0.18530621 0.13182062 -10.96328957] [ -0.18088523 0.98248047 -0.04486273 -5.23344923] [ -0.13782452 0.01984288 0.99025788 -0.17946287] [ 0. 0. 0. 1. ]] SLAMing on 287.642414037 meters Centerline goodness : 0.793875 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.23, Z:-0.18 [[ 0.97381963 0.18527978 0.13170698 -10.96317947] [ -0.1808469 0.98248293 -0.04496317 -5.23365535] [ -0.13773063 0.01996722 0.99026844 -0.17917505] [ 0. 0. 0. 1. ]] SLAMing on 287.672414037 meters Centerline goodness : 0.797538 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.18 [[ 0.97316382 0.18786531 0.13288646 -10.96377434] [ -0.18458338 0.98213097 -0.03671158 -5.24034088] [ -0.13740874 0.01119775 0.99045113 -0.18212174] [ 0. 0. 0. 1. ]] SLAMing on 287.702414037 meters Centerline goodness : 0.794570 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.18 [[ 0.97321326 0.18804699 0.13226594 -10.96226204] [ -0.18479744 0.98209709 -0.03654061 -5.24075375] [ -0.13676935 0.0111194 0.99054051 -0.18227291] [ 0. 0. 0. 1. ]] SLAMing on 287.73241403699996 meters Centerline goodness : 0.792821 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.18 [[ 0.97324735 0.18814441 0.13187599 -10.96123464] [ -0.18486546 0.98207487 -0.03679278 -5.24054654] [ -0.13643445 0.01142916 0.99058317 -0.18240357] [ 0. 0. 0. 1. ]] SLAMing on 287.762414037 meters Centerline goodness : 0.795859 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.18 [[ 9.73211164e-01 1.88484911e-01 1.31656629e-01 -1.09601437e+01] [-1.85390268e-01 9.82023802e-01 -3.54922554e-02 -5.24144919e+00] [-1.35979698e-01 1.01336014e-02 9.90659796e-01 -1.83314212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79241403699996 meters Centerline goodness : 0.795613 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.18 [[ 9.73173896e-01 1.88775081e-01 1.31516297e-01 -1.09591434e+01] [-1.85838353e-01 9.81979047e-01 -3.43694247e-02 -5.24236489e+00] [-1.35634339e-01 9.00665493e-03 9.90718026e-01 -1.84554780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.822414037 meters Centerline goodness : 0.793662 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.19 [[ 9.73143830e-01 1.88973998e-01 1.31453086e-01 -1.09587584e+01] [-1.86052008e-01 9.81941746e-01 -3.42790993e-02 -5.24350117e+00] [-1.35557131e-01 8.90138335e-03 9.90729544e-01 -1.85069146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85241403699996 meters Centerline goodness : 0.794138 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.19 [[ 9.73144428e-01 1.89030021e-01 1.31368081e-01 -1.09585904e+01] [-1.86114397e-01 9.81931222e-01 -3.42418930e-02 -5.24396991e+00] [-1.35467166e-01 8.87281625e-03 9.90742106e-01 -1.85034820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882414037 meters Centerline goodness : 0.791515 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.18 [[ 9.73152164e-01 1.89159833e-01 1.31123693e-01 -1.09584631e+01] [-1.86250304e-01 9.81906145e-01 -3.42220079e-02 -5.24461465e+00] [-1.35224589e-01 8.88139331e-03 9.90775167e-01 -1.84287590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91241403699996 meters Centerline goodness : 0.795634 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.24, Z:-0.18 [[ 9.73156570e-01 1.89255604e-01 1.30952688e-01 -1.09582785e+01] [-1.86354052e-01 9.81887884e-01 -3.41811572e-02 -5.24494843e+00] [-1.35049833e-01 8.86005383e-03 9.90799194e-01 -1.83925486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942414037 meters Centerline goodness : 0.798500 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.25, Z:-0.18 [[ 9.73150734e-01 1.89410969e-01 1.30771301e-01 -1.09579891e+01] [-1.86530950e-01 9.81859016e-01 -3.40452139e-02 -5.24558272e+00] [-1.34847518e-01 8.73822981e-03 9.90827831e-01 -1.83737054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97241403699996 meters Centerline goodness : 0.798492 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.25, Z:-0.18 [[ 9.73092730e-01 1.89816757e-01 1.30614458e-01 -1.09572343e+01] [-1.87033302e-01 9.81786580e-01 -3.33714833e-02 -5.24730798e+00] [-1.34569989e-01 8.04429437e-03 9.90871438e-01 -1.84536804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002414037 meters Centerline goodness : 0.797750 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.25, Z:-0.19 [[ 9.73059825e-01 1.90084074e-01 1.30470773e-01 -1.09566184e+01] [-1.87370206e-01 9.81738767e-01 -3.28846427e-02 -5.24863643e+00] [-1.34339062e-01 7.55238919e-03 9.90906644e-01 -1.85214567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03241403699997 meters Centerline goodness : 0.795106 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.25, Z:-0.19 [[ 9.72997341e-01 1.90686620e-01 1.30056863e-01 -1.09551406e+01] [-1.88075150e-01 9.81626992e-01 -3.21898609e-02 -5.25036645e+00] [-1.33805503e-01 6.86018499e-03 9.90983867e-01 -1.86136990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062414037 meters Centerline goodness : 0.797702 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.25, Z:-0.19 [[ 9.72967177e-01 1.90854153e-01 1.30036782e-01 -1.09549093e+01] [-1.88303122e-01 9.81597480e-01 -3.17540787e-02 -5.25129716e+00] [-1.33704176e-01 6.40934423e-03 9.91000562e-01 -1.86612098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09241403699997 meters Centerline goodness : 0.798845 Centerline is valid? [False, False] Translation: X:-10.95, Y:-5.25, Z:-0.19 [[ 9.72962666e-01 1.90894430e-01 1.30011415e-01 -1.09549054e+01] [-1.88382845e-01 9.81591477e-01 -3.14654678e-02 -5.25242509e+00] [-1.33624679e-01 6.12280528e-03 9.91013096e-01 -1.86790434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122414037 meters Centerline goodness : 0.801416 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.25, Z:-0.19 [[ 9.72962413e-01 1.90881721e-01 1.30031960e-01 -1.09550364e+01] [-1.88426407e-01 9.81596463e-01 -3.10462938e-02 -5.25406136e+00] [-1.33565082e-01 5.70542183e-03 9.91023621e-01 -1.87182124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15241403699997 meters Centerline goodness : 0.796913 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 9.73060830e-01 1.90101142e-01 1.30438406e-01 -1.09568626e+01] [-1.87733530e-01 9.81751659e-01 -3.03282358e-02 -5.25693852e+00] [-1.33823554e-01 5.02355586e-03 9.90992442e-01 -1.87708389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182414037 meters Centerline goodness : 0.800779 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 9.73100843e-01 1.89660838e-01 1.30780413e-01 -1.09580578e+01] [-1.87324630e-01 9.81838189e-01 -3.00541834e-02 -5.25853089e+00] [-1.34105305e-01 4.74735880e-03 9.90955715e-01 -1.87908526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.212414037 meters Centerline goodness : 0.800351 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 9.73917345e-01 1.86254265e-01 1.29593035e-01 -1.09578019e+01] [-1.83389212e-01 9.82458878e-01 -3.38075472e-02 -5.25995548e+00] [-1.33616627e-01 9.15979217e-03 9.90990764e-01 -1.87163562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242414037 meters Centerline goodness : 0.802079 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 9.73968679e-01 1.85826652e-01 1.29820909e-01 -1.09587843e+01] [-1.82992565e-01 9.82542187e-01 -3.35346414e-02 -5.26144258e+00] [-1.33786150e-01 8.90542915e-03 9.90970211e-01 -1.87296229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.272414037 meters Centerline goodness : 0.804249 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 9.74030637e-01 1.85413134e-01 1.29947253e-01 -1.09596728e+01] [-1.82590966e-01 9.82621110e-01 -3.34109744e-02 -5.26263310e+00] [-1.33883747e-01 8.81611827e-03 9.90957829e-01 -1.87095855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302414037 meters Centerline goodness : 0.807120 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 0.97482811 0.18202637 0.12874995 -10.95944768] [ -0.17859743 0.98319614 -0.03779291 -5.26242208] [ -0.13346576 0.01384718 0.99095668 -0.18545823] [ 0. 0. 0. 1. ]] SLAMing on 288.332414037 meters Centerline goodness : 0.803954 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 0.97485066 0.18180684 0.12888937 -10.9601069 ] [ -0.17838855 0.98323819 -0.0376853 -5.26316041] [ -0.1335804 0.01374516 0.99094266 -0.18528854] [ 0. 0. 0. 1. ]] SLAMing on 288.362414037 meters Centerline goodness : 0.807082 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.18 [[ 0.97490245 0.18162332 0.12875626 -10.96021805] [ -0.17819091 0.98326992 -0.03779228 -5.26357634] [ -0.13346611 0.01390059 0.99095589 -0.18489948] [ 0. 0. 0. 1. ]] SLAMing on 288.392414037 meters Centerline goodness : 0.808250 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 0.97493484 0.18141986 0.12879789 -10.96051309] [ -0.17801375 0.98331016 -0.03757972 -5.26419025] [ -0.13346599 0.01370998 0.99095856 -0.18506689] [ 0. 0. 0. 1. ]] SLAMing on 288.422414037 meters Centerline goodness : 0.806943 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 0.9749298 0.18159327 0.12859145 -10.95975866] [ -0.17824184 0.98328307 -0.03720546 -5.26493128] [ -0.13319806 0.01335234 0.99099949 -0.18573172] [ 0. 0. 0. 1. ]] SLAMing on 288.452414037 meters Centerline goodness : 0.810890 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.27, Z:-0.19 [[ 0.97490082 0.18179579 0.12852504 -10.95878702] [ -0.17853516 0.98325448 -0.03654894 -5.26556341] [ -0.13301726 0.01268535 0.99103254 -0.18733013] [ 0. 0. 0. 1. ]] SLAMing on 288.48241403699996 meters Centerline goodness : 0.812609 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.27, Z:-0.19 [[ 0.97487854 0.1820458 0.12834002 -10.95784144] [ -0.17884187 0.98321314 -0.03615954 -5.26586759] [ -0.13276828 0.01229859 0.9910708 -0.18817215] [ 0. 0. 0. 1. ]] SLAMing on 288.512414037 meters Centerline goodness : 0.811633 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.27, Z:-0.19 [[ 0.97487161 0.18221883 0.12814698 -10.95702728] [ -0.17904043 0.98318293 -0.03599784 -5.26567781] [ -0.13255141 0.01214979 0.99110166 -0.18865408] [ 0. 0. 0. 1. ]] SLAMing on 288.54241403699996 meters Centerline goodness : 0.812951 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.27, Z:-0.19 [[ 0.97486989 0.18223878 0.12813166 -10.95665842] [ -0.17906064 0.98317923 -0.03599855 -5.26520372] [ -0.13253672 0.01215057 0.99110362 -0.18903164] [ 0. 0. 0. 1. ]] SLAMing on 288.572414037 meters Centerline goodness : 0.814602 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 0.97491157 0.182077 0.12804454 -10.95650866] [ -0.17885721 0.98320488 -0.03630789 -5.26436308] [ -0.13250485 0.0124953 0.99110359 -0.18883119] [ 0. 0. 0. 1. ]] SLAMing on 288.60241403699996 meters Centerline goodness : 0.814518 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 0.97494762 0.18183755 0.12811027 -10.95681847] [ -0.17861246 0.9832487 -0.03632607 -5.26405072] [ -0.1325697 0.01253392 0.99109443 -0.18885615] [ 0. 0. 0. 1. ]] SLAMing on 288.632414037 meters Centerline goodness : 0.817206 Centerline is valid? [False, False] Translation: X:-10.96, Y:-5.26, Z:-0.19 [[ 0.97504791 0.18128038 0.12813666 -10.95741923] [ -0.17798777 0.98334463 -0.03679267 -5.26283513] [ -0.13267228 0.01306786 0.99107381 -0.18824634] [ 0. 0. 0. 1. ]] SLAMing on 288.66241403699996 meters Centerline goodness : 0.806943 Centerline is valid? [False, False] Translation: X:-11.82, Y:-5.08, Z:-0.12 [[ 0.96794877 0.19116777 0.16288049 -11.82267557] [ -0.21075288 0.97101 0.11279545 -5.08430794] [ -0.13659573 -0.14350775 0.98017709 -0.11793552] [ 0. 0. 0. 1. ]] SLAMing on 288.692414037 meters Centerline goodness : 0.819446 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.01, Z:-0.07 [[ 0.9906859 0.08797038 0.10393581 -11.49204631] [ -0.08525763 0.99589904 -0.0302695 -5.0142451 ] [ -0.1061724 0.02112625 0.99412328 -0.07138758] [ 0. 0. 0. 1. ]] SLAMing on 288.72241403699996 meters Centerline goodness : 0.821964 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.01, Z:-0.07 [[ 0.99072241 0.08786343 0.10367798 -11.49135578] [ -0.08509118 0.99589471 -0.0308743 -5.01178933] [ -0.10596507 0.02176578 0.99413161 -0.07118829] [ 0. 0. 0. 1. ]] SLAMing on 288.752414037 meters Centerline goodness : 0.820677 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.01, Z:-0.07 [[ 0.99074726 0.08800303 0.10332151 -11.49024324] [ -0.08521493 0.99587697 -0.03110424 -5.01057124] [ -0.10563278 0.0220119 0.99416155 -0.07137736] [ 0. 0. 0. 1. ]] SLAMing on 288.78241403699997 meters Centerline goodness : 0.820677 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.01, Z:-0.07 [[ 0.99074726 0.08800303 0.10332151 -11.49024324] [ -0.08521493 0.99587697 -0.03110424 -5.01057124] [ -0.10563278 0.0220119 0.99416155 -0.07137736] [ 0. 0. 0. 1. ]] SLAMing on 288.812414037 meters Centerline goodness : 0.820845 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.01, Z:-0.07 [[ 0.99074493 0.08849458 0.10292325 -11.48839373] [ -0.08568417 0.99582671 -0.03142257 -5.00779806] [ -0.10527445 0.02231286 0.99419285 -0.07195642] [ 0. 0. 0. 1. ]] SLAMing on 288.84241403699997 meters Centerline goodness : 0.822258 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.01, Z:-0.07 [[ 0.99076467 0.08883029 0.10244286 -11.48693893] [ -0.08600963 0.99579181 -0.03163876 -5.00625987] [ -0.10482225 0.0225355 0.99423561 -0.07203387] [ 0. 0. 0. 1. ]] SLAMing on 288.872414037 meters Centerline goodness : 0.822587 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.00, Z:-0.07 [[ 0.99078719 0.08895997 0.10211207 -11.48599846] [ -0.08609744 0.99576898 -0.03211502 -5.00432349] [ -0.10453699 0.02302756 0.99425437 -0.07176152] [ 0. 0. 0. 1. ]] SLAMing on 288.90241403699997 meters Centerline goodness : 0.823269 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.00, Z:-0.07 [[ 0.9904573 0.0917328 0.10285633 -11.48714367] [ -0.08921422 0.99559499 -0.02883479 -5.00192813] [ -0.10504834 0.01938338 0.9942782 -0.07157961] [ 0. 0. 0. 1. ]] SLAMing on 288.932414037 meters Centerline goodness : 0.825012 Centerline is valid? [False, False] Translation: X:-11.49, Y:-5.00, Z:-0.07 [[ 0.99046774 0.09205614 0.10246622 -11.48590616] [ -0.08951202 0.99555861 -0.02916584 -5.0000491 ] [ -0.10469602 0.01971587 0.99430882 -0.07152124] [ 0. 0. 0. 1. ]] SLAMing on 288.962414037 meters Centerline goodness : 0.823687 Centerline is valid? [False, False] Translation: X:-11.48, Y:-5.00, Z:-0.07 [[ 0.99046726 0.09265739 0.10192751 -11.48382516] [ -0.09006572 0.99549135 -0.02975137 -4.99677936] [ -0.10422464 0.02028758 0.99434684 -0.07160574] [ 0. 0. 0. 1. ]] SLAMing on 288.992414037 meters Centerline goodness : 0.825652 Centerline is valid? [False, False] Translation: X:-11.48, Y:-5.00, Z:-0.07 [[ 0.99047792 0.09313824 0.10138421 -11.48210794] [ -0.09054814 0.99544414 -0.02986632 -4.99553942] [ -0.10370401 0.02040178 0.99439894 -0.07179841] [ 0. 0. 0. 1. ]] SLAMing on 289.022414037 meters Centerline goodness : 0.821387 Centerline is valid? [False, False] Translation: X:-11.48, Y:-4.99, Z:-0.07 [[ 0.99045303 0.09386992 0.1009516 -11.47991134] [ -0.09125436 0.99536859 -0.03023251 -4.99238555] [ -0.10332198 0.02073161 0.99443188 -0.07232889] [ 0. 0. 0. 1. ]] SLAMing on 289.052414037 meters Centerline goodness : 0.823288 Centerline is valid? [False, False] Translation: X:-11.48, Y:-4.99, Z:-0.07 [[ 0.99046938 0.09413588 0.10054271 -11.47868212] [ -0.09150061 0.99533726 -0.03051835 -4.99095698] [ -0.10294678 0.02102777 0.99446458 -0.07229902] [ 0. 0. 0. 1. ]] SLAMing on 289.082414037 meters Centerline goodness : 0.824188 Centerline is valid? [False, False] Translation: X:-11.48, Y:-4.99, Z:-0.07 [[ 0.99048309 0.09440075 0.1001586 -11.47755303] [ -0.09174168 0.99530513 -0.03084077 -4.98938061] [ -0.10259976 0.02135855 0.99449339 -0.07213461] [ 0. 0. 0. 1. ]] SLAMing on 289.112414037 meters Centerline goodness : 0.823950 Centerline is valid? [False, False] Translation: X:-11.48, Y:-4.99, Z:-0.07 [[ 0.99014888 0.09691323 0.10105946 -11.47930059] [ -0.0946078 0.99513824 -0.02737255 -4.98794906] [ -0.10322089 0.01754188 0.99450376 -0.07207997] [ 0. 0. 0. 1. ]] SLAMing on 289.142414037 meters Centerline goodness : 0.826506 Centerline is valid? [False, False] Translation: X:-11.48, Y:-4.99, Z:-0.07 [[ 0.99017427 0.09706915 0.10066032 -11.47843966] [ -0.09473229 0.99511587 -0.02775258 -4.98677635] [ -0.10286261 0.01794411 0.99453371 -0.07157177] [ 0. 0. 0. 1. ]] SLAMing on 289.172414037 meters Centerline goodness : 0.826922 Centerline is valid? [False, False] Translation: X:-11.48, Y:-4.99, Z:-0.07 [[ 0.99018937 0.09719324 0.10039164 -11.47776451] [ -0.09483295 0.99509842 -0.02803283 -4.98554664] [ -0.10262417 0.01823738 0.994553 -0.07129145] [ 0. 0. 0. 1. ]] SLAMing on 289.202414037 meters Centerline goodness : 0.837184 Centerline is valid? [False, False] Translation: X:-11.48, Y:-4.98, Z:-0.07 [[ 0.99020892 0.09752118 0.09987955 -11.4761877 ] [ -0.09512617 0.99505778 -0.02847855 -4.9833622 ] [ -0.10216318 0.01869856 0.9945919 -0.07121456] [ 0. 0. 0. 1. ]] SLAMing on 289.23241403699996 meters Centerline goodness : 0.836051 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99021523 0.09783287 0.09951141 -11.47498461] [ -0.09544027 0.995026 -0.02853776 -4.98269227] [ -0.10180838 0.01876113 0.9946271 -0.07145919] [ 0. 0. 0. 1. ]] SLAMing on 289.262414037 meters Centerline goodness : 0.840210 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99021269 0.09815021 0.09922384 -11.47373499] [ -0.09577767 0.99499725 -0.0284097 -4.98221552] [ -0.10151587 0.01862821 0.9946595 -0.07216844] [ 0. 0. 0. 1. ]] SLAMing on 289.29241403699996 meters Centerline goodness : 0.840590 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99019657 0.09884559 0.09869292 -11.47141546] [ -0.09648647 0.99492879 -0.0284089 -4.98071065] [ -0.10100052 0.01860787 0.99471234 -0.0730354 ] [ 0. 0. 0. 1. ]] SLAMing on 289.322414037 meters Centerline goodness : 0.848215 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99019947 0.09902943 0.0984793 -11.47055645] [ -0.09665571 0.99490685 -0.02860118 -4.97983108] [ -0.10081009 0.01880228 0.994728 -0.07316896] [ 0. 0. 0. 1. ]] SLAMing on 289.35241403699996 meters Centerline goodness : 0.851557 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99020733 0.09906397 0.09836551 -11.47007204] [ -0.09666224 0.99489756 -0.0289008 -4.9787174 ] [ -0.10072663 0.01910956 0.9947306 -0.07316384] [ 0. 0. 0. 1. ]] SLAMing on 289.382414037 meters Centerline goodness : 0.859905 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99024368 0.09891208 0.09815222 -11.46980585] [ -0.09643471 0.99489662 -0.02968271 -4.97678938] [ -0.10058729 0.01992784 0.99472865 -0.07216631] [ 0. 0. 0. 1. ]] SLAMing on 289.41241403699996 meters Centerline goodness : 0.867789 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99026313 0.09866468 0.09820493 -11.47004058] [ -0.09613005 0.99490973 -0.03022667 -4.97573663] [ -0.10068734 0.02049191 0.99470706 -0.07165803] [ 0. 0. 0. 1. ]] SLAMing on 289.442414037 meters Centerline goodness : 0.870246 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99027245 0.09863642 0.09813934 -11.46978628] [ -0.09607166 0.9949059 -0.03053653 -4.97518887] [ -0.10065142 0.02081107 0.99470407 -0.07148768] [ 0. 0. 0. 1. ]] SLAMing on 289.47241403699996 meters Centerline goodness : 0.874197 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.97, Z:-0.07 [[ 0.99029227 0.09872616 0.09784869 -11.46889278] [ -0.09614672 0.99489218 -0.03074683 -4.97493927] [ -0.10038441 0.02104052 0.99472623 -0.07143266] [ 0. 0. 0. 1. ]] SLAMing on 289.502414037 meters Centerline goodness : 0.878700 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99028365 0.0988377 0.09782336 -11.46833312] [ -0.09627367 0.99488429 -0.0306045 -4.97515058] [ -0.1003478 0.02088932 0.99473311 -0.07210038] [ 0. 0. 0. 1. ]] SLAMing on 289.53241403699997 meters Centerline goodness : 0.759574 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.9902917 0.0988433 0.0977361 -11.46780921] [ -0.09628652 0.99488468 -0.03055114 -4.97551755] [ -0.10025593 0.02084387 0.99474332 -0.0725689 ] [ 0. 0. 0. 1. ]] SLAMing on 289.562414037 meters Centerline goodness : 0.862961 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99031206 0.09868483 0.09768995 -11.46732365] [ -0.09614966 0.99490442 -0.03033888 -4.97595551] [ -0.10018615 0.02065211 0.99475435 -0.07338838] [ 0. 0. 0. 1. ]] SLAMing on 289.59241403699997 meters Centerline goodness : 0.125541 Centerline is valid? [False, False] Translation: X:-11.47, Y:-4.98, Z:-0.07 [[ 0.99031563 0.09865372 0.09768516 -11.46705761] [ -0.09613449 0.99491071 -0.03018023 -4.97652386] [ -0.10016541 0.02049704 0.99475965 -0.07386348] [ 0. 0. 0. 1. ]] SLAMing on 289.622414037 meters Centerline goodness : 0.131664 Centerline is valid? [False, False] Translation: X:-11.46, Y:-4.98, Z:-0.07 [[ 0.99071283 0.09579465 0.09649603 -11.46458338] [ -0.0928657 0.99508386 -0.03441046 -4.97539291] [ -0.09931798 0.02512971 0.99473838 -0.07336723] [ 0. 0. 0. 1. ]] SLAMing on 289.65241403699997 meters Centerline goodness : 0.134648 Centerline is valid? [False, False] Translation: X:-11.46, Y:-4.98, Z:-0.07 [[ 0.99072058 0.09573325 0.09647733 -11.46449569] [ -0.0928035 0.99508931 -0.03442048 -4.9761025 ] [ -0.09929874 0.02514764 0.99473984 -0.07336313] [ 0. 0. 0. 1. ]] SLAMing on 289.682414037 meters Centerline goodness : 0.140990 Centerline is valid? [False, False] Translation: X:-11.46, Y:-4.98, Z:-0.07 [[ 0.99105456 0.09380685 0.09492701 -11.46225644] [ -0.09069341 0.99520582 -0.03660713 -4.97539834] [ -0.09790591 0.02767041 0.99481093 -0.07282048] [ 0. 0. 0. 1. ]] SLAMing on 289.712414037 meters Centerline goodness : 0.153335 Centerline is valid? [False, False] Translation: X:-11.46, Y:-4.97, Z:-0.07 [[ 0.99143571 0.09094553 0.09372372 -11.45983126] [ -0.08742331 0.99532577 -0.04103379 -4.97402373] [ -0.09701747 0.03248873 0.99475228 -0.07212511] [ 0. 0. 0. 1. ]] SLAMing on 289.742414037 meters Centerline goodness : 0.185217 Centerline is valid? [False, False] Translation: X:-11.46, Y:-4.97, Z:-0.07 [[ 0.99144622 0.09074181 0.09381002 -11.45998362] [ -0.08721225 0.99534272 -0.04107181 -4.97466175] [ -0.09710005 0.03253911 0.99474257 -0.07219394] [ 0. 0. 0. 1. ]] SLAMing on 289.772414037 meters Centerline goodness : 0.256898 Centerline is valid? [False, False] Translation: X:-11.46, Y:-4.97, Z:-0.07 [[ 0.99182747 0.08761939 0.09274222 -11.45782702] [ -0.08371516 0.99546454 -0.04518973 -4.974226 ] [ -0.09628109 0.03705648 0.99466415 -0.07179059] [ 0. 0. 0. 1. ]] SLAMing on 289.802414037 meters Centerline goodness : 0.254120 Centerline is valid? [False, False] Translation: X:-11.46, Y:-4.97, Z:-0.07 [[ 0.99220046 0.08455783 0.0915872 -11.45565312] [ -0.08028048 0.99554609 -0.04942705 -4.97286992] [ -0.09535872 0.04168888 0.99456963 -0.07119117] [ 0. 0. 0. 1. ]] SLAMing on 289.832414037 meters Centerline goodness : 0.204384 Centerline is valid? [False, False] Translation: X:-11.45, Y:-4.97, Z:-0.07 [[ 0.99260297 0.0809779 0.09045398 -11.45406721] [ -0.07635596 0.99564725 -0.05344453 -4.97252754] [ -0.09438808 0.0461425 0.99446557 -0.07026877] [ 0. 0. 0. 1. ]] Total time of SLAM: 26550.00 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%| | 0/9662 [00:00