+ python -m lidar_slam --no-model /working/6dcbed11-6d69-459f-ab03-dc6521747d62 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/6dcbed11-6d69-459f-ab03-dc6521747d62 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 0.004860624 Adjusted end_distance from 9.223372036854776e+18 to 160.964860624 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004860624 meters Centerline goodness : 0.355083 Centerline is valid? [0, False] SLAMing on 0.034860624 meters Centerline goodness : 0.357768 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999934e-01 2.18816658e-04 -2.90554815e-04 1.71623455e-03] [-2.18740990e-04 9.99999942e-01 2.60431440e-04 7.40459690e-04] [ 2.90611785e-04 -2.60367867e-04 9.99999924e-01 -1.11408364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06486062399999999 meters Centerline goodness : 0.254648 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999888e-01 3.69146101e-05 -4.71714860e-04 2.76389307e-03] [-3.68584303e-05 9.99999992e-01 1.19105055e-04 1.91993867e-03] [ 4.71719253e-04 -1.19087655e-04 9.99999882e-01 -1.63878365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09486062399999999 meters Centerline goodness : 0.200513 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999476e-01 -9.44563776e-04 -3.94876744e-04 2.96809260e-03] [ 9.44306772e-04 9.99999343e-01 -6.50526992e-04 4.39721688e-03] [ 3.95490948e-04 6.50153767e-04 9.99999710e-01 -1.57003064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12486062399999999 meters Centerline goodness : 0.185683 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999222e-01 -1.14287013e-03 -4.99035070e-04 3.76593303e-03] [ 1.14256241e-03 9.99999157e-01 -6.16476196e-04 5.09941185e-03] [ 4.99739202e-04 6.15905538e-04 9.99999685e-01 -1.99635452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.154860624 meters Centerline goodness : 0.176701 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998219e-01 -1.81056315e-03 -5.32069227e-04 3.87629600e-03] [ 1.81003108e-03 9.99997863e-01 -9.98783471e-04 5.39458538e-03] [ 5.33876450e-04 9.97818631e-04 9.99999360e-01 -1.70374777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.184860624 meters Centerline goodness : 0.177405 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997596e-01 -2.03034384e-03 -8.27542913e-04 5.42552526e-03] [ 2.02950632e-03 9.99997429e-01 -1.01164041e-03 6.33681951e-03] [ 8.29594763e-04 1.00995847e-03 9.99999146e-01 -2.50805496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.214860624 meters Centerline goodness : 0.178310 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99996969e-01 -2.05972924e-03 -1.34885112e-03 7.92320902e-03] [ 2.05885499e-03 9.99997670e-01 -6.49211476e-04 7.76146416e-03] [ 1.35018517e-03 6.46432419e-04 9.99998880e-01 -4.00187338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.244860624 meters Centerline goodness : 0.195084 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99995638e-01 -2.44526026e-03 -1.65683222e-03 9.54448045e-03] [ 2.44415274e-03 9.99996789e-01 -6.70152366e-04 8.37639820e-03] [ 1.65846560e-03 6.66099892e-04 9.99998403e-01 -4.99274479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274860624 meters Centerline goodness : 0.212501 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99998138 -0.00480245 -0.00376583 0.01699262] [ 0.00479303 0.99998537 -0.00250717 0.01197344] [ 0.00377782 0.00248907 0.99998977 -0.00772377] [ 0. 0. 0. 1. ]] SLAMing on 0.30486062399999997 meters Centerline goodness : 0.218587 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99997833 -0.00496647 -0.0043206 0.01936077] [ 0.00495723 0.99998541 -0.00214563 0.01238499] [ 0.00433119 0.00212416 0.99998836 -0.00902405] [ 0. 0. 0. 1. ]] SLAMing on 0.33486062399999994 meters Centerline goodness : 0.219210 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99997324 -0.00503445 -0.00530828 0.02303049] [ 0.00502397 0.99998541 -0.0019864 0.0136387 ] [ 0.00531821 0.00195968 0.99998394 -0.01042108] [ 0. 0. 0. 1. ]] SLAMing on 0.36486062399999997 meters Centerline goodness : 0.217656 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99996814 -0.00538438 -0.00589237 0.02546865] [ 0.00537285 0.99998362 -0.00197154 0.01416859] [ 0.00590289 0.00193982 0.9999807 -0.011498 ] [ 0. 0. 0. 1. ]] SLAMing on 0.394860624 meters Centerline goodness : 0.217675 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 9.99928686e-01 -7.10743388e-03 -9.59726478e-03 5.07820487e-02] [ 7.11034911e-03 9.99974685e-01 2.69669548e-04 1.52020214e-02] [ 9.59510516e-03 -3.37890220e-04 9.99953909e-01 -1.25136926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42486062399999996 meters Centerline goodness : 0.099070 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 9.99916739e-01 -7.55884455e-03 -1.04584070e-02 5.92183705e-02] [ 7.55171885e-03 9.99971226e-01 -7.20661052e-04 1.85448488e-02] [ 1.04635534e-02 6.41622100e-04 9.99945050e-01 -1.73794748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45486062399999994 meters Centerline goodness : 0.231045 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 9.99906972e-01 -7.49927639e-03 -1.13933253e-02 6.34009901e-02] [ 7.48758184e-03 9.99971397e-01 -1.06874842e-03 2.16441225e-02] [ 1.14010143e-02 9.83340536e-04 9.99934523e-01 -1.84487427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48486062399999996 meters Centerline goodness : 0.205662 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.02 [[ 0.99990612 -0.00641594 -0.01210699 0.06649681] [ 0.00644914 0.99997554 0.0027053 0.02555395] [ 0.01208933 -0.00278313 0.99992305 -0.02498216] [ 0. 0. 0. 1. ]] SLAMing on 0.514860624 meters Centerline goodness : 0.235307 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.01 [[ 0.99969687 0.00301402 -0.02443522 0.11850891] [-0.00305923 0.99999368 -0.00181317 0.01906511] [ 0.0244296 0.00188738 0.99969977 -0.01317484] [ 0. 0. 0. 1. ]] SLAMing on 0.544860624 meters Centerline goodness : 0.206556 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.00 [[ 0.99967846 0.00215594 -0.02526501 0.14481634] [-0.00229298 0.99998281 -0.00539649 0.02671675] [ 0.02525294 0.00545269 0.99966622 -0.00312404] [ 0. 0. 0. 1. ]] SLAMing on 0.5748606239999999 meters Centerline goodness : 0.234609 Centerline is valid? [False, False] Translation: X:0.27, Y:0.06, Z:0.05 [[ 9.99709506e-01 -1.95734018e-03 -2.40223333e-02 2.68302983e-01] [ 1.31967151e-04 9.97126531e-01 -7.57539654e-02 5.68669936e-02] [ 2.41015822e-02 7.57287891e-02 9.96837130e-01 5.48337915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.604860624 meters Centerline goodness : 0.122022 Centerline is valid? [False, False] Translation: X:0.29, Y:0.06, Z:0.06 [[ 0.99963758 -0.00522847 -0.02640791 0.29119034] [ 0.00324157 0.99719863 -0.07472869 0.06174481] [ 0.02672465 0.074616 0.99685417 0.05525564] [ 0. 0. 0. 1. ]] SLAMing on 0.634860624 meters Centerline goodness : 0.188154 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.27, Z:-0.26 [[ 0.99194108 0.07123147 0.10478057 -0.25231278] [-0.10558272 0.92187253 0.37283149 -0.27006415] [-0.070037 -0.38088989 0.92196405 -0.26454517] [ 0. 0. 0. 1. ]] SLAMing on 0.6648606239999999 meters Centerline goodness : 0.166292 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.27, Z:-0.27 [[ 0.99223023 0.06861953 0.10378118 -0.24478475] [-0.10236417 0.92437704 0.36748968 -0.26767149] [-0.07071597 -0.37525785 0.92421902 -0.26795958] [ 0. 0. 0. 1. ]] SLAMing on 0.6948606239999999 meters Centerline goodness : 0.344723 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.23, Z:-0.23 [[ 0.9945524 0.05974541 0.08541664 -0.19074687] [-0.08470067 0.94082017 0.3281512 -0.22561741] [-0.06075617 -0.33359841 0.94075544 -0.23406955] [ 0. 0. 0. 1. ]] SLAMing on 0.724860624 meters Centerline goodness : 0.352748 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.22, Z:-0.23 [[ 0.99491699 0.05548165 0.08403554 -0.18740738] [-0.07983732 0.94319687 0.3224991 -0.21947816] [-0.06136928 -0.32756901 0.94283209 -0.23371499] [ 0. 0. 0. 1. ]] SLAMing on 0.754860624 meters Centerline goodness : 0.365369 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.21, Z:-0.23 [[ 0.99527419 0.05086841 0.08271457 -0.184641 ] [-0.0746882 0.94537976 0.31729921 -0.21296064] [-0.06205617 -0.32197751 0.94471134 -0.23390192] [ 0. 0. 0. 1. ]] SLAMing on 0.784860624 meters Centerline goodness : 0.385065 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.19, Z:-0.22 [[ 0.99606389 0.03952193 0.07933943 -0.14934322] [-0.06096122 0.95523575 0.28949678 -0.18530596] [-0.06434639 -0.29319392 0.95388514 -0.22060867] [ 0. 0. 0. 1. ]] SLAMing on 0.8148606239999999 meters Centerline goodness : 0.388355 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.18, Z:-0.22 [[ 0.99631648 0.0352955 0.07815181 -0.14676183] [-0.05621611 0.9570434 0.28444276 -0.18165182] [-0.06475512 -0.2877884 0.95550228 -0.21974463] [ 0. 0. 0. 1. ]] SLAMing on 0.844860624 meters Centerline goodness : 0.349476 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:-0.22 [[ 0.9965275 0.0308855 0.07732419 -0.14495768] [-0.05139152 0.95881679 0.27933719 -0.17790334] [-0.06551226 -0.282341 0.95707455 -0.21917939] [ 0. 0. 0. 1. ]] SLAMing on 0.874860624 meters Centerline goodness : 0.410678 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:-0.22 [[ 0.99671205 0.02640003 0.07660376 -0.14325659] [-0.0465217 0.96052391 0.27428005 -0.17367059] [-0.06633874 -0.27694197 0.95859393 -0.21845574] [ 0. 0. 0. 1. ]] SLAMing on 0.9048606239999999 meters Centerline goodness : 0.460912 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:-0.22 [[ 0.99688694 0.02194263 0.0757294 -0.14164481] [-0.04162146 0.96221392 0.26909484 -0.16844057] [-0.06696324 -0.2714091 0.96013177 -0.21741873] [ 0. 0. 0. 1. ]] SLAMing on 0.9348606239999999 meters Centerline goodness : 0.514257 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:-0.22 [[ 0.99705137 0.01766184 0.0746768 -0.13939178] [-0.03684171 0.9638361 0.26393685 -0.1633607 ] [-0.06731458 -0.26590982 0.9616448 -0.21658889] [ 0. 0. 0. 1. ]] SLAMing on 0.964860624 meters Centerline goodness : 0.532848 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:-0.22 [[ 0.99703154 0.01236901 0.0759942 -0.10166942] [-0.03123562 0.96711988 0.25239547 -0.15914077] [-0.07037362 -0.25401997 0.96463538 -0.21731398] [ 0. 0. 0. 1. ]] SLAMing on 0.994860624 meters Centerline goodness : 0.587677 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:-0.22 [[ 0.99715611 0.00838755 0.07489549 -0.0982759 ] [-0.02673942 0.96850746 0.24754457 -0.15557128] [-0.07046054 -0.24884324 0.96597741 -0.21807566] [ 0. 0. 0. 1. ]] SLAMing on 1.024860624 meters Centerline goodness : 0.561880 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.22 [[ 0.99726795 0.00600993 0.07362416 -0.08995775] [-0.02358346 0.97042918 0.24023119 -0.14996815] [-0.07000326 -0.24131118 0.96791965 -0.21857904] [ 0. 0. 0. 1. ]] SLAMing on 1.054860624 meters Centerline goodness : 0.561880 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.22 [[ 0.99726795 0.00600993 0.07362416 -0.08995775] [-0.02358346 0.97042918 0.24023119 -0.14996815] [-0.07000326 -0.24131118 0.96791965 -0.21857904] [ 0. 0. 0. 1. ]] SLAMing on 1.084860624 meters Centerline goodness : 0.582644 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:-0.22 [[ 0.99724576 0.00592881 0.07393071 -0.05030497] [-0.02287831 0.97278143 0.23059242 -0.13989039] [-0.07055129 -0.23164873 0.9702378 -0.22054645] [ 0. 0. 0. 1. ]] SLAMing on 1.1148606239999999 meters Centerline goodness : 0.669095 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:-0.22 [[ 0.99730566 0.00637605 0.07308049 -0.04037817] [-0.02254722 0.97463524 0.22266066 -0.13126584] [-0.06980713 -0.2237085 0.97215301 -0.21948289] [ 0. 0. 0. 1. ]] SLAMing on 1.1448606239999999 meters Centerline goodness : 0.897616 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.22 [[ 0.99735377 0.00732525 0.07233113 -0.02989748] [-0.02272578 0.97646639 0.21446896 -0.12288736] [-0.06905788 -0.21554521 0.97404891 -0.21818597] [ 0. 0. 0. 1. ]] SLAMing on 1.174860624 meters Centerline goodness : 0.897614 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.22 [[ 0.99742857 0.00851778 0.0711597 -0.01973466] [-0.02317454 0.97790151 0.20777773 -0.11577993] [-0.06781737 -0.20889253 0.97558429 -0.21765048] [ 0. 0. 0. 1. ]] SLAMing on 1.204860624 meters Centerline goodness : 0.869021 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.22 [[ 0.99728384 0.01199867 0.07267029 0.00878759] [-0.02588093 0.98081177 0.19323159 -0.10354461] [-0.06895735 -0.19458752 0.97845827 -0.21748999] [ 0. 0. 0. 1. ]] SLAMing on 1.234860624 meters Centerline goodness : 0.455731 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.22 [[ 0.99739546 0.00783144 0.07170046 0.01065913] [-0.02117387 0.9820795 0.1872739 -0.09816139] [-0.06894893 -0.18830432 0.97968747 -0.21568513] [ 0. 0. 0. 1. ]] SLAMing on 1.264860624 meters Centerline goodness : 0.470543 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:-0.21 [[ 0.99750878 0.00452293 0.07039727 0.01717753] [-0.01702711 0.98387289 0.17805679 -0.09159596] [-0.06845663 -0.17881187 0.98149886 -0.21343726] [ 0. 0. 0. 1. ]] SLAMing on 1.294860624 meters Centerline goodness : 0.112786 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:-0.21 [[ 9.97613783e-01 9.62225908e-04 6.90348697e-02 2.06890532e-02] [-1.29044064e-02 9.84880755e-01 1.72752349e-01 -8.73777397e-02] [-6.78248878e-02 -1.73230978e-01 9.82543034e-01 -2.12956243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3248606239999998 meters Centerline goodness : 0.220412 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.21 [[ 0.99770587 -0.00246751 0.0676529 0.02450487] [-0.00894072 0.98577932 0.16780699 -0.08419996] [-0.06710489 -0.16802688 0.98349575 -0.21326393] [ 0. 0. 0. 1. ]] SLAMing on 1.3548606239999998 meters Centerline goodness : 0.727779 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.21 [[ 0.99780859 -0.00546267 0.0659407 0.0293585 ] [-0.00536753 0.98661896 0.16295463 -0.08145706] [-0.06594851 -0.16295146 0.98442756 -0.21348353] [ 0. 0. 0. 1. ]] SLAMing on 1.3848606239999999 meters Centerline goodness : 0.112417 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.27, Z:-0.18 [[ 0.97828761 -0.02875882 -0.20524689 -0.09602686] [ 0.15765831 0.74608002 0.6469223 -0.27186132] [ 0.13452588 -0.66523494 0.73441491 -0.18097148] [ 0. 0. 0. 1. ]] SLAMing on 1.414860624 meters Centerline goodness : 0.678008 Centerline is valid? [False, False] Translation: X:0.19, Y:0.19, Z:-0.10 [[ 0.93856373 -0.34138521 -0.05053978 0.18902049] [ 0.34183493 0.89952894 0.27202309 0.19107303] [-0.04740267 -0.27258727 0.96096263 -0.10021752] [ 0. 0. 0. 1. ]] SLAMing on 1.444860624 meters Centerline goodness : 0.712892 Centerline is valid? [False, False] Translation: X:0.21, Y:0.20, Z:-0.09 [[ 0.93853783 -0.34222307 -0.04505679 0.20557598] [ 0.34194261 0.90396442 0.25675586 0.20481862] [-0.04713804 -0.25638192 0.96542546 -0.09483005] [ 0. 0. 0. 1. ]] SLAMing on 1.474860624 meters Centerline goodness : 0.628080 Centerline is valid? [False, False] Translation: X:0.22, Y:0.22, Z:-0.09 [[ 0.93829207 -0.34353775 -0.03987232 0.22037623] [ 0.34263102 0.90769855 0.24225468 0.217354 ] [-0.04703158 -0.24096714 0.96939304 -0.09030987] [ 0. 0. 0. 1. ]] SLAMing on 1.504860624 meters Centerline goodness : 0.616393 Centerline is valid? [False, False] Translation: X:0.24, Y:0.23, Z:-0.09 [[ 0.93849663 -0.34353859 -0.03471771 0.2374489 ] [ 0.34210933 0.91153103 0.22819376 0.22986214] [-0.0467471 -0.22603633 0.97299655 -0.08643303] [ 0. 0. 0. 1. ]] SLAMing on 1.534860624 meters Centerline goodness : 0.152927 Centerline is valid? [False, False] Translation: X:0.26, Y:0.25, Z:-0.08 [[ 0.93919794 -0.34229419 -0.02723835 0.26392988] [ 0.34010916 0.91641389 0.21097713 0.24798817] [-0.04725464 -0.20741329 0.97711142 -0.08271517] [ 0. 0. 0. 1. ]] SLAMing on 1.564860624 meters Centerline goodness : 0.598915 Centerline is valid? [False, False] Translation: X:0.28, Y:0.26, Z:-0.08 [[ 0.9399231 -0.34071211 -0.02144363 0.28148806] [ 0.3380997 0.92034123 0.196623 0.26178635] [-0.04725638 -0.19206058 0.98024465 -0.07693074] [ 0. 0. 0. 1. ]] SLAMing on 1.5948606239999998 meters Centerline goodness : 0.475139 Centerline is valid? [False, False] Translation: X:0.30, Y:0.27, Z:-0.07 [[ 0.94062953 -0.33903013 -0.01657283 0.29629316] [ 0.33615764 0.92366819 0.18394323 0.27454383] [-0.0470545 -0.17859352 0.98279714 -0.07109774] [ 0. 0. 0. 1. ]] SLAMing on 1.6248606239999999 meters Centerline goodness : 0.774282 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.07 [[ 0.94095158 -0.33831244 -0.01244279 0.30820927] [ 0.33533101 0.9263499 0.17154875 0.28692347] [-0.0465107 -0.16559152 0.98509705 -0.06511954] [ 0. 0. 0. 1. ]] SLAMing on 1.654860624 meters Centerline goodness : 0.763839 Centerline is valid? [False, False] Translation: X:0.32, Y:0.30, Z:-0.06 [[ 0.94179303 -0.33610154 -0.00785142 0.32404489] [ 0.33302588 0.92946757 0.15869405 0.29918057] [-0.04603968 -0.15207168 0.98729659 -0.05890139] [ 0. 0. 0. 1. ]] SLAMing on 1.684860624 meters Centerline goodness : 0.777338 Centerline is valid? [False, False] Translation: X:0.35, Y:0.32, Z:-0.05 [[ 0.9434757 -0.33143796 -0.00157639 0.35071783] [ 0.3282277 0.93365546 0.14336689 0.31585175] [-0.04604542 -0.13578059 0.98966835 -0.05467365] [ 0. 0. 0. 1. ]] SLAMing on 1.714860624 meters Centerline goodness : 0.828391 Centerline is valid? [False, False] Translation: X:0.36, Y:0.33, Z:-0.05 [[ 0.94351829 -0.33131536 0.00183691 0.35992321] [ 0.32817071 0.93529691 0.13237698 0.32641427] [-0.04557658 -0.12429728 0.99119774 -0.05000208] [ 0. 0. 0. 1. ]] SLAMing on 1.744860624 meters Centerline goodness : 0.152659 Centerline is valid? [False, False] Translation: X:0.37, Y:0.34, Z:-0.05 [[ 0.94347768 -0.33140387 0.00461975 0.36729665] [ 0.32836677 0.93654223 0.12273512 0.33602511] [-0.04500149 -0.11428087 0.99242871 -0.04579811] [ 0. 0. 0. 1. ]] SLAMing on 1.774860624 meters Centerline goodness : 0.794368 Centerline is valid? [False, False] Translation: X:0.38, Y:0.35, Z:-0.04 [[ 0.94354132 -0.33117095 0.00745466 0.37619944] [ 0.3282951 0.93787562 0.11230157 0.34638646] [-0.04418256 -0.10351384 0.99364621 -0.04114398] [ 0. 0. 0. 1. ]] SLAMing on 1.8048606239999998 meters Centerline goodness : 0.863001 Centerline is valid? [False, False] Translation: X:0.38, Y:0.35, Z:-0.04 [[ 0.94318678 -0.33216951 0.00788165 0.38022113] [ 0.32949161 0.9381139 0.10666574 0.35285629] [-0.04282499 -0.09800878 0.9942637 -0.03992828] [ 0. 0. 0. 1. ]] SLAMing on 1.8348606239999998 meters Centerline goodness : 0.843690 Centerline is valid? [False, False] Translation: X:0.38, Y:0.36, Z:-0.04 [[ 0.94283595 -0.33314257 0.00874102 0.38446417] [ 0.33066198 0.93843875 0.09997684 0.3600019 ] [-0.04150945 -0.09137143 0.99495137 -0.03751911] [ 0. 0. 0. 1. ]] SLAMing on 1.8648606239999999 meters Centerline goodness : 0.728273 Centerline is valid? [False, False] Translation: X:0.41, Y:0.38, Z:-0.03 [[ 0.94443407 -0.32834488 0.0152947 0.40859464] [ 0.32602265 0.94165201 0.08367032 0.37878284] [-0.041875 -0.07403469 0.99637611 -0.03139351] [ 0. 0. 0. 1. ]] SLAMing on 1.8948606239999999 meters Centerline goodness : 0.558888 Centerline is valid? [False, False] Translation: X:0.41, Y:0.39, Z:-0.03 [[ 0.94411663 -0.32923306 0.01579144 0.41078847] [ 0.32703946 0.94164711 0.07966122 0.38503899] [-0.04109708 -0.07004506 0.9966969 -0.0312526 ] [ 0. 0. 0. 1. ]] SLAMing on 1.924860624 meters Centerline goodness : 0.764080 Centerline is valid? [False, False] Translation: X:0.43, Y:0.40, Z:-0.02 [[ 0.94557865 -0.32453782 0.02358443 0.4331427 ] [ 0.32252809 0.94438424 0.06414076 0.40369455] [-0.04308887 -0.05304349 0.99766214 -0.02448541] [ 0. 0. 0. 1. ]] SLAMing on 1.954860624 meters Centerline goodness : 0.736599 Centerline is valid? [False, False] Translation: X:0.43, Y:0.41, Z:-0.02 [[ 0.9456736 -0.32430655 0.02295016 0.43479869] [ 0.32239662 0.94453336 0.06258716 0.40792418] [-0.04197462 -0.05178798 0.99777559 -0.02402582] [ 0. 0. 0. 1. ]] SLAMing on 1.984860624 meters Centerline goodness : 0.747775 Centerline is valid? [False, False] Translation: X:0.44, Y:0.41, Z:-0.02 [[ 0.94568615 -0.32430817 0.02240352 0.43629953] [ 0.32249934 0.94461343 0.06082468 0.41203978] [-0.04088861 -0.05029594 0.99789701 -0.02332877] [ 0. 0. 0. 1. ]] SLAMing on 2.0148606239999998 meters Centerline goodness : 0.804535 Centerline is valid? [False, False] Translation: X:0.44, Y:0.42, Z:-0.02 [[ 0.94484569 -0.32666928 0.02353324 0.43710096] [ 0.32503199 0.94408886 0.05523071 0.4182277 ] [-0.04025964 -0.04453545 0.99819625 -0.02149441] [ 0. 0. 0. 1. ]] SLAMing on 2.044860624 meters Centerline goodness : 0.794520 Centerline is valid? [False, False] Translation: X:0.44, Y:0.42, Z:-0.02 [[ 0.94388139 -0.32936759 0.02459498 0.43817193] [ 0.3279269 0.94342337 0.04915587 0.42427713] [-0.03939383 -0.03833196 0.99848825 -0.01921727] [ 0. 0. 0. 1. ]] SLAMing on 2.074860624 meters Centerline goodness : 0.807074 Centerline is valid? [False, False] Translation: X:0.44, Y:0.43, Z:-0.02 [[ 0.94273256 -0.33254233 0.02590198 0.43854099] [ 0.33129724 0.94254832 0.0429512 0.43023244] [-0.03869696 -0.03191024 0.99874135 -0.01682005] [ 0. 0. 0. 1. ]] SLAMing on 2.104860624 meters Centerline goodness : 0.787208 Centerline is valid? [False, False] Translation: X:0.44, Y:0.44, Z:-0.01 [[ 0.94114842 -0.33684346 0.02785927 0.43858612] [ 0.3357685 0.94121355 0.03710203 0.43536983] [-0.0387191 -0.02556425 0.99892307 -0.01497447] [ 0. 0. 0. 1. ]] SLAMing on 2.134860624 meters Centerline goodness : 0.865257 Centerline is valid? [False, False] Translation: X:0.44, Y:0.44, Z:-0.01 [[ 0.93983372 -0.34042897 0.02864757 0.44003237] [ 0.33955729 0.94006351 0.03132789 0.43942717] [-0.03759545 -0.01971552 0.99909853 -0.01339356] [ 0. 0. 0. 1. ]] SLAMing on 2.164860624 meters Centerline goodness : 0.898003 Centerline is valid? [False, False] Translation: X:0.44, Y:0.44, Z:-0.01 [[ 0.93849203 -0.34404812 0.02938697 0.44151919] [ 0.34337592 0.93884811 0.02563619 0.44290421] [-0.03640999 -0.01396858 0.99923931 -0.01158206] [ 0. 0. 0. 1. ]] SLAMing on 2.194860624 meters Centerline goodness : 0.691229 Centerline is valid? [False, False] Translation: X:0.44, Y:0.45, Z:-0.01 [[ 0.93707122 -0.34781138 0.03041006 0.44244563] [ 0.34733008 0.93752837 0.02005943 0.44590307] [-0.03548719 -0.00823478 0.9993362 -0.00970179] [ 0. 0. 0. 1. ]] SLAMing on 2.2248606239999997 meters Centerline goodness : 0.568663 Centerline is valid? [False, False] Translation: X:0.44, Y:0.45, Z:-0.01 [[ 0.93520608 -0.3526233 0.03234805 0.44240832] [ 0.35232466 0.93576241 0.01469839 0.44810557] [-0.03545308 -0.00234901 0.99936858 -0.00748149] [ 0. 0. 0. 1. ]] SLAMing on 2.254860624 meters Centerline goodness : 0.668894 Centerline is valid? [False, False] Translation: X:0.44, Y:0.45, Z:-0.01 [[ 0.93393239 -0.35590473 0.03319813 0.44375001] [ 0.35579803 0.93451691 0.00926836 0.45159895] [-0.03432287 0.00315581 0.99940581 -0.0054567 ] [ 0. 0. 0. 1. ]] SLAMing on 2.284860624 meters Centerline goodness : 0.779503 Centerline is valid? [False, False] Translation: X:0.44, Y:0.45, Z:-0.00 [[ 0.93255463 -0.35940632 0.03418997 0.44454061] [ 0.35949487 0.93313959 0.00373379 0.45460867] [-0.03324596 0.00880916 0.99940838 -0.0029999 ] [ 0. 0. 0. 1. ]] SLAMing on 2.314860624 meters Centerline goodness : 0.675272 Centerline is valid? [False, False] Translation: X:0.45, Y:0.46, Z:-0.00 [[ 0.93130159 -0.36257122 0.03492061 0.44648458] [ 0.36282639 0.93185617 -0.00104708 0.4565225 ] [-0.03216135 0.01364526 0.99938954 -0.00188862] [ 0. 0. 0. 1. ]] SLAMing on 2.344860624 meters Centerline goodness : 0.740045 Centerline is valid? [False, False] Translation: X:0.45, Y:0.46, Z:-0.00 [[ 0.92983445 -0.36615203 0.03661396 0.44832403] [ 0.36655877 0.93038225 -0.00485125 0.4561891 ] [-0.03228869 0.01793203 0.99931771 -0.00141271] [ 0. 0. 0. 1. ]] SLAMing on 2.374860624 meters Centerline goodness : 0.723192 Centerline is valid? [False, False] Translation: X:0.45, Y:0.46, Z:-0.00 [[ 0.92975054 -0.36643565 0.03590067 0.45018664] [ 0.36685101 0.93026331 -0.00552321 0.45632792] [-0.03137318 0.0183054 0.9993401 -0.00101595] [ 0. 0. 0. 1. ]] SLAMing on 2.404860624 meters Centerline goodness : 0.563997 Centerline is valid? [False, False] Translation: X:0.45, Y:0.46, Z:-0.00 [[ 9.29740374e-01 -3.66541260e-01 3.50762300e-02 4.52274897e-01] [ 3.66963436e-01 9.30214463e-01 -6.23614580e-03 4.56456509e-01] [-3.03426117e-02 1.86696904e-02 9.99365183e-01 -3.55853261e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4348606239999997 meters Centerline goodness : 0.635309 Centerline is valid? [False, False] Translation: X:0.45, Y:0.46, Z:-0.00 [[ 9.29801636e-01 -3.66478411e-01 3.40953471e-02 4.54797852e-01] [ 3.66896441e-01 9.30237560e-01 -6.71435342e-03 4.56392165e-01] [-2.92561069e-02 1.87524783e-02 9.99396030e-01 -4.35973894e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.464860624 meters Centerline goodness : 0.477227 Centerline is valid? [False, False] Translation: X:0.46, Y:0.46, Z:0.00 [[ 9.29081623e-01 -3.68309770e-01 3.39889941e-02 4.59230241e-01] [ 3.68845246e-01 9.29426966e-01 -1.08949157e-02 4.58678137e-01] [-2.75775838e-02 2.26589449e-02 9.99362822e-01 8.27264595e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4948606239999997 meters Centerline goodness : 0.879798 Centerline is valid? [False, False] Translation: X:0.46, Y:0.46, Z:-0.00 [[ 9.28427885e-01 -3.69975031e-01 3.37659372e-02 4.64068898e-01] [ 3.70608510e-01 9.28672184e-01 -1.47413548e-02 4.60338917e-01] [-2.59035534e-02 2.62002285e-02 9.99321046e-01 -1.80260720e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524860624 meters Centerline goodness : 0.716790 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.00 [[ 0.92790322 -0.37129574 0.03369116 0.47043093] [ 0.37199978 0.92806603 -0.01759597 0.45956532] [-0.02473431 0.02886046 0.99927738 -0.00116223] [ 0. 0. 0. 1. ]] SLAMing on 2.554860624 meters Centerline goodness : 0.769776 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.00 [[ 0.92815515 -0.37076628 0.03256365 0.47378264] [ 0.37144186 0.92828629 -0.01776256 0.45868023] [-0.02364263 0.02858191 0.99931181 -0.00122426] [ 0. 0. 0. 1. ]] SLAMing on 2.584860624 meters Centerline goodness : 0.811945 Centerline is valid? [False, False] Translation: X:0.48, Y:0.46, Z:-0.00 [[ 0.92846084 -0.37010618 0.03133493 0.47722316] [ 0.37074816 0.92856242 -0.01782214 0.45788722] [-0.02250036 0.02816453 0.99935004 -0.00138785] [ 0. 0. 0. 1. ]] SLAMing on 2.614860624 meters Centerline goodness : 0.738030 Centerline is valid? [False, False] Translation: X:0.48, Y:0.46, Z:-0.00 [[ 0.92937015 -0.36797309 0.02944364 0.48383373] [ 0.36853939 0.92946153 -0.01673291 0.45576963] [-0.02120947 0.02640221 0.99942638 -0.00259994] [ 0. 0. 0. 1. ]] SLAMing on 2.6448606239999997 meters Centerline goodness : 0.766772 Centerline is valid? [False, False] Translation: X:0.49, Y:0.46, Z:-0.00 [[ 0.92987296 -0.36681292 0.0280098 0.48781241] [ 0.36734033 0.92993725 -0.01666706 0.45549927] [-0.01993366 0.02578738 0.99946869 -0.00286503] [ 0. 0. 0. 1. ]] SLAMing on 2.674860624 meters Centerline goodness : 0.727301 Centerline is valid? [False, False] Translation: X:0.49, Y:0.46, Z:-0.00 [[ 0.93034041 -0.36572854 0.02663374 0.49159659] [ 0.36622033 0.93037929 -0.01664464 0.45501197] [-0.01869206 0.025239 0.99950668 -0.00295723] [ 0. 0. 0. 1. ]] SLAMing on 2.7048606239999997 meters Centerline goodness : 0.754062 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.00 [[ 0.93084142 -0.3645369 0.02543807 0.49500916] [ 0.36499338 0.93086669 -0.01634132 0.45437326] [-0.01772244 0.02449591 0.99954283 -0.00327793] [ 0. 0. 0. 1. ]] SLAMing on 2.734860624 meters Centerline goodness : 0.728672 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.00 [[ 0.93138122 -0.3632489 0.02406803 0.49879496] [ 0.36367114 0.93138511 -0.01628112 0.4538247 ] [-0.0165025 0.02391678 0.99957774 -0.00312654] [ 0. 0. 0. 1. ]] SLAMing on 2.7648606239999998 meters SLAMing on 2.794860624 meters SLAMing on 2.824860624 meters Centerline goodness : 0.850523 Centerline is valid? [False, False] Translation: X:0.52, Y:0.45, Z:-0.00 [[ 0.93514615 -0.35377908 0.01849454 0.51501638] [ 0.35400706 0.93517931 -0.01089318 0.44903009] [-0.01344194 0.01673391 0.99976962 -0.00492428] [ 0. 0. 0. 1. ]] SLAMing on 2.854860624 meters Centerline goodness : 0.799231 Centerline is valid? [False, False] Translation: X:0.52, Y:0.45, Z:-0.01 [[ 0.93563962 -0.35253293 0.01729261 0.51826042] [ 0.35273846 0.93566094 -0.01068582 0.4489826 ] [-0.01241292 0.01609784 0.99979337 -0.00513073] [ 0. 0. 0. 1. ]] SLAMing on 2.884860624 meters Centerline goodness : 0.802139 Centerline is valid? [False, False] Translation: X:0.52, Y:0.45, Z:-0.01 [[ 0.93648515 -0.35037491 0.01526377 0.52424053] [ 0.35053945 0.93649628 -0.0098397 0.44750753] [-0.01084689 0.01456528 0.99983509 -0.00596628] [ 0. 0. 0. 1. ]] SLAMing on 2.9148606239999997 meters Centerline goodness : 0.843701 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.01 [[ 0.9368135 -0.3495403 0.01421448 0.52742332] [ 0.349686 0.93681916 -0.00946364 0.44644905] [-0.01000847 0.01383627 0.99985418 -0.00672403] [ 0. 0. 0. 1. ]] SLAMing on 2.944860624 meters Centerline goodness : 0.802185 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.01 [[ 0.93709739 -0.34881828 0.01320225 0.53045167] [ 0.3489463 0.93709911 -0.00904134 0.44517412] [-0.00921803 0.01307949 0.99987197 -0.00745122] [ 0. 0. 0. 1. ]] SLAMing on 2.9748606239999997 meters Centerline goodness : 0.802185 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.01 [[ 0.93709739 -0.34881828 0.01320225 0.53045167] [ 0.3489463 0.93709911 -0.00904134 0.44517412] [-0.00921803 0.01307949 0.99987197 -0.00745122] [ 0. 0. 0. 1. ]] SLAMing on 3.004860624 meters Centerline goodness : 0.809383 Centerline is valid? [False, False] Translation: X:0.53, Y:0.44, Z:-0.01 [[ 0.9373186 -0.348256 0.01231242 0.53319226] [ 0.34836966 0.93731682 -0.00870366 0.44378371] [-0.00850954 0.01244738 0.99988632 -0.00804014] [ 0. 0. 0. 1. ]] SLAMing on 3.034860624 meters Centerline goodness : 0.837379 Centerline is valid? [False, False] Translation: X:0.54, Y:0.44, Z:-0.01 [[ 0.9376182 -0.34749737 0.01084833 0.53817138] [ 0.34758806 0.93761323 -0.00799777 0.44030693] [-0.00739233 0.01126961 0.99990917 -0.00914603] [ 0. 0. 0. 1. ]] SLAMing on 3.064860624 meters Centerline goodness : 0.806081 Centerline is valid? [False, False] Translation: X:0.54, Y:0.44, Z:-0.01 [[ 0.93775169 -0.34716157 0.01003031 0.54063819] [ 0.34724005 0.93774601 -0.00753439 0.43827802] [-0.00679024 0.01054831 0.99992131 -0.00974661] [ 0. 0. 0. 1. ]] SLAMing on 3.094860624 meters Centerline goodness : 0.832074 Centerline is valid? [False, False] Translation: X:0.54, Y:0.44, Z:-0.01 [[ 0.93783087 -0.34696598 0.00937328 0.54265051] [ 0.34703534 0.93782464 -0.00717019 0.4364595 ] [-0.00630268 0.00997728 0.99993036 -0.01019471] [ 0. 0. 0. 1. ]] SLAMing on 3.124860624 meters Centerline goodness : 0.808001 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.01 [[ 0.93788589 -0.34683501 0.00869124 0.54442797] [ 0.34689618 0.93787805 -0.00691402 0.43478934] [-0.0057533 0.00949952 0.99993833 -0.01024888] [ 0. 0. 0. 1. ]] SLAMing on 3.154860624 meters Centerline goodness : 0.801773 Centerline is valid? [False, False] Translation: X:0.55, Y:0.43, Z:-0.01 [[ 0.93790644 -0.34679415 0.00808261 0.54586764] [ 0.3468491 0.93789617 -0.00681684 0.43332969] [-0.00521661 0.009197 0.9999441 -0.00993608] [ 0. 0. 0. 1. ]] SLAMing on 3.1848606239999997 meters Centerline goodness : 0.829492 Centerline is valid? [False, False] Translation: X:0.55, Y:0.43, Z:-0.01 [[ 0.9378858 -0.34686177 0.0075591 0.54708035] [ 0.34691134 0.93787408 -0.00668775 0.43149279] [-0.00476976 0.00889468 0.99994907 -0.0095652 ] [ 0. 0. 0. 1. ]] SLAMing on 3.214860624 meters Centerline goodness : 0.825980 Centerline is valid? [False, False] Translation: X:0.55, Y:0.43, Z:-0.01 [[ 0.93777987 -0.34716219 0.00687945 0.54934617] [ 0.34720461 0.93776751 -0.00640677 0.42740863] [-0.00422714 0.00839672 0.99995581 -0.0090359 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2448606239999997 meters Centerline goodness : 0.822441 Centerline is valid? [False, False] Translation: X:0.55, Y:0.43, Z:-0.01 [[ 0.93777478 -0.34718404 0.00645849 0.55039336] [ 0.34722236 0.93776198 -0.00625351 0.42575465] [-0.00388541 0.00810691 0.99995959 -0.00871076] [ 0. 0. 0. 1. ]] SLAMing on 3.274860624 meters Centerline goodness : 0.822250 Centerline is valid? [False, False] Translation: X:0.55, Y:0.42, Z:-0.01 [[ 0.93779464 -0.34713692 0.0060967 0.55142019] [ 0.34717124 0.9377829 -0.00594667 0.42390541] [-0.00365308 0.00769335 0.99996373 -0.00854783] [ 0. 0. 0. 1. ]] SLAMing on 3.304860624 meters Centerline goodness : 0.823086 Centerline is valid? [False, False] Translation: X:0.55, Y:0.42, Z:-0.01 [[ 0.937807 -0.34711117 0.00564406 0.55272355] [ 0.34714164 0.93779464 -0.00582206 0.42206709] [-0.00327207 0.00741925 0.99996712 -0.00824773] [ 0. 0. 0. 1. ]] SLAMing on 3.334860624 meters Centerline goodness : 0.819469 Centerline is valid? [False, False] Translation: X:0.56, Y:0.42, Z:-0.01 [[ 0.93784497 -0.34702034 0.00486669 0.55564401] [ 0.34704331 0.93783505 -0.00513388 0.41819653] [-0.00278259 0.00650373 0.99997498 -0.00900424] [ 0. 0. 0. 1. ]] SLAMing on 3.364860624 meters Centerline goodness : 0.818106 Centerline is valid? [False, False] Translation: X:0.56, Y:0.42, Z:-0.01 [[ 0.93791206 -0.34684551 0.0043777 0.55725308] [ 0.34686443 0.93790323 -0.0047533 0.4164003 ] [-0.00245719 0.00597665 0.99997912 -0.00937158] [ 0. 0. 0. 1. ]] SLAMing on 3.3948606239999997 meters Centerline goodness : 0.820324 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.01 [[ 0.93798223 -0.34666201 0.00384588 0.55897326] [ 0.34667711 0.93797416 -0.00441155 0.41449702] [-0.00207802 0.00547124 0.99998287 -0.00969163] [ 0. 0. 0. 1. ]] SLAMing on 3.424860624 meters Centerline goodness : 0.823495 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.01 [[ 0.93828222 -0.34585746 0.00301522 0.56174347] [ 0.34586721 0.938276 -0.00374447 0.4128423 ] [-0.00153406 0.00455623 0.99998844 -0.01056983] [ 0. 0. 0. 1. ]] SLAMing on 3.4548606239999997 meters Centerline goodness : 0.813277 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.01 [[ 9.38468440e-01 -3.45356373e-01 2.44193318e-03 5.62979943e-01] [ 3.45363592e-01 9.38461374e-01 -3.77342204e-03 4.13299020e-01] [-9.88484615e-04 4.38459231e-03 9.99989899e-01 -1.03539304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484860624 meters Centerline goodness : 0.822278 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.01 [[ 9.38694112e-01 -3.44746093e-01 1.86981254e-03 5.64384588e-01] [ 3.44750840e-01 9.38686850e-01 -3.72226644e-03 4.13754838e-01] [-4.71931629e-04 4.13868904e-03 9.99991324e-01 -1.03833685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5148606239999998 meters Centerline goodness : 0.829812 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 9.40279712e-01 -3.40402792e-01 -4.21053691e-05 5.66155437e-01] [ 3.40402771e-01 9.40279596e-01 4.84829387e-04 4.11741003e-01] [-1.25446458e-04 -4.70208021e-04 9.99999882e-01 -1.04349069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.544860624 meters Centerline goodness : 0.829708 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 9.40691337e-01 -3.39262820e-01 -7.39785949e-04 5.68095268e-01] [ 3.39263275e-01 9.40691264e-01 6.12632232e-04 4.12577313e-01] [ 4.88066842e-04 -8.27280037e-04 9.99999539e-01 -1.05571868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574860624 meters Centerline goodness : 0.826408 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 9.41105326e-01 -3.38110666e-01 -1.39386054e-03 5.69865850e-01] [ 3.38111953e-01 9.41105541e-01 8.17521012e-04 4.13440671e-01] [ 1.03535730e-03 -1.24065429e-03 9.99998694e-01 -1.07145125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6048606239999996 meters Centerline goodness : 0.813772 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.01 [[ 0.94291837 -0.33300001 0.00399178 0.56413225] [ 0.33298948 0.94292551 0.00308081 0.40939107] [-0.00478986 -0.00157573 0.99998729 -0.01487955] [ 0. 0. 0. 1. ]] SLAMing on 3.634860624 meters Centerline goodness : 0.804720 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.01 [[ 0.94423489 -0.32926259 0.00257243 0.56451798] [ 0.32923905 0.94422134 0.00690684 0.40808475] [-0.00470311 -0.00567474 0.99997284 -0.01465659] [ 0. 0. 0. 1. ]] SLAMing on 3.6648606239999997 meters Centerline goodness : 0.804661 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 9.45918473e-01 -3.24403433e-01 8.09281061e-04 5.66097807e-01] [ 3.24377009e-01 9.45867980e-01 1.06452382e-02 4.08680559e-01] [-4.21882487e-03 -9.80701534e-03 9.99943010e-01 -1.41969799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694860624 meters Centerline goodness : 0.805021 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 9.47233704e-01 -3.20542979e-01 -7.13116808e-04 5.67056237e-01] [ 3.20518403e-01 9.47128404e-01 1.46880538e-02 4.07175554e-01] [-4.03273934e-03 -1.41415867e-02 9.99891870e-01 -1.45081108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7248606239999997 meters Centerline goodness : 0.826561 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 0.94764465 -0.31932444 -0.00122902 0.56901618] [ 0.3193082 0.94754086 0.01444283 0.4086913 ] [-0.00344741 -0.01407911 0.99989494 -0.01436984] [ 0. 0. 0. 1. ]] SLAMing on 3.754860624 meters Centerline goodness : 0.803737 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 0.94804997 -0.31811592 -0.00187564 0.57096326] [ 0.31810879 0.94794317 0.01451007 0.40979528] [-0.00283788 -0.01435293 0.99989296 -0.01451911] [ 0. 0. 0. 1. ]] SLAMing on 3.784860624 meters Centerline goodness : 0.804181 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.01 [[ 0.94962099 -0.31337851 -0.00372529 0.57330345] [ 0.31339351 0.94945208 0.01803478 0.40979258] [-0.00211473 -0.01829369 0.99983042 -0.01401865] [ 0. 0. 0. 1. ]] SLAMing on 3.814860624 meters Centerline goodness : 0.800364 Centerline is valid? [False, False] Translation: X:0.58, Y:0.41, Z:-0.01 [[ 0.94999696 -0.31222946 -0.00430641 0.57504829] [ 0.31225514 0.94982441 0.01817471 0.41086154] [-0.00158434 -0.01861062 0.99982555 -0.01422345] [ 0. 0. 0. 1. ]] SLAMing on 3.844860624 meters Centerline goodness : 0.802336 Centerline is valid? [False, False] Translation: X:0.58, Y:0.41, Z:-0.01 [[ 0.95115477 -0.30866341 -0.00561277 0.57536883] [ 0.30871092 0.9508999 0.02206712 0.40926486] [-0.00147413 -0.02272197 0.99974074 -0.01416441] [ 0. 0. 0. 1. ]] SLAMing on 3.8748606239999996 meters Centerline goodness : 0.804746 Centerline is valid? [False, False] Translation: X:0.58, Y:0.41, Z:-0.01 [[ 0.9513935 -0.30792184 -0.00587769 0.576335 ] [ 0.30797617 0.9511502 0.02154003 0.41062401] [-0.00104208 -0.02230323 0.99975071 -0.01314827] [ 0. 0. 0. 1. ]] SLAMing on 3.904860624 meters Centerline goodness : 0.802134 Centerline is valid? [False, False] Translation: X:0.58, Y:0.41, Z:-0.01 [[ 9.51774807e-01 -3.06729965e-01 -6.43775927e-03 5.78294930e-01] [ 3.06796818e-01 9.51518307e-01 2.21048167e-02 4.09720981e-01] [-6.54563861e-04 -2.30138917e-02 9.99734931e-01 -1.32921120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9348606239999997 meters Centerline goodness : 0.800585 Centerline is valid? [False, False] Translation: X:0.58, Y:0.41, Z:-0.01 [[ 9.51863459e-01 -3.06447236e-01 -6.78581898e-03 5.79545491e-01] [ 3.06522080e-01 9.51599541e-01 2.24171184e-02 4.08113645e-01] [-4.12281746e-04 -2.34180392e-02 9.99725675e-01 -1.33981728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.964860624 meters Centerline goodness : 0.797210 Centerline is valid? [False, False] Translation: X:0.58, Y:0.41, Z:-0.01 [[ 9.51835501e-01 -3.06530901e-01 -6.92710750e-03 5.80267663e-01] [ 3.06608959e-01 9.51565948e-01 2.26537582e-02 4.06008612e-01] [-3.52477303e-04 -2.36865645e-02 9.99719372e-01 -1.33133832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9948606239999997 meters Centerline goodness : 0.825645 Centerline is valid? [False, False] Translation: X:0.58, Y:0.40, Z:-0.01 [[ 9.51613478e-01 -3.07220482e-01 -6.88212751e-03 5.80124805e-01] [ 3.07297285e-01 9.51344189e-01 2.26409335e-02 4.03387995e-01] [-4.08486497e-04 -2.36602766e-02 9.99719973e-01 -1.26160385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0248606239999996 meters Centerline goodness : 0.797079 Centerline is valid? [False, False] Translation: X:0.58, Y:0.40, Z:-0.01 [[ 9.50139800e-01 -3.11768755e-01 -5.88249709e-03 5.80364058e-01] [ 3.11824051e-01 9.49948991e-01 1.90440691e-02 3.99544812e-01] [-3.49273546e-04 -1.99288321e-02 9.99801340e-01 -1.13784760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054860624 meters Centerline goodness : 0.796404 Centerline is valid? [False, False] Translation: X:0.58, Y:0.40, Z:-0.01 [[ 9.48913456e-01 -3.15500074e-01 -4.79136326e-03 5.80312770e-01] [ 3.15536255e-01 9.48786376e-01 1.55333628e-02 3.98345284e-01] [-3.54796942e-04 -1.62516658e-02 9.99867870e-01 -1.06057984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084860624 meters Centerline goodness : 0.826305 Centerline is valid? [False, False] Translation: X:0.57, Y:0.39, Z:-0.01 [[ 0.94911273 -0.31492545 0.00264472 0.56650527] [ 0.31488088 0.94906938 0.01083224 0.3896683 ] [-0.00592137 -0.00944824 0.99993783 -0.01090565] [ 0. 0. 0. 1. ]] SLAMing on 4.114860623999999 meters Centerline goodness : 0.824396 Centerline is valid? [False, False] Translation: X:0.56, Y:0.38, Z:-0.01 [[ 0.94918899 -0.31452293 0.01075161 0.55679273] [ 0.31445177 0.9492413 0.00781228 0.38199646] [-0.01266301 -0.00403447 0.99991168 -0.01299381] [ 0. 0. 0. 1. ]] SLAMing on 4.144860624 meters Centerline goodness : 0.820693 Centerline is valid? [False, False] Translation: X:0.53, Y:0.37, Z:-0.02 [[ 0.9472445 -0.32014192 0.01539523 0.53005913] [ 0.32004801 0.94736509 0.00828556 0.36505917] [-0.01723745 -0.00292124 0.99984716 -0.01655681] [ 0. 0. 0. 1. ]] SLAMing on 4.174860624 meters Centerline goodness : 0.819480 Centerline is valid? [False, False] Translation: X:0.50, Y:0.35, Z:-0.02 [[ 0.94645823 -0.32222226 0.01973913 0.50311579] [ 0.32207463 0.94665784 0.0103371 0.35099942] [-0.02201704 -0.00342616 0.99975172 -0.01982038] [ 0. 0. 0. 1. ]] SLAMing on 4.204860624 meters Centerline goodness : 0.819004 Centerline is valid? [False, False] Translation: X:0.47, Y:0.34, Z:-0.02 [[ 0.94538737 -0.32508356 0.02373606 0.47324271] [ 0.32483935 0.94567122 0.01361433 0.33655922] [-0.0268723 -0.00516041 0.99962555 -0.02369876] [ 0. 0. 0. 1. ]] SLAMing on 4.2348606239999995 meters Centerline goodness : 0.819328 Centerline is valid? [False, False] Translation: X:0.44, Y:0.32, Z:-0.03 [[ 0.9437815 -0.32945853 0.02708422 0.44343773] [ 0.32909934 0.94414367 0.01692197 0.32012608] [-0.03114649 -0.00705724 0.99948992 -0.02778807] [ 0. 0. 0. 1. ]] SLAMing on 4.264860624 meters Centerline goodness : 0.816041 Centerline is valid? [False, False] Translation: X:0.42, Y:0.31, Z:-0.03 [[ 0.94379226 -0.32904777 0.03136446 0.41951298] [ 0.32863129 0.94429117 0.01776677 0.30904635] [-0.0354633 -0.0064608 0.9993501 -0.02909301] [ 0. 0. 0. 1. ]] SLAMing on 4.294860624 meters Centerline goodness : 0.817892 Centerline is valid? [False, False] Translation: X:0.42, Y:0.31, Z:-0.03 [[ 0.94368311 -0.32936445 0.03132485 0.41955253] [ 0.3289464 0.9441804 0.01782261 0.30775087] [-0.03544644 -0.0065147 0.99935034 -0.02864069] [ 0. 0. 0. 1. ]] SLAMing on 4.324860624 meters Centerline goodness : 0.815395 Centerline is valid? [False, False] Translation: X:0.42, Y:0.31, Z:-0.03 [[ 0.94365192 -0.32946311 0.0312267 0.42010475] [ 0.32903202 0.94414316 0.0182103 0.30604354] [-0.0354821 -0.0069096 0.99934643 -0.02886847] [ 0. 0. 0. 1. ]] SLAMing on 4.354860624 meters Centerline goodness : 0.818819 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-0.03 [[ 0.94450137 -0.32624359 0.03850041 0.41143651] [ 0.32592333 0.94528504 0.01449724 0.29896123] [-0.04112349 -0.00114448 0.99915342 -0.03095663] [ 0. 0. 0. 1. ]] SLAMing on 4.384860624 meters Centerline goodness : 0.815051 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-0.03 [[ 0.94442024 -0.32646795 0.03858869 0.41139602] [ 0.32614569 0.94520757 0.01454777 0.29795433] [-0.0412237 -0.00115367 0.99914928 -0.03080074] [ 0. 0. 0. 1. ]] SLAMing on 4.414860624 meters Centerline goodness : 0.818387 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-0.03 [[ 0.94437474 -0.32660038 0.03858163 0.41152709] [ 0.32627631 0.94516176 0.01459473 0.29729354] [-0.04123253 -0.00119462 0.99914886 -0.03076447] [ 0. 0. 0. 1. ]] SLAMing on 4.4448606239999995 meters Centerline goodness : 0.818589 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-0.03 [[ 0.94429823 -0.32682093 0.03858679 0.41167256] [ 0.32649811 0.94508557 0.01456867 0.29689707] [-0.04122916 -0.00115865 0.99914904 -0.0309262 ] [ 0. 0. 0. 1. ]] SLAMing on 4.474860624 meters Centerline goodness : 0.816733 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-0.03 [[ 0.94480014 -0.32510305 0.0407518 0.39708892] [ 0.32506003 0.9456607 0.00786259 0.29148855] [-0.04109353 0.00581821 0.99913836 -0.02894624] [ 0. 0. 0. 1. ]] SLAMing on 4.504860624 meters Centerline goodness : 0.821868 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-0.03 [[ 0.94429898 -0.32626143 0.04304548 0.36774595] [ 0.326071 0.94527446 0.01157111 0.27995368] [-0.044465 0.0031093 0.9990061 -0.03234798] [ 0. 0. 0. 1. ]] SLAMing on 4.534860624 meters Centerline goodness : 0.818530 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-0.03 [[ 0.94403949 -0.32697981 0.04328565 0.36741063] [ 0.32679631 0.94502543 0.01144999 0.27917046] [-0.04464995 0.00333635 0.99899712 -0.03255155] [ 0. 0. 0. 1. ]] SLAMing on 4.564860624 meters Centerline goodness : 0.812874 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-0.04 [[ 0.94282706 -0.32998777 0.04674629 0.3394487 ] [ 0.32975454 0.9439794 0.01283853 0.26885656] [-0.0483641 0.00331029 0.99882429 -0.0364908 ] [ 0. 0. 0. 1. ]] SLAMing on 4.594860624 meters Centerline goodness : 0.817414 Centerline is valid? [False, False] Translation: X:0.31, Y:0.26, Z:-0.04 [[ 9.42153739e-01 -3.31489033e-01 4.96120259e-02 3.08283276e-01] [ 3.31065176e-01 9.43458865e-01 1.67695935e-02 2.57751517e-01] [-5.23658420e-02 6.25278924e-04 9.98627772e-01 -3.90841195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624860624 meters Centerline goodness : 0.828327 Centerline is valid? [False, False] Translation: X:0.31, Y:0.26, Z:-0.04 [[ 0.94183091 -0.33234522 0.05001202 0.30711682] [ 0.33195304 0.94315685 0.01619677 0.25829423] [-0.05255209 0.00134702 0.99861728 -0.0386295 ] [ 0. 0. 0. 1. ]] SLAMing on 4.6548606239999994 meters Centerline goodness : 0.817250 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.04 [[ 9.41345089e-01 -3.33087814e-01 5.40549016e-02 2.76687967e-01] [ 3.32555106e-01 9.42895777e-01 1.88322828e-02 2.48906910e-01] [-5.72409423e-02 2.48556637e-04 9.98360362e-01 -4.01344140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684860624 meters Centerline goodness : 0.829827 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.04 [[ 0.94116119 -0.33288162 0.05835621 0.27021477] [ 0.33234504 0.94296735 0.01895681 0.24772335] [-0.06133837 0.00155298 0.99811582 -0.04128067] [ 0. 0. 0. 1. ]] SLAMing on 4.714860624 meters Centerline goodness : 0.815129 Centerline is valid? [False, False] Translation: X:0.25, Y:0.24, Z:-0.04 [[ 0.94170135 -0.33035119 0.06377034 0.25242909] [ 0.3301576 0.94382413 0.01385546 0.24466812] [-0.06476515 0.00800656 0.99786841 -0.03947595] [ 0. 0. 0. 1. ]] SLAMing on 4.744860624 meters Centerline goodness : 0.816932 Centerline is valid? [False, False] Translation: X:0.25, Y:0.25, Z:-0.04 [[ 0.94154947 -0.33074486 0.06397215 0.25172104] [ 0.33058896 0.94368091 0.01331442 0.24629006] [-0.06477297 0.0086123 0.99786286 -0.039365 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7748606239999996 meters Centerline goodness : 0.831310 Centerline is valid? [False, False] Translation: X:0.24, Y:0.24, Z:-0.04 [[ 0.94231802 -0.32689215 0.07196022 0.24027366] [ 0.32692911 0.94497769 0.01159814 0.24334143] [-0.07179214 0.01259675 0.99734007 -0.04168368] [ 0. 0. 0. 1. ]] SLAMing on 4.804860624 meters Centerline goodness : 0.827575 Centerline is valid? [False, False] Translation: X:0.24, Y:0.25, Z:-0.04 [[ 0.94215286 -0.32728379 0.07234158 0.23910259] [ 0.3273688 0.94483243 0.01101562 0.24555906] [-0.0719559 0.01330398 0.99731908 -0.04157663] [ 0. 0. 0. 1. ]] SLAMing on 4.834860624 meters Centerline goodness : 0.824186 Centerline is valid? [False, False] Translation: X:0.22, Y:0.24, Z:-0.04 [[ 0.94313029 -0.32379679 0.07523888 0.22031442] [ 0.32429903 0.94593694 0.00578294 0.24438996] [-0.07304374 0.01894583 0.99714877 -0.03827324] [ 0. 0. 0. 1. ]] SLAMing on 4.864860623999999 meters Centerline goodness : 0.824186 Centerline is valid? [False, False] Translation: X:0.22, Y:0.24, Z:-0.04 [[ 0.94313029 -0.32379679 0.07523888 0.22031442] [ 0.32429903 0.94593694 0.00578294 0.24438996] [-0.07304374 0.01894583 0.99714877 -0.03827324] [ 0. 0. 0. 1. ]] SLAMing on 4.894860624 meters Centerline goodness : 0.823188 Centerline is valid? [False, False] Translation: X:0.22, Y:0.25, Z:-0.04 [[ 0.94300045 -0.32410532 0.07553738 0.21953628] [ 0.32465861 0.94581709 0.00517812 0.24653064] [-0.07312281 0.01964089 0.99712953 -0.03840128] [ 0. 0. 0. 1. ]] SLAMing on 4.924860624 meters Centerline goodness : 0.823058 Centerline is valid? [False, False] Translation: X:0.19, Y:0.24, Z:-0.04 [[ 0.94351178 -0.32202979 0.0779893 0.19345794] [ 0.32242055 0.94656377 0.00787477 0.23870244] [-0.07635776 0.01771541 0.99692309 -0.03978815] [ 0. 0. 0. 1. ]] SLAMing on 4.954860624 meters Centerline goodness : 0.822340 Centerline is valid? [False, False] Translation: X:0.19, Y:0.24, Z:-0.04 [[ 0.94412254 -0.32024322 0.07795456 0.19021583] [ 0.32042232 0.94721616 0.01053969 0.241362 ] [-0.07721508 0.01502762 0.9969012 -0.03980044] [ 0. 0. 0. 1. ]] SLAMing on 4.9848606239999995 meters Centerline goodness : 0.790969 Centerline is valid? [False, False] Translation: X:0.18, Y:0.24, Z:-0.04 [[ 0.9448154 -0.316142 0.08589581 0.17878376] [ 0.31650794 0.94854042 0.00968484 0.2394144 ] [-0.08453743 0.01803632 0.99625705 -0.04236797] [ 0. 0. 0. 1. ]] SLAMing on 5.014860624 meters Centerline goodness : 0.790968 Centerline is valid? [False, False] Translation: X:0.18, Y:0.24, Z:-0.04 [[ 0.94468131 -0.31645971 0.08620016 0.17765106] [ 0.31689951 0.9484174 0.00889615 0.24235134] [-0.08456901 0.01891276 0.99623812 -0.04205449] [ 0. 0. 0. 1. ]] SLAMing on 5.044860624 meters Centerline goodness : 0.792775 Centerline is valid? [False, False] Translation: X:0.18, Y:0.25, Z:-0.04 [[ 0.94453038 -0.31680917 0.08656965 0.17632609] [ 0.31732571 0.94828207 0.00809391 0.2452613 ] [-0.08465667 0.01982583 0.99621292 -0.04163049] [ 0. 0. 0. 1. ]] SLAMing on 5.074860623999999 meters Centerline goodness : 0.793467 Centerline is valid? [False, False] Translation: X:0.18, Y:0.25, Z:-0.04 [[ 0.94437696 -0.31716915 0.08692462 0.17514016] [ 0.31776056 0.94814277 0.00731541 0.24789595] [-0.08473717 0.02071271 0.99618803 -0.04123012] [ 0. 0. 0. 1. ]] SLAMing on 5.104860624 meters Centerline goodness : 0.796722 Centerline is valid? [False, False] Translation: X:0.17, Y:0.25, Z:-0.04 [[ 0.94476419 -0.31591696 0.08727602 0.17060197] [ 0.31629315 0.94861036 0.0098499 0.25022779] [-0.08590268 0.01829897 0.99613547 -0.04055619] [ 0. 0. 0. 1. ]] SLAMing on 5.134860624 meters Centerline goodness : 0.794877 Centerline is valid? [False, False] Translation: X:0.17, Y:0.25, Z:-0.04 [[ 0.94456944 -0.31637406 0.08772702 0.16914633] [ 0.31682637 0.94844001 0.00908858 0.252904 ] [-0.0860792 0.01920944 0.99610309 -0.04024071] [ 0. 0. 0. 1. ]] SLAMing on 5.164860624 meters Centerline goodness : 0.795662 Centerline is valid? [False, False] Translation: X:0.17, Y:0.26, Z:-0.04 [[ 0.94440786 -0.31677022 0.08803646 0.16808443] [ 0.3172945 0.94829033 0.00834566 0.25550188] [-0.08612779 0.02005177 0.99608229 -0.04005002] [ 0. 0. 0. 1. ]] SLAMing on 5.1948606239999995 meters Centerline goodness : 0.801276 Centerline is valid? [False, False] Translation: X:0.16, Y:0.26, Z:-0.04 [[ 0.94463704 -0.3160129 0.08829897 0.16397012] [ 0.31635545 0.94858308 0.01045775 0.25813373] [-0.0870637 0.01805508 0.99603912 -0.03972345] [ 0. 0. 0. 1. ]] SLAMing on 5.224860624 meters Centerline goodness : 0.797757 Centerline is valid? [False, False] Translation: X:0.15, Y:0.26, Z:-0.04 [[ 0.94492373 -0.31284788 0.09615275 0.15287429] [ 0.31340211 0.94957123 0.00967484 0.25633413] [-0.09433064 0.02099249 0.99531957 -0.0426909 ] [ 0. 0. 0. 1. ]] SLAMing on 5.254860624 meters Centerline goodness : 0.797192 Centerline is valid? [False, False] Translation: X:0.15, Y:0.26, Z:-0.04 [[ 0.94467265 -0.31346702 0.09660235 0.15140761] [ 0.31410539 0.94934619 0.00892269 0.25892744] [-0.09450604 0.0219143 0.99528306 -0.04253381] [ 0. 0. 0. 1. ]] SLAMing on 5.284860623999999 meters Centerline goodness : 0.797621 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.04 [[ 0.94446954 -0.31354548 0.0983185 0.12008371] [ 0.31396793 0.94936335 0.01154863 0.25356884] [-0.09696101 0.01996153 0.99508799 -0.04329179] [ 0. 0. 0. 1. ]] SLAMing on 5.314860624 meters Centerline goodness : 0.797575 Centerline is valid? [False, False] Translation: X:0.12, Y:0.26, Z:-0.04 [[ 0.94430973 -0.3139217 0.09865238 0.11915829] [ 0.31441269 0.9492234 0.01093596 0.25565193] [-0.09707618 0.02069063 0.99506186 -0.04331943] [ 0. 0. 0. 1. ]] SLAMing on 5.344860624 meters Centerline goodness : 0.797116 Centerline is valid? [False, False] Translation: X:0.12, Y:0.26, Z:-0.04 [[ 0.94412835 -0.31433672 0.0990661 0.11801798] [ 0.31490501 0.94906777 0.01025685 0.25774855] [-0.09724455 0.02151263 0.99502799 -0.04310755] [ 0. 0. 0. 1. ]] SLAMing on 5.374860624 meters Centerline goodness : 0.798210 Centerline is valid? [False, False] Translation: X:0.11, Y:0.26, Z:-0.05 [[ 0.94430851 -0.31163603 0.10566178 0.10903635] [ 0.31232763 0.94991792 0.01036338 0.25607143] [-0.10359962 0.02321486 0.99434812 -0.0460225 ] [ 0. 0. 0. 1. ]] SLAMing on 5.4048606239999994 meters Centerline goodness : 0.796372 Centerline is valid? [False, False] Translation: X:0.11, Y:0.26, Z:-0.05 [[ 0.94418985 -0.31189117 0.10596895 0.10798117] [ 0.31266158 0.94981514 0.00969207 0.25872735] [-0.10367379 0.02398127 0.9943222 -0.04578436] [ 0. 0. 0. 1. ]] SLAMing on 5.434860624 meters Centerline goodness : 0.799441 Centerline is valid? [False, False] Translation: X:0.10, Y:0.26, Z:-0.04 [[ 0.94470912 -0.31028548 0.10605473 0.10394112] [ 0.31076926 0.95040508 0.0123553 0.26122491] [-0.10462862 0.02128638 0.99428353 -0.04485264] [ 0. 0. 0. 1. ]] SLAMing on 5.464860624 meters Centerline goodness : 0.799003 Centerline is valid? [False, False] Translation: X:0.10, Y:0.26, Z:-0.04 [[ 0.94462505 -0.31047677 0.10624352 0.10315462] [ 0.31103799 0.95032583 0.01166964 0.26378533] [-0.10458912 0.02202233 0.99427166 -0.04456917] [ 0. 0. 0. 1. ]] SLAMing on 5.494860624 meters Centerline goodness : 0.799940 Centerline is valid? [False, False] Translation: X:0.10, Y:0.27, Z:-0.04 [[ 0.94459215 -0.31054096 0.10634838 0.10275415] [ 0.31117284 0.9502894 0.01102375 0.26610842] [-0.10448506 0.02267978 0.99426782 -0.0443951 ] [ 0. 0. 0. 1. ]] SLAMing on 5.5248606239999996 meters Centerline goodness : 0.800940 Centerline is valid? [False, False] Translation: X:0.10, Y:0.27, Z:-0.04 [[ 0.94459275 -0.31051611 0.10641563 0.10250917] [ 0.31119457 0.95028717 0.01059374 0.26814982] [-0.10441493 0.0231092 0.9942653 -0.0444973 ] [ 0. 0. 0. 1. ]] SLAMing on 5.554860624 meters Centerline goodness : 0.800323 Centerline is valid? [False, False] Translation: X:0.10, Y:0.27, Z:-0.04 [[ 0.94463395 -0.31038364 0.10643635 0.10238875] [ 0.3111104 0.95031978 0.01013059 0.27049697] [-0.10429294 0.02354376 0.99426791 -0.04462171] [ 0. 0. 0. 1. ]] SLAMing on 5.584860624 meters Centerline goodness : 0.801875 Centerline is valid? [False, False] Translation: X:0.10, Y:0.27, Z:-0.04 [[ 0.94552287 -0.307819 0.10599036 0.09999405] [ 0.30820333 0.95122968 0.01314532 0.27327918] [-0.10486756 0.02023738 0.99428026 -0.04437929] [ 0. 0. 0. 1. ]] SLAMing on 5.614860623999999 meters Centerline goodness : 0.802881 Centerline is valid? [False, False] Translation: X:0.10, Y:0.27, Z:-0.04 [[ 0.94640753 -0.30528395 0.10542535 0.09815972] [ 0.30527363 0.95211941 0.01663274 0.27378828] [-0.10545523 0.01644223 0.99428811 -0.04424276] [ 0. 0. 0. 1. ]] SLAMing on 5.644860624 meters Centerline goodness : 0.800998 Centerline is valid? [False, False] Translation: X:0.10, Y:0.27, Z:-0.04 [[ 0.94739768 -0.30244024 0.10472596 0.09681116] [ 0.30203732 0.95308483 0.02006907 0.2747048 ] [-0.10588242 0.01261776 0.9942986 -0.04414177] [ 0. 0. 0. 1. ]] SLAMing on 5.674860624 meters Centerline goodness : 0.802584 Centerline is valid? [False, False] Translation: X:0.10, Y:0.28, Z:-0.04 [[ 0.94869926 -0.29862129 0.10389916 0.09609178] [ 0.29785704 0.95432949 0.02316047 0.27869971] [-0.10607024 0.00897477 0.99431814 -0.04440456] [ 0. 0. 0. 1. ]] SLAMing on 5.704860624 meters Centerline goodness : 0.801518 Centerline is valid? [False, False] Translation: X:0.10, Y:0.28, Z:-0.04 [[ 0.9497314 -0.29558141 0.10315956 0.0952532 ] [ 0.29441123 0.95530461 0.02674193 0.2791327 ] [-0.10645322 0.00497368 0.99430527 -0.04471619] [ 0. 0. 0. 1. ]] SLAMing on 5.7348606239999995 meters Centerline goodness : 0.801157 Centerline is valid? [False, False] Translation: X:0.09, Y:0.28, Z:-0.05 [[ 9.50762494e-01 -2.92519371e-01 1.02386998e-01 9.45932968e-02] [ 2.90931779e-01 9.56259228e-01 3.04464770e-02 2.79424789e-01] [-1.06814696e-01 8.40263059e-04 9.94278590e-01 -4.52896714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764860624 meters Centerline goodness : 0.803480 Centerline is valid? [False, False] Translation: X:0.09, Y:0.28, Z:-0.05 [[ 0.95176306 -0.28953561 0.10156871 0.09381308] [ 0.28754007 0.95716176 0.03408925 0.28010302] [-0.10708774 -0.00323982 0.9942443 -0.04576326] [ 0. 0. 0. 1. ]] SLAMing on 5.794860624 meters Centerline goodness : 0.802678 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95300466 -0.28572644 0.10071004 0.09296716] [ 0.28340051 0.95828767 0.03699848 0.28504755] [-0.10708063 -0.00671845 0.99422764 -0.04573603] [ 0. 0. 0. 1. ]] SLAMing on 5.824860623999999 meters Centerline goodness : 0.803609 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95398677 -0.28268862 0.09998195 0.09196858] [ 0.27997271 0.95915246 0.04051958 0.28586756] [-0.10735236 -0.01066292 0.99416386 -0.04579975] [ 0. 0. 0. 1. ]] SLAMing on 5.854860624 meters Centerline goodness : 0.803832 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95497559 -0.27963525 0.09912496 0.09141957] [ 0.27650169 0.95999021 0.04433528 0.28578937] [-0.1075567 -0.01493089 0.99408683 -0.04625726] [ 0. 0. 0. 1. ]] SLAMing on 5.884860624 meters Centerline goodness : 0.802784 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95515741 -0.27910152 0.09887704 0.09220264] [ 0.27601198 0.96014946 0.04393625 0.28821229] [-0.10719941 -0.01467479 0.99412924 -0.04668783] [ 0. 0. 0. 1. ]] SLAMing on 5.914860624 meters Centerline goodness : 0.803494 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95526812 -0.27879077 0.09868394 0.09283505] [ 0.27573627 0.960243 0.04362221 0.29000726] [-0.10692204 -0.01446017 0.99416225 -0.04711311] [ 0. 0. 0. 1. ]] SLAMing on 5.9448606239999995 meters Centerline goodness : 0.803252 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95526815 -0.27879535 0.09867076 0.09266853] [ 0.27579709 0.96024907 0.0431009 0.29261587] [-0.10676484 -0.01395981 0.9941863 -0.04728634] [ 0. 0. 0. 1. ]] SLAMing on 5.974860624 meters Centerline goodness : 0.804751 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95519824 -0.27900673 0.09875003 0.09258867] [ 0.27602712 0.96019075 0.04292722 0.29280649] [-0.10679585 -0.01374632 0.99418594 -0.04739166] [ 0. 0. 0. 1. ]] SLAMing on 6.004860624 meters Centerline goodness : 0.804602 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95514252 -0.27921078 0.09871226 0.09274634] [ 0.27625115 0.96013397 0.0427559 0.29285396] [-0.1067149 -0.0135686 0.99419707 -0.0475106 ] [ 0. 0. 0. 1. ]] SLAMing on 6.034860623999999 meters Centerline goodness : 0.802626 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95504338 -0.27951021 0.09882397 0.09258663] [ 0.27656576 0.96004966 0.04261495 0.29271248] [-0.10678723 -0.0133678 0.99419203 -0.04763822] [ 0. 0. 0. 1. ]] SLAMing on 6.064860624 meters Centerline goodness : 0.802477 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95486824 -0.28005806 0.09896529 0.09221587] [ 0.27714141 0.95989469 0.04236548 0.29260773] [-0.10686105 -0.01302607 0.99418863 -0.04777442] [ 0. 0. 0. 1. ]] SLAMing on 6.094860624 meters Centerline goodness : 0.802973 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95473944 -0.280409 0.09921383 0.09138495] [ 0.27754031 0.95979955 0.041907 0.29336797] [-0.10697649 -0.01247443 0.99418329 -0.04716442] [ 0. 0. 0. 1. ]] SLAMing on 6.124860624 meters Centerline goodness : 0.805386 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.05 [[ 0.95464649 -0.2806762 0.09935264 0.09061572] [ 0.27787432 0.95972994 0.04128333 0.29447882] [-0.10693895 -0.01180344 0.99419552 -0.04607141] [ 0. 0. 0. 1. ]] SLAMing on 6.1548606239999994 meters Centerline goodness : 0.803736 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95455157 -0.2808974 0.09963915 0.08929982] [ 0.27817277 0.95967492 0.04054564 0.29644334] [-0.10701036 -0.01098601 0.99419721 -0.04472277] [ 0. 0. 0. 1. ]] SLAMing on 6.184860624 meters Centerline goodness : 0.803945 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95449737 -0.28105274 0.09972027 0.08876638] [ 0.27837826 0.95963493 0.04007925 0.29728422] [-0.10695944 -0.01049558 0.99420799 -0.0438947 ] [ 0. 0. 0. 1. ]] SLAMing on 6.214860624 meters Centerline goodness : 0.803822 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95446709 -0.28111082 0.09984632 0.08830758] [ 0.27847452 0.95962214 0.03971506 0.29787184] [-0.10697908 -0.01010206 0.99420995 -0.04320158] [ 0. 0. 0. 1. ]] SLAMing on 6.244860624 meters Centerline goodness : 0.806021 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95439519 -0.28129292 0.10002055 0.08755776] [ 0.2787054 0.95957405 0.03925486 0.29848827] [-0.10701924 -0.00958838 0.99421071 -0.04219329] [ 0. 0. 0. 1. ]] SLAMing on 6.2748606239999996 meters Centerline goodness : 0.803712 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95430523 -0.28152903 0.10021447 0.08681001] [ 0.27898732 0.95950964 0.03882439 0.29916704] [-0.10708694 -0.00909175 0.99420809 -0.04140694] [ 0. 0. 0. 1. ]] SLAMing on 6.304860624 meters Centerline goodness : 0.803883 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95423704 -0.28173106 0.10029602 0.08629964] [ 0.27924964 0.95945568 0.03826786 0.30015617] [-0.10701083 -0.00850898 0.99422144 -0.04055387] [ 0. 0. 0. 1. ]] SLAMing on 6.334860624 meters Centerline goodness : 0.805831 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95411323 -0.28204927 0.1005791 0.08517985] [ 0.27963215 0.95936812 0.03766533 0.30092629] [-0.10711586 -0.00781184 0.99421586 -0.03927325] [ 0. 0. 0. 1. ]] SLAMing on 6.364860623999999 meters Centerline goodness : 0.804767 Centerline is valid? [False, False] Translation: X:0.08, Y:0.30, Z:-0.04 [[ 0.95405245 -0.28224143 0.10061659 0.08494031] [ 0.27985342 0.95931389 0.03740217 0.30119942] [-0.10707934 -0.00752574 0.994222 -0.03888066] [ 0. 0. 0. 1. ]] SLAMing on 6.394860624 meters Centerline goodness : 0.807851 Centerline is valid? [False, False] Translation: X:0.08, Y:0.30, Z:-0.04 [[ 0.95401191 -0.28237025 0.10063956 0.08494562] [ 0.27999503 0.959277 0.03728838 0.30115962] [-0.10707035 -0.00739498 0.99422395 -0.03888904] [ 0. 0. 0. 1. ]] SLAMing on 6.424860624 meters Centerline goodness : 0.805277 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95395273 -0.28254787 0.10070199 0.08502857] [ 0.28017514 0.95922512 0.03727007 0.30075547] [-0.10712646 -0.00733969 0.99421831 -0.03910983] [ 0. 0. 0. 1. ]] SLAMing on 6.454860624 meters Centerline goodness : 0.804176 Centerline is valid? [False, False] Translation: X:0.08, Y:0.30, Z:-0.04 [[ 0.9538194 -0.28295431 0.10082368 0.08481511] [ 0.28058222 0.95910587 0.0372767 0.30006089] [-0.10724819 -0.0072659 0.99420573 -0.03927229] [ 0. 0. 0. 1. ]] SLAMing on 6.4848606239999995 meters Centerline goodness : 0.801621 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95377897 -0.28312761 0.10071962 0.08502449] [ 0.28076403 0.95905511 0.03721375 0.29991137] [-0.10713191 -0.00721525 0.99421864 -0.03930265] [ 0. 0. 0. 1. ]] SLAMing on 6.514860624 meters Centerline goodness : 0.805918 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95373491 -0.28330693 0.10063253 0.08528479] [ 0.28093173 0.95900121 0.03733674 0.29919367] [-0.10708448 -0.00733848 0.99422284 -0.03954087] [ 0. 0. 0. 1. ]] SLAMing on 6.544860624 meters Centerline goodness : 0.803837 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95365439 -0.28365161 0.10042441 0.08600799] [ 0.28123215 0.95889579 0.03778029 0.29703684] [-0.10701299 -0.00778677 0.99422713 -0.0403242 ] [ 0. 0. 0. 1. ]] SLAMing on 6.574860623999999 meters Centerline goodness : 0.803103 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95359389 -0.28386036 0.10040914 0.08610306] [ 0.28142733 0.95883308 0.03791807 0.29620661] [-0.10703904 -0.00790057 0.99422343 -0.04049084] [ 0. 0. 0. 1. ]] SLAMing on 6.604860624 meters Centerline goodness : 0.802309 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.9534788 -0.28419361 0.10055926 0.08558959] [ 0.28177243 0.95873583 0.03781411 0.29546372] [-0.10715629 -0.00772013 0.99421222 -0.0399013 ] [ 0. 0. 0. 1. ]] SLAMing on 6.634860624 meters Centerline goodness : 0.802094 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.04 [[ 0.95338516 -0.28449013 0.10060871 0.08522531] [ 0.28208825 0.95864954 0.03764663 0.294789 ] [-0.10715859 -0.00751121 0.99421357 -0.03913692] [ 0. 0. 0. 1. ]] SLAMing on 6.664860624 meters Centerline goodness : 0.803786 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.04 [[ 0.95330689 -0.2847112 0.10072493 0.0847105 ] [ 0.28234267 0.95858661 0.03734064 0.29455588] [-0.10718486 -0.00715814 0.99421334 -0.03816898] [ 0. 0. 0. 1. ]] SLAMing on 6.6948606239999995 meters Centerline goodness : 0.802167 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.04 [[ 0.95326262 -0.28482212 0.10083027 0.08430522] [ 0.28249238 0.9585565 0.03697972 0.29495338] [-0.10718415 -0.0067676 0.99421615 -0.03744438] [ 0. 0. 0. 1. ]] SLAMing on 6.724860624 meters Centerline goodness : 0.805897 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.04 [[ 0.95328229 -0.28477347 0.10078171 0.08408781] [ 0.28247336 0.95857265 0.03670518 0.29487039] [-0.10705926 -0.00652225 0.99423125 -0.03628096] [ 0. 0. 0. 1. ]] SLAMing on 6.754860624 meters Centerline goodness : 0.804279 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.04 [[ 0.95324077 -0.28487776 0.10087964 0.08384628] [ 0.28260076 0.95854332 0.03649001 0.29475751] [-0.1070927 -0.00627511 0.99422924 -0.03574876] [ 0. 0. 0. 1. ]] SLAMing on 6.784860623999999 meters Centerline goodness : 0.804279 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.04 [[ 0.95324077 -0.28487776 0.10087964 0.08384628] [ 0.28260076 0.95854332 0.03649001 0.29475751] [-0.1070927 -0.00627511 0.99422924 -0.03574876] [ 0. 0. 0. 1. ]] SLAMing on 6.814860624 meters Centerline goodness : 0.806468 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.04 [[ 0.95325996 -0.28483518 0.10081851 0.08393809] [ 0.28258207 0.95855719 0.03626954 0.29499344] [-0.10697115 -0.00608479 0.99424351 -0.03531514] [ 0. 0. 0. 1. ]] SLAMing on 6.844860624 meters Centerline goodness : 0.807075 Centerline is valid? [False, False] Translation: X:0.08, Y:0.30, Z:-0.03 [[ 0.95328977 -0.28474969 0.10077813 0.0839821 ] [ 0.28252471 0.95858404 0.03600581 0.29557742] [-0.10685695 -0.00585166 0.99425719 -0.03491744] [ 0. 0. 0. 1. ]] SLAMing on 6.874860624 meters Centerline goodness : 0.803418 Centerline is valid? [False, False] Translation: X:0.08, Y:0.30, Z:-0.04 [[ 0.95350727 -0.28414667 0.10042187 0.08495774] [ 0.28192371 0.9587621 0.03597576 0.29684068] [-0.10650308 -0.00599184 0.99429432 -0.03517789] [ 0. 0. 0. 1. ]] SLAMing on 6.9048606239999994 meters Centerline goodness : 0.802295 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95362788 -0.28382274 0.10019238 0.08581845] [ 0.28159189 0.95885697 0.03604603 0.29723288] [-0.10630084 -0.00616114 0.99431493 -0.0357192 ] [ 0. 0. 0. 1. ]] SLAMing on 6.934860624 meters Centerline goodness : 0.803020 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95372658 -0.28357362 0.09995803 0.08663879] [ 0.28133669 0.9589297 0.03610402 0.29740402] [-0.10609087 -0.0063115 0.99433641 -0.03614448] [ 0. 0. 0. 1. ]] SLAMing on 6.964860624 meters Centerline goodness : 0.800114 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95378527 -0.28344187 0.09977152 0.08756929] [ 0.28118057 0.95896668 0.03633726 0.29646269] [-0.10597707 -0.00660413 0.99434664 -0.03682064] [ 0. 0. 0. 1. ]] SLAMing on 6.994860623999999 meters Centerline goodness : 0.800471 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.9537531 -0.28357545 0.09969949 0.08780792] [ 0.28132117 0.95892751 0.03628258 0.29593946] [-0.10589344 -0.00655705 0.99435586 -0.03674848] [ 0. 0. 0. 1. ]] SLAMing on 7.0248606239999996 meters Centerline goodness : 0.799955 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95366003 -0.28386468 0.09976663 0.0875568 ] [ 0.28161263 0.95884235 0.03627237 0.29534217] [-0.10595692 -0.00649597 0.9943495 -0.03654257] [ 0. 0. 0. 1. ]] SLAMing on 7.054860624 meters Centerline goodness : 0.799598 Centerline is valid? [False, False] Translation: X:0.09, Y:0.30, Z:-0.04 [[ 0.95355216 -0.28420908 0.09981717 0.08709717] [ 0.28197334 0.95874156 0.03613379 0.29503371] [-0.10596842 -0.00630967 0.99434948 -0.03599712] [ 0. 0. 0. 1. ]] SLAMing on 7.084860624 meters Centerline goodness : 0.801168 Centerline is valid? [False, False] Translation: X:0.09, Y:0.29, Z:-0.04 [[ 0.95341424 -0.28461619 0.09997458 0.08628564] [ 0.28240127 0.95862251 0.03595007 0.29446796] [-0.10606986 -0.00604236 0.99434032 -0.03505442] [ 0. 0. 0. 1. ]] SLAMing on 7.114860623999999 meters Centerline goodness : 0.800351 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.03 [[ 0.95294959 -0.28595803 0.10057379 0.08404686] [ 0.28381193 0.95822838 0.03534357 0.29280297] [-0.10647943 -0.0051366 0.99430164 -0.03296944] [ 0. 0. 0. 1. ]] SLAMing on 7.144860624 meters Centerline goodness : 0.798255 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.03 [[ 0.9527338 -0.28657938 0.10084925 0.08325168] [ 0.28444102 0.95804378 0.03529044 0.29094847] [-0.10673151 -0.00493674 0.99427562 -0.0321702 ] [ 0. 0. 0. 1. ]] SLAMing on 7.174860624 meters Centerline goodness : 0.798109 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.03 [[ 0.95245369 -0.28737192 0.10123908 0.0821845 ] [ 0.28525149 0.95780804 0.03514751 0.28917704] [-0.10706801 -0.00459778 0.99424107 -0.03139584] [ 0. 0. 0. 1. ]] SLAMing on 7.204860623999999 meters Centerline goodness : 0.798209 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.03 [[ 0.95217818 -0.28815077 0.1016162 0.08111596] [ 0.28603978 0.95757521 0.0350849 0.28729463] [-0.1074149 -0.0043408 0.99420481 -0.03066312] [ 0. 0. 0. 1. ]] SLAMing on 7.2348606239999995 meters Centerline goodness : 0.797588 Centerline is valid? [False, False] Translation: X:0.08, Y:0.29, Z:-0.03 [[ 0.95188828 -0.2889545 0.10204902 0.07981574] [ 0.28686864 0.95733478 0.03487837 0.28583768] [-0.10777334 -0.00392565 0.99416774 -0.02971133] [ 0. 0. 0. 1. ]] SLAMing on 7.264860624 meters Centerline goodness : 0.797685 Centerline is valid? [False, False] Translation: X:0.08, Y:0.28, Z:-0.03 [[ 0.95132833 -0.29059836 0.10260114 0.0776808 ] [ 0.28857893 0.95684024 0.03433582 0.28362365] [-0.10815084 -0.00305611 0.9941298 -0.02794523] [ 0. 0. 0. 1. ]] SLAMing on 7.294860624 meters Centerline goodness : 0.798157 Centerline is valid? [False, False] Translation: X:0.08, Y:0.28, Z:-0.03 [[ 0.95115884 -0.29109572 0.10276252 0.07710481] [ 0.28908114 0.95668944 0.03431333 0.28242446] [-0.10830028 -0.00293072 0.99411391 -0.027438 ] [ 0. 0. 0. 1. ]] SLAMing on 7.324860623999999 meters Centerline goodness : 0.795823 Centerline is valid? [False, False] Translation: X:0.08, Y:0.28, Z:-0.03 [[ 0.95096731 -0.29166104 0.10293207 0.07654282] [ 0.28966248 0.95651793 0.03419207 0.28129314] [-0.10842886 -0.00269998 0.99410054 -0.02691764] [ 0. 0. 0. 1. ]] SLAMing on 7.354860624 meters Centerline goodness : 0.797571 Centerline is valid? [False, False] Translation: X:0.08, Y:0.28, Z:-0.03 [[ 0.95081315 -0.29209483 0.10312601 0.07599793] [ 0.29008947 0.95638563 0.03427277 0.28032516] [-0.10863914 -0.00267123 0.99407766 -0.02678523] [ 0. 0. 0. 1. ]] SLAMing on 7.384860624 meters Centerline goodness : 0.797965 Centerline is valid? [False, False] Translation: X:0.07, Y:0.28, Z:-0.03 [[ 0.9504745 -0.2930529 0.10352888 0.07476953] [ 0.29105824 0.95609324 0.03421716 0.27858214] [-0.1090107 -0.00238961 0.9940377 -0.02617681] [ 0. 0. 0. 1. ]] SLAMing on 7.414860624 meters Centerline goodness : 0.799114 Centerline is valid? [False, False] Translation: X:0.07, Y:0.28, Z:-0.03 [[ 0.95036479 -0.29339106 0.1035782 0.07464038] [ 0.29139735 0.95598964 0.0342257 0.27795797] [-0.1090612 -0.00234449 0.99403227 -0.02621962] [ 0. 0. 0. 1. ]] SLAMing on 7.4448606239999995 meters Centerline goodness : 0.797214 Centerline is valid? [False, False] Translation: X:0.08, Y:0.28, Z:-0.03 [[ 0.95035086 -0.2934827 0.10344633 0.0751626 ] [ 0.29146678 0.95596092 0.03443612 0.27717571] [-0.10899705 -0.00257523 0.99403874 -0.02674205] [ 0. 0. 0. 1. ]] SLAMing on 7.474860624 meters Centerline goodness : 0.796104 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.03 [[ 0.95018385 -0.2941022 0.10322091 0.07587324] [ 0.29206791 0.95576997 0.03464255 0.27487568] [-0.1088439 -0.00276927 0.994055 -0.02728185] [ 0. 0. 0. 1. ]] SLAMing on 7.504860624 meters Centerline goodness : 0.794801 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.03 [[ 0.95007406 -0.29444664 0.10324954 0.07578091] [ 0.29242164 0.95566423 0.03457555 0.27424452] [-0.10885255 -0.00265693 0.99405436 -0.02716227] [ 0. 0. 0. 1. ]] SLAMing on 7.534860623999999 meters Centerline goodness : 0.796258 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.03 [[ 0.94995455 -0.29479381 0.10335838 0.07544497] [ 0.2927865 0.95555776 0.03443018 0.2739652 ] [-0.10891471 -0.00244517 0.99404809 -0.02694789] [ 0. 0. 0. 1. ]] SLAMing on 7.564860624 meters Centerline goodness : 0.795939 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.03 [[ 0.94990287 -0.29495863 0.10336316 0.0752993 ] [ 0.29295685 0.95550705 0.03438844 0.27386762] [-0.10890739 -0.00238473 0.99404904 -0.02678256] [ 0. 0. 0. 1. ]] SLAMing on 7.594860624 meters Centerline goodness : 0.796162 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.03 [[ 0.94980658 -0.29524823 0.10342116 0.07486795] [ 0.29330214 0.95541877 0.03389439 0.27436996] [-0.10881778 -0.00185947 0.99405997 -0.02600463] [ 0. 0. 0. 1. ]] SLAMing on 7.624860624 meters Centerline goodness : 0.795405 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.03 [[ 0.94975922 -0.29537372 0.10349781 0.07475676] [ 0.29343775 0.95538021 0.03380742 0.27423137] [-0.10886558 -0.00173874 0.99405496 -0.02595406] [ 0. 0. 0. 1. ]] SLAMing on 7.6548606239999994 meters Centerline goodness : 0.794338 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.03 [[ 0.9496377 -0.29570326 0.10367166 0.07429036] [ 0.29377946 0.95527858 0.03371156 0.27372326] [-0.10900393 -0.00155716 0.9940401 -0.02569221] [ 0. 0. 0. 1. ]] SLAMing on 7.684860624 meters Centerline goodness : 0.798814 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.49348164e-01 -2.96445561e-01 1.04202171e-01 7.28139586e-02] [ 2.94574793e-01 9.55049344e-01 3.32632246e-02 2.72999667e-01] [-1.09378951e-01 -8.83048162e-04 9.93999731e-01 -2.45760909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714860624 meters Centerline goodness : 0.794682 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.49191756e-01 -2.96879160e-01 1.04392403e-01 7.22067390e-02] [ 2.95025956e-01 9.54914839e-01 3.31260661e-02 2.72380291e-01] [-1.09520293e-01 -6.44520312e-04 9.93984351e-01 -2.41487204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744860623999999 meters Centerline goodness : 0.795562 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.49070572e-01 -2.97217429e-01 1.04531568e-01 7.19264771e-02] [ 2.95371840e-01 9.54809685e-01 3.30747819e-02 2.71491986e-01] [-1.09638155e-01 -5.14620668e-04 9.93971433e-01 -2.39025866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7748606239999996 meters Centerline goodness : 0.797010 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48741488e-01 -2.98126701e-01 1.04928826e-01 7.05237080e-02] [ 2.96305637e-01 9.54526299e-01 3.29015915e-02 2.70224337e-01] [-1.09966167e-01 -1.24102324e-04 9.93935323e-01 -2.30218646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804860624 meters Centerline goodness : 0.795764 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48613672e-01 -2.98511909e-01 1.04989246e-01 7.00754598e-02] [ 2.96707417e-01 9.54405908e-01 3.27730369e-02 2.69717150e-01] [-1.09985498e-01 6.21370110e-05 9.93933190e-01 -2.24599097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834860624 meters Centerline goodness : 0.794497 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48521063e-01 -2.98779103e-01 1.05065891e-01 6.97599105e-02] [ 2.97002374e-01 9.54322236e-01 3.25370511e-02 2.69487167e-01] [-1.09988107e-01 3.42740823e-04 9.93932844e-01 -2.18795007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864860623999999 meters Centerline goodness : 0.794882 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48481178e-01 -2.98900273e-01 1.05081307e-01 6.96964341e-02] [ 2.97117034e-01 9.54284307e-01 3.26026142e-02 2.69109664e-01] [-1.10022373e-01 2.98480277e-04 9.93929066e-01 -2.18632590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894860624 meters Centerline goodness : 0.793432 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48395991e-01 -2.99156228e-01 1.05121809e-01 6.95419969e-02] [ 2.97371662e-01 9.54204093e-01 3.26288689e-02 2.68604401e-01] [-1.10068790e-01 3.15158548e-04 9.93923922e-01 -2.17970805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924860624 meters Centerline goodness : 0.795595 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48396687e-01 -2.99200032e-01 1.04990783e-01 6.99736997e-02] [ 2.97404166e-01 9.54190394e-01 3.27330745e-02 2.67997776e-01] [-1.09974933e-01 1.80756660e-04 9.93934345e-01 -2.19622210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954860623999999 meters Centerline goodness : 0.798352 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48366802e-01 -2.99316924e-01 1.04927540e-01 7.02498503e-02] [ 2.97523329e-01 9.54153731e-01 3.27188831e-02 2.67621699e-01] [-1.09910319e-01 1.88888478e-04 9.93941490e-01 -2.21047237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9848606239999995 meters Centerline goodness : 0.794976 Centerline is valid? [False, False] Translation: X:0.07, Y:0.27, Z:-0.02 [[ 9.48326461e-01 -2.99435331e-01 1.04954308e-01 7.03906400e-02] [ 2.97646875e-01 9.54116566e-01 3.26790053e-02 2.67308163e-01] [-1.09923893e-01 2.48956475e-04 9.93939976e-01 -2.22430107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014860624 meters Centerline goodness : 0.796741 Centerline is valid? [False, False] Translation: X:0.06, Y:0.26, Z:-0.02 [[ 0.94905817 -0.29540667 0.10965167 0.05518609] [ 0.2942416 0.95534874 0.02703102 0.26233007] [-0.11274073 0.00661007 0.99360245 -0.02004645] [ 0. 0. 0. 1. ]] SLAMing on 8.044860624 meters Centerline goodness : 0.796908 Centerline is valid? [False, False] Translation: X:0.06, Y:0.26, Z:-0.02 [[ 0.94915701 -0.2951897 0.10938009 0.05620749] [ 0.29401134 0.95541711 0.0271198 0.26222554] [-0.1125091 0.00641804 0.99362997 -0.02060966] [ 0. 0. 0. 1. ]] SLAMing on 8.074860624000001 meters Centerline goodness : 0.797767 Centerline is valid? [False, False] Translation: X:0.06, Y:0.26, Z:-0.02 [[ 0.94918985 -0.29512617 0.10926655 0.05650943] [ 0.29394506 0.9554371 0.02713392 0.26257722] [-0.11240524 0.00636312 0.99364207 -0.02089426] [ 0. 0. 0. 1. ]] SLAMing on 8.104860624 meters Centerline goodness : 0.796738 Centerline is valid? [False, False] Translation: X:0.06, Y:0.26, Z:-0.02 [[ 0.94917553 -0.29517123 0.10926923 0.05634284] [ 0.29401678 0.95542162 0.0269009 0.26320105] [-0.11233856 0.00659331 0.99364812 -0.02055644] [ 0. 0. 0. 1. ]] SLAMing on 8.134860624 meters Centerline goodness : 0.800017 Centerline is valid? [False, False] Translation: X:0.06, Y:0.26, Z:-0.02 [[ 0.94918726 -0.29510481 0.10934663 0.05577599] [ 0.29398519 0.95543994 0.02659363 0.26416062] [-0.11232205 0.00690395 0.99364787 -0.0196717 ] [ 0. 0. 0. 1. ]] SLAMing on 8.164860624000001 meters Centerline goodness : 0.798742 Centerline is valid? [False, False] Translation: X:0.06, Y:0.26, Z:-0.02 [[ 0.94919924 -0.29508322 0.10930094 0.05565242] [ 0.29399825 0.95544453 0.02628275 0.26483684] [-0.11218658 0.00718672 0.99366117 -0.01906087] [ 0. 0. 0. 1. ]] SLAMing on 8.194860624 meters Centerline goodness : 0.800908 Centerline is valid? [False, False] Translation: X:0.06, Y:0.27, Z:-0.02 [[ 0.94920205 -0.29508129 0.10928176 0.05547707] [ 0.29404516 0.95544194 0.02584858 0.26568206] [-0.11203981 0.00759825 0.99367467 -0.01828894] [ 0. 0. 0. 1. ]] SLAMing on 8.224860624 meters Centerline goodness : 0.800980 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94978004 -0.29335678 0.10890216 0.05257856] [ 0.29198769 0.95599214 0.02867432 0.26520945] [-0.11252142 0.00456379 0.99363882 -0.0162448 ] [ 0. 0. 0. 1. ]] SLAMing on 8.254860624 meters Centerline goodness : 0.801187 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94976253 -0.29341209 0.10890585 0.05226516] [ 0.29209312 0.95597301 0.02823483 0.26617614] [-0.11239549 0.00499426 0.993651 -0.01557175] [ 0. 0. 0. 1. ]] SLAMing on 8.284860624 meters Centerline goodness : 0.801429 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94969814 -0.29355975 0.10906932 0.05205477] [ 0.29227049 0.95592605 0.0279884 0.26655668] [-0.11247847 0.00529721 0.99364004 -0.0156101 ] [ 0. 0. 0. 1. ]] SLAMing on 8.314860624000001 meters Centerline goodness : 0.800720 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94963416 -0.29375089 0.10911174 0.05204242] [ 0.29245645 0.95586745 0.02804722 0.26605902] [-0.11253526 0.00527583 0.99363373 -0.01582181] [ 0. 0. 0. 1. ]] SLAMing on 8.344860624 meters Centerline goodness : 0.799884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.9495619 -0.29397365 0.1091407 0.05213694] [ 0.29267531 0.95579903 0.02809584 0.26555944] [-0.11257601 0.00526405 0.99362917 -0.01614126] [ 0. 0. 0. 1. ]] SLAMing on 8.374860624 meters Centerline goodness : 0.799380 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94951485 -0.29412489 0.10914254 0.05234218] [ 0.29281655 0.95575291 0.02819305 0.26506635] [-0.11260558 0.00518903 0.99362622 -0.01655249] [ 0. 0. 0. 1. ]] SLAMing on 8.404860624000001 meters Centerline goodness : 0.800155 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94948741 -0.29423536 0.10908347 0.05259866] [ 0.2929288 0.95571887 0.02818095 0.26506527] [-0.11254496 0.00519624 0.99363305 -0.0168814 ] [ 0. 0. 0. 1. ]] SLAMing on 8.434860624 meters Centerline goodness : 0.800575 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94948412 -0.29427648 0.10900122 0.05285212] [ 0.29296228 0.95570665 0.02824699 0.26520615] [-0.11248561 0.00511318 0.9936402 -0.01727659] [ 0. 0. 0. 1. ]] SLAMing on 8.464860624 meters Centerline goodness : 0.800205 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.9492594 -0.29489947 0.10927442 0.05149234] [ 0.29364799 0.95551097 0.02774258 0.26587297] [-0.11259417 0.00575331 0.9936244 -0.01615732] [ 0. 0. 0. 1. ]] SLAMing on 8.494860624000001 meters Centerline goodness : 0.797513 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.02 [[ 0.94910819 -0.29528898 0.10953564 0.05057157] [ 0.29408644 0.9553875 0.02734776 0.26598097] [-0.11272447 0.00625697 0.99360658 -0.01518675] [ 0. 0. 0. 1. ]] SLAMing on 8.524860624 meters Centerline goodness : 0.800116 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:-0.01 [[ 0.94898673 -0.29560295 0.10974101 0.049857 ] [ 0.29444269 0.9552875 0.02700541 0.26610898] [-0.1128171 0.00668466 0.99359329 -0.01442677] [ 0. 0. 0. 1. ]] SLAMing on 8.554860624 meters Centerline goodness : 0.803697 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:0.05 [[ 0.95413522 -0.29172488 0.06725017 -0.80804063] [ 0.27581067 0.94392291 0.18148834 0.01116851] [-0.11642364 -0.1546161 0.98109092 0.04972886] [ 0. 0. 0. 1. ]] SLAMing on 8.584860624000001 meters Centerline goodness : 0.802970 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.21, Z:0.08 [[ 0.92430553 -0.36897561 0.09755149 -0.56221919] [ 0.36676213 0.92943779 0.04038493 0.20501635] [-0.1055691 -0.00154982 0.99441076 0.08064874] [ 0. 0. 0. 1. ]] SLAMing on 8.614860624 meters Centerline goodness : 0.803550 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.20, Z:0.08 [[ 0.92485367 -0.36536345 0.10561835 -0.57243959] [ 0.36321814 0.93086328 0.03957445 0.20022864] [-0.1127753 0.00176193 0.99361895 0.07820024] [ 0. 0. 0. 1. ]] SLAMing on 8.644860624000001 meters Centerline goodness : 0.799950 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.20, Z:0.08 [[ 0.92464779 -0.3658143 0.10586011 -0.57312237] [ 0.36369713 0.93068547 0.03935672 0.20014627] [-0.11291972 0.00210991 0.99360187 0.07849444] [ 0. 0. 0. 1. ]] SLAMing on 8.674860624 meters Centerline goodness : 0.803521 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.14 [[ 0.93067818 -0.36186245 0.0537931 -1.37265621] [ 0.34749007 0.92037371 0.17934016 -0.09866176] [-0.11440622 -0.1482154 0.98231533 0.13929978] [ 0. 0. 0. 1. ]] SLAMing on 8.704860624 meters Centerline goodness : 0.803521 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.14 [[ 0.93067818 -0.36186245 0.0537931 -1.37265621] [ 0.34749007 0.92037371 0.17934016 -0.09866176] [-0.11440622 -0.1482154 0.98231533 0.13929978] [ 0. 0. 0. 1. ]] SLAMing on 8.734860624000001 meters Centerline goodness : 0.801579 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:0.17 [[ 0.89198558 -0.44236083 0.09315909 -1.13879884] [ 0.44065596 0.89681691 0.03926519 0.11570671] [-0.10091602 0.00602713 0.99487669 0.17232691] [ 0. 0. 0. 1. ]] SLAMing on 8.764860624 meters Centerline goodness : 0.800552 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:0.18 [[ 0.89245146 -0.44070638 0.09647946 -1.18269319] [ 0.439823 0.89753556 0.03139494 0.10061993] [-0.1004297 0.01441542 0.99483972 0.18056774] [ 0. 0. 0. 1. ]] SLAMing on 8.794860624 meters Centerline goodness : 0.801356 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:0.19 [[ 0.89334222 -0.43832928 0.09903093 -1.22705549] [ 0.43808728 0.89857508 0.02534473 0.08459262] [-0.10009607 0.02074267 0.99476154 0.18795204] [ 0. 0. 0. 1. ]] SLAMing on 8.824860624000001 meters Centerline goodness : 0.800177 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:0.19 [[ 0.89433679 -0.43580434 0.10117456 -1.27180606] [ 0.43601008 0.899691 0.02124433 0.0671152 ] [-0.10028421 0.02511354 0.99464184 0.19332105] [ 0. 0. 0. 1. ]] SLAMing on 8.854860624 meters Centerline goodness : 0.799205 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:0.20 [[ 0.89510235 -0.4337504 0.10321033 -1.31834222] [ 0.43423022 0.90060251 0.01895357 0.04771812] [-0.1011726 0.02785166 0.99447895 0.19774163] [ 0. 0. 0. 1. ]] SLAMing on 8.884860624 meters Centerline goodness : 0.797923 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.03, Z:0.20 [[ 0.89573451 -0.43041146 0.11138073 -1.35881841] [ 0.43094724 0.90214506 0.02046371 0.02863501] [-0.10928939 0.02966917 0.99356709 0.19655806] [ 0. 0. 0. 1. ]] SLAMing on 8.914860624000001 meters Centerline goodness : 0.800385 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.01, Z:0.20 [[ 0.89624845 -0.42863572 0.11406199 -1.40461553] [ 0.42962482 0.90284698 0.01702482 0.00975472] [-0.11027797 0.0337454 0.99332775 0.20250974] [ 0. 0. 0. 1. ]] SLAMing on 8.944860624 meters Centerline goodness : 0.799831 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.01, Z:0.21 [[ 0.89564532 -0.42859765 0.11884236 -1.45281238] [ 0.429913 0.9027346 0.015654 -0.0132059 ] [-0.11399238 0.03707144 0.99278973 0.20689385] [ 0. 0. 0. 1. ]] SLAMing on 8.974860624 meters Centerline goodness : 0.800852 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.03, Z:0.21 [[ 0.89563759 -0.42777297 0.1218343 -1.50217144] [ 0.42928079 0.90304762 0.01493294 -0.03430412] [-0.11641009 0.03892662 0.99243811 0.2119281 ] [ 0. 0. 0. 1. ]] SLAMing on 9.004860624 meters Centerline goodness : 0.800376 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.05, Z:0.22 [[ 0.89576681 -0.42668269 0.12467441 -1.55000911] [ 0.42838408 0.9034853 0.0141914 -0.05476298] [-0.11869672 0.04069635 0.99209621 0.21628566] [ 0. 0. 0. 1. ]] SLAMing on 9.034860624 meters Centerline goodness : 0.801637 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:0.22 [[ 0.89480072 -0.42863168 0.1249262 -1.58419529] [ 0.42960531 0.90278578 0.0204236 -0.07159004] [-0.1215358 0.0353939 0.99195581 0.21641074] [ 0. 0. 0. 1. ]] SLAMing on 9.064860624000001 meters Centerline goodness : 0.797715 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.09, Z:0.22 [[ 0.89409595 -0.42916246 0.12810937 -1.63054248] [ 0.43052716 0.9023927 0.01826935 -0.09456515] [-0.12344549 0.03882001 0.99159176 0.22060979] [ 0. 0. 0. 1. ]] SLAMing on 9.094860624 meters Centerline goodness : 0.797504 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.11, Z:0.23 [[ 0.894024 -0.42841175 0.13108947 -1.67740968] [ 0.43023562 0.90258298 0.01553281 -0.11427592] [-0.12497356 0.04251265 0.99124885 0.22646458] [ 0. 0. 0. 1. ]] SLAMing on 9.124860624 meters Centerline goodness : 0.798450 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.13, Z:0.23 [[ 0.89412914 -0.42723267 0.13418394 -1.72382887] [ 0.42947897 0.90298019 0.01321302 -0.13428549] [-0.12681048 0.04581503 0.99086835 0.23186471] [ 0. 0. 0. 1. ]] SLAMing on 9.154860624000001 meters Centerline goodness : 0.798118 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.24 [[ 0.89370812 -0.42696264 0.13779947 -1.77236324] [ 0.42929031 0.9030599 0.01387964 -0.15866522] [-0.13036727 0.04675163 0.99036289 0.23682198] [ 0. 0. 0. 1. ]] SLAMing on 9.184860624 meters Centerline goodness : 0.797159 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.17, Z:0.24 [[ 0.89322421 -0.42746263 0.13937793 -1.80307733] [ 0.42912767 0.90303508 0.0194186 -0.17481137] [-0.13416389 0.04246577 0.99004884 0.23756254] [ 0. 0. 0. 1. ]] SLAMing on 9.214860624 meters Centerline goodness : 0.798431 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.20, Z:0.24 [[ 0.8935692 -0.42576201 0.14234042 -1.85099136] [ 0.42754189 0.90378754 0.01939107 -0.19540396] [-0.13690148 0.04352923 0.9896278 0.24308582] [ 0. 0. 0. 1. ]] SLAMing on 9.244860624000001 meters Centerline goodness : 0.797284 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.22, Z:0.25 [[ 0.89403889 -0.42376441 0.14532099 -1.89623171] [ 0.42565868 0.90467654 0.01936616 -0.21810498] [-0.13967518 0.04454304 0.98919501 0.24854449] [ 0. 0. 0. 1. ]] SLAMing on 9.274860624 meters Centerline goodness : 0.796982 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.23, Z:0.25 [[ 0.89420515 -0.42270339 0.14737363 -1.92340855] [ 0.42403515 0.90533205 0.02383405 -0.23320317] [-0.1434968 0.04117907 0.98879369 0.25008346] [ 0. 0. 0. 1. ]] SLAMing on 9.304860624 meters Centerline goodness : 0.793829 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.26 [[ 0.89484373 -0.42048555 0.14982191 -1.96920163] [ 0.42204651 0.90628756 0.02279468 -0.25253222] [-0.14536656 0.04283414 0.9884502 0.25620327] [ 0. 0. 0. 1. ]] SLAMing on 9.334860624000001 meters Centerline goodness : 0.794461 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.27, Z:0.26 [[ 0.89551666 -0.41648367 0.156816 -2.00925844] [ 0.41777312 0.90817216 0.02624786 -0.27282163] [-0.15334773 0.04200811 0.98727898 0.25638035] [ 0. 0. 0. 1. ]] SLAMing on 9.364860624 meters Centerline goodness : 0.793374 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.30, Z:0.26 [[ 0.8964408 -0.41353947 0.15930784 -2.05256689] [ 0.41488059 0.90949456 0.026339 -0.29505411] [-0.15578183 0.04248237 0.98687754 0.26266216] [ 0. 0. 0. 1. ]] SLAMing on 9.394860624 meters Centerline goodness : 0.792631 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.31, Z:0.27 [[ 0.89742053 -0.41067046 0.16120227 -2.09709962] [ 0.41221776 0.91073393 0.02530261 -0.31372972] [-0.15720341 0.04374336 0.98659698 0.26963924] [ 0. 0. 0. 1. ]] SLAMing on 9.424860624 meters Centerline goodness : 0.792225 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.33, Z:0.27 [[ 0.89758508 -0.41000775 0.16197121 -2.12544263] [ 0.41069578 0.91125259 0.03078463 -0.32868181] [-0.16021862 0.03888907 0.98631518 0.2710591 ] [ 0. 0. 0. 1. ]] SLAMing on 9.454860624 meters Centerline goodness : 0.791755 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.35, Z:0.28 [[ 0.89862616 -0.40716389 0.16336643 -2.1696304 ] [ 0.40794779 0.91250319 0.03027418 -0.3473711 ] [-0.16139894 0.0394398 0.98610085 0.27686333] [ 0. 0. 0. 1. ]] SLAMing on 9.484860624000001 meters Centerline goodness : 0.789161 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.37, Z:0.28 [[ 0.89999418 -0.40368286 0.16447076 -2.20981378] [ 0.40486727 0.91395335 0.02778074 -0.36695204] [-0.16153321 0.04158632 0.98599067 0.28338848] [ 0. 0. 0. 1. ]] SLAMing on 9.514860624 meters Centerline goodness : 0.790479 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.39, Z:0.29 [[ 0.90100057 -0.40079195 0.16602343 -2.2537407 ] [ 0.40214699 0.91518052 0.02687763 -0.38534213] [-0.16271375 0.04254907 0.98575545 0.28989771] [ 0. 0. 0. 1. ]] SLAMing on 9.544860624 meters Centerline goodness : 0.786220 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.40, Z:0.29 [[ 0.90144361 -0.39666201 0.17337435 -2.2919873 ] [ 0.39746506 0.91707358 0.03158436 -0.40455969] [-0.17152535 0.04043873 0.98434941 0.2894738 ] [ 0. 0. 0. 1. ]] SLAMing on 9.574860624000001 meters Centerline goodness : 0.785571 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.43, Z:0.29 [[ 0.90238344 -0.39089552 0.18139688 -2.32924951] [ 0.39127438 0.91960003 0.03521566 -0.42612239] [-0.18057822 0.03919792 0.98277924 0.29127082] [ 0. 0. 0. 1. ]] SLAMing on 9.604860624 meters Centerline goodness : 0.784242 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.44, Z:0.30 [[ 0.90356434 -0.3875546 0.18268257 -2.37227123] [ 0.38828615 0.92093912 0.03324169 -0.44256223] [-0.1811225 0.0408971 0.98260982 0.2997894 ] [ 0. 0. 0. 1. ]] SLAMing on 9.634860624 meters Centerline goodness : 0.782784 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.46, Z:0.31 [[ 0.90493611 -0.38383675 0.18373892 -2.41438856] [ 0.38471776 0.92246935 0.03228845 -0.45948476] [-0.18188702 0.04146864 0.98244464 0.30724766] [ 0. 0. 0. 1. ]] SLAMing on 9.664860624000001 meters Centerline goodness : 0.782047 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.48, Z:0.31 [[ 0.90592118 -0.38089409 0.1850041 -2.45861512] [ 0.3818159 0.9236824 0.03205365 -0.4766036 ] [-0.18309408 0.04159943 0.98221487 0.31454221] [ 0. 0. 0. 1. ]] SLAMing on 9.694860624 meters Centerline goodness : 0.783277 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.49, Z:0.32 [[ 0.90735494 -0.3771453 0.18565675 -2.49961762] [ 0.37830132 0.92517805 0.03055627 -0.49450657] [-0.18328971 0.04250881 0.98213944 0.32243094] [ 0. 0. 0. 1. ]] SLAMing on 9.724860624 meters Centerline goodness : 0.780526 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.51, Z:0.32 [[ 0.90735565 -0.37637799 0.18720397 -2.52716936] [ 0.37658228 0.92568852 0.03586852 -0.50812691] [-0.18679269 0.03795219 0.98166599 0.32412916] [ 0. 0. 0. 1. ]] SLAMing on 9.754860624 meters Centerline goodness : 0.779951 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.52, Z:0.33 [[ 0.90824977 -0.37366093 0.1883079 -2.56986894] [ 0.37426568 0.92670856 0.03371112 -0.52443776] [-0.18710307 0.03985906 0.9815313 0.33219807] [ 0. 0. 0. 1. ]] SLAMing on 9.784860624 meters Centerline goodness : 0.779265 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.54, Z:0.33 [[ 0.90799196 -0.37315748 0.19053635 -2.59695236] [ 0.37294075 0.92706109 0.03837891 -0.53781856] [-0.19096021 0.03621103 0.98092964 0.33381479] [ 0. 0. 0. 1. ]] SLAMing on 9.814860624000001 meters Centerline goodness : 0.776503 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.56, Z:0.34 [[ 0.90866205 -0.37069327 0.19214521 -2.638676 ] [ 0.37071225 0.92800164 0.03722086 -0.5565562 ] [-0.19210859 0.0374094 0.9806604 0.34104656] [ 0. 0. 0. 1. ]] SLAMing on 9.844860624 meters Centerline goodness : 0.774337 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.57, Z:0.35 [[ 0.90949677 -0.36793788 0.19348733 -2.68045688] [ 0.36844243 0.929002 0.03471973 -0.57224027] [-0.19252482 0.03971146 0.98048824 0.34915734] [ 0. 0. 0. 1. ]] SLAMing on 9.874860624 meters Centerline goodness : 0.774535 Centerline is valid? [False, False] Translation: X:-2.72, Y:-0.59, Z:0.36 [[ 0.91045427 -0.36507297 0.1944087 -2.72166191] [ 0.36570399 0.93011151 0.03395838 -0.59064431] [-0.19321905 0.04017848 0.98033264 0.35618997] [ 0. 0. 0. 1. ]] SLAMing on 9.904860624000001 meters Centerline goodness : 0.775555 Centerline is valid? [False, False] Translation: X:-2.73, Y:-0.60, Z:0.36 [[ 0.91167735 -0.35886735 0.20014655 -2.73275587] [ 0.36000439 0.9324023 0.03198104 -0.59795962] [-0.19809405 0.04289725 0.97924388 0.35750523] [ 0. 0. 0. 1. ]] SLAMing on 9.934860624 meters Centerline goodness : 0.770383 Centerline is valid? [False, False] Translation: X:-2.77, Y:-0.61, Z:0.37 [[ 0.91293439 -0.35532338 0.20073888 -2.77490337] [ 0.35675372 0.93370807 0.03026599 -0.61283821] [-0.19818572 0.04398348 0.97917714 0.36617979] [ 0. 0. 0. 1. ]] SLAMing on 9.964860624 meters Centerline goodness : 0.773092 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.63, Z:0.37 [[ 0.91428261 -0.35146722 0.20139043 -2.81674868] [ 0.35318582 0.93511721 0.0285584 -0.62720911] [-0.198361 0.0450178 0.97909464 0.37431385] [ 0. 0. 0. 1. ]] SLAMing on 9.994860624000001 meters Centerline goodness : 0.771470 Centerline is valid? [False, False] Translation: X:-2.85, Y:-0.64, Z:0.38 [[ 0.9165108 -0.34534891 0.2018467 -2.85367408] [ 0.347578 0.93730543 0.02545701 -0.64098453] [-0.19798356 0.04682585 0.97908623 0.38202075] [ 0. 0. 0. 1. ]] SLAMing on 10.024860624 meters Centerline goodness : 0.771361 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.65, Z:0.39 [[ 0.91788696 -0.34116092 0.2027135 -2.89455649] [ 0.3438808 0.93873709 0.02277453 -0.6540778 ] [-0.19806446 0.04880483 0.97897322 0.39052474] [ 0. 0. 0. 1. ]] SLAMing on 10.054860624 meters Centerline goodness : 0.769364 Centerline is valid? [False, False] Translation: X:-2.94, Y:-0.67, Z:0.40 [[ 0.9193419 -0.33682298 0.20337342 -2.93650414] [ 0.33968087 0.94028871 0.0217727 -0.66775548] [-0.19856327 0.0490655 0.97885913 0.39856317] [ 0. 0. 0. 1. ]] SLAMing on 10.084860624000001 meters Centerline goodness : 0.772023 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.68, Z:0.40 [[ 0.92040201 -0.33349005 0.20406992 -2.96185011] [ 0.33490008 0.94181832 0.02863889 -0.67940233] [-0.20174757 0.04198374 0.97853732 0.40064106] [ 0. 0. 0. 1. ]] SLAMing on 10.114860624 meters Centerline goodness : 0.770530 Centerline is valid? [False, False] Translation: X:-3.00, Y:-0.69, Z:0.41 [[ 0.92268035 -0.32755095 0.20339947 -3.00062159] [ 0.32907292 0.94391027 0.02728416 -0.69138856] [-0.2009278 0.0417587 0.9787156 0.4082077 ] [ 0. 0. 0. 1. ]] SLAMing on 10.144860624 meters Centerline goodness : 0.770957 Centerline is valid? [False, False] Translation: X:-3.00, Y:-0.69, Z:0.41 [[ 0.92292654 -0.32675922 0.20355591 -3.00072233] [ 0.32813111 0.94421835 0.02795863 -0.69170052] [-0.20133696 0.04098926 0.97866404 0.40803757] [ 0. 0. 0. 1. ]] SLAMing on 10.174860624 meters Centerline goodness : 0.772093 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.70, Z:0.41 [[ 0.9243648 -0.32120879 0.205851 -3.01785397] [ 0.32268925 0.94611159 0.02728565 -0.69893024] [-0.20352241 0.04120401 0.97820287 0.41271488] [ 0. 0. 0. 1. ]] SLAMing on 10.204860624 meters Centerline goodness : 0.773278 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.70, Z:0.41 [[ 0.9246041 -0.32066287 0.20562727 -3.01724072] [ 0.32209616 0.94631023 0.02740458 -0.69897269] [-0.20337482 0.04089337 0.9782466 0.412898 ] [ 0. 0. 0. 1. ]] SLAMing on 10.234860624000001 meters Centerline goodness : 0.770666 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.71, Z:0.42 [[ 0.92428471 -0.32082198 0.2068116 -3.04779864] [ 0.32099448 0.94648258 0.03366409 -0.71014335] [-0.20654376 0.03527017 0.97780146 0.41619817] [ 0. 0. 0. 1. ]] SLAMing on 10.264860624 meters Centerline goodness : 0.773544 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.71, Z:0.42 [[ 0.9241284 -0.32104059 0.20717057 -3.04856978] [ 0.32124479 0.94639986 0.03360194 -0.71054308] [-0.20685379 0.03549996 0.9777276 0.41666437] [ 0. 0. 0. 1. ]] SLAMing on 10.294860624 meters Centerline goodness : 0.773274 Centerline is valid? [False, False] Translation: X:-3.06, Y:-0.71, Z:0.42 [[ 0.9236938 -0.31804367 0.21363049 -3.05701876] [ 0.31858524 0.94732518 0.0328397 -0.71448748] [-0.212822 0.0377257 0.97636242 0.41534292] [ 0. 0. 0. 1. ]] SLAMing on 10.324860624000001 meters Centerline goodness : 0.770304 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.73, Z:0.42 [[ 0.92289066 -0.31942021 0.21504318 -3.08671479] [ 0.31902609 0.94700343 0.03750798 -0.72552276] [-0.21562743 0.03398862 0.975884 0.41872272] [ 0. 0. 0. 1. ]] SLAMing on 10.354860624 meters Centerline goodness : 0.772004 Centerline is valid? [False, False] Translation: X:-3.11, Y:-0.73, Z:0.42 [[ 0.92257603 -0.31962163 0.21609137 -3.11377978] [ 0.31866031 0.94701399 0.0402505 -0.73452653] [-0.21750648 0.0317256 0.97554314 0.42232343] [ 0. 0. 0. 1. ]] SLAMing on 10.384860624 meters Centerline goodness : 0.769817 Centerline is valid? [False, False] Translation: X:-3.14, Y:-0.74, Z:0.43 [[ 0.92235776 -0.31994989 0.21653692 -3.14038196] [ 0.318618 0.94695169 0.04201272 -0.74302639] [-0.21849196 0.0302418 0.97537003 0.4263486 ] [ 0. 0. 0. 1. ]] SLAMing on 10.414860624000001 meters Centerline goodness : 0.769047 Centerline is valid? [False, False] Translation: X:-3.14, Y:-0.74, Z:0.43 [[ 0.92214497 -0.32043482 0.21672605 -3.14075347] [ 0.31915049 0.946778 0.04188523 -0.74362698] [-0.21861294 0.03054397 0.97533351 0.42655251] [ 0. 0. 0. 1. ]] SLAMing on 10.444860624 meters Centerline goodness : 0.769697 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.75, Z:0.44 [[ 0.92123633 -0.32537646 0.21319894 -3.17470986] [ 0.32425374 0.94507133 0.04122742 -0.75095782] [-0.21490264 0.03115035 0.97613857 0.43637133] [ 0. 0. 0. 1. ]] SLAMing on 10.474860624 meters Centerline goodness : 0.770169 Centerline is valid? [False, False] Translation: X:-3.18, Y:-0.75, Z:0.44 [[ 0.92090505 -0.32611092 0.21350777 -3.17554709] [ 0.32511547 0.94479455 0.0407823 -0.75127967] [-0.21502053 0.03185805 0.97608977 0.43722991] [ 0. 0. 0. 1. ]] SLAMing on 10.504860624 meters Centerline goodness : 0.768817 Centerline is valid? [False, False] Translation: X:-3.20, Y:-0.76, Z:0.44 [[ 0.91986554 -0.32733111 0.21610584 -3.20485801] [ 0.3260137 0.94439726 0.04276533 -0.76016924] [-0.21808819 0.03111512 0.97543293 0.44212495] [ 0. 0. 0. 1. ]] SLAMing on 10.534860624 meters Centerline goodness : 0.771063 Centerline is valid? [False, False] Translation: X:-3.23, Y:-0.77, Z:0.45 [[ 0.91818779 -0.32934629 0.22014131 -3.23411041] [ 0.32808226 0.94365305 0.04336991 -0.76864324] [-0.22202074 0.03240274 0.97450339 0.44753916] [ 0. 0. 0. 1. ]] SLAMing on 10.564860624 meters Centerline goodness : 0.770913 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.78, Z:0.46 [[ 0.91815428 -0.32778912 0.22259156 -3.27570952] [ 0.32827565 0.94389931 0.03590533 -0.77756207] [-0.2218734 0.04010476 0.97425038 0.45874055] [ 0. 0. 0. 1. ]] SLAMing on 10.594860624 meters Centerline goodness : 0.770706 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.79, Z:0.46 [[ 0.91787769 -0.32693668 0.22497324 -3.3008277 ] [ 0.32726967 0.94420991 0.03690807 -0.7853966 ] [-0.22448856 0.03974982 0.97366567 0.46312892] [ 0. 0. 0. 1. ]] SLAMing on 10.624860624 meters Centerline goodness : 0.770706 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.79, Z:0.46 [[ 0.91787769 -0.32693668 0.22497324 -3.3008277 ] [ 0.32726967 0.94420991 0.03690807 -0.7853966 ] [-0.22448856 0.03974982 0.97366567 0.46312892] [ 0. 0. 0. 1. ]] SLAMing on 10.654860624000001 meters Centerline goodness : 0.769163 Centerline is valid? [False, False] Translation: X:-3.33, Y:-0.79, Z:0.47 [[ 0.91744023 -0.32707207 0.22655525 -3.32835899] [ 0.32699318 0.94422228 0.03898405 -0.79313047] [-0.22666911 0.03831649 0.97321784 0.46746012] [ 0. 0. 0. 1. ]] SLAMing on 10.684860624 meters Centerline goodness : 0.771739 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.80, Z:0.47 [[ 0.91675376 -0.32809584 0.22785009 -3.35907177] [ 0.32728295 0.94397178 0.0424636 -0.80100283] [-0.22901618 0.03564278 0.97276985 0.47258458] [ 0. 0. 0. 1. ]] SLAMing on 10.714860624 meters Centerline goodness : 0.773120 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.80, Z:0.47 [[ 0.91657653 -0.32842922 0.22808269 -3.35974059] [ 0.32772617 0.94383532 0.04207675 -0.80051697] [-0.22909173 0.03618211 0.97273215 0.47318021] [ 0. 0. 0. 1. ]] SLAMing on 10.744860624000001 meters Centerline goodness : 0.772984 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.81, Z:0.48 [[ 0.9168763 -0.32651049 0.22962742 -3.40267007] [ 0.32695883 0.94430567 0.03721203 -0.80989336] [-0.2289886 0.04095988 0.97256697 0.48374573] [ 0. 0. 0. 1. ]] SLAMing on 10.774860624 meters Centerline goodness : 0.773342 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.82, Z:0.49 [[ 0.91634343 -0.3267245 0.23144292 -3.43056889] [ 0.32683118 0.94427723 0.03901136 -0.81789276] [-0.23129225 0.03989496 0.97206599 0.48904987] [ 0. 0. 0. 1. ]] SLAMing on 10.804860624 meters Centerline goodness : 0.775408 Centerline is valid? [False, False] Translation: X:-3.46, Y:-0.83, Z:0.49 [[ 0.91511152 -0.32706263 0.23579852 -3.45643613] [ 0.32728898 0.94410515 0.03933696 -0.82663971] [-0.23548424 0.04117655 0.97100549 0.49354338] [ 0. 0. 0. 1. ]] SLAMing on 10.834860624000001 meters Centerline goodness : 0.775296 Centerline is valid? [False, False] Translation: X:-3.49, Y:-0.84, Z:0.50 [[ 0.91433299 -0.32775334 0.23785066 -3.48550195] [ 0.32728899 0.94396288 0.04261441 -0.83590146] [-0.23848921 0.03888214 0.97036646 0.49841454] [ 0. 0. 0. 1. ]] SLAMing on 10.864860624 meters Centerline goodness : 0.775673 Centerline is valid? [False, False] Translation: X:-3.51, Y:-0.84, Z:0.50 [[ 0.91379799 -0.32812354 0.23939125 -3.51456879] [ 0.32726328 0.94388379 0.04452111 -0.8432154 ] [-0.24056595 0.03766066 0.9699019 0.50494025] [ 0. 0. 0. 1. ]] SLAMing on 10.894860624 meters Centerline goodness : 0.776230 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.84, Z:0.51 [[ 0.91362446 -0.32834511 0.23974951 -3.51584213] [ 0.32769533 0.94376945 0.04376072 -0.8408036 ] [-0.24063688 0.03858393 0.96984801 0.5058515 ] [ 0. 0. 0. 1. ]] SLAMing on 10.924860624 meters Centerline goodness : 0.777002 Centerline is valid? [False, False] Translation: X:-3.54, Y:-0.84, Z:0.51 [[ 0.91440308 -0.3276608 0.23770866 -3.54021934] [ 0.32748785 0.94394836 0.04139092 -0.84393937] [-0.23794688 0.03999871 0.97045422 0.51320219] [ 0. 0. 0. 1. ]] SLAMing on 10.954860624 meters Centerline goodness : 0.779586 Centerline is valid? [False, False] Translation: X:-3.55, Y:-0.84, Z:0.52 [[ 0.91656964 -0.32228715 0.23670889 -3.54967936] [ 0.32430197 0.94542927 0.0314917 -0.84351759] [-0.23394088 0.04790082 0.97107012 0.51858587] [ 0. 0. 0. 1. ]] SLAMing on 10.984860624000001 meters Centerline goodness : 0.777457 Centerline is valid? [False, False] Translation: X:-3.58, Y:-0.85, Z:0.53 [[ 0.91749109 -0.32045283 0.23562699 -3.5754365 ] [ 0.3220943 0.94614681 0.03258022 -0.84865057] [-0.23337816 0.04600205 0.9712973 0.52504809] [ 0. 0. 0. 1. ]] SLAMing on 11.014860624 meters Centerline goodness : 0.777635 Centerline is valid? [False, False] Translation: X:-3.60, Y:-0.86, Z:0.53 [[ 0.91760919 -0.31963904 0.23627156 -3.60449421] [ 0.32068364 0.94653662 0.03507744 -0.85503575] [-0.2348518 0.04358105 0.97105372 0.53130519] [ 0. 0. 0. 1. ]] SLAMing on 11.044860624 meters Centerline goodness : 0.780248 Centerline is valid? [False, False] Translation: X:-3.61, Y:-0.85, Z:0.53 [[ 0.91761998 -0.31946767 0.23646138 -3.6051473 ] [ 0.32062925 0.94657233 0.034608 -0.85312275] [-0.23488394 0.04405945 0.97102436 0.53185388] [ 0. 0. 0. 1. ]] SLAMing on 11.074860624000001 meters Centerline goodness : 0.781250 Centerline is valid? [False, False] Translation: X:-3.62, Y:-0.86, Z:0.53 [[ 0.91770999 -0.31384386 0.24353729 -3.61635858] [ 0.31544097 0.94835465 0.03347313 -0.85633171] [-0.24146506 0.04610301 0.96931375 0.5320311 ] [ 0. 0. 0. 1. ]] SLAMing on 11.104860624 meters Centerline goodness : 0.783142 Centerline is valid? [False, False] Translation: X:-3.62, Y:-0.85, Z:0.53 [[ 0.91762888 -0.31372064 0.24400122 -3.61787145] [ 0.31549664 0.94835858 0.0328311 -0.8537417 ] [-0.24170044 0.0468548 0.96921903 0.53332737] [ 0. 0. 0. 1. ]] SLAMing on 11.134860624 meters Centerline goodness : 0.783109 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.86, Z:0.54 [[ 0.91731766 -0.31385809 0.24499269 -3.64826391] [ 0.31483709 0.94845426 0.03622322 -0.86097961] [-0.24373331 0.04390458 0.96884801 0.53913036] [ 0. 0. 0. 1. ]] SLAMing on 11.164860624000001 meters Centerline goodness : 0.784838 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.86, Z:0.54 [[ 0.91727057 -0.31391538 0.24509557 -3.64855356] [ 0.31497348 0.94841991 0.03593575 -0.86040192] [-0.2437343 0.0442358 0.96883269 0.53943326] [ 0. 0. 0. 1. ]] SLAMing on 11.194860624 meters Centerline goodness : 0.786345 Centerline is valid? [False, False] Translation: X:-3.66, Y:-0.87, Z:0.54 [[ 0.91772201 -0.30856447 0.25014853 -3.66339406] [ 0.31057906 0.94999459 0.03241811 -0.86506374] [-0.24764282 0.04794009 0.9676646 0.54354846] [ 0. 0. 0. 1. ]] SLAMing on 11.224860624 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.87, Z:0.54 [[ 0.91724789 -0.30389318 0.25749804 -3.67434334] [ 0.30659857 0.95134674 0.03060565 -0.86805071] [-0.25427077 0.05087556 0.965794 0.54326573] [ 0. 0. 0. 1. ]] SLAMing on 11.254860624 meters Centerline goodness : 0.790820 Centerline is valid? [False, False] Translation: X:-3.70, Y:-0.87, Z:0.55 [[ 0.9169162 -0.30424514 0.25826261 -3.70415809] [ 0.30630682 0.95135206 0.03324741 -0.87483341] [-0.25581403 0.04862251 0.96550248 0.55021071] [ 0. 0. 0. 1. ]] SLAMing on 11.284860624 meters Centerline goodness : 0.792711 Centerline is valid? [False, False] Translation: X:-3.74, Y:-0.88, Z:0.56 [[ 0.91649007 -0.30483315 0.25908049 -3.73505171] [ 0.30605487 0.95130833 0.03664525 -0.88183527] [-0.25763611 0.04570783 0.96516031 0.55678166] [ 0. 0. 0. 1. ]] SLAMing on 11.314860624 meters Centerline goodness : 0.795255 Centerline is valid? [False, False] Translation: X:-3.74, Y:-0.88, Z:0.56 [[ 0.91622799 -0.30503428 0.25976981 -3.73670822] [ 0.30634935 0.95122096 0.03645207 -0.88162883] [-0.25821762 0.0461819 0.96498233 0.55797582] [ 0. 0. 0. 1. ]] SLAMing on 11.344860624 meters Centerline goodness : 0.794672 Centerline is valid? [False, False] Translation: X:-3.74, Y:-0.88, Z:0.56 [[ 0.91558456 -0.30191293 0.26561906 -3.7445182 ] [ 0.3035095 0.95214605 0.03605386 -0.88472038] [-0.26379327 0.04760755 0.96340367 0.55681009] [ 0. 0. 0. 1. ]] SLAMing on 11.374860624 meters Centerline goodness : 0.796776 Centerline is valid? [False, False] Translation: X:-3.76, Y:-0.89, Z:0.56 [[ 0.91547335 -0.29654889 0.27196929 -3.75829605] [ 0.29922221 0.95362631 0.03260246 -0.88948061] [-0.2690253 0.05153257 0.96175349 0.55971583] [ 0. 0. 0. 1. ]] SLAMing on 11.404860624000001 meters Centerline goodness : 0.795094 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.89, Z:0.56 [[ 0.91536249 -0.2981201 0.27062136 -3.76692801] [ 0.29868467 0.9535085 0.04011251 -0.89407813] [-0.26999811 0.04411297 0.96184982 0.56108622] [ 0. 0. 0. 1. ]] SLAMing on 11.434860624 meters Centerline goodness : 0.801097 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.89, Z:0.56 [[ 0.91524023 -0.2985057 0.27060981 -3.76703645] [ 0.29908975 0.95338211 0.04009843 -0.89432481] [-0.26996416 0.04423692 0.96185365 0.56102044] [ 0. 0. 0. 1. ]] SLAMing on 11.464860624 meters Centerline goodness : 0.798465 Centerline is valid? [False, False] Translation: X:-3.78, Y:-0.89, Z:0.57 [[ 0.91700759 -0.29454427 0.26896238 -3.77769149] [ 0.29800796 0.95412757 0.02884139 -0.89395182] [-0.26511948 0.05370516 0.96271876 0.56926149] [ 0. 0. 0. 1. ]] SLAMing on 11.494860624000001 meters Centerline goodness : 0.800344 Centerline is valid? [False, False] Translation: X:-3.78, Y:-0.89, Z:0.57 [[ 0.9169987 -0.29461915 0.26891066 -3.77752947] [ 0.29803109 0.95411465 0.02902945 -0.89430736] [-0.26512423 0.05352377 0.96272756 0.56887148] [ 0. 0. 0. 1. ]] SLAMing on 11.524860624 meters Centerline goodness : 0.800364 Centerline is valid? [False, False] Translation: X:-3.78, Y:-0.89, Z:0.57 [[ 0.91699097 -0.29472557 0.26882037 -3.77734479] [ 0.29811454 0.95408614 0.02910953 -0.89499059] [-0.26505711 0.05344609 0.96275035 0.56900481] [ 0. 0. 0. 1. ]] SLAMing on 11.554860624 meters Centerline goodness : 0.800760 Centerline is valid? [False, False] Translation: X:-3.78, Y:-0.90, Z:0.57 [[ 0.9167223 -0.29529746 0.26910895 -3.7780457 ] [ 0.29874398 0.95389119 0.02904538 -0.89628083] [-0.26527768 0.05376813 0.96267167 0.56975796] [ 0. 0. 0. 1. ]] SLAMing on 11.584860624000001 meters Centerline goodness : 0.803262 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.90, Z:0.57 [[ 0.91638579 -0.29727604 0.26807469 -3.78810897] [ 0.29856762 0.95367354 0.03693436 -0.90083362] [-0.26663544 0.0461923 0.96268988 0.57146298] [ 0. 0. 0. 1. ]] SLAMing on 11.614860624 meters Centerline goodness : 0.802662 Centerline is valid? [False, False] Translation: X:-3.81, Y:-0.91, Z:0.58 [[ 0.91596692 -0.29625581 0.27062352 -3.81489601] [ 0.2974007 0.95400552 0.03776639 -0.90721384] [-0.26936485 0.04589086 0.96194418 0.57845526] [ 0. 0. 0. 1. ]] SLAMing on 11.644860624 meters Centerline goodness : 0.802706 Centerline is valid? [False, False] Translation: X:-3.82, Y:-0.91, Z:0.58 [[ 0.91586028 -0.29644325 0.27077913 -3.81546676] [ 0.29772474 0.95392145 0.03733418 -0.90658156] [-0.26936948 0.04642475 0.96191726 0.57934338] [ 0. 0. 0. 1. ]] SLAMing on 11.674860624 meters Centerline goodness : 0.807012 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.91, Z:0.58 [[ 0.91574718 -0.29009812 0.27793918 -3.82771499] [ 0.29166386 0.95581791 0.03666491 -0.91020772] [-0.27629566 0.04748903 0.95989869 0.58074767] [ 0. 0. 0. 1. ]] SLAMing on 11.704860624 meters Centerline goodness : 0.808613 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.91, Z:0.59 [[ 0.91793976 -0.28496442 0.27601065 -3.83782818] [ 0.28918276 0.95691501 0.0262105 -0.90970531] [-0.2715878 0.05575786 0.96079713 0.58904954] [ 0. 0. 0. 1. ]] SLAMing on 11.734860624000001 meters Centerline goodness : 0.808488 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.91, Z:0.59 [[ 0.91859218 -0.28337284 0.2754782 -3.83920658] [ 0.28645227 0.95762827 0.02988631 -0.91125233] [-0.27227468 0.05145802 0.96084264 0.58962193] [ 0. 0. 0. 1. ]] SLAMing on 11.764860624 meters Centerline goodness : 0.806053 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.91, Z:0.60 [[ 0.91959656 -0.27783138 0.27776229 -3.85473556] [ 0.28197223 0.95907614 0.02578015 -0.91445581] [-0.27355772 0.05461391 0.96030385 0.59567089] [ 0. 0. 0. 1. ]] SLAMing on 11.794860624 meters Centerline goodness : 0.806524 Centerline is valid? [False, False] Translation: X:-3.86, Y:-0.92, Z:0.60 [[ 0.92021382 -0.27627667 0.27726833 -3.85621386] [ 0.27925335 0.95976331 0.02952885 -0.91571038] [-0.2742701 0.05025525 0.96033865 0.59592443] [ 0. 0. 0. 1. ]] SLAMing on 11.824860624000001 meters Centerline goodness : 0.807054 Centerline is valid? [False, False] Translation: X:-3.88, Y:-0.92, Z:0.60 [[ 0.91996843 -0.27552571 0.27882552 -3.88342848] [ 0.27811533 0.96004544 0.03105841 -0.92161199] [-0.27624256 0.0489729 0.95983942 0.60206482] [ 0. 0. 0. 1. ]] SLAMing on 11.854860624 meters Centerline goodness : 0.805998 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.92, Z:0.61 [[ 0.92200223 -0.27082701 0.27670311 -3.89357001] [ 0.27604394 0.96092187 0.02070982 -0.92150808] [-0.27149885 0.05728771 0.96073227 0.60993365] [ 0. 0. 0. 1. ]] SLAMing on 11.884860624 meters Centerline goodness : 0.805782 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.92, Z:0.61 [[ 0.92254961 -0.26951121 0.27616285 -3.89493326] [ 0.27354792 0.9615445 0.02457064 -0.92393773] [-0.27216493 0.05287614 0.96079674 0.61042415] [ 0. 0. 0. 1. ]] SLAMing on 11.914860624000001 meters Centerline goodness : 0.807765 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.93, Z:0.61 [[ 0.92303336 -0.26829991 0.27572556 -3.89674604] [ 0.27128939 0.96209054 0.02799758 -0.92549162] [-0.2727847 0.04895872 0.96082858 0.61171907] [ 0. 0. 0. 1. ]] SLAMing on 11.944860624 meters Centerline goodness : 0.810036 Centerline is valid? [False, False] Translation: X:-3.93, Y:-0.93, Z:0.62 [[ 0.92253825 -0.26895725 0.27674028 -3.92791829] [ 0.27099303 0.96206165 0.0316254 -0.93244509] [-0.27474709 0.04581905 0.9604242 0.61866993] [ 0. 0. 0. 1. ]] SLAMing on 11.974860624 meters Centerline goodness : 0.806992 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.93, Z:0.63 [[ 0.92451028 -0.26415278 0.27477999 -3.93769123] [ 0.26881222 0.96295743 0.02128327 -0.93255726] [-0.27022347 0.05418762 0.96127154 0.62617918] [ 0. 0. 0. 1. ]] SLAMing on 12.004860624 meters Centerline goodness : 0.807705 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.93, Z:0.63 [[ 0.92504335 -0.26285742 0.2742276 -3.93897169] [ 0.26638989 0.96354145 0.02498589 -0.9349955 ] [-0.27079739 0.04993843 0.96134017 0.62683707] [ 0. 0. 0. 1. ]] SLAMing on 12.034860624 meters Centerline goodness : 0.809458 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.94, Z:0.63 [[ 0.92504041 -0.26295921 0.2741399 -3.93867189] [ 0.26636775 0.96353611 0.02542412 -0.93677521] [-0.2708292 0.04950369 0.9613537 0.6267681 ] [ 0. 0. 0. 1. ]] SLAMing on 12.064860624 meters Centerline goodness : 0.810810 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.94, Z:0.63 [[ 0.92504893 -0.26298167 0.27408962 -3.93853931] [ 0.26630723 0.96354519 0.02571241 -0.93786999] [-0.27085963 0.04920681 0.96136037 0.62685016] [ 0. 0. 0. 1. ]] SLAMing on 12.094860624 meters Centerline goodness : 0.809901 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.94, Z:0.63 [[ 0.9250663 -0.26301398 0.27399997 -3.93831851] [ 0.26625826 0.96355131 0.02598879 -0.93874019] [-0.27084844 0.0489134 0.96137849 0.62673095] [ 0. 0. 0. 1. ]] SLAMing on 12.124860624 meters Centerline goodness : 0.811272 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.94, Z:0.63 [[ 0.92542832 -0.26238549 0.27337936 -3.93830066] [ 0.26489845 0.96385865 0.02837814 -0.94219882] [-0.27094507 0.04615584 0.9614876 0.62705234] [ 0. 0. 0. 1. ]] SLAMing on 12.154860624000001 meters Centerline goodness : 0.813143 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.94, Z:0.63 [[ 0.92552582 -0.26223553 0.27319314 -3.93776914] [ 0.26462067 0.96392313 0.02877679 -0.94284723] [-0.27088348 0.04565889 0.96152868 0.62649535] [ 0. 0. 0. 1. ]] SLAMing on 12.184860624 meters Centerline goodness : 0.811219 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.94, Z:0.63 [[ 0.92592962 -0.26129136 0.27272911 -3.93902024] [ 0.26290885 0.9643134 0.03128258 -0.94460577] [-0.27117021 0.04273743 0.96158215 0.62811835] [ 0. 0. 0. 1. ]] SLAMing on 12.214860624 meters Centerline goodness : 0.810935 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.95, Z:0.63 [[ 0.92642308 -0.25997606 0.27230998 -3.94058897] [ 0.26058468 0.96483088 0.03459757 -0.94651498] [-0.27172761 0.03890782 0.96158738 0.62950255] [ 0. 0. 0. 1. ]] SLAMing on 12.244860624000001 meters Centerline goodness : 0.811062 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.95, Z:0.63 [[ 0.92595014 -0.25704268 0.27666838 -3.94696837] [ 0.2574656 0.96563675 0.03545599 -0.94912397] [-0.27627486 0.03840211 0.96031114 0.6297854 ] [ 0. 0. 0. 1. ]] SLAMing on 12.274860624 meters Centerline goodness : 0.810507 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.95, Z:0.63 [[ 0.92598932 -0.25690399 0.27666608 -3.94698706] [ 0.25733348 0.96567358 0.03541214 -0.94910613] [-0.27626664 0.03840418 0.96031342 0.63015501] [ 0. 0. 0. 1. ]] SLAMing on 12.304860624 meters Centerline goodness : 0.811762 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92793186 -0.25172525 0.27491247 -3.95700853] [ 0.25464991 0.96669385 0.02562085 -0.94932331] [-0.27220561 0.04623203 0.96112783 0.63752676] [ 0. 0. 0. 1. ]] SLAMing on 12.334860624000001 meters Centerline goodness : 0.812985 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92845113 -0.25041 0.27435985 -3.95812754] [ 0.25228875 0.96721663 0.02902371 -0.95166987] [-0.27263324 0.04227081 0.961189 0.6385871 ] [ 0. 0. 0. 1. ]] SLAMing on 12.364860624 meters Centerline goodness : 0.810019 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92852995 -0.25035541 0.27414286 -3.95752892] [ 0.25212541 0.96724894 0.02936429 -0.95199017] [-0.2725159 0.04185275 0.96124057 0.6377425 ] [ 0. 0. 0. 1. ]] SLAMing on 12.394860624 meters Centerline goodness : 0.810981 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92855434 -0.25034214 0.27407236 -3.95734984] [ 0.25212654 0.96725059 0.02930025 -0.95198846] [-0.27243174 0.04189404 0.96126263 0.63776771] [ 0. 0. 0. 1. ]] SLAMing on 12.424860624 meters Centerline goodness : 0.812337 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92860304 -0.25022448 0.2740148 -3.95716344] [ 0.25195636 0.96729011 0.02945908 -0.95228754] [-0.27242319 0.04168398 0.96127418 0.63765909] [ 0. 0. 0. 1. ]] SLAMing on 12.454860624 meters Centerline goodness : 0.811930 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92861798 -0.25023495 0.2739546 -3.9571438 ] [ 0.25191476 0.96729558 0.0296348 -0.95326471] [-0.27241073 0.04149379 0.96128594 0.6382285 ] [ 0. 0. 0. 1. ]] SLAMing on 12.484860624000001 meters Centerline goodness : 0.813448 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92855368 -0.2504172 0.27400599 -3.95734281] [ 0.25212158 0.96724328 0.02958303 -0.953704 ] [-0.27243855 0.04161339 0.96127289 0.63863529] [ 0. 0. 0. 1. ]] SLAMing on 12.514860624 meters Centerline goodness : 0.813448 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92855368 -0.2504172 0.27400599 -3.95734281] [ 0.25212158 0.96724328 0.02958303 -0.953704 ] [-0.27243855 0.04161339 0.96127289 0.63863529] [ 0. 0. 0. 1. ]] SLAMing on 12.544860624 meters Centerline goodness : 0.810859 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:0.64 [[ 0.92855399 -0.25051369 0.27391674 -3.95718311] [ 0.25217425 0.9672248 0.02973767 -0.95469768] [-0.27238876 0.04146172 0.96129355 0.6389389 ] [ 0. 0. 0. 1. ]] SLAMing on 12.574860624000001 meters Centerline goodness : 0.812509 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.96, Z:0.64 [[ 0.92832566 -0.25103764 0.27421083 -3.95810407] [ 0.25271784 0.96708124 0.02979214 -0.95651753] [-0.27266309 0.04164116 0.96120802 0.64032199] [ 0. 0. 0. 1. ]] SLAMing on 12.604860624 meters Centerline goodness : 0.813761 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.96, Z:0.64 [[ 0.92828435 -0.25118187 0.27421857 -3.95815904] [ 0.25281348 0.96705025 0.02998592 -0.95761486] [-0.27271505 0.04149069 0.96119978 0.6405994 ] [ 0. 0. 0. 1. ]] SLAMing on 12.634860624 meters Centerline goodness : 0.811898 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.96, Z:0.64 [[ 0.92834767 -0.25112746 0.27405401 -3.95759934] [ 0.25265019 0.96708201 0.03033574 -0.9588484 ] [-0.27265084 0.04107768 0.96123574 0.64021557] [ 0. 0. 0. 1. ]] SLAMing on 12.664860624000001 meters Centerline goodness : 0.811950 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.96, Z:0.64 [[ 0.92836556 -0.25114678 0.27397569 -3.95718975] [ 0.25256531 0.96709289 0.0306937 -0.96024837] [-0.27266856 0.04070178 0.9612467 0.63984964] [ 0. 0. 0. 1. ]] SLAMing on 12.694860624 meters Centerline goodness : 0.813198 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.96, Z:0.64 [[ 0.92842334 -0.2511714 0.27375726 -3.95648874] [ 0.25237418 0.96711932 0.03142432 -0.96235759] [-0.27264882 0.03991419 0.96128533 0.63915525] [ 0. 0. 0. 1. ]] SLAMing on 12.724860624 meters Centerline goodness : 0.813961 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.96, Z:0.64 [[ 0.92891839 -0.24997133 0.27317568 -3.9576555 ] [ 0.25011966 0.96758648 0.03487913 -0.96474985] [-0.27303988 0.03592674 0.96133163 0.64030052] [ 0. 0. 0. 1. ]] SLAMing on 12.754860624 meters Centerline goodness : 0.846604 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.64 [[ 0.92899193 -0.24982851 0.27305623 -3.95732538] [ 0.24988365 0.96763693 0.03517005 -0.96530677] [-0.27300577 0.03555959 0.96135496 0.64015137] [ 0. 0. 0. 1. ]] SLAMing on 12.784860624 meters Centerline goodness : 0.812916 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.64 [[ 0.92908383 -0.24970797 0.27285373 -3.95687105] [ 0.24969578 0.96767843 0.03536217 -0.96606089] [-0.27286489 0.035276 0.96140541 0.64026564] [ 0. 0. 0. 1. ]] SLAMing on 12.814860624 meters Centerline goodness : 0.813706 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.97, Z:0.65 [[ 0.93101333 -0.24468279 0.27082191 -3.96542088] [ 0.24724671 0.96862564 0.02516799 -0.96815253] [-0.26848322 0.04352809 0.9623004 0.64683858] [ 0. 0. 0. 1. ]] SLAMing on 12.844860624 meters Centerline goodness : 0.848575 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.65 [[ 0.93112 -0.24451604 0.27060571 -3.96475912] [ 0.24691535 0.96869626 0.02569772 -0.9693297 ] [-0.26841824 0.04288904 0.96234722 0.64624573] [ 0. 0. 0. 1. ]] SLAMing on 12.874860624 meters Centerline goodness : 0.811875 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.65 [[ 0.93118279 -0.2444298 0.27046751 -3.96434361] [ 0.24673086 0.9687348 0.02601465 -0.97030859] [-0.26837005 0.04250829 0.96237756 0.64603958] [ 0. 0. 0. 1. ]] SLAMing on 12.904860624000001 meters Centerline goodness : 0.813553 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.65 [[ 0.93134444 -0.24407386 0.27023227 -3.96359992] [ 0.24616841 0.96886019 0.02666545 -0.97196363] [-0.26832563 0.04168793 0.96242583 0.64570543] [ 0. 0. 0. 1. ]] SLAMing on 12.934860624 meters Centerline goodness : 0.812566 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.65 [[ 0.9318551 -0.24269241 0.26971553 -3.96458218] [ 0.2438088 0.96936253 0.02989242 -0.97443881] [-0.26870679 0.03790361 0.96247596 0.64691818] [ 0. 0. 0. 1. ]] SLAMing on 12.964860624 meters Centerline goodness : 0.809551 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.66 [[ 0.93499478 -0.2418808 0.25938087 -3.96476904] [ 0.24432488 0.96941379 0.02328658 -0.97294445] [-0.25707997 0.04160036 0.96549433 0.65540298] [ 0. 0. 0. 1. ]] SLAMing on 12.994860624000001 meters Centerline goodness : 0.812760 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.65 [[ 0.93512957 -0.24167803 0.25908381 -3.96389109] [ 0.24392422 0.96949845 0.02395256 -0.97476506] [-0.25697016 0.04079807 0.9655578 0.65485664] [ 0. 0. 0. 1. ]] SLAMing on 13.024860624 meters Centerline goodness : 0.811666 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.65 [[ 0.93525229 -0.24146002 0.25884401 -3.9632855 ] [ 0.2435815 0.96957467 0.02435196 -0.97567937] [-0.25684862 0.04027439 0.96561212 0.65460327] [ 0. 0. 0. 1. ]] SLAMing on 13.054860624 meters Centerline goodness : 0.854638 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.65 [[ 0.93530743 -0.24137488 0.25872415 -3.96305859] [ 0.24346733 0.96960138 0.02442994 -0.97607966] [-0.25675607 0.04014137 0.96564227 0.65484956] [ 0. 0. 0. 1. ]] SLAMing on 13.084860624000001 meters Centerline goodness : 0.810196 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.66 [[ 0.93582509 -0.23984526 0.25827437 -3.96430336] [ 0.2409486 0.97013774 0.02786649 -0.97868852] [-0.25724536 0.03615269 0.96566962 0.65625351] [ 0. 0. 0. 1. ]] SLAMing on 13.114860624 meters Centerline goodness : 0.841347 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.98, Z:0.66 [[ 0.93876442 -0.23890344 0.24828717 -3.96534868] [ 0.24108298 0.97025379 0.02205848 -0.97759803] [-0.24617141 0.0391501 0.96843529 0.66497535] [ 0. 0. 0. 1. ]] SLAMing on 13.144860624 meters Centerline goodness : 0.855099 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.98, Z:0.67 [[ 0.93942681 -0.23691354 0.24768779 -3.96620599] [ 0.23808665 0.97090491 0.02565946 -0.98000161] [-0.24656036 0.03486597 0.96850005 0.66616609] [ 0. 0. 0. 1. ]] SLAMing on 13.174860624 meters Centerline goodness : 0.846870 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.98, Z:0.67 [[ 0.9399621 -0.23526973 0.24722339 -3.96747987] [ 0.23547692 0.97144209 0.02917013 -0.98185001] [-0.24702606 0.03079659 0.96851933 0.66720919] [ 0. 0. 0. 1. ]] SLAMing on 13.204860624 meters Centerline goodness : 0.812232 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:0.67 [[ 0.94203023 -0.22962697 0.24464363 -3.97607585] [ 0.23197108 0.97252526 0.01959694 -0.98166772] [-0.2424221 0.03828933 0.96941501 0.67341643] [ 0. 0. 0. 1. ]] SLAMing on 13.234860624 meters Centerline goodness : 0.812283 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:0.67 [[ 0.94252697 -0.22804152 0.24421298 -3.97720975] [ 0.22948705 0.97304192 0.02291536 -0.98404995] [-0.24285512 0.03444537 0.96945083 0.67457316] [ 0. 0. 0. 1. ]] SLAMing on 13.264860624 meters Centerline goodness : 0.811254 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:0.67 [[ 0.94259258 -0.22788208 0.24410855 -3.97694956] [ 0.22927419 0.9730879 0.02309277 -0.98446073] [-0.24280151 0.03420072 0.96947292 0.67449222] [ 0. 0. 0. 1. ]] SLAMing on 13.294860624 meters Centerline goodness : 0.812175 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:0.67 [[ 0.94265699 -0.2277649 0.24396916 -3.97646752] [ 0.22910367 0.97312383 0.02327043 -0.98496815] [-0.24271239 0.03395819 0.96950376 0.67415699] [ 0. 0. 0. 1. ]] SLAMing on 13.324860624000001 meters Centerline goodness : 0.812443 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.99, Z:0.67 [[ 0.94272178 -0.2276787 0.24379923 -3.97599758] [ 0.22892085 0.97315841 0.02362093 -0.98576359] [-0.24263325 0.03354276 0.96953803 0.67373283] [ 0. 0. 0. 1. ]] SLAMing on 13.354860624 meters Centerline goodness : 0.811145 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.99, Z:0.68 [[ 0.94314629 -0.2262475 0.24348953 -3.97749349] [ 0.22664515 0.97360956 0.02676578 -0.98756499] [-0.24311943 0.02994167 0.96953414 0.67505319] [ 0. 0. 0. 1. ]] SLAMing on 13.384860624 meters Centerline goodness : 0.811252 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.99, Z:0.68 [[ 0.94361511 -0.22469524 0.2431102 -3.97900678] [ 0.2241968 0.97407921 0.03009118 -0.9889174 ] [-0.24356994 0.02611004 0.96953182 0.67631757] [ 0. 0. 0. 1. ]] SLAMing on 13.414860624000001 meters Centerline goodness : 0.812130 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.99, Z:0.68 [[ 0.94552974 -0.21947953 0.24042098 -3.98727153] [ 0.22128606 0.9750078 0.01980569 -0.98820522] [-0.23875928 0.03447494 0.97046663 0.68246547] [ 0. 0. 0. 1. ]] SLAMing on 13.444860624 meters Centerline goodness : 0.811928 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.99, Z:0.68 [[ 0.94604841 -0.21769311 0.2400044 -3.98838515] [ 0.21858647 0.97554105 0.02322953 -0.99000733] [-0.23919105 0.03048546 0.97049383 0.68338223] [ 0. 0. 0. 1. ]] SLAMing on 13.474860624 meters Centerline goodness : 0.809169 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.69 [[ 0.94829368 -0.21142152 0.23672776 -3.99619842] [ 0.21416547 0.97669168 0.01437042 -0.98927535] [-0.23424825 0.03707153 0.97146974 0.6883714 ] [ 0. 0. 0. 1. ]] SLAMing on 13.504860624 meters Centerline goodness : 0.808805 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.69 [[ 0.94884364 -0.20928835 0.2364194 -3.99751792] [ 0.21105752 0.97730613 0.01809583 -0.99008109] [-0.23484137 0.03272798 0.97148258 0.68890581] [ 0. 0. 0. 1. ]] SLAMing on 13.534860624 meters Centerline goodness : 0.807934 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.69 [[ 0.94960622 -0.20645025 0.23585233 -3.99822578] [ 0.20720217 0.97805358 0.02187361 -0.98910404] [-0.23519203 0.0280978 0.9715427 0.68899456] [ 0. 0. 0. 1. ]] SLAMing on 13.564860624 meters Centerline goodness : 0.806939 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.69 [[ 0.95020583 -0.20416872 0.23542304 -3.99921865] [ 0.203929 0.97864998 0.02563549 -0.9896574 ] [-0.23563072 0.0236506 0.97155484 0.68932708] [ 0. 0. 0. 1. ]] SLAMing on 13.594860624 meters Centerline goodness : 0.805251 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.70 [[ 0.95226138 -0.1985687 0.23188088 -4.00743475] [ 0.20046739 0.97957627 0.01559351 -0.98768576] [-0.23024139 0.03163546 0.9726192 0.69581307] [ 0. 0. 0. 1. ]] SLAMing on 13.624860624 meters Centerline goodness : 0.805222 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.70 [[ 0.95276349 -0.1964894 0.23158938 -4.0087774 ] [ 0.19745736 0.98012284 0.01923054 -0.98850574] [-0.23076464 0.02740687 0.97262354 0.69649359] [ 0. 0. 0. 1. ]] SLAMing on 13.654860624000001 meters Centerline goodness : 0.802701 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.70 [[ 0.95331512 -0.19415502 0.23128794 -4.00967206] [ 0.19418186 0.98069876 0.02287662 -0.98824437] [-0.23126541 0.02310329 0.97261634 0.69591222] [ 0. 0. 0. 1. ]] SLAMing on 13.684860624 meters Centerline goodness : 0.803367 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.70 [[ 0.953731 -0.19234833 0.23108289 -4.01109207] [ 0.19152496 0.98113769 0.02621097 -0.98899006] [-0.23176577 0.01925993 0.97258094 0.69648905] [ 0. 0. 0. 1. ]] SLAMing on 13.714860624 meters Centerline goodness : 0.803618 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.70 [[ 0.95414313 -0.19048998 0.23092087 -4.01262902] [ 0.18882763 0.98156731 0.02949129 -0.98953398] [-0.23228217 0.01546533 0.97252548 0.69727414] [ 0. 0. 0. 1. ]] SLAMing on 13.744860624000001 meters Centerline goodness : 0.801767 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.99, Z:0.70 [[ 0.95596256 -0.18531464 0.22758309 -4.02161808] [ 0.18582108 0.98239219 0.01939362 -0.9871453 ] [-0.22716977 0.02375016 0.97356552 0.7038044 ] [ 0. 0. 0. 1. ]] SLAMing on 13.774860624 meters Centerline goodness : 0.803536 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.99, Z:0.70 [[ 0.95644917 -0.18305578 0.22736659 -4.02305731] [ 0.1827017 0.98290425 0.02278879 -0.98514016] [-0.22765121 0.01974395 0.97354255 0.70377388] [ 0. 0. 0. 1. ]] SLAMing on 13.804860624 meters Centerline goodness : 0.802821 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.99, Z:0.70 [[ 0.95689635 -0.18107307 0.22707252 -4.02425997] [ 0.17983881 0.98334467 0.02629173 -0.98563844] [-0.22805127 0.01567799 0.97352289 0.70422199] [ 0. 0. 0. 1. ]] SLAMing on 13.834860624000001 meters Centerline goodness : 0.802140 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.71 [[ 0.9597198 -0.18054833 0.21526775 -4.02491535] [ 0.1796198 0.98344242 0.02403613 -0.98326232] [-0.21604312 0.0155984 0.97625922 0.71176904] [ 0. 0. 0. 1. ]] SLAMing on 13.864860624 meters Centerline goodness : 0.800209 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.98, Z:0.72 [[ 0.96165928 -0.17453302 0.21154114 -4.03419888] [ 0.17541047 0.98438472 0.01476084 -0.97941825] [-0.21081412 0.02291163 0.97725762 0.71825224] [ 0. 0. 0. 1. ]] SLAMing on 13.894860624 meters Centerline goodness : 0.800424 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.98, Z:0.72 [[ 0.96207114 -0.17240565 0.21141289 -4.03585964] [ 0.17247341 0.98484485 0.01826343 -0.97949356] [-0.21135762 0.01889239 0.97722619 0.7190077 ] [ 0. 0. 0. 1. ]] SLAMing on 13.924860624 meters Centerline goodness : 0.800674 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.98, Z:0.72 [[ 0.9624941 -0.17031346 0.21118342 -4.03741267] [ 0.16959878 0.9852758 0.02163007 -0.97945028] [-0.21175781 0.01499763 0.97720709 0.7199941 ] [ 0. 0. 0. 1. ]] SLAMing on 13.954860624 meters Centerline goodness : 0.800210 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.98, Z:0.72 [[ 0.96287625 -0.16825703 0.21108981 -4.03917352] [ 0.16674154 0.98568135 0.02509051 -0.97960864] [-0.21228894 0.01103838 0.97714459 0.72090132] [ 0. 0. 0. 1. ]] SLAMing on 13.984860624 meters Centerline goodness : 0.799688 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.98, Z:0.73 [[ 0.96473707 -0.16210995 0.20737103 -4.04877267] [ 0.16224463 0.98661303 0.01647474 -0.9759966 ] [-0.20726568 0.01775104 0.97812363 0.72732678] [ 0. 0. 0. 1. ]] SLAMing on 14.014860624 meters Centerline goodness : 0.799601 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.98, Z:0.73 [[ 0.96516545 -0.15974201 0.20721523 -4.04995605] [ 0.15903548 0.98706672 0.02017454 -0.97592185] [-0.20775798 0.0134828 0.97808734 0.72728422] [ 0. 0. 0. 1. ]] SLAMing on 14.044860624 meters Centerline goodness : 0.799138 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.97, Z:0.73 [[ 0.9678775 -0.15883423 0.19489697 -4.04962712] [ 0.15827469 0.98722099 0.018543 -0.97287597] [-0.19535164 0.01289991 0.98064842 0.73470104] [ 0. 0. 0. 1. ]] SLAMing on 14.074860624000001 meters Centerline goodness : 0.797760 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.97, Z:0.74 [[ 0.96969752 -0.15217058 0.19113041 -4.05948193] [ 0.15301264 0.98816915 0.01043423 -0.96838204] [-0.19045696 0.01912732 0.98150919 0.74085081] [ 0. 0. 0. 1. ]] SLAMing on 14.104860624 meters Centerline goodness : 0.798756 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.97, Z:0.74 [[ 0.97011013 -0.14968332 0.19100061 -4.06072169] [ 0.14976101 0.9886215 0.01411238 -0.9681888 ] [-0.19093969 0.01491388 0.98148847 0.74101834] [ 0. 0. 0. 1. ]] SLAMing on 14.134860624 meters Centerline goodness : 0.799518 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.97, Z:0.74 [[ 0.97049713 -0.14722805 0.19094298 -4.06213999] [ 0.14658315 0.98904218 0.01757711 -0.96771103] [-0.1914385 0.01093048 0.98144374 0.74147688] [ 0. 0. 0. 1. ]] SLAMing on 14.164860624000001 meters Centerline goodness : 0.798657 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.96, Z:0.74 [[ 0.97089907 -0.14454566 0.19094906 -4.06365418] [ 0.14327196 0.9894703 0.02053441 -0.9645081 ] [-0.19190659 0.00742081 0.98138514 0.74191102] [ 0. 0. 0. 1. ]] SLAMing on 14.194860624 meters Centerline goodness : 0.796794 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.96, Z:0.74 [[ 9.71198492e-01 -1.42517667e-01 1.90950790e-01 -4.06549469e+00] [ 1.40536694e-01 9.89785795e-01 2.39482452e-02 -9.64060357e-01] [-1.92413428e-01 3.57709324e-03 9.81307433e-01 7.42569059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224860624 meters Centerline goodness : 0.796353 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.96, Z:0.74 [[ 9.71412413e-01 -1.40995177e-01 1.90992892e-01 -4.06752959e+00] [ 1.38428720e-01 9.90010193e-01 2.67825979e-02 -9.62041721e-01] [-1.92861127e-01 4.21953452e-04 9.81225972e-01 7.42975439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254860624 meters Centerline goodness : 0.794128 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.96, Z:0.74 [[ 9.71316445e-01 -1.41368854e-01 1.91204629e-01 -4.06809361e+00] [ 1.38922028e-01 9.89956378e-01 2.62114369e-02 -9.60515335e-01] [-1.92989723e-01 1.10293514e-03 9.81200158e-01 7.43090547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284860624 meters Centerline goodness : 0.796620 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.96, Z:0.74 [[ 9.71222797e-01 -1.41782086e-01 1.91374290e-01 -4.06860317e+00] [ 1.39458422e-01 9.89896259e-01 2.56270435e-02 -9.59340232e-01] [-1.93074149e-01 1.79918770e-03 9.81182519e-01 7.43325425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314860624 meters Centerline goodness : 0.794771 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.96, Z:0.74 [[ 9.71108535e-01 -1.42292325e-01 1.91575329e-01 -4.06929146e+00] [ 1.40095263e-01 9.89821455e-01 2.50360548e-02 -9.58266641e-01] [-1.93187809e-01 2.52606964e-03 9.81158544e-01 7.43692876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344860624 meters Centerline goodness : 0.794204 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.96, Z:0.74 [[ 9.70815771e-01 -1.43387505e-01 1.92241419e-01 -4.07101276e+00] [ 1.41387083e-01 9.89659600e-01 2.41571769e-02 -9.56258655e-01] [-1.93717403e-01 3.72828523e-03 9.81050288e-01 7.43813646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374860624 meters Centerline goodness : 0.793806 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.95, Z:0.74 [[ 0.97069619 -0.14394201 0.1924308 -4.07169182] [ 0.14208333 0.98957575 0.02349822 -0.95487755] [-0.19380723 0.00453158 0.98102916 0.74420979] [ 0. 0. 0. 1. ]] SLAMing on 14.404860624 meters Centerline goodness : 0.793806 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.95, Z:0.74 [[ 0.97069619 -0.14394201 0.1924308 -4.07169182] [ 0.14208333 0.98957575 0.02349822 -0.95487755] [-0.19380723 0.00453158 0.98102916 0.74420979] [ 0. 0. 0. 1. ]] SLAMing on 14.434860624 meters Centerline goodness : 0.792441 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.95, Z:0.74 [[ 0.97056042 -0.14447965 0.19271251 -4.07245535] [ 0.1427536 0.9894936 0.02288745 -0.95309481] [-0.19399456 0.00529675 0.98098831 0.74425798] [ 0. 0. 0. 1. ]] SLAMing on 14.464860624 meters Centerline goodness : 0.792397 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.95, Z:0.74 [[ 0.97027343 -0.14559017 0.19332092 -4.07421306] [ 0.14408273 0.98932302 0.02191207 -0.95044197] [-0.19444702 0.0065935 0.98089086 0.74453407] [ 0. 0. 0. 1. ]] SLAMing on 14.494860624000001 meters Centerline goodness : 0.793695 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.95, Z:0.74 [[ 0.97010051 -0.14621886 0.19371383 -4.07530094] [ 0.14480079 0.98922638 0.02153814 -0.95022073] [-0.19477611 0.00715575 0.98082163 0.74487761] [ 0. 0. 0. 1. ]] SLAMing on 14.524860624 meters Centerline goodness : 0.793634 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.95, Z:0.75 [[ 0.96993216 -0.14682107 0.19410093 -4.07643219] [ 0.14550975 0.9891323 0.02107602 -0.95014374] [-0.19508591 0.00780127 0.98075513 0.74556633] [ 0. 0. 0. 1. ]] SLAMing on 14.554860624 meters Centerline goodness : 0.791376 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.95, Z:0.75 [[ 0.96957652 -0.14811721 0.19489143 -4.07891446] [ 0.14701015 0.98892839 0.02021499 -0.94899421] [-0.19572786 0.00905104 0.98061648 0.74682326] [ 0. 0. 0. 1. ]] SLAMing on 14.584860624000001 meters Centerline goodness : 0.791082 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.95, Z:0.75 [[ 0.96945884 -0.14859994 0.19510924 -4.07973053] [ 0.14760394 0.98884998 0.0197177 -0.9477917 ] [-0.19586381 0.0096834 0.9805833 0.74733729] [ 0. 0. 0. 1. ]] SLAMing on 14.614860624 meters Centerline goodness : 0.793487 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.95, Z:0.75 [[ 0.96931991 -0.14911613 0.19540543 -4.08071936] [ 0.14822401 0.98876615 0.01926508 -0.94652376] [-0.19608301 0.01028975 0.98053331 0.74777354] [ 0. 0. 0. 1. ]] SLAMing on 14.644860624 meters Centerline goodness : 0.718762 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.95, Z:0.75 [[ 0.96923292 -0.14948186 0.19555747 -4.08124651] [ 0.14866877 0.98870613 0.01891498 -0.94547446] [-0.19617631 0.01074027 0.98050982 0.74797681] [ 0. 0. 0. 1. ]] SLAMing on 14.674860624 meters Centerline goodness : 0.792302 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.94, Z:0.75 [[ 0.96917181 -0.14977083 0.19563923 -4.0815343 ] [ 0.14902839 0.98865805 0.01859554 -0.94472624] [-0.19620537 0.01113353 0.98049962 0.74809365] [ 0. 0. 0. 1. ]] SLAMing on 14.704860624 meters Centerline goodness : 0.790979 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.94, Z:0.75 [[ 0.9690892 -0.15011122 0.19578751 -4.08160288] [ 0.14941088 0.98860346 0.01842816 -0.94407531] [-0.19632248 0.01139425 0.98047318 0.74720871] [ 0. 0. 0. 1. ]] SLAMing on 14.734860624 meters Centerline goodness : 0.788932 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.94, Z:0.75 [[ 0.96908986 -0.15014635 0.19575728 -4.08127664] [ 0.14947791 0.98859625 0.01827055 -0.9434248 ] [-0.19626817 0.01155558 0.98048216 0.74663842] [ 0. 0. 0. 1. ]] SLAMing on 14.764860624 meters Centerline goodness : 0.791834 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.94, Z:0.75 [[ 0.96930038 -0.14884736 0.195707 -4.08293591] [ 0.14758619 0.9888242 0.02109542 -0.94395374] [-0.19665981 0.00843585 0.98043549 0.74716665] [ 0. 0. 0. 1. ]] SLAMing on 14.794860624 meters Centerline goodness : 0.822763 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.94, Z:0.75 [[ 0.9695981 -0.14671444 0.19584277 -4.08492786] [ 0.14478401 0.98916688 0.02421719 -0.94178625] [-0.19727419 0.00487396 0.98033624 0.74749903] [ 0. 0. 0. 1. ]] SLAMing on 14.824860624000001 meters Centerline goodness : 0.790105 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.94, Z:0.75 [[ 9.69876320e-01 -1.44730077e-01 1.95941648e-01 -4.08702683e+00] [ 1.42097727e-01 9.89470484e-01 2.75026718e-02 -9.41457944e-01] [-1.97858942e-01 1.16867277e-03 9.80229806e-01 7.48451810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854860624 meters Centerline goodness : 0.790709 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.94, Z:0.75 [[ 9.70171288e-01 -1.42390506e-01 1.96195353e-01 -4.08934183e+00] [ 1.39147367e-01 9.89808363e-01 3.02888574e-02 -9.39301887e-01] [-1.98508646e-01 -2.08531301e-03 9.80096918e-01 7.49815566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884860624 meters Centerline goodness : 0.836721 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.94, Z:0.75 [[ 9.70172249e-01 -1.42328095e-01 1.96235882e-01 -4.08960070e+00] [ 1.39299191e-01 9.89819013e-01 2.92242434e-02 -9.36920129e-01] [-1.98397438e-01 -1.01705033e-03 9.80121126e-01 7.51012625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914860624000001 meters Centerline goodness : 0.794302 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.93, Z:0.75 [[ 0.97044259 -0.14016718 0.19645444 -4.09184118] [ 0.13650807 0.99011831 0.0321135 -0.93478996] [-0.1990144 -0.00434669 0.97998693 0.75198018] [ 0. 0. 0. 1. ]] SLAMing on 14.944860624 meters Centerline goodness : 0.792178 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.93, Z:0.75 [[ 9.70365441e-01 -1.40475077e-01 1.96615522e-01 -4.09246171e+00] [ 1.37012313e-01 9.90078676e-01 3.11743667e-02 -9.32693408e-01] [-1.99044057e-01 -3.31178058e-03 9.79984946e-01 7.52831818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974860624 meters Centerline goodness : 0.792470 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.93, Z:0.75 [[ 9.70290725e-01 -1.40789828e-01 1.96759073e-01 -4.09299370e+00] [ 1.37475980e-01 9.90036310e-01 3.04706298e-02 -9.31091723e-01] [-1.99088582e-01 -2.51572301e-03 9.79978269e-01 7.53338118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004860624 meters Centerline goodness : 0.793536 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.93, Z:0.75 [[ 9.70212612e-01 -1.41182264e-01 1.96863040e-01 -4.09345179e+00] [ 1.37977891e-01 9.89981769e-01 2.99699596e-02 -9.30132420e-01] [-1.99122047e-01 -1.91448575e-03 9.79972829e-01 7.53751312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034860624 meters Centerline goodness : 0.791210 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.93, Z:0.75 [[ 9.69904359e-01 -1.42520969e-01 1.97416586e-01 -4.09531775e+00] [ 1.39493032e-01 9.89791447e-01 2.92332947e-02 -9.29625684e-01] [-1.99567606e-01 -8.15261855e-04 9.79883721e-01 7.54441414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064860624 meters Centerline goodness : 0.792252 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.93, Z:0.76 [[ 9.69661853e-01 -1.43468805e-01 1.97920673e-01 -4.09686688e+00] [ 1.40551785e-01 9.89654836e-01 2.87837116e-02 -9.29821674e-01] [-2.00002716e-01 -9.23631199e-05 9.79795338e-01 7.55151971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094860624 meters Centerline goodness : 0.793739 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.93, Z:0.76 [[ 9.69464173e-01 -1.44348798e-01 1.98248940e-01 -4.09810926e+00] [ 1.41497186e-01 9.89526800e-01 2.85527495e-02 -9.30557594e-01] [-2.00294195e-01 3.70799414e-04 9.79735729e-01 7.55781025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124860624 meters Centerline goodness : 0.792309 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.93, Z:0.76 [[ 9.69233347e-01 -1.45370309e-01 1.98630796e-01 -4.09948644e+00] [ 1.42582333e-01 9.89376953e-01 2.83464672e-02 -9.31356902e-01] [-2.00641466e-01 8.46901129e-04 9.79664374e-01 7.56310386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154860624 meters Centerline goodness : 0.793342 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.93, Z:0.76 [[ 9.68726683e-01 -1.48509365e-01 1.98780233e-01 -4.10146789e+00] [ 1.46164319e-01 9.88905226e-01 2.65036982e-02 -9.31893298e-01] [-2.00510859e-01 3.37973782e-03 9.79685650e-01 7.57724624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184860624 meters Centerline goodness : 0.797766 Centerline is valid? [False, False] Translation: X:-4.80, Y:-1.06, Z:0.89 [[ 0.98180994 -0.15646017 0.10756144 -4.7955569 ] [ 0.12786324 0.96364456 0.23460637 -1.06055265] [-0.14035755 -0.21658571 0.96612131 0.88947202] [ 0. 0. 0. 1. ]] SLAMing on 15.214860624 meters Centerline goodness : 0.792583 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.89 [[ 0.96538061 -0.23178719 0.11964522 -4.51080579] [ 0.22240832 0.97108808 0.08673223 -0.90627573] [-0.13628947 -0.05711952 0.989021 0.89455826] [ 0. 0. 0. 1. ]] SLAMing on 15.244860624000001 meters Centerline goodness : 0.791444 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.89 [[ 0.96435508 -0.2355374 0.12058779 -4.51087397] [ 0.22670607 0.97045881 0.0825473 -0.90644251] [-0.13646846 -0.05226693 0.98926464 0.89498044] [ 0. 0. 0. 1. ]] SLAMing on 15.274860624 meters Centerline goodness : 0.791906 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.90 [[ 0.96412322 -0.23633087 0.12088898 -4.51194284] [ 0.22749661 0.97027872 0.08248936 -0.90756312] [-0.13679078 -0.05202807 0.98923271 0.89559256] [ 0. 0. 0. 1. ]] SLAMing on 15.304860624 meters Centerline goodness : 0.791985 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.90 [[ 0.9639221 -0.23704043 0.12110337 -4.51298549] [ 0.22824363 0.97013038 0.08216986 -0.90812471] [-0.13696364 -0.05156427 0.98923308 0.89667309] [ 0. 0. 0. 1. ]] SLAMing on 15.334860624000001 meters Centerline goodness : 0.791802 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.90 [[ 0.96375452 -0.23760062 0.12133906 -4.51382763] [ 0.22881525 0.97000802 0.08202451 -0.90873568] [-0.13718894 -0.05128727 0.98921626 0.89727864] [ 0. 0. 0. 1. ]] SLAMing on 15.364860624 meters Centerline goodness : 0.790995 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.90 [[ 0.96356516 -0.23824724 0.12157484 -4.51477421] [ 0.22949294 0.9698717 0.08174272 -0.90934511] [-0.13738697 -0.05086387 0.98921064 0.898225 ] [ 0. 0. 0. 1. ]] SLAMing on 15.394860624 meters Centerline goodness : 0.793356 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.90 [[ 0.96353566 -0.23836937 0.12156923 -4.51486127] [ 0.22964939 0.96985481 0.08150334 -0.90939247] [-0.13733241 -0.05061307 0.98923108 0.89873023] [ 0. 0. 0. 1. ]] SLAMing on 15.424860624 meters Centerline goodness : 0.792344 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.90 [[ 0.96349773 -0.23851673 0.12158082 -4.51495672] [ 0.22980793 0.9698238 0.08142553 -0.90977387] [-0.13733333 -0.05051308 0.98923606 0.89903733] [ 0. 0. 0. 1. ]] SLAMing on 15.454860624 meters Centerline goodness : 0.789524 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.91, Z:0.90 [[ 0.96345362 -0.23865212 0.12166469 -4.51495676] [ 0.22992539 0.96978718 0.08152993 -0.91075705] [-0.13744615 -0.05057651 0.98921715 0.89899759] [ 0. 0. 0. 1. ]] SLAMing on 15.484860624 meters Centerline goodness : 0.787248 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.91, Z:0.90 [[ 0.96339004 -0.23887285 0.12173491 -4.51515571] [ 0.23015187 0.96973824 0.08147308 -0.911388 ] [-0.13751271 -0.05047284 0.9892132 0.89931204] [ 0. 0. 0. 1. ]] SLAMing on 15.514860624 meters Centerline goodness : 0.786549 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.91, Z:0.90 [[ 0.96334281 -0.23906537 0.12173081 -4.51508638] [ 0.23033153 0.96968691 0.08157618 -0.91238243] [-0.13754281 -0.05054739 0.9892052 0.89935482] [ 0. 0. 0. 1. ]] SLAMing on 15.544860624 meters Centerline goodness : 0.786632 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.91, Z:0.90 [[ 0.96326664 -0.23937475 0.12172556 -4.51505191] [ 0.23061484 0.96960239 0.08178027 -0.9142774 ] [-0.13760153 -0.05070448 0.989189 0.89968174] [ 0. 0. 0. 1. ]] SLAMing on 15.574860624000001 meters Centerline goodness : 0.786194 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.92, Z:0.90 [[ 0.96318727 -0.23966434 0.12178378 -4.51531881] [ 0.23090102 0.96953287 0.08179692 -0.91522494] [-0.13767718 -0.05066576 0.98918046 0.90008368] [ 0. 0. 0. 1. ]] SLAMing on 15.604860624 meters Centerline goodness : 0.787350 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.92, Z:0.90 [[ 0.96308362 -0.240051 0.12184192 -4.51568248] [ 0.23128753 0.96944092 0.08179477 -0.91611743] [-0.13775346 -0.05059469 0.98917347 0.90059254] [ 0. 0. 0. 1. ]] SLAMing on 15.634860624 meters Centerline goodness : 0.786881 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.92, Z:0.90 [[ 0.96230429 -0.24296144 0.12223008 -4.51443692] [ 0.23475896 0.96893811 0.07776352 -0.91645331] [-0.13732692 -0.04613756 0.98945068 0.90157078] [ 0. 0. 0. 1. ]] SLAMing on 15.664860624000001 meters Centerline goodness : 0.783944 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.92, Z:0.90 [[ 0.96220231 -0.24335188 0.12225615 -4.51463566] [ 0.23512545 0.96883453 0.07794662 -0.91812989] [-0.13741444 -0.04625489 0.98943305 0.90198851] [ 0. 0. 0. 1. ]] SLAMing on 15.694860624 meters Centerline goodness : 0.782384 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.92, Z:0.90 [[ 0.96208797 -0.24377071 0.12232164 -4.51489724] [ 0.23550877 0.96872095 0.07820071 -0.92010039] [-0.13755858 -0.04642814 0.9894049 0.9023513 ] [ 0. 0. 0. 1. ]] SLAMing on 15.724860624 meters Centerline goodness : 0.781934 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.92, Z:0.90 [[ 0.96130725 -0.2466527 0.12268176 -4.51336113] [ 0.23890824 0.96817994 0.07450143 -0.92123351] [-0.137154 -0.04230908 0.98964576 0.90279235] [ 0. 0. 0. 1. ]] SLAMing on 15.754860624 meters Centerline goodness : 0.778995 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.92, Z:0.90 [[ 0.96131144 -0.24672046 0.12251253 -4.51293442] [ 0.23893173 0.96814514 0.07487731 -0.92305929] [-0.13708367 -0.04270829 0.98963835 0.90290015] [ 0. 0. 0. 1. ]] SLAMing on 15.784860624 meters Centerline goodness : 0.781031 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.92, Z:0.90 [[ 0.96130307 -0.2467885 0.1224412 -4.51270504] [ 0.23896058 0.96811409 0.07518612 -0.92445711] [-0.13709212 -0.04301803 0.98962377 0.9029446 ] [ 0. 0. 0. 1. ]] SLAMing on 15.814860624 meters Centerline goodness : 0.779674 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.93, Z:0.90 [[ 0.96132123 -0.24679869 0.122278 -4.51239259] [ 0.23893998 0.96809781 0.07546075 -0.92595389] [-0.13700068 -0.04332492 0.98962304 0.90336892] [ 0. 0. 0. 1. ]] SLAMing on 15.844860624 meters Centerline goodness : 0.777948 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.93, Z:0.90 [[ 0.96138218 -0.24666 0.12207843 -4.51193599] [ 0.23878361 0.96812198 0.0756453 -0.92703215] [-0.13684548 -0.04357371 0.98963359 0.90370484] [ 0. 0. 0. 1. ]] SLAMing on 15.874860624 meters Centerline goodness : 0.778440 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.93, Z:0.90 [[ 0.96136894 -0.24669888 0.12210416 -4.5119085 ] [ 0.23879749 0.96810491 0.07581975 -0.92830039] [-0.13691429 -0.04373259 0.98961707 0.90396908] [ 0. 0. 0. 1. ]] SLAMing on 15.904860624 meters Centerline goodness : 0.780014 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.93, Z:0.90 [[ 0.96151898 -0.24631068 0.12170582 -4.51048629] [ 0.23831687 0.96816206 0.07659832 -0.93121974] [-0.13669794 -0.04464619 0.98960618 0.90357459] [ 0. 0. 0. 1. ]] SLAMing on 15.934860624 meters Centerline goodness : 0.778222 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.93, Z:0.90 [[ 0.96153712 -0.24626031 0.12166436 -4.51019785] [ 0.23823734 0.96816402 0.0768206 -0.93237391] [-0.13670892 -0.04488087 0.98959405 0.90355916] [ 0. 0. 0. 1. ]] SLAMing on 15.964860624 meters Centerline goodness : 0.777500 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.93, Z:0.90 [[ 0.9616033 -0.24608982 0.12148622 -4.5096295 ] [ 0.23804182 0.96819368 0.07705248 -0.93349743] [-0.13658402 -0.04517512 0.98959791 0.90367783] [ 0. 0. 0. 1. ]] SLAMing on 15.994860624000001 meters Centerline goodness : 0.778432 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.93, Z:0.90 [[ 0.96167408 -0.24592389 0.12126172 -4.50898612] [ 0.23784233 0.96821797 0.07736267 -0.9346961 ] [-0.1364331 -0.04555651 0.98960124 0.90364403] [ 0. 0. 0. 1. ]] SLAMing on 16.024860624 meters Centerline goodness : 0.778675 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.94, Z:0.90 [[ 0.96178321 -0.24566014 0.12093038 -4.50808985] [ 0.23753939 0.96826161 0.0777463 -0.93620341] [-0.13619141 -0.04604935 0.98961172 0.9036423 ] [ 0. 0. 0. 1. ]] SLAMing on 16.054860624 meters Centerline goodness : 0.778664 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.94, Z:0.90 [[ 0.96190276 -0.24533506 0.12063913 -4.50726552] [ 0.2371444 0.96831069 0.07833866 -0.93914737] [-0.13603538 -0.04674528 0.98960055 0.90422858] [ 0. 0. 0. 1. ]] SLAMing on 16.084860623999997 meters Centerline goodness : 0.780315 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.94, Z:0.90 [[ 0.96198936 -0.24510021 0.12042576 -4.50672823] [ 0.23689436 0.96835786 0.0785119 -0.94006018] [-0.13585851 -0.04699943 0.98961281 0.90451082] [ 0. 0. 0. 1. ]] SLAMing on 16.114860624 meters Centerline goodness : 0.777937 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.94, Z:0.90 [[ 0.96213713 -0.24469417 0.12007046 -4.50581811] [ 0.23647073 0.96844247 0.07874503 -0.94075058] [-0.13554979 -0.04737037 0.98963746 0.90456951] [ 0. 0. 0. 1. ]] SLAMing on 16.144860624 meters Centerline goodness : 0.777953 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.94, Z:0.90 [[ 0.96252363 -0.24348403 0.11943107 -4.5039145 ] [ 0.235186 0.9686968 0.07946104 -0.94220133] [-0.13503999 -0.04839461 0.9896576 0.90446782] [ 0. 0. 0. 1. ]] SLAMing on 16.174860623999997 meters Centerline goodness : 0.777840 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.94, Z:0.90 [[ 0.96273008 -0.24287318 0.1190101 -4.50273596] [ 0.23456582 0.96883135 0.07965356 -0.94251312] [-0.13464643 -0.04876918 0.98969283 0.90441335] [ 0. 0. 0. 1. ]] SLAMing on 16.204860624 meters Centerline goodness : 0.777568 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.94, Z:0.90 [[ 0.96292194 -0.24223894 0.11875032 -4.50181734] [ 0.23388535 0.96896239 0.08005952 -0.94288847] [-0.13445813 -0.0493171 0.98969128 0.90399246] [ 0. 0. 0. 1. ]] SLAMing on 16.234860624 meters Centerline goodness : 0.776178 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.95, Z:0.90 [[ 0.96364226 -0.23603271 0.12522841 -4.50820261] [ 0.22777035 0.97067819 0.07684089 -0.94823992] [-0.13969345 -0.04552381 0.98914778 0.90065367] [ 0. 0. 0. 1. ]] SLAMing on 16.264860623999997 meters Centerline goodness : 0.776705 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.95, Z:0.90 [[ 0.96379616 -0.23557844 0.12489898 -4.50689979] [ 0.22725602 0.97075813 0.07735222 -0.95004605] [-0.13946921 -0.04616773 0.98914957 0.90018899] [ 0. 0. 0. 1. ]] SLAMing on 16.294860624 meters Centerline goodness : 0.776705 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.95, Z:0.90 [[ 0.96379616 -0.23557844 0.12489898 -4.50689979] [ 0.22725602 0.97075813 0.07735222 -0.95004605] [-0.13946921 -0.04616773 0.98914957 0.90018899] [ 0. 0. 0. 1. ]] SLAMing on 16.324860624 meters Centerline goodness : 0.776815 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.95, Z:0.90 [[ 0.96390858 -0.23524741 0.12465514 -4.50615704] [ 0.22689075 0.97081899 0.07765999 -0.95136943] [-0.13928689 -0.04657403 0.98915622 0.90029964] [ 0. 0. 0. 1. ]] SLAMing on 16.354860623999997 meters Centerline goodness : 0.775713 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.95, Z:0.90 [[ 0.96413072 -0.23460245 0.12415169 -4.50500708] [ 0.22620088 0.97094324 0.07811771 -0.95328559] [-0.13887085 -0.04723246 0.98918349 0.9010662 ] [ 0. 0. 0. 1. ]] SLAMing on 16.384860623999998 meters Centerline goodness : 0.774077 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.95, Z:0.90 [[ 0.96423351 -0.23430406 0.1239167 -4.50445197] [ 0.22589603 0.97100521 0.0782295 -0.95412886] [-0.13865325 -0.04743921 0.98920412 0.90157135] [ 0. 0. 0. 1. ]] SLAMing on 16.414860624 meters Centerline goodness : 0.774556 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.96, Z:0.90 [[ 0.96438537 -0.23384799 0.12359598 -4.5036034 ] [ 0.22541902 0.97109688 0.07846734 -0.95501278] [-0.1383731 -0.04781187 0.98922541 0.9017639 ] [ 0. 0. 0. 1. ]] SLAMing on 16.444860623999997 meters Centerline goodness : 0.773209 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.90 [[ 0.96470906 -0.23030612 0.12765393 -4.50820558] [ 0.22149985 0.97191079 0.07954391 -0.95888411] [-0.14238768 -0.04846141 0.98862391 0.90054517] [ 0. 0. 0. 1. ]] SLAMing on 16.474860623999998 meters Centerline goodness : 0.773203 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.90 [[ 0.96480719 -0.22998297 0.12749479 -4.50773215] [ 0.22116986 0.97197894 0.07962938 -0.95937001] [-0.14223565 -0.04862899 0.98863757 0.90079156] [ 0. 0. 0. 1. ]] SLAMing on 16.504860624 meters Centerline goodness : 0.772685 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.90 [[ 0.96486088 -0.22983085 0.12736275 -4.50743789] [ 0.22100772 0.97200701 0.0797368 -0.9602648 ] [-0.14212346 -0.04878677 0.98864593 0.90121133] [ 0. 0. 0. 1. ]] SLAMing on 16.534860624 meters Centerline goodness : 0.770844 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.90 [[ 0.96491846 -0.22965701 0.12724 -4.50701633] [ 0.22077224 0.97202247 0.08019933 -0.96275261] [-0.14209848 -0.04929476 0.98862432 0.90173571] [ 0. 0. 0. 1. ]] SLAMing on 16.564860623999998 meters Centerline goodness : 0.771281 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.90 [[ 0.96490735 -0.22970974 0.12722906 -4.50698006] [ 0.22081855 0.97200773 0.08025054 -0.96377627] [-0.14210196 -0.0493398 0.98862157 0.90215871] [ 0. 0. 0. 1. ]] SLAMing on 16.594860624 meters Centerline goodness : 0.771479 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.97, Z:0.90 [[ 0.96490186 -0.2297675 0.1271664 -4.50670029] [ 0.22084688 0.9719823 0.08048022 -0.96529908] [-0.14209523 -0.04957121 0.98861097 0.90234002] [ 0. 0. 0. 1. ]] SLAMing on 16.624860624 meters Centerline goodness : 0.769418 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96418905 -0.23254436 0.12752486 -4.5049434 ] [ 0.224118 0.97151055 0.07706084 -0.96637695] [-0.14181182 -0.0457206 0.98883721 0.90178609] [ 0. 0. 0. 1. ]] SLAMing on 16.654860623999998 meters Centerline goodness : 0.767073 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96410349 -0.23288502 0.12755012 -4.50482166] [ 0.22442208 0.97141931 0.07732571 -0.96814883] [-0.14191265 -0.04592492 0.98881328 0.9017631 ] [ 0. 0. 0. 1. ]] SLAMing on 16.684860624 meters Centerline goodness : 0.768176 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96338397 -0.23563395 0.1279374 -4.50338451] [ 0.22769835 0.9709406 0.07367375 -0.96794239] [-0.14157965 -0.04184497 0.98904206 0.90136365] [ 0. 0. 0. 1. ]] SLAMing on 16.714860624 meters Centerline goodness : 0.764204 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96266895 -0.23829493 0.1283901 -4.50190675] [ 0.23087934 0.97045699 0.07005689 -0.967874 ] [-0.14129127 -0.03779898 0.98924618 0.90083806] [ 0. 0. 0. 1. ]] SLAMing on 16.744860623999998 meters Centerline goodness : 0.763457 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96180635 -0.24139019 0.129071 -4.50118077] [ 0.23449973 0.96984694 0.06638365 -0.96884651] [-0.14120348 -0.0335811 0.98941088 0.90119089] [ 0. 0. 0. 1. ]] SLAMing on 16.774860624 meters Centerline goodness : 0.764025 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.9614971 -0.2424148 0.12945422 -4.50251139] [ 0.23556911 0.96961124 0.06603963 -0.97041737] [-0.14152925 -0.0330015 0.98938383 0.90269376] [ 0. 0. 0. 1. ]] SLAMing on 16.804860624 meters Centerline goodness : 0.761778 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96143657 -0.24264379 0.12947473 -4.50253349] [ 0.23579081 0.96955329 0.06609921 -0.97125129] [-0.14157122 -0.03302125 0.98937717 0.90282531] [ 0. 0. 0. 1. ]] SLAMing on 16.834860623999997 meters Centerline goodness : 0.761175 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96139257 -0.24279108 0.12952536 -4.50245694] [ 0.23593616 0.96951723 0.06610959 -0.97250225] [-0.14162789 -0.03299755 0.98936985 0.90315383] [ 0. 0. 0. 1. ]] SLAMing on 16.864860624 meters Centerline goodness : 0.760583 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96126257 -0.24316991 0.12977929 -4.50292269] [ 0.23632404 0.96942958 0.06600941 -0.97354935] [-0.14186338 -0.03278241 0.98934326 0.90353609] [ 0. 0. 0. 1. ]] SLAMing on 16.894860624 meters Centerline goodness : 0.760387 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.90 [[ 0.96117277 -0.24344817 0.12992264 -4.50329946] [ 0.23660908 0.96936441 0.06594526 -0.97457009] [-0.14199663 -0.03264391 0.98932873 0.90416873] [ 0. 0. 0. 1. ]] SLAMing on 16.924860623999997 meters Centerline goodness : 0.759911 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96100229 -0.24390823 0.1303203 -4.50430027] [ 0.23710058 0.96926352 0.06566242 -0.97572814] [-0.14233031 -0.03220272 0.98929524 0.9054158 ] [ 0. 0. 0. 1. ]] SLAMing on 16.954860624 meters Centerline goodness : 0.759233 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96096443 -0.24402433 0.1303821 -4.50446824] [ 0.23722571 0.96923763 0.06559256 -0.97627453] [-0.14237742 -0.03210213 0.98929173 0.90584626] [ 0. 0. 0. 1. ]] SLAMing on 16.984860624 meters Centerline goodness : 0.759168 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96099643 -0.2439313 0.13032032 -4.50418964] [ 0.23712723 0.96925858 0.06563897 -0.97668857] [-0.14232549 -0.03217632 0.98929679 0.90594283] [ 0. 0. 0. 1. ]] SLAMing on 17.014860623999997 meters Centerline goodness : 0.757751 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96103762 -0.24379801 0.13026599 -4.50380185] [ 0.23697219 0.96928595 0.06579462 -0.97703471] [-0.14230559 -0.03236169 0.98929361 0.90559687] [ 0. 0. 0. 1. ]] SLAMing on 17.044860624 meters Centerline goodness : 0.758662 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96106875 -0.24370082 0.13021813 -4.50355309] [ 0.2368662 0.96930735 0.06586101 -0.9772712 ] [-0.14227178 -0.03245268 0.98929549 0.90547984] [ 0. 0. 0. 1. ]] SLAMing on 17.074860624 meters Centerline goodness : 0.758014 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96124049 -0.24314428 0.12999066 -4.50278629] [ 0.23628633 0.9694365 0.06604278 -0.97746053] [-0.14207561 -0.03276798 0.98931329 0.90540866] [ 0. 0. 0. 1. ]] SLAMing on 17.104860623999997 meters Centerline goodness : 0.756811 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96133327 -0.24285889 0.12983796 -4.50243262] [ 0.23602015 0.96950918 0.06592755 -0.97665415] [-0.14189019 -0.03273398 0.98934102 0.9054099 ] [ 0. 0. 0. 1. ]] SLAMing on 17.134860623999998 meters Centerline goodness : 0.758066 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.98, Z:0.91 [[ 0.96143588 -0.24257252 0.12961335 -4.50193011] [ 0.23575992 0.96958249 0.0657804 -0.97564672] [-0.14162735 -0.03268601 0.98938027 0.9052785 ] [ 0. 0. 0. 1. ]] SLAMing on 17.164860624 meters Centerline goodness : 0.756725 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.91 [[ 0.96156127 -0.24221903 0.129344 -4.50130735] [ 0.23543422 0.96967196 0.06562792 -0.97479193] [-0.14131758 -0.03265326 0.98942564 0.90526006] [ 0. 0. 0. 1. ]] SLAMing on 17.194860623999997 meters Centerline goodness : 0.756180 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.97, Z:0.91 [[ 0.96168043 -0.24182478 0.1291957 -4.50086352] [ 0.23507277 0.96977442 0.06540932 -0.97372263] [-0.14110828 -0.03253247 0.9894595 0.90519402] [ 0. 0. 0. 1. ]] SLAMing on 17.224860623999998 meters Centerline goodness : 0.755158 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.97, Z:0.90 [[ 0.96215255 -0.23741716 0.13377433 -4.50583361] [ 0.23033725 0.97084622 0.06635041 -0.97495533] [-0.14562703 -0.033026 0.98878817 0.90195902] [ 0. 0. 0. 1. ]] SLAMing on 17.254860624 meters Centerline goodness : 0.754642 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.97, Z:0.90 [[ 0.96393091 -0.23103503 0.13213633 -4.51072643] [ 0.22557256 0.97266576 0.05512113 -0.97232301] [-0.1412594 -0.02332663 0.98969776 0.9044726 ] [ 0. 0. 0. 1. ]] SLAMing on 17.284860624 meters Centerline goodness : 0.754481 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.97, Z:0.90 [[ 0.96411275 -0.23044588 0.13183815 -4.50995167] [ 0.22502254 0.97280798 0.05485888 -0.9704013 ] [-0.1408952 -0.02322359 0.98975209 0.90418355] [ 0. 0. 0. 1. ]] SLAMing on 17.314860623999998 meters Centerline goodness : 0.754059 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.97, Z:0.90 [[ 0.96422732 -0.23004653 0.13169766 -4.50973044] [ 0.22470006 0.97291296 0.05431619 -0.96812571] [-0.14062561 -0.02278068 0.98980073 0.90447356] [ 0. 0. 0. 1. ]] SLAMing on 17.344860624 meters Centerline goodness : 0.755868 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.97, Z:0.91 [[ 0.96429367 -0.22981691 0.13161273 -4.50982084] [ 0.22454903 0.97297863 0.05376174 -0.96625447] [-0.14041173 -0.0222886 0.98984229 0.90510016] [ 0. 0. 0. 1. ]] SLAMing on 17.374860624 meters Centerline goodness : 0.758490 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.91 [[ 0.96453818 -0.22881401 0.13156845 -4.5094397 ] [ 0.22357165 0.97321672 0.05352515 -0.96412843] [-0.14029192 -0.02221207 0.989861 0.90521941] [ 0. 0. 0. 1. ]] SLAMing on 17.404860623999998 meters Centerline goodness : 0.758917 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.91 [[ 0.96456114 -0.22870334 0.13159252 -4.50939934] [ 0.22348316 0.97324623 0.05335785 -0.96345453] [-0.14027504 -0.0220582 0.98986683 0.90513435] [ 0. 0. 0. 1. ]] SLAMing on 17.434860624 meters Centerline goodness : 0.759033 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.96, Z:0.91 [[ 0.96456492 -0.22863988 0.13167503 -4.50970299] [ 0.22348208 0.97327143 0.05290061 -0.96209861] [-0.14025074 -0.02159906 0.9898804 0.90552157] [ 0. 0. 0. 1. ]] SLAMing on 17.464860624 meters Centerline goodness : 0.765498 Centerline is valid? [False, False] Translation: X:-5.04, Y:-1.12, Z:1.01 [[ 0.97482158 -0.21788786 -0.04741059 -5.03717713] [ 0.22216392 0.93077673 0.29034095 -1.12141159] [-0.01913309 -0.29356354 0.95574807 1.01138357] [ 0. 0. 0. 1. ]] SLAMing on 17.494860623999998 meters Centerline goodness : 0.761105 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.86, Z:1.06 [[ 0.93270122 -0.36036676 -0.01429083 -4.67201657] [ 0.36054089 0.93071204 0.0615253 -0.85560834] [-0.00887103 -0.06253715 0.99800321 1.06281275] [ 0. 0. 0. 1. ]] SLAMing on 17.524860624 meters Centerline goodness : 0.758678 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.85, Z:1.06 [[ 0.932638 -0.36053492 -0.01417547 -4.67235536] [ 0.36070384 0.93066631 0.06126141 -0.85479053] [-0.00889424 -0.06224786 0.99802109 1.06281752] [ 0. 0. 0. 1. ]] SLAMing on 17.554860624 meters Centerline goodness : 0.761948 Centerline is valid? [False, False] Translation: X:-4.68, Y:-0.86, Z:1.06 [[ 0.93402532 -0.35714481 -0.00665418 -4.67968274] [ 0.35689061 0.93225304 0.0594421 -0.85730862] [-0.01502606 -0.05789524 0.99820958 1.05787969] [ 0. 0. 0. 1. ]] SLAMing on 17.584860623999997 meters Centerline goodness : 0.761515 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.86, Z:1.06 [[ 0.93481619 -0.35505272 -0.00750014 -4.68868537] [ 0.35499627 0.93366699 0.04736659 -0.85617186] [-0.00981501 -0.04694157 0.99884942 1.06059991] [ 0. 0. 0. 1. ]] SLAMing on 17.614860624 meters Centerline goodness : 0.760571 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.86, Z:1.06 [[ 0.93485237 -0.35495702 -0.00752109 -4.68855362] [ 0.35490342 0.93371138 0.04718701 -0.85507822] [-0.00972683 -0.04678215 0.99885776 1.06030362] [ 0. 0. 0. 1. ]] SLAMing on 17.644860624 meters Centerline goodness : 0.763426 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.85, Z:1.06 [[ 0.93494883 -0.35471126 -0.00711424 -4.69023785] [ 0.3546416 0.93382404 0.04692543 -0.85233138] [-0.01000153 -0.04639588 0.99887306 1.060628 ] [ 0. 0. 0. 1. ]] SLAMing on 17.674860623999997 meters Centerline goodness : 0.763161 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.85, Z:1.06 [[ 0.93483309 -0.3550212 -0.0068595 -4.6912945 ] [ 0.35494488 0.93373596 0.04638192 -0.85121248] [-0.01006161 -0.0457941 0.99890023 1.06134794] [ 0. 0. 0. 1. ]] SLAMing on 17.704860624 meters Centerline goodness : 0.763161 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.85, Z:1.06 [[ 0.93483309 -0.3550212 -0.0068595 -4.6912945 ] [ 0.35494488 0.93373596 0.04638192 -0.85121248] [-0.01006161 -0.0457941 0.99890023 1.06134794] [ 0. 0. 0. 1. ]] SLAMing on 17.734860624 meters Centerline goodness : 0.765944 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.85, Z:1.06 [[ 0.93476683 -0.35520019 -0.00661857 -4.69200797] [ 0.35511655 0.93368958 0.04600013 -0.85047338] [-0.01015956 -0.04534976 0.99891951 1.06172012] [ 0. 0. 0. 1. ]] SLAMing on 17.764860623999997 meters Centerline goodness : 0.763372 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.85, Z:1.06 [[ 9.35084122e-01 -3.54409953e-01 -3.35721328e-03 -4.69570194e+00] [ 3.54175231e-01 9.34024828e-01 4.64491844e-02 -8.51864709e-01] [-1.33263327e-02 -4.46229366e-02 9.98915013e-01 1.05987614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794860624 meters Centerline goodness : 0.763184 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.85, Z:1.06 [[ 9.34976243e-01 -3.54696497e-01 -3.13358436e-03 -4.69621721e+00] [ 3.54455022e-01 9.33931674e-01 4.61872981e-02 -8.51345904e-01] [-1.34559192e-02 -4.42947412e-02 9.98927882e-01 1.05988229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824860624 meters Centerline goodness : 0.764502 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.85, Z:1.06 [[ 9.34878778e-01 -3.54955141e-01 -2.91857533e-03 -4.69681935e+00] [ 3.54708824e-01 9.33853258e-01 4.58229441e-02 -8.50244539e-01] [-1.35395685e-02 -4.38741424e-02 9.98945314e-01 1.05990101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854860623999997 meters Centerline goodness : 0.762562 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.85, Z:1.06 [[ 9.34770657e-01 -3.55241147e-01 -2.74709472e-03 -4.69725849e+00] [ 3.54992450e-01 9.33764979e-01 4.54238406e-02 -8.48198254e-01] [-1.35712764e-02 -4.34360712e-02 9.98964027e-01 1.05936436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884860623999998 meters Centerline goodness : 0.763922 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.85, Z:1.06 [[ 9.34754032e-01 -3.55284414e-01 -2.80803586e-03 -4.69685086e+00] [ 3.55039075e-01 9.33749976e-01 4.53678039e-02 -8.47803397e-01] [-1.34964702e-02 -4.34047000e-02 9.98966404e-01 1.05887619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914860624 meters Centerline goodness : 0.763426 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.85, Z:1.06 [[ 9.34668978e-01 -3.55510709e-01 -2.45723628e-03 -4.69710259e+00] [ 3.55250015e-01 9.33670060e-01 4.53612785e-02 -8.47744546e-01] [-1.38321723e-02 -4.32707130e-02 9.98967625e-01 1.05823629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944860623999997 meters Centerline goodness : 0.763469 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.85, Z:1.05 [[ 0.93533011 -0.35373462 0.00542234 -4.7058235 ] [ 0.35319552 0.93456304 0.04295162 -0.85110915] [-0.020261 -0.0382588 0.99906244 1.05455017] [ 0. 0. 0. 1. ]] SLAMing on 17.974860623999998 meters Centerline goodness : 0.765552 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.85, Z:1.05 [[ 0.93515577 -0.35419009 0.00575101 -4.70660799] [ 0.35364301 0.93440484 0.04271095 -0.85101179] [-0.02050156 -0.03790759 0.99907092 1.05471616] [ 0. 0. 0. 1. ]] SLAMing on 18.004860624 meters Centerline goodness : 0.766077 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.85, Z:1.05 [[ 0.93499055 -0.35462018 0.00609933 -4.7074561 ] [ 0.35406565 0.93425807 0.04241903 -0.85075109] [-0.02074099 -0.03750183 0.99908129 1.05494095] [ 0. 0. 0. 1. ]] SLAMing on 18.034860623999997 meters Centerline goodness : 0.766140 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.86, Z:1.06 [[ 0.93583347 -0.35228823 0.01042677 -4.72586035] [ 0.35167119 0.93533289 0.03846763 -0.85513228] [-0.0233042 -0.0323325 0.99920545 1.05546292] [ 0. 0. 0. 1. ]] SLAMing on 18.064860623999998 meters Centerline goodness : 0.766961 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.85, Z:1.06 [[ 0.93577251 -0.35244752 0.01051438 -4.72597197] [ 0.35183347 0.93528222 0.03821502 -0.85417672] [-0.0233027 -0.03206125 0.99921422 1.05519095] [ 0. 0. 0. 1. ]] SLAMing on 18.094860624 meters Centerline goodness : 0.766390 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.85, Z:1.05 [[ 0.93571187 -0.35260557 0.01061137 -4.72595155] [ 0.35199105 0.93522768 0.03809846 -0.85367514] [-0.02335778 -0.03191408 0.99921765 1.05469626] [ 0. 0. 0. 1. ]] SLAMing on 18.124860624 meters Centerline goodness : 0.767738 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.86, Z:1.05 [[ 0.93708133 -0.34860994 0.01870008 -4.73488428] [ 0.34782128 0.93687904 0.03574944 -0.85639789] [-0.02998232 -0.02699584 0.99918581 1.05027353] [ 0. 0. 0. 1. ]] SLAMing on 18.154860623999998 meters Centerline goodness : 0.767062 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.85, Z:1.05 [[ 0.93707919 -0.34861556 0.01870276 -4.73512227] [ 0.34784156 0.93689018 0.03525681 -0.85477534] [-0.02981351 -0.02653282 0.99920326 1.05047366] [ 0. 0. 0. 1. ]] SLAMing on 18.184860624 meters Centerline goodness : 0.767250 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.85, Z:1.05 [[ 0.93702277 -0.34875944 0.01884616 -4.73595905] [ 0.34800218 0.9368562 0.03456798 -0.85249301] [-0.02971205 -0.02583248 0.99922464 1.05095572] [ 0. 0. 0. 1. ]] SLAMing on 18.214860624 meters Centerline goodness : 0.767250 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.85, Z:1.05 [[ 0.93702277 -0.34875944 0.01884616 -4.73595905] [ 0.34800218 0.9368562 0.03456798 -0.85249301] [-0.02971205 -0.02583248 0.99922464 1.05095572] [ 0. 0. 0. 1. ]] SLAMing on 18.244860623999998 meters Centerline goodness : 0.768508 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.85, Z:1.05 [[ 0.93692549 -0.34900387 0.01915514 -4.73726879] [ 0.34825884 0.93678555 0.03389129 -0.85018581] [-0.02977245 -0.02508267 0.99924194 1.05155524] [ 0. 0. 0. 1. ]] SLAMing on 18.274860624 meters Centerline goodness : 0.767425 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.85, Z:1.05 [[ 0.93795083 -0.34572616 0.02686363 -4.75309996] [ 0.34489707 0.93812303 0.031164 -0.85401087] [-0.0359756 -0.01996511 0.99915322 1.05130166] [ 0. 0. 0. 1. ]] SLAMing on 18.304860624 meters Centerline goodness : 0.769484 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.85, Z:1.05 [[ 0.93783186 -0.34603586 0.02702947 -4.75326109] [ 0.34520923 0.93801345 0.03100582 -0.85362214] [-0.03608313 -0.01974742 0.99915367 1.05090033] [ 0. 0. 0. 1. ]] SLAMing on 18.334860623999997 meters Centerline goodness : 0.768300 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.86, Z:1.05 [[ 0.93906029 -0.34223852 0.03222679 -4.76763265] [ 0.34147387 0.93950367 0.02698981 -0.85876517] [-0.03951414 -0.01434045 0.9991161 1.05063505] [ 0. 0. 0. 1. ]] SLAMing on 18.364860624 meters Centerline goodness : 0.768206 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.86, Z:1.05 [[ 0.93967193 -0.33993161 0.03825126 -4.78187528] [ 0.33934725 0.94042556 0.02105259 -0.86250718] [-0.04312891 -0.00680207 0.99904636 1.05040588] [ 0. 0. 0. 1. ]] SLAMing on 18.394860624 meters Centerline goodness : 0.768763 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.86, Z:1.05 [[ 0.93960949 -0.33958436 0.04261994 -4.78687344] [ 0.33898905 0.94056222 0.02071553 -0.86422166] [-0.04712138 -0.00501681 0.99887657 1.04813533] [ 0. 0. 0. 1. ]] SLAMing on 18.424860623999997 meters Centerline goodness : 0.768831 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.87, Z:1.05 [[ 9.40592515e-01 -3.35973439e-01 4.90669777e-02 -4.80092449e+00] [ 3.35574172e-01 9.41870894e-01 1.64071336e-02 -8.69232670e-01] [-5.17271193e-02 1.03318335e-03 9.98660722e-01 1.04798765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454860624 meters Centerline goodness : 0.773006 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.88, Z:1.05 [[ 9.39911954e-01 -3.37323587e-01 5.27097366e-02 -4.82918048e+00] [ 3.36905428e-01 9.41386887e-01 1.68955999e-02 -8.77872444e-01] [-5.53195392e-02 1.87782001e-03 9.98466936e-01 1.04619588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484860624 meters Centerline goodness : 0.770421 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.88, Z:1.05 [[ 0.9409761 -0.33312057 0.0599555 -4.84166925] [ 0.33292916 0.94285593 0.01344868 -0.88302746] [-0.06100943 0.00730605 0.99811045 1.04510874] [ 0. 0. 0. 1. ]] SLAMing on 18.514860623999997 meters Centerline goodness : 0.772451 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.88, Z:1.05 [[ 0.94074148 -0.33347781 0.06162805 -4.84501947] [ 0.33329473 0.94272559 0.013531 -0.88320512] [-0.06261063 0.00781113 0.99800746 1.0456169 ] [ 0. 0. 0. 1. ]] SLAMing on 18.544860624 meters Centerline goodness : 0.772996 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.89, Z:1.05 [[ 0.94198902 -0.32856016 0.06859236 -4.85947336] [ 0.3285555 0.94441253 0.01167266 -0.88814191] [-0.06861465 0.01154088 0.99757648 1.04535562] [ 0. 0. 0. 1. ]] SLAMing on 18.574860624 meters Centerline goodness : 0.771389 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.89, Z:1.04 [[ 0.94290066 -0.32428918 0.0759926 -4.87007574] [ 0.32444493 0.94584484 0.01063141 -0.89160798] [-0.07532486 0.01463105 0.9970517 1.0432593 ] [ 0. 0. 0. 1. ]] SLAMing on 18.604860623999997 meters Centerline goodness : 0.773640 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.89, Z:1.04 [[ 0.94282958 -0.32448138 0.07605407 -4.87044594] [ 0.32466384 0.94577341 0.01029782 -0.89087964] [-0.07527137 0.01498291 0.99705052 1.04362455] [ 0. 0. 0. 1. ]] SLAMing on 18.634860623999998 meters Centerline goodness : 0.773037 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.90, Z:1.05 [[ 0.94362751 -0.32102178 0.08069783 -4.88697275] [ 0.32162602 0.94684932 0.00575099 -0.89565203] [-0.07825487 0.02052773 0.99672202 1.04502521] [ 0. 0. 0. 1. ]] SLAMing on 18.664860624 meters Centerline goodness : 0.772209 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.90, Z:1.04 [[ 0.94352821 -0.32038632 0.08430377 -4.89098967] [ 0.3210687 0.94703873 0.0057042 -0.89723278] [-0.08166649 0.02168523 0.99642377 1.04310883] [ 0. 0. 0. 1. ]] SLAMing on 18.694860623999997 meters Centerline goodness : 0.773047 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.90, Z:1.04 [[ 9.44347985e-01 -3.16657508e-01 8.90780877e-02 -4.90627073e+00] [ 3.17850780e-01 9.48140386e-01 8.31050610e-04 -9.01758454e-01] [-8.47216908e-02 2.75287386e-02 9.96024299e-01 1.04442394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724860623999998 meters Centerline goodness : 0.772377 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.91, Z:1.04 [[ 9.44338676e-01 -3.15903593e-01 9.18116854e-02 -4.93510931e+00] [ 3.16821493e-01 9.48473115e-01 4.78453260e-03 -9.10551525e-01] [-8.85923663e-02 2.45696961e-02 9.95764893e-01 1.04229376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754860624 meters Centerline goodness : 0.773761 Centerline is valid? [False, False] Translation: X:-4.96, Y:-0.92, Z:1.04 [[ 0.94480637 -0.3138547 0.09400077 -4.96154993] [ 0.31455397 0.9492086 0.00766995 -0.91769566] [-0.09163359 0.0223217 0.99554258 1.04140805] [ 0. 0. 0. 1. ]] SLAMing on 18.784860623999997 meters Centerline goodness : 0.774770 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.92, Z:1.04 [[ 0.94579284 -0.30856558 0.10130734 -4.97289007] [ 0.30966026 0.95083341 0.005133 -0.9215557 ] [-0.09791027 0.0265161 0.99484193 1.03982628] [ 0. 0. 0. 1. ]] SLAMing on 18.814860623999998 meters Centerline goodness : 0.773674 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.93, Z:1.04 [[ 9.46419772e-01 -3.04082389e-01 1.08735992e-01 -4.98283986e+00] [ 3.05456831e-01 9.52196696e-01 4.19237175e-03 -9.25009353e-01] [-1.04812879e-01 2.92464080e-02 9.94061823e-01 1.03718993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844860624 meters Centerline goodness : 0.775156 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.93, Z:1.04 [[ 9.47068993e-01 -2.99182171e-01 1.16405977e-01 -4.99418186e+00] [ 3.00968466e-01 9.53631239e-01 2.33289623e-03 -9.28672801e-01] [-1.11706337e-01 3.28251147e-02 9.93198976e-01 1.03544821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874860624 meters Centerline goodness : 0.774803 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.93, Z:1.04 [[ 9.47089319e-01 -2.99118005e-01 1.16405505e-01 -4.99423349e+00] [ 3.00939069e-01 9.53641232e-01 2.01953466e-03 -9.27947634e-01] [-1.11613169e-01 3.31182846e-02 9.93199718e-01 1.03574521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904860623999998 meters Centerline goodness : 0.775644 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.94, Z:1.03 [[ 0.94711397 -0.29803532 0.11895406 -5.02506523] [ 0.29918249 0.95415792 0.00851461 -0.93798369] [-0.11603861 0.02752467 0.99286325 1.03384181] [ 0. 0. 0. 1. ]] SLAMing on 18.934860624 meters Centerline goodness : 0.774591 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.94, Z:1.03 [[ 0.94710675 -0.29804899 0.11897732 -5.02503695] [ 0.29921497 0.9541491 0.00836002 -0.93727651] [-0.1160138 0.02768197 0.99286178 1.03363405] [ 0. 0. 0. 1. ]] SLAMing on 18.964860624 meters Centerline goodness : 0.773196 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.94, Z:1.03 [[ 0.94718783 -0.29782555 0.11889135 -5.02493831] [ 0.29902559 0.95421128 0.00803337 -0.9351998 ] [-0.11584001 0.02794244 0.99287477 1.03348502] [ 0. 0. 0. 1. ]] SLAMing on 18.994860623999998 meters Centerline goodness : 0.776087 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.94, Z:1.03 [[ 0.94744701 -0.29462858 0.12465213 -5.03217234] [ 0.29593396 0.95517202 0.00833706 -0.93753418] [-0.12152056 0.02898987 0.99216548 1.03076229] [ 0. 0. 0. 1. ]] SLAMing on 19.024860624 meters Centerline goodness : 0.776733 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.94, Z:1.04 [[ 9.49224520e-01 -2.90154180e-01 1.21586852e-01 -5.04269498e+00] [ 2.92467624e-01 9.56274625e-01 -1.23664771e-03 -9.37057321e-01] [-1.15911603e-01 3.67340741e-02 9.92580026e-01 1.03638782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054860624 meters Centerline goodness : 0.774511 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.95, Z:1.03 [[ 9.50171193e-01 -2.86540364e-01 1.22757175e-01 -5.06794417e+00] [ 2.88149511e-01 9.57573287e-01 4.82280235e-03 -9.46122366e-01] [-1.18930919e-01 3.07899320e-02 9.92425018e-01 1.03399068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084860623999997 meters Centerline goodness : 0.775764 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.95084336 -0.28358493 0.12440457 -5.09600401] [ 0.28446567 0.95862309 0.01100259 -0.9546024 ] [-0.12237726 0.02492709 0.99217057 1.03259063] [ 0. 0. 0. 1. ]] SLAMing on 19.114860624 meters Centerline goodness : 0.775292 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.95185461 -0.28050159 0.12365942 -5.09702705] [ 0.28089464 0.95962746 0.01460602 -0.953825 ] [-0.12276399 0.02083246 0.99221722 1.03283429] [ 0. 0. 0. 1. ]] SLAMing on 19.144860624 meters Centerline goodness : 0.775772 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.95275357 -0.27772489 0.12300208 -5.09811695] [ 0.2776329 0.96051416 0.0182351 -0.95443614] [-0.12320958 0.01677587 0.99223887 1.03321765] [ 0. 0. 0. 1. ]] SLAMing on 19.174860623999997 meters Centerline goodness : 0.775606 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.95376008 -0.27458455 0.12224986 -5.09859399] [ 0.2739668 0.96148365 0.02216733 -0.95496064] [-0.12362805 0.01235009 0.99225177 1.03276647] [ 0. 0. 0. 1. ]] SLAMing on 19.204860624 meters Centerline goodness : 0.777307 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.96, Z:1.03 [[ 0.95480964 -0.27131418 0.12135553 -5.09874296] [ 0.27016791 0.96245885 0.02611997 -0.95548886] [-0.12388643 0.00784677 0.99226538 1.03234669] [ 0. 0. 0. 1. ]] SLAMing on 19.234860624 meters Centerline goodness : 0.778167 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 9.56333361e-01 -2.66456324e-01 1.20114656e-01 -5.09734877e+00] [ 2.64731173e-01 9.63843126e-01 3.03946558e-02 -9.53243351e-01] [-1.23870534e-01 2.73067062e-03 9.92294631e-01 1.03049444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264860623999997 meters Centerline goodness : 0.779022 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 9.57393615e-01 -2.63058854e-01 1.19153289e-01 -5.09734357e+00] [ 2.60828312e-01 9.64778310e-01 3.42257971e-02 -9.52984821e-01] [-1.23959907e-01 -1.68900853e-03 9.92285790e-01 1.03007393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294860624 meters Centerline goodness : 0.776133 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.95841596 -0.25969177 0.11831753 -5.09756906] [ 0.25694209 0.9656716 0.03819855 -0.95275989] [-0.12417573 -0.00620934 0.99224081 1.02942661] [ 0. 0. 0. 1. ]] SLAMing on 19.324860624 meters Centerline goodness : 0.778669 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.95963849 -0.25559973 0.11731469 -5.09751747] [ 0.25237623 0.96672552 0.04180926 -0.95036618] [-0.12409754 -0.01051434 0.99221432 1.02936709] [ 0. 0. 0. 1. ]] SLAMing on 19.354860623999997 meters Centerline goodness : 0.776959 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.96049614 -0.25265756 0.1166676 -5.09836354] [ 0.24894158 0.96744272 0.0456364 -0.95122112] [-0.1243996 -0.01479016 0.99212196 1.02957705] [ 0. 0. 0. 1. ]] SLAMing on 19.384860623999998 meters Centerline goodness : 0.779745 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.96103481 -0.25085918 0.11611101 -5.09596806] [ 0.2470621 0.96789527 0.04625005 -0.94984532] [-0.12398555 -0.01576128 0.99215884 1.02791472] [ 0. 0. 0. 1. ]] SLAMing on 19.414860624 meters Centerline goodness : 0.778884 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.03 [[ 0.9611216 -0.2505898 0.11597426 -5.09532182] [ 0.24680767 0.96796579 0.0461324 -0.94904628] [-0.12381942 -0.01571551 0.99218031 1.02740107] [ 0. 0. 0. 1. ]] SLAMing on 19.444860623999997 meters Centerline goodness : 0.779755 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96124796 -0.25023089 0.11570162 -5.0943981 ] [ 0.24646286 0.96805834 0.04603375 -0.94810836] [-0.12352498 -0.01573369 0.99221673 1.0268654 ] [ 0. 0. 0. 1. ]] SLAMing on 19.474860623999998 meters Centerline goodness : 0.779719 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96134536 -0.24992763 0.11554775 -5.09378421] [ 0.2461612 0.96813558 0.04602347 -0.94727393] [-0.12336842 -0.01580108 0.99223513 1.02628464] [ 0. 0. 0. 1. ]] SLAMing on 19.504860624 meters Centerline goodness : 0.778669 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96153612 -0.24936239 0.1151811 -5.09260731] [ 0.24557577 0.96827575 0.04620182 -0.94678392] [-0.12304806 -0.01613903 0.99226947 1.0255875 ] [ 0. 0. 0. 1. ]] SLAMing on 19.534860623999997 meters Centerline goodness : 0.779463 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96162479 -0.24909116 0.11502762 -5.09211402] [ 0.24531694 0.96834589 0.04610671 -0.94631714] [-0.1228713 -0.01611913 0.9922917 1.02555829] [ 0. 0. 0. 1. ]] SLAMing on 19.564860623999998 meters Centerline goodness : 0.779102 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96182883 -0.24842227 0.11476796 -5.09134514] [ 0.24464754 0.96851519 0.04610763 -0.94530147] [-0.12260867 -0.01626995 0.99232172 1.02550912] [ 0. 0. 0. 1. ]] SLAMing on 19.594860624 meters Centerline goodness : 0.778638 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96188398 -0.24827671 0.11462065 -5.09108693] [ 0.24451513 0.96855314 0.04601262 -0.94505226] [-0.12244005 -0.01623232 0.99234316 1.02575626] [ 0. 0. 0. 1. ]] SLAMing on 19.624860624 meters Centerline goodness : 0.779523 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96191042 -0.24819025 0.11458601 -5.0910582 ] [ 0.24445061 0.96857787 0.04583446 -0.94512561] [-0.12236114 -0.01607803 0.9923554 1.0263429 ] [ 0. 0. 0. 1. ]] SLAMing on 19.654860623999998 meters Centerline goodness : 0.779409 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96206951 -0.24768835 0.11433613 -5.09010824] [ 0.24390592 0.96869843 0.04618721 -0.94622248] [-0.12219726 -0.01654805 0.99236787 1.02614944] [ 0. 0. 0. 1. ]] SLAMing on 19.684860624 meters Centerline goodness : 0.778518 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96217236 -0.24737496 0.11414896 -5.0895097 ] [ 0.24358472 0.96877583 0.04625885 -0.94612197] [-0.12202804 -0.01670404 0.99238608 1.02597802] [ 0. 0. 0. 1. ]] SLAMing on 19.714860624 meters Centerline goodness : 0.779919 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.03 [[ 0.96254489 -0.24620365 0.11353896 -5.08740363] [ 0.24234486 0.96905887 0.04683881 -0.94637619] [-0.12155783 -0.01756887 0.99242885 1.02502081] [ 0. 0. 0. 1. ]] SLAMing on 19.744860623999998 meters Centerline goodness : 0.778673 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.02 [[ 0.96265058 -0.24585438 0.11339966 -5.08677172] [ 0.24197416 0.96914297 0.04701496 -0.94655604] [-0.12145931 -0.01781919 0.99243645 1.02468017] [ 0. 0. 0. 1. ]] SLAMing on 19.774860624 meters Centerline goodness : 0.780780 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.02 [[ 0.9627982 -0.24539214 0.11314734 -5.08598945] [ 0.24149225 0.96925476 0.04718801 -0.94675056] [-0.12124817 -0.01810832 0.99245704 1.02458384] [ 0. 0. 0. 1. ]] SLAMing on 19.804860624 meters Centerline goodness : 0.779747 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.95, Z:1.02 [[ 0.96293959 -0.24495216 0.11289722 -5.08516298] [ 0.24103487 0.96936098 0.04734429 -0.94679675] [-0.12103524 -0.01837753 0.99247808 1.0243316 ] [ 0. 0. 0. 1. ]] SLAMing on 19.834860623999997 meters Centerline goodness : 0.778073 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.96330744 -0.24379713 0.11225744 -5.0831105 ] [ 0.23981046 0.96963475 0.04795203 -0.94763753] [-0.12053928 -0.01927203 0.99252147 1.02381641] [ 0. 0. 0. 1. ]] SLAMing on 19.864860624 meters Centerline goodness : 0.777421 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.96343187 -0.24343006 0.1119859 -5.08232674] [ 0.23943083 0.96972224 0.04807972 -0.94784395] [-0.12029926 -0.01950866 0.99254597 1.02372511] [ 0. 0. 0. 1. ]] SLAMing on 19.894860624 meters Centerline goodness : 0.778078 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.96357773 -0.24299012 0.111686 -5.08129412] [ 0.23895194 0.96982306 0.04842734 -0.94852387] [-0.12008302 -0.01997592 0.99256286 1.02329308] [ 0. 0. 0. 1. ]] SLAMing on 19.924860623999997 meters Centerline goodness : 0.778671 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.9638078 -0.2422588 0.11128884 -5.07970332] [ 0.23813552 0.96998697 0.04916042 -0.95055862] [-0.11985827 -0.02087937 0.99257143 1.02266689] [ 0. 0. 0. 1. ]] SLAMing on 19.954860624 meters Centerline goodness : 0.778898 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.96390197 -0.24195817 0.11112708 -5.07890525] [ 0.23779723 0.97005345 0.04948517 -0.95204119] [-0.11977255 -0.02127314 0.99257342 1.02252093] [ 0. 0. 0. 1. ]] SLAMing on 19.984860624 meters Centerline goodness : 0.781145 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.96396712 -0.24175646 0.11100089 -5.07838915] [ 0.23757001 0.9700977 0.04970863 -0.95306421] [-0.11969909 -0.021547 0.99257637 1.02246863] [ 0. 0. 0. 1. ]] SLAMing on 20.014860623999997 meters Centerline goodness : 0.781287 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.96416605 -0.24111927 0.11065856 -5.07703583] [ 0.23686601 0.97023973 0.05029283 -0.95451479] [-0.1194919 -0.02227939 0.99258517 1.02191094] [ 0. 0. 0. 1. ]] SLAMing on 20.044860624 meters Centerline goodness : 0.781303 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.95, Z:1.02 [[ 0.96425917 -0.24086096 0.11040946 -5.07630861] [ 0.23659503 0.97029863 0.05043166 -0.95493385] [-0.11927717 -0.02250686 0.99260586 1.02181418] [ 0. 0. 0. 1. ]] SLAMing on 20.074860624 meters Centerline goodness : 0.781765 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.96, Z:1.02 [[ 0.96426587 -0.24087182 0.11032723 -5.07598914] [ 0.236595 0.97029308 0.05053852 -0.95557417] [-0.11922306 -0.0226297 0.99260957 1.02171924] [ 0. 0. 0. 1. ]] SLAMing on 20.104860623999997 meters Centerline goodness : 0.781765 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.96, Z:1.02 [[ 0.96426587 -0.24087182 0.11032723 -5.07598914] [ 0.236595 0.97029308 0.05053852 -0.95557417] [-0.11922306 -0.0226297 0.99260957 1.02171924] [ 0. 0. 0. 1. ]] SLAMing on 20.134860623999998 meters Centerline goodness : 0.784283 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.96, Z:1.02 [[ 0.96416051 -0.24128911 0.1103362 -5.07595574] [ 0.2369973 0.97018734 0.05068329 -0.95802239] [-0.11927611 -0.02271745 0.99260119 1.02212298] [ 0. 0. 0. 1. ]] SLAMing on 20.164860624 meters Centerline goodness : 0.785130 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.96, Z:1.02 [[ 0.96405017 -0.24169058 0.11042165 -5.07620695] [ 0.23738596 0.97008651 0.05079441 -0.95967923] [-0.11939508 -0.02275581 0.99258601 1.02244652] [ 0. 0. 0. 1. ]] SLAMing on 20.194860623999997 meters Centerline goodness : 0.782734 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.96, Z:1.02 [[ 0.96383595 -0.24242873 0.11067331 -5.07697048] [ 0.2381445 0.96990992 0.05061564 -0.96120497] [-0.11961382 -0.02242894 0.99256711 1.02312575] [ 0. 0. 0. 1. ]] SLAMing on 20.224860623999998 meters Centerline goodness : 0.784793 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.96, Z:1.02 [[ 0.96270463 -0.24640219 0.11173965 -5.07741655] [ 0.24260044 0.96900423 0.04664583 -0.96250976] [-0.11976983 -0.01779807 0.99264214 1.02394491] [ 0. 0. 0. 1. ]] SLAMing on 20.254860624 meters Centerline goodness : 0.784227 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.96, Z:1.02 [[ 0.96236305 -0.24755253 0.11213875 -5.07860862] [ 0.24379005 0.96872103 0.04632479 -0.96408027] [-0.12009899 -0.01724296 0.99261217 1.02472093] [ 0. 0. 0. 1. ]] SLAMing on 20.284860623999997 meters Centerline goodness : 0.785264 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.97, Z:1.03 [[ 0.962062 -0.248596 0.11241324 -5.07946152] [ 0.24486616 0.96846157 0.04607331 -0.96560875] [-0.12032154 -0.01679918 0.99259282 1.02525627] [ 0. 0. 0. 1. ]] SLAMing on 20.314860623999998 meters Centerline goodness : 0.783538 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.97, Z:1.03 [[ 0.9608167 -0.25278113 0.11372317 -5.08024453] [ 0.24955233 0.96744913 0.04202171 -0.9666041 ] [-0.12064368 -0.01199528 0.9926234 1.02569785] [ 0. 0. 0. 1. ]] SLAMing on 20.344860624 meters Centerline goodness : 0.783183 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.97, Z:1.03 [[ 0.96052572 -0.25374297 0.11403879 -5.08112619] [ 0.25054992 0.96720295 0.04175166 -0.96831326] [-0.12089285 -0.01153113 0.99259859 1.02642892] [ 0. 0. 0. 1. ]] SLAMing on 20.374860624 meters Centerline goodness : 0.784446 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.97, Z:1.03 [[ 0.96022079 -0.25467633 0.1145251 -5.08245182] [ 0.2515217 0.9669639 0.04144461 -0.9695058 ] [-0.1212966 -0.01099043 0.99255546 1.02728501] [ 0. 0. 0. 1. ]] SLAMing on 20.404860623999998 meters Centerline goodness : 0.785323 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95963087 -0.25653539 0.11531781 -5.08524056] [ 0.25351086 0.9664876 0.0404224 -0.97014329] [-0.12182301 -0.00955627 0.99250584 1.02937596] [ 0. 0. 0. 1. ]] SLAMing on 20.434860624 meters Centerline goodness : 0.785234 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95942878 -0.25716596 0.11559452 -5.08611221] [ 0.25417577 0.96632396 0.04015831 -0.97039514] [-0.1220291 -0.00914771 0.99248437 1.0298404 ] [ 0. 0. 0. 1. ]] SLAMing on 20.464860624 meters Centerline goodness : 0.785405 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95914155 -0.25809363 0.11591012 -5.0868465 ] [ 0.25512055 0.96607944 0.04005026 -0.97123098] [-0.1223151 -0.00884281 0.99245192 1.02964789] [ 0. 0. 0. 1. ]] SLAMing on 20.494860623999998 meters Centerline goodness : 0.787188 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95903271 -0.258415 0.11609455 -5.08705183] [ 0.2554423 0.96599431 0.04005264 -0.97157071] [-0.12249688 -0.00875633 0.99243027 1.02932096] [ 0. 0. 0. 1. ]] SLAMing on 20.524860624 meters Centerline goodness : 0.787674 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95889086 -0.25883804 0.1163236 -5.0876411 ] [ 0.25589346 0.96588395 0.03983378 -0.97174528] [-0.12266559 -0.0084298 0.99241226 1.02958181] [ 0. 0. 0. 1. ]] SLAMing on 20.554860624 meters Centerline goodness : 0.786395 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95877154 -0.25917938 0.11654691 -5.08815224] [ 0.25624852 0.96579418 0.03972781 -0.9717767 ] [-0.12285696 -0.00822492 0.99239031 1.02960703] [ 0. 0. 0. 1. ]] SLAMing on 20.584860623999997 meters Centerline goodness : 0.785712 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95854784 -0.25986797 0.11685323 -5.08904242] [ 0.25699733 0.96561422 0.03926269 -0.97110794] [-0.12303825 -0.0076042 0.9923728 1.02976704] [ 0. 0. 0. 1. ]] SLAMing on 20.614860624 meters Centerline goodness : 0.788088 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95842751 -0.26020367 0.11709294 -5.08962721] [ 0.25735691 0.96552603 0.03907553 -0.97055533] [-0.12322388 -0.00731639 0.99235193 1.02968505] [ 0. 0. 0. 1. ]] SLAMing on 20.644860624 meters Centerline goodness : 0.784628 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95834096 -0.26049942 0.11714373 -5.08994887] [ 0.25769797 0.96544917 0.03872534 -0.96961366] [-0.12318424 -0.00692438 0.99235966 1.02981301] [ 0. 0. 0. 1. ]] SLAMing on 20.674860623999997 meters Centerline goodness : 0.785401 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95824005 -0.26083089 0.1172316 -5.09043209] [ 0.25809032 0.96536332 0.03824988 -0.96845553] [-0.12314784 -0.00639623 0.99236772 1.03014805] [ 0. 0. 0. 1. ]] SLAMing on 20.704860624 meters Centerline goodness : 0.786031 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.97, Z:1.03 [[ 0.95802788 -0.26142634 0.11763863 -5.09188471] [ 0.258816 0.96520938 0.03721745 -0.96592465] [-0.12327553 -0.00520859 0.99235881 1.0310673 ] [ 0. 0. 0. 1. ]] SLAMing on 20.734860624 meters Centerline goodness : 0.785932 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.96, Z:1.03 [[ 9.57905793e-01 -2.61760560e-01 1.17889362e-01 -5.09278132e+00] [ 2.59223189e-01 9.65122174e-01 3.66405093e-02 -9.64370714e-01] [-1.23368678e-01 -4.53849975e-03 9.92350528e-01 1.03159953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764860623999997 meters Centerline goodness : 0.786523 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.96, Z:1.03 [[ 9.57662797e-01 -2.62369276e-01 1.18508775e-01 -5.09510849e+00] [ 2.60036576e-01 9.64963725e-01 3.50141084e-02 -9.59796354e-01] [-1.23543295e-01 -2.71509297e-03 9.92335469e-01 1.03340529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794860624 meters Centerline goodness : 0.788028 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.96, Z:1.03 [[ 9.57509409e-01 -2.62794462e-01 1.18805738e-01 -5.09628443e+00] [ 2.60569106e-01 9.64850227e-01 3.41728098e-02 -9.57352075e-01] [-1.23610168e-01 -1.76368198e-03 9.92329288e-01 1.03406593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824860624 meters Centerline goodness : 0.788025 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.96, Z:1.03 [[ 9.57346884e-01 -2.63228604e-01 1.19153871e-01 -5.09733741e+00] [ 2.61108536e-01 9.64733142e-01 3.33511233e-02 -9.55186873e-01] [-1.23730658e-01 -8.16501146e-04 9.92315503e-01 1.03452680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854860623999997 meters Centerline goodness : 0.789625 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.04 [[ 9.57030166e-01 -2.64059082e-01 1.19858507e-01 -5.09942188e+00] [ 2.62104107e-01 9.64506243e-01 3.20802932e-02 -9.51638377e-01] [-1.24075371e-01 7.13598565e-04 9.92272540e-01 1.03514225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884860623999998 meters Centerline goodness : 0.788176 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.04 [[ 9.56876425e-01 -2.64474683e-01 1.20169256e-01 -5.10027743e+00] [ 2.62585735e-01 9.64391704e-01 3.15812094e-02 -9.49883525e-01] [-1.24242664e-01 1.33541771e-03 9.92250965e-01 1.03501695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914860624 meters Centerline goodness : 0.788243 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.95, Z:1.04 [[ 9.56479069e-01 -2.65528760e-01 1.21005243e-01 -5.10283809e+00] [ 2.63818579e-01 9.64098265e-01 3.02372725e-02 -9.45769311e-01] [-1.24689810e-01 3.00211293e-03 9.92191231e-01 1.03559488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944860623999997 meters Centerline goodness : 0.789266 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.94, Z:1.04 [[ 9.56280939e-01 -2.66067003e-01 1.21388287e-01 -5.10413459e+00] [ 2.64462327e-01 9.63946458e-01 2.94432276e-02 -9.43664058e-01] [-1.24845681e-01 3.94663156e-03 9.92168322e-01 1.03628175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974860623999998 meters Centerline goodness : 0.788311 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.94, Z:1.04 [[ 9.56062380e-01 -2.66664585e-01 1.21797882e-01 -5.10554987e+00] [ 2.65169323e-01 9.63776798e-01 2.86271465e-02 -9.41585475e-01] [-1.25019819e-01 4.92772425e-03 9.92142007e-01 1.03699110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004860624 meters Centerline goodness : 0.789686 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.94, Z:1.04 [[ 0.95590097 -0.26713154 0.12204131 -5.10639043] [ 0.26571618 0.96364362 0.02803357 -0.93978055] [-0.12509298 0.00563103 0.99212904 1.03716263] [ 0. 0. 0. 1. ]] SLAMing on 21.034860623999997 meters Centerline goodness : 0.788619 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.94, Z:1.04 [[ 0.95545854 -0.26832909 0.12287587 -5.10909649] [ 0.26709259 0.96329986 0.02673822 -0.93609918] [-0.12554095 0.00727198 0.99206179 1.03792849] [ 0. 0. 0. 1. ]] SLAMing on 21.064860623999998 meters Centerline goodness : 0.788259 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.93, Z:1.04 [[ 0.95529784 -0.26874626 0.12321317 -5.11000631] [ 0.26758116 0.96317845 0.02622207 -0.93434107] [-0.12572335 0.00791964 0.99203373 1.03787069] [ 0. 0. 0. 1. ]] SLAMing on 21.094860624 meters Centerline goodness : 0.787058 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.93, Z:1.04 [[ 0.95515625 -0.26911659 0.12350225 -5.11080045] [ 0.26802806 0.96306929 0.02566149 -0.93251925] [-0.12584716 0.00859134 0.99201244 1.03786498] [ 0. 0. 0. 1. ]] SLAMing on 21.124860623999997 meters Centerline goodness : 0.785800 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.93, Z:1.04 [[ 0.95501759 -0.26944211 0.12386427 -5.11180357] [ 0.26847682 0.96296844 0.02473812 -0.92846346] [-0.12594287 0.00962934 0.99199076 1.03750987] [ 0. 0. 0. 1. ]] SLAMing on 21.154860623999998 meters Centerline goodness : 0.785394 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.93, Z:1.04 [[ 0.9549205 -0.26969143 0.12407003 -5.11261379] [ 0.26884184 0.96288877 0.0238596 -0.92556712] [-0.12590037 0.01057119 0.99198657 1.03796206] [ 0. 0. 0. 1. ]] SLAMing on 21.184860624 meters Centerline goodness : 0.783719 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.92, Z:1.04 [[ 0.95540341 -0.26790439 0.12422383 -5.11645984] [ 0.26671526 0.96341319 0.02641973 -0.92254925] [-0.12675683 0.00789089 0.99190243 1.03917021] [ 0. 0. 0. 1. ]] SLAMing on 21.214860624 meters Centerline goodness : 0.783647 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.92, Z:1.04 [[ 0.95535358 -0.26797504 0.12445444 -5.11719786] [ 0.26688895 0.96338633 0.02563329 -0.91968582] [-0.12676679 0.00872666 0.99189416 1.03953327] [ 0. 0. 0. 1. ]] SLAMing on 21.244860623999998 meters Centerline goodness : 0.785445 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.92, Z:1.04 [[ 0.95534523 -0.26797604 0.12451642 -5.1176031 ] [ 0.26698883 0.96337882 0.02486368 -0.91701056] [-0.12661935 0.0094911 0.99190597 1.04001258] [ 0. 0. 0. 1. ]] SLAMing on 21.274860624 meters Centerline goodness : 0.783763 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.91, Z:1.04 [[ 0.95534423 -0.26797408 0.12452827 -5.11783501] [ 0.26708517 0.96337168 0.02409381 -0.91398977] [-0.12642352 0.01024178 0.99192348 1.04016805] [ 0. 0. 0. 1. ]] SLAMing on 21.304860624 meters Centerline goodness : 0.784582 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.91, Z:1.05 [[ 0.95673013 -0.26414034 0.1220547 -5.13224177] [ 0.26443808 0.96430033 0.01404887 -0.90900747] [-0.12140826 0.01883493 0.99242394 1.0474077 ] [ 0. 0. 0. 1. ]] SLAMing on 21.334860623999997 meters Centerline goodness : 0.786173 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.91, Z:1.05 [[ 0.9575028 -0.26154286 0.1215883 -5.13357177] [ 0.2613458 0.96508016 0.01785113 -0.90872364] [-0.12201129 0.01468409 0.99242008 1.04671662] [ 0. 0. 0. 1. ]] SLAMing on 21.364860624 meters Centerline goodness : 0.786716 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.91, Z:1.05 [[ 0.95826128 -0.25898579 0.12108545 -5.13484572] [ 0.25831289 0.9658221 0.02149686 -0.90841025] [-0.12251439 0.01067833 0.99240929 1.04626308] [ 0. 0. 0. 1. ]] SLAMing on 21.394860624 meters Centerline goodness : 0.785018 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.90, Z:1.05 [[ 0.95899539 -0.25638385 0.12081043 -5.13676677] [ 0.25530759 0.96654763 0.02457072 -0.9046401 ] [-0.12306857 0.00728062 0.99237146 1.04554055] [ 0. 0. 0. 1. ]] SLAMing on 21.424860623999997 meters Centerline goodness : 0.785133 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.90, Z:1.05 [[ 9.59659306e-01 -2.54060026e-01 1.20447169e-01 -5.13860159e+00] [ 2.52526360e-01 9.67182258e-01 2.80876564e-02 -9.04212098e-01] [-1.23630316e-01 3.46150425e-03 9.92322308e-01 1.04546825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454860624 meters Centerline goodness : 0.784832 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.90, Z:1.05 [[ 9.59705600e-01 -2.53929938e-01 1.20352600e-01 -5.13842559e+00] [ 2.52478779e-01 9.67214020e-01 2.74136034e-02 -9.01077044e-01] [-1.23367856e-01 4.07748863e-03 9.92352632e-01 1.04526670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484860624 meters Centerline goodness : 0.786318 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.90, Z:1.05 [[ 9.59682822e-01 -2.54003172e-01 1.20379688e-01 -5.13868556e+00] [ 2.52655817e-01 9.67190959e-01 2.65835895e-02 -8.98280206e-01] [-1.23182462e-01 4.90281415e-03 9.92371928e-01 1.04557906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514860623999997 meters Centerline goodness : 0.784787 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.90, Z:1.05 [[ 9.60077008e-01 -2.52426390e-01 1.20553128e-01 -5.14241339e+00] [ 2.50740589e-01 9.67613629e-01 2.92065486e-02 -8.96131832e-01] [-1.24021353e-01 2.18702654e-03 9.92277139e-01 1.04667934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544860624 meters Centerline goodness : 0.784822 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.89, Z:1.05 [[ 9.59877825e-01 -2.52944730e-01 1.21051744e-01 -5.14400895e+00] [ 2.51372971e-01 9.67475347e-01 2.83387102e-02 -8.93909331e-01] [-1.24282705e-01 3.22743690e-03 9.92241600e-01 1.04755506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574860624 meters Centerline goodness : 0.783115 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.89, Z:1.05 [[ 9.59726531e-01 -2.53365463e-01 1.21371036e-01 -5.14517002e+00] [ 2.51896409e-01 9.67361828e-01 2.75552599e-02 -8.91909147e-01] [-1.24391258e-01 4.12741409e-03 9.92224662e-01 1.04835361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604860623999997 meters Centerline goodness : 0.785106 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.89, Z:1.05 [[ 0.95924714 -0.25470965 0.12234346 -5.14855615] [ 0.25343434 0.96699938 0.02613883 -0.88930104] [-0.12496386 0.00593244 0.99214356 1.05033466] [ 0. 0. 0. 1. ]] SLAMing on 21.634860623999998 meters Centerline goodness : 0.786371 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.89, Z:1.05 [[ 0.95902138 -0.25534986 0.12277799 -5.1500487 ] [ 0.25416109 0.96682526 0.02551578 -0.88829668] [-0.12522032 0.00673521 0.9921061 1.05124088] [ 0. 0. 0. 1. ]] SLAMing on 21.664860624 meters Centerline goodness : 0.785309 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.89, Z:1.05 [[ 0.95858727 -0.25661941 0.12351895 -5.15238584] [ 0.25552472 0.96648189 0.02489713 -0.88759783] [-0.12576792 0.00769608 0.99202984 1.0518189 ] [ 0. 0. 0. 1. ]] SLAMing on 21.694860623999997 meters Centerline goodness : 0.783591 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.89, Z:1.05 [[ 0.9583216 -0.25739288 0.12397019 -5.15378856] [ 0.25633619 0.96627264 0.0246768 -0.88743764] [-0.12614063 0.00812973 0.99197906 1.05201541] [ 0. 0. 0. 1. ]] SLAMing on 21.724860623999998 meters Centerline goodness : 0.786534 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.89, Z:1.05 [[ 0.95809491 -0.25807195 0.12431017 -5.15499625] [ 0.25706839 0.96608699 0.02432649 -0.8869647 ] [-0.12637242 0.00864913 0.99194516 1.05243549] [ 0. 0. 0. 1. ]] SLAMing on 21.754860624 meters Centerline goodness : 0.785568 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 0.95764569 -0.25939396 0.12501799 -5.1572442 ] [ 0.25845129 0.96572643 0.02398722 -0.88678909] [-0.12695532 0.00933981 0.99186446 1.0526322 ] [ 0. 0. 0. 1. ]] SLAMing on 21.784860623999997 meters Centerline goodness : 0.785704 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 0.95749529 -0.25982375 0.12527723 -5.1578974 ] [ 0.25889516 0.96560907 0.02392514 -0.88681142] [-0.12718515 0.00952546 0.99183325 1.05246496] [ 0. 0. 0. 1. ]] SLAMing on 21.814860623999998 meters Centerline goodness : 0.785688 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 0.95735822 -0.26022549 0.12549081 -5.15855352] [ 0.2593219 0.96549831 0.02377315 -0.88651705] [-0.12734755 0.00978309 0.99180991 1.05245368] [ 0. 0. 0. 1. ]] SLAMing on 21.844860624 meters Centerline goodness : 0.789511 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 0.95835811 -0.25697099 0.12456179 -5.1588965 ] [ 0.25555716 0.96640346 0.0274753 -0.88545965] [-0.1274373 0.00550148 0.99183137 1.05222318] [ 0. 0. 0. 1. ]] SLAMing on 21.874860623999997 meters Centerline goodness : 0.787264 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.59277154e-01 -2.53883345e-01 1.23816758e-01 -5.15949110e+00] [ 2.51901953e-01 9.67234505e-01 3.16673081e-02 -8.86449640e-01] [-1.27799643e-01 8.11958026e-04 9.91799673e-01 1.05180384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904860623999998 meters Centerline goodness : 0.786101 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60285937e-01 -2.50497940e-01 1.22888981e-01 -5.15921490e+00] [ 2.47894844e-01 9.68107226e-01 3.62842332e-02 -8.87950624e-01] [-1.28058837e-01 -4.37969392e-03 9.91756902e-01 1.05034615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934860624 meters Centerline goodness : 0.786605 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60392358e-01 -2.50176969e-01 1.22711057e-01 -5.15851394e+00] [ 2.47569788e-01 9.68189741e-01 3.63018757e-02 -8.87418286e-01] [-1.27889480e-01 -4.48449343e-03 9.91778287e-01 1.04984733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964860624 meters Centerline goodness : 0.786341 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60452254e-01 -2.49985334e-01 1.22632787e-01 -5.15809929e+00] [ 2.47393952e-01 9.68239621e-01 3.61699869e-02 -8.86742032e-01] [-1.27779890e-01 -4.40093553e-03 9.91792787e-01 1.04958133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994860623999998 meters Centerline goodness : 0.786306 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60481434e-01 -2.49891750e-01 1.22594976e-01 -5.15799350e+00] [ 2.47330731e-01 9.68264722e-01 3.59296183e-02 -8.86204296e-01] [-1.27682905e-01 -4.18822626e-03 9.91806198e-01 1.04982581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024860624 meters Centerline goodness : 0.786306 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60481434e-01 -2.49891750e-01 1.22594976e-01 -5.15799350e+00] [ 2.47330731e-01 9.68264722e-01 3.59296183e-02 -8.86204296e-01] [-1.27682905e-01 -4.18822626e-03 9.91806198e-01 1.04982581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054860624 meters Centerline goodness : 0.786853 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60363322e-01 -2.50173691e-01 1.22944762e-01 -5.15917861e+00] [ 2.47687715e-01 9.68194643e-01 3.53543358e-02 -8.85379824e-01] [-1.27879185e-01 -3.50110019e-03 9.91783573e-01 1.05101434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084860623999997 meters Centerline goodness : 0.789359 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60266050e-01 -2.50438567e-01 1.23165081e-01 -5.15989508e+00] [ 2.47991033e-01 9.68127433e-01 3.50673880e-02 -8.85282068e-01] [-1.28021720e-01 -3.13018648e-03 9.91766425e-01 1.05172723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114860624 meters Centerline goodness : 0.788893 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.60203435e-01 -2.50636383e-01 1.23250830e-01 -5.16027592e+00] [ 2.48208458e-01 9.68076823e-01 3.49260066e-02 -8.85424512e-01] [-1.28070000e-01 -2.94417304e-03 9.91760761e-01 1.05216485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144860624 meters Centerline goodness : 0.790248 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.59975704e-01 -2.51320397e-01 1.23631331e-01 -5.16146678e+00] [ 2.48902106e-01 9.67900134e-01 3.48865611e-02 -8.86396847e-01] [-1.28430486e-01 -2.71815244e-03 9.91714789e-01 1.05258339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174860623999997 meters Centerline goodness : 0.787747 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.59901326e-01 -2.51557062e-01 1.23727474e-01 -5.16164014e+00] [ 2.49111913e-01 9.67838192e-01 3.51068089e-02 -8.87713078e-01] [-1.28579541e-01 -2.87708457e-03 9.91695026e-01 1.05256682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204860624 meters Centerline goodness : 0.787583 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.59637590e-01 -2.52435244e-01 1.23984450e-01 -5.16243916e+00] [ 2.49979199e-01 9.67609666e-01 3.52410867e-02 -8.89986776e-01] [-1.28864644e-01 -2.82513804e-03 9.91658168e-01 1.05269978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234860624 meters Centerline goodness : 0.790186 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.59552529e-01 -2.52686076e-01 1.24131753e-01 -5.16282427e+00] [ 2.50212531e-01 9.67543979e-01 3.53883980e-02 -8.90897324e-01] [-1.29045086e-01 -2.89770659e-03 9.91634494e-01 1.05275812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264860623999997 meters Centerline goodness : 0.788486 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.59443069e-01 -2.53010185e-01 1.24317514e-01 -5.16341440e+00] [ 2.50541738e-01 9.67459607e-01 3.53658936e-02 -8.91767870e-01] [-1.29220105e-01 -2.78483541e-03 9.91612026e-01 1.05323949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294860624 meters Centerline goodness : 0.788766 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.89, Z:1.05 [[ 9.59302473e-01 -2.53452308e-01 1.24501782e-01 -5.16366160e+00] [ 2.50936195e-01 9.67343049e-01 3.57554388e-02 -8.94699372e-01] [-1.29498232e-01 -3.05827740e-03 9.91574937e-01 1.05330295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324860624 meters Centerline goodness : 0.786358 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.90, Z:1.05 [[ 9.59245124e-01 -2.53652330e-01 1.24536292e-01 -5.16359740e+00] [ 2.51095874e-01 9.67289704e-01 3.60761838e-02 -8.96566302e-01] [-1.29613481e-01 -3.33535441e-03 9.91558985e-01 1.05322121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354860623999997 meters Centerline goodness : 0.788366 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.90, Z:1.05 [[ 9.59129198e-01 -2.54005629e-01 1.24708949e-01 -5.16399607e+00] [ 2.51421171e-01 9.67196516e-01 3.63083255e-02 -8.98423775e-01] [-1.29840580e-01 -3.46990512e-03 9.91528811e-01 1.05345844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384860623999998 meters Centerline goodness : 0.787794 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.90, Z:1.05 [[ 9.59005770e-01 -2.54366134e-01 1.24923186e-01 -5.16448332e+00] [ 2.51752217e-01 9.67101284e-01 3.65503513e-02 -9.00476835e-01] [-1.30110545e-01 -3.60230884e-03 9.91492950e-01 1.05379140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414860624 meters Centerline goodness : 0.784866 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.90, Z:1.05 [[ 9.58839740e-01 -2.55079425e-01 1.24743098e-01 -5.16435153e+00] [ 2.52408537e-01 9.66911726e-01 3.70357207e-02 -9.04379492e-01] [-1.30062615e-01 -4.02509785e-03 9.91497612e-01 1.05413108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444860623999997 meters Centerline goodness : 0.788651 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.91, Z:1.05 [[ 9.58753815e-01 -2.55377975e-01 1.24792674e-01 -5.16451765e+00] [ 2.52673535e-01 9.66832005e-01 3.73089543e-02 -9.06436191e-01] [-1.30181436e-01 -4.23829624e-03 9.91481130e-01 1.05443617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474860623999998 meters Centerline goodness : 0.787779 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.91, Z:1.05 [[ 9.58663416e-01 -2.55798158e-01 1.24626473e-01 -5.16395041e+00] [ 2.53012840e-01 9.66718013e-01 3.79576946e-02 -9.10765752e-01] [-1.30188164e-01 -4.85655539e-03 9.91477411e-01 1.05441199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504860624 meters Centerline goodness : 0.788593 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.91, Z:1.05 [[ 0.95863173 -0.25591213 0.12463625 -5.16376051] [ 0.2530621 0.96668538 0.03845716 -0.91308497] [-0.1303257 -0.00532554 0.99145693 1.05427614] [ 0. 0. 0. 1. ]] SLAMing on 22.534860623999997 meters Centerline goodness : 0.785082 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.92, Z:1.05 [[ 0.95852489 -0.256263 0.12473699 -5.16396793] [ 0.25337405 0.96659111 0.03877125 -0.91535775] [-0.1305053 -0.0055581 0.99143203 1.05452394] [ 0. 0. 0. 1. ]] SLAMing on 22.564860623999998 meters Centerline goodness : 0.784353 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.92, Z:1.06 [[ 9.57721597e-01 -2.59076451e-01 1.25094901e-01 -5.16230656e+00] [ 2.56665076e-01 9.65855310e-01 3.53066311e-02 -9.17622658e-01] [-1.29970691e-01 -1.70643083e-03 9.91516368e-01 1.05514663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594860624 meters Centerline goodness : 0.785802 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.92, Z:1.06 [[ 9.57716520e-01 -2.59121403e-01 1.25040655e-01 -5.16201583e+00] [ 2.56659316e-01 9.65842487e-01 3.56971357e-02 -9.19931702e-01] [-1.30019469e-01 -2.09488760e-03 9.91509228e-01 1.05529976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624860623999997 meters Centerline goodness : 0.787505 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.92, Z:1.06 [[ 9.57723437e-01 -2.59094198e-01 1.25044056e-01 -5.16181534e+00] [ 2.56580117e-01 9.65848868e-01 3.60916527e-02 -9.21933538e-01] [-1.30124797e-01 -2.48200324e-03 9.91494517e-01 1.05539119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654860623999998 meters Centerline goodness : 0.789780 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.92, Z:1.06 [[ 9.57816390e-01 -2.58874226e-01 1.24787416e-01 -5.16123992e+00] [ 2.56311238e-01 9.65906585e-01 3.64557148e-02 -9.23821999e-01] [-1.29970432e-01 -2.93346404e-03 9.91513531e-01 1.05598104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684860624 meters Centerline goodness : 0.788224 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.92, Z:1.06 [[ 9.57892425e-01 -2.58676333e-01 1.24614033e-01 -5.16086048e+00] [ 2.56114351e-01 9.65959429e-01 3.64392893e-02 -9.24360071e-01] [-1.29798082e-01 -2.98947710e-03 9.91535940e-01 1.05653104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714860624 meters Centerline goodness : 0.788086 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.93, Z:1.06 [[ 9.57985992e-01 -2.58440737e-01 1.24383378e-01 -5.16025921e+00] [ 2.55855781e-01 9.66021670e-01 3.66053573e-02 -9.25454550e-01] [-1.29617354e-01 -3.24321331e-03 9.91558785e-01 1.05683807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744860623999998 meters Centerline goodness : 0.789175 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.93, Z:1.06 [[ 9.58127356e-01 -2.58041890e-01 1.24122329e-01 -5.15932234e+00] [ 2.55382278e-01 9.66125842e-01 3.71584372e-02 -9.28597609e-01] [-1.29506223e-01 -3.90387222e-03 9.91570924e-01 1.05731445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774860624 meters Centerline goodness : 0.789548 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.93, Z:1.06 [[ 9.58163911e-01 -2.57931473e-01 1.24069635e-01 -5.15900017e+00] [ 2.55227849e-01 9.66153842e-01 3.74899906e-02 -9.29968627e-01] [-1.29540203e-01 -4.25552980e-03 9.91565039e-01 1.05723487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804860624 meters Centerline goodness : 0.787888 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.93, Z:1.06 [[ 0.95837107 -0.25740178 0.12356865 -5.15757499] [ 0.25459588 0.96629045 0.0382585 -0.93227343] [-0.12925101 -0.00520577 0.99159824 1.05698711] [ 0. 0. 0. 1. ]] SLAMing on 22.834860623999997 meters Centerline goodness : 0.788667 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.93, Z:1.06 [[ 0.95840952 -0.25727891 0.12352631 -5.15729413] [ 0.25443195 0.96632134 0.03856744 -0.93345186] [-0.1292887 -0.00553436 0.99159155 1.05694165] [ 0. 0. 0. 1. ]] SLAMing on 22.864860624 meters Centerline goodness : 0.786625 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.94, Z:1.06 [[ 0.95849099 -0.25708615 0.12329528 -5.15642671] [ 0.25418395 0.96636967 0.03898957 -0.93530053] [-0.12917249 -0.00603147 0.9916038 1.05676479] [ 0. 0. 0. 1. ]] SLAMing on 22.894860624 meters Centerline goodness : 0.788510 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.94, Z:1.06 [[ 0.95849793 -0.25715856 0.12309015 -5.15560018] [ 0.25417805 0.96634617 0.03960559 -0.93987379] [-0.12913261 -0.00667506 0.99160487 1.05724855] [ 0. 0. 0. 1. ]] SLAMing on 22.924860623999997 meters Centerline goodness : 0.788992 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.94, Z:1.06 [[ 0.95846052 -0.25725893 0.12317175 -5.15574839] [ 0.25424671 0.96631802 0.0398509 -0.94148851] [-0.12927509 -0.0068795 0.99158491 1.05756867] [ 0. 0. 0. 1. ]] SLAMing on 22.954860624 meters Centerline goodness : 0.788938 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.94, Z:1.06 [[ 0.9584807 -0.25724659 0.1230404 -5.15543496] [ 0.25421347 0.96631987 0.04001761 -0.94281675] [-0.12919077 -0.00707758 0.9915945 1.05793806] [ 0. 0. 0. 1. ]] SLAMing on 22.984860624 meters Centerline goodness : 0.790067 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.94, Z:1.06 [[ 0.9584914 -0.25725018 0.12294954 -5.15520018] [ 0.25418324 0.96631682 0.04028259 -0.94400089] [-0.12917092 -0.0073588 0.99159504 1.05802156] [ 0. 0. 0. 1. ]] SLAMing on 23.014860623999997 meters Centerline goodness : 0.791562 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.95, Z:1.06 [[ 0.95861798 -0.25696483 0.12255871 -5.15400291] [ 0.2538212 0.96638699 0.04087761 -0.94658967] [-0.12894325 -0.00807801 0.99161907 1.05797732] [ 0. 0. 0. 1. ]] SLAMing on 23.044860624 meters Centerline goodness : 0.791838 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.95, Z:1.06 [[ 0.95868767 -0.25679364 0.12237229 -5.15313964] [ 0.25357224 0.9664268 0.04147731 -0.94883862] [-0.12891497 -0.00873357 0.99161719 1.05752585] [ 0. 0. 0. 1. ]] SLAMing on 23.074860624 meters Centerline goodness : 0.789356 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.95, Z:1.06 [[ 0.9586243 -0.25701423 0.12240563 -5.1530883 ] [ 0.25376411 0.96636644 0.04170954 -0.9510046 ] [-0.12900864 -0.00892162 0.99160334 1.05783632] [ 0. 0. 0. 1. ]] SLAMing on 23.104860623999997 meters Centerline goodness : 0.792905 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.95, Z:1.06 [[ 0.95852075 -0.25750781 0.12217894 -5.15239154] [ 0.25419189 0.96622998 0.04226238 -0.95498867] [-0.12893585 -0.00945248 0.99160788 1.05791504] [ 0. 0. 0. 1. ]] SLAMing on 23.134860623999998 meters Centerline goodness : 0.790953 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.96, Z:1.06 [[ 0.95846837 -0.25772294 0.12213631 -5.15232052] [ 0.25438375 0.96617092 0.04245771 -0.95643382] [-0.12894687 -0.00962488 0.99160479 1.05815112] [ 0. 0. 0. 1. ]] SLAMing on 23.164860624 meters Centerline goodness : 0.791663 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.96, Z:1.06 [[ 0.95821549 -0.25857119 0.12232747 -5.15307978] [ 0.25523335 0.9659456 0.04248565 -0.95972324] [-0.12914724 -0.00948836 0.99158003 1.05943233] [ 0. 0. 0. 1. ]] SLAMing on 23.194860623999997 meters Centerline goodness : 0.789512 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.96, Z:1.06 [[ 0.95813554 -0.25881317 0.12244198 -5.15313952] [ 0.25545008 0.96587949 0.04268572 -0.96196494] [-0.12931182 -0.00962089 0.99155731 1.05976731] [ 0. 0. 0. 1. ]] SLAMing on 23.224860623999998 meters Centerline goodness : 0.789476 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.96, Z:1.06 [[ 0.9580811 -0.25897836 0.1225186 -5.15311825] [ 0.2555818 0.96583307 0.04294667 -0.96386661] [-0.12945477 -0.00983287 0.99153657 1.05989456] [ 0. 0. 0. 1. ]] SLAMing on 23.254860624 meters Centerline goodness : 0.789236 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.9580736 -0.2590085 0.12251355 -5.15286447] [ 0.25557597 0.96582223 0.04322441 -0.96614512] [-0.1295218 -0.01010065 0.99152513 1.06023945] [ 0. 0. 0. 1. ]] SLAMing on 23.284860623999997 meters Centerline goodness : 0.789202 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95810088 -0.25894976 0.12242434 -5.1525354 ] [ 0.25549493 0.96583586 0.04339853 -0.96693986] [-0.12947986 -0.01030137 0.99152854 1.06019999] [ 0. 0. 0. 1. ]] SLAMing on 23.314860623999998 meters Centerline goodness : 0.788664 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95808468 -0.2590076 0.12242878 -5.15261797] [ 0.25554735 0.96581998 0.04344334 -0.96744612] [-0.12949632 -0.01033605 0.99152603 1.06044438] [ 0. 0. 0. 1. ]] SLAMing on 23.344860624 meters Centerline goodness : 0.792009 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95814803 -0.25886279 0.12223918 -5.15214641] [ 0.25537567 0.96585581 0.04365568 -0.9687962 ] [-0.12936625 -0.0106117 0.9915401 1.06081868] [ 0. 0. 0. 1. ]] SLAMing on 23.374860623999997 meters Centerline goodness : 0.790505 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95818514 -0.25876307 0.12215936 -5.15170955] [ 0.25525676 0.96588056 0.04380332 -0.96991576] [-0.12932604 -0.01078969 0.99154342 1.06090089] [ 0. 0. 0. 1. ]] SLAMing on 23.404860623999998 meters Centerline goodness : 0.791463 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95813251 -0.25890263 0.12227642 -5.15185309] [ 0.25538861 0.96584308 0.04386115 -0.97091138] [-0.1294556 -0.01079679 0.99152644 1.06111405] [ 0. 0. 0. 1. ]] SLAMing on 23.434860624 meters Centerline goodness : 0.792690 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95807558 -0.25909566 0.12231366 -5.15215052] [ 0.25558442 0.96579185 0.0438486 -0.97232428] [-0.12949052 -0.01074881 0.9915224 1.06207002] [ 0. 0. 0. 1. ]] SLAMing on 23.464860624 meters Centerline goodness : 0.797802 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95806872 -0.25913707 0.12227962 -5.15217568] [ 0.25561919 0.96578009 0.04390489 -0.9732867 ] [-0.12947261 -0.01080688 0.99152411 1.06256316] [ 0. 0. 0. 1. ]] SLAMing on 23.494860623999998 meters Centerline goodness : 0.795546 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.06 [[ 0.95806905 -0.25916221 0.12222372 -5.15195253] [ 0.2556267 0.96577167 0.04404617 -0.9743417 ] [-0.12945531 -0.01095562 0.99152473 1.0626647 ] [ 0. 0. 0. 1. ]] SLAMing on 23.524860624 meters Centerline goodness : 0.795367 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.06 [[ 0.95826571 -0.25867914 0.12170424 -5.15017908] [ 0.25505645 0.96589094 0.04473134 -0.97635159] [-0.12912409 -0.01182306 0.99155796 1.06187924] [ 0. 0. 0. 1. ]] SLAMing on 23.554860624 meters Centerline goodness : 0.796997 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.06 [[ 0.95832217 -0.25856675 0.1214984 -5.149676 ] [ 0.25494011 0.96591969 0.04477389 -0.97647616] [-0.12893473 -0.011933 0.99158128 1.06185819] [ 0. 0. 0. 1. ]] SLAMing on 23.584860623999997 meters Centerline goodness : 0.796942 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.06 [[ 0.95834332 -0.25856078 0.12134413 -5.14941579] [ 0.2549438 0.96592151 0.04471355 -0.97675144] [-0.12877008 -0.011915 0.99160289 1.06222994] [ 0. 0. 0. 1. ]] SLAMing on 23.614860624 meters Centerline goodness : 0.796546 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.06 [[ 0.95831413 -0.25870458 0.12126814 -5.14929845] [ 0.2550619 0.9658804 0.04492737 -0.9789873 ] [-0.12875344 -0.01212365 0.99160253 1.06304474] [ 0. 0. 0. 1. ]] SLAMing on 23.644860624 meters Centerline goodness : 0.796641 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.06 [[ 0.95831817 -0.2587577 0.12112278 -5.14880508] [ 0.25508294 0.96586252 0.04519174 -0.98092629] [-0.12868166 -0.01241171 0.99160828 1.06324303] [ 0. 0. 0. 1. ]] SLAMing on 23.674860623999997 meters Centerline goodness : 0.795572 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.06 [[ 0.95824932 -0.25899377 0.12116297 -5.14874739] [ 0.2552929 0.96579712 0.04540321 -0.98273471] [-0.128778 -0.01257555 0.99159371 1.06338463] [ 0. 0. 0. 1. ]] SLAMing on 23.704860624 meters Centerline goodness : 0.795295 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.06 [[ 0.9581375 -0.25942911 0.12111595 -5.14848239] [ 0.25568077 0.96567579 0.04579968 -0.98549774] [-0.12884051 -0.01291537 0.99158122 1.06346958] [ 0. 0. 0. 1. ]] SLAMing on 23.734860624 meters Centerline goodness : 0.798188 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.06 [[ 0.95814139 -0.25946371 0.12101101 -5.14813514] [ 0.25571101 0.96566559 0.04584598 -0.98618911] [-0.12875153 -0.01298309 0.99159189 1.06353143] [ 0. 0. 0. 1. ]] SLAMing on 23.764860623999997 meters Centerline goodness : 0.798306 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.06 [[ 0.95819594 -0.25934065 0.12084271 -5.14741677] [ 0.25554292 0.96569307 0.0462029 -0.98779033] [-0.12867926 -0.01339093 0.99159585 1.06335857] [ 0. 0. 0. 1. ]] SLAMing on 23.794860624 meters Centerline goodness : 0.799249 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.06 [[ 0.95823531 -0.25926457 0.12069374 -5.14691147] [ 0.2554477 0.96571066 0.04636165 -0.98889533] [-0.12857516 -0.01359443 0.99160659 1.06344121] [ 0. 0. 0. 1. ]] SLAMing on 23.824860624 meters Centerline goodness : 0.800103 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.06 [[ 0.95823454 -0.25927356 0.12068054 -5.14677635] [ 0.25544872 0.96570734 0.04642499 -0.98978763] [-0.12857886 -0.01365834 0.99160523 1.06366092] [ 0. 0. 0. 1. ]] SLAMing on 23.854860623999997 meters Centerline goodness : 0.798870 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.06 [[ 0.95809635 -0.25969256 0.12087664 -5.14755761] [ 0.25590281 0.96559986 0.04615904 -0.99076041] [-0.12870563 -0.01329214 0.99159376 1.06489217] [ 0. 0. 0. 1. ]] SLAMing on 23.884860623999998 meters Centerline goodness : 0.799938 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.07 [[ 0.95796823 -0.26008677 0.12104439 -5.14816128] [ 0.25631663 0.96549699 0.04601454 -0.9913918 ] [-0.12883577 -0.01305478 0.99158001 1.06557465] [ 0. 0. 0. 1. ]] SLAMing on 23.914860624 meters Centerline goodness : 0.799938 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.07 [[ 0.95796823 -0.26008677 0.12104439 -5.14816128] [ 0.25631663 0.96549699 0.04601454 -0.9913918 ] [-0.12883577 -0.01305478 0.99158001 1.06557465] [ 0. 0. 0. 1. ]] SLAMing on 23.944860623999997 meters Centerline goodness : 0.800313 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.07 [[ 0.95774041 -0.26087938 0.12114146 -5.14854788] [ 0.25714417 0.96528789 0.045784 -0.99342618] [-0.12888048 -0.01269837 0.99157883 1.06647215] [ 0. 0. 0. 1. ]] SLAMing on 23.974860623999998 meters Centerline goodness : 0.800839 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.07 [[ 0.95764203 -0.26122482 0.12117479 -5.14841896] [ 0.25749991 0.96519597 0.04572248 -0.99480549] [-0.12890126 -0.01258328 0.99157759 1.06664923] [ 0. 0. 0. 1. ]] SLAMing on 24.004860624 meters Centerline goodness : 0.802645 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95751583 -0.26162266 0.12131373 -5.14856723] [ 0.25789098 0.96508859 0.04578497 -0.99609801] [-0.12905688 -0.01255412 0.99155772 1.06664886] [ 0. 0. 0. 1. ]] SLAMing on 24.034860623999997 meters Centerline goodness : 0.803046 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95731112 -0.26226366 0.12154505 -5.14922658] [ 0.25856372 0.96491931 0.04555794 -0.99736463] [-0.12922935 -0.01218598 0.99153985 1.06737474] [ 0. 0. 0. 1. ]] SLAMing on 24.064860623999998 meters Centerline goodness : 0.800831 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.9572379 -0.26246134 0.1216949 -5.14971199] [ 0.2587866 0.96486876 0.04536268 -0.99748163] [-0.12932556 -0.01192987 0.99153042 1.06795079] [ 0. 0. 0. 1. ]] SLAMing on 24.094860624 meters Centerline goodness : 0.802045 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95719107 -0.26259162 0.12178219 -5.15000151] [ 0.25893112 0.96483512 0.04525343 -0.99768253] [-0.12938291 -0.01178298 0.9915247 1.06836593] [ 0. 0. 0. 1. ]] SLAMing on 24.124860623999997 meters Centerline goodness : 0.800524 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95720478 -0.2625696 0.12172186 -5.1498503 ] [ 0.25891719 0.96484157 0.04519558 -0.99802363] [-0.12930929 -0.01174554 0.99153474 1.06862573] [ 0. 0. 0. 1. ]] SLAMing on 24.154860623999998 meters Centerline goodness : 0.803042 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95723412 -0.26245754 0.12173285 -5.14983063] [ 0.25880399 0.96487189 0.0451965 -0.99880884] [-0.12931877 -0.01175869 0.99153335 1.06922992] [ 0. 0. 0. 1. ]] SLAMing on 24.184860624 meters Centerline goodness : 0.804109 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95725102 -0.2623856 0.12175499 -5.14980551] [ 0.25872959 0.96489127 0.04520888 -0.99919105] [-0.12934249 -0.01177463 0.99153007 1.06949411] [ 0. 0. 0. 1. ]] SLAMing on 24.214860624 meters Centerline goodness : 0.804839 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95727373 -0.26234197 0.12167047 -5.14965058] [ 0.25868888 0.96490299 0.04519157 -0.99972162] [-0.12925585 -0.01178591 0.99154123 1.06989044] [ 0. 0. 0. 1. ]] SLAMing on 24.244860623999998 meters Centerline goodness : 0.806589 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95734188 -0.26218089 0.12148133 -5.14909112] [ 0.25852082 0.96494516 0.04525285 -1.00046886] [-0.12908725 -0.01191699 0.99156163 1.07013003] [ 0. 0. 0. 1. ]] SLAMing on 24.274860624 meters Centerline goodness : 0.808141 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95745076 -0.26187857 0.1212751 -5.14843378] [ 0.25819996 0.96502433 0.04539626 -1.00073587] [-0.12892173 -0.01215146 0.99158032 1.06995635] [ 0. 0. 0. 1. ]] SLAMing on 24.304860624 meters Centerline goodness : 0.807987 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95753297 -0.2616452 0.1211297 -5.14798315] [ 0.25796179 0.9650863 0.04543298 -1.00071574] [-0.12878794 -0.01225674 0.99159641 1.06986992] [ 0. 0. 0. 1. ]] SLAMing on 24.334860623999997 meters Centerline goodness : 0.807086 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95770771 -0.26116198 0.12079053 -5.14697907] [ 0.25744496 0.96521188 0.04569589 -1.00149738] [-0.12852248 -0.01266639 0.9916257 1.06981621] [ 0. 0. 0. 1. ]] SLAMing on 24.364860624 meters Centerline goodness : 0.810566 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95775518 -0.26105928 0.12063608 -5.14649545] [ 0.25733223 0.96523784 0.04578249 -1.00226801] [-0.12839445 -0.01280487 0.99164051 1.06992563] [ 0. 0. 0. 1. ]] SLAMing on 24.394860624 meters Centerline goodness : 0.810404 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.95786418 -0.26081034 0.12030872 -5.14539475] [ 0.25701092 0.96529585 0.04636063 -1.0044166 ] [-0.12822484 -0.01348654 0.99165342 1.06960755] [ 0. 0. 0. 1. ]] SLAMing on 24.424860623999997 meters Centerline goodness : 0.812112 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.01, Z:1.07 [[ 0.95794939 -0.26062093 0.12004041 -5.1445583 ] [ 0.2567906 0.96534212 0.04661734 -1.00522948] [-0.12802951 -0.0138318 0.9916739 1.06929759] [ 0. 0. 0. 1. ]] SLAMing on 24.454860624 meters Centerline goodness : 0.811532 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.01, Z:1.07 [[ 0.95805396 -0.26035284 0.11978739 -5.14387019] [ 0.25650904 0.96541136 0.04673354 -1.00561035] [-0.12781131 -0.01404671 0.99169903 1.06925334] [ 0. 0. 0. 1. ]] SLAMing on 24.484860624 meters Centerline goodness : 0.810820 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.01, Z:1.07 [[ 0.95815478 -0.26006797 0.11959959 -5.14337918] [ 0.25622093 0.96548645 0.04676262 -1.00563 ] [-0.12763325 -0.01416191 0.99172032 1.06934129] [ 0. 0. 0. 1. ]] SLAMing on 24.514860623999997 meters Centerline goodness : 0.813839 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.01, Z:1.07 [[ 0.95836649 -0.25942905 0.11929056 -5.14274772] [ 0.25557666 0.96565533 0.04680121 -1.00551617] [-0.12733516 -0.01436483 0.99175572 1.06991359] [ 0. 0. 0. 1. ]] SLAMing on 24.544860624 meters Centerline goodness : 0.812895 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.01, Z:1.07 [[ 0.9584948 -0.25909181 0.11899221 -5.14203166] [ 0.25524911 0.96574494 0.04673971 -1.00535174] [-0.127026 -0.01442712 0.99179446 1.07008051] [ 0. 0. 0. 1. ]] SLAMing on 24.574860624 meters Centerline goodness : 0.813841 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.01, Z:1.07 [[ 0.95867084 -0.25858723 0.11867123 -5.14116112] [ 0.25473887 0.96587716 0.04679121 -1.00504444] [-0.12672144 -0.0146272 0.99183049 1.06996947] [ 0. 0. 0. 1. ]] SLAMing on 24.604860623999997 meters Centerline goodness : 0.812748 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.01, Z:1.07 [[ 0.9597149 -0.25516413 0.11763746 -5.14085872] [ 0.25081023 0.96670825 0.05068923 -1.00601271] [-0.12665517 -0.01914253 0.99176208 1.06996856] [ 0. 0. 0. 1. ]] SLAMing on 24.634860623999998 meters Centerline goodness : 0.814759 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.95991615 -0.25454891 0.1173279 -5.14008204] [ 0.25023238 0.96687268 0.05040813 -1.00459888] [-0.12627247 -0.01902834 0.99181308 1.07014322] [ 0. 0. 0. 1. ]] SLAMing on 24.664860624 meters Centerline goodness : 0.819717 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96100041 -0.25088548 0.11633871 -5.1402191 ] [ 0.24609137 0.96773434 0.05412288 -1.00413111] [-0.12616361 -0.02338215 0.99173384 1.07062638] [ 0. 0. 0. 1. ]] SLAMing on 24.694860623999997 meters Centerline goodness : 0.818089 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96128129 -0.25000643 0.11590977 -5.13901743] [ 0.24523132 0.96795921 0.0540053 -1.00269132] [-0.1256976 -0.02348958 0.99179048 1.07048272] [ 0. 0. 0. 1. ]] SLAMing on 24.724860623999998 meters Centerline goodness : 0.821626 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.9623486 -0.24628203 0.11502316 -5.13890099] [ 0.24100616 0.96879263 0.05793853 -1.00316983] [-0.12570281 -0.02803577 0.99167172 1.07056729] [ 0. 0. 0. 1. ]] SLAMing on 24.754860624 meters Centerline goodness : 0.821337 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96258917 -0.24546179 0.11476325 -5.1380504 ] [ 0.24019527 0.96899749 0.05787996 -1.00201655] [-0.12541262 -0.02814903 0.99170525 1.07044812] [ 0. 0. 0. 1. ]] SLAMing on 24.784860623999997 meters Centerline goodness : 0.820910 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96283796 -0.24463334 0.11444471 -5.13712963] [ 0.2393762 0.96920288 0.0578344 -1.00077829] [-0.12506836 -0.02828982 0.99174472 1.07033166] [ 0. 0. 0. 1. ]] SLAMing on 24.814860623999998 meters Centerline goodness : 0.820723 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96368924 -0.24158219 0.11375891 -5.13788187] [ 0.23585815 0.96983665 0.06154507 -1.00120946] [-0.12519575 -0.03247935 0.99160028 1.07080337] [ 0. 0. 0. 1. ]] SLAMing on 24.844860624 meters Centerline goodness : 0.820448 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96462407 -0.23640624 0.11667258 -5.14281652] [ 0.230011 0.9709661 0.06572495 -1.00161516] [-0.12882291 -0.03656389 0.99099331 1.06939075] [ 0. 0. 0. 1. ]] SLAMing on 24.874860623999997 meters Centerline goodness : 0.821628 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96483535 -0.23571294 0.1163278 -5.14177777] [ 0.22934218 0.97113274 0.06560008 -1.0001824 ] [-0.12843252 -0.0366144 0.99104211 1.06906993] [ 0. 0. 0. 1. ]] SLAMing on 24.904860623999998 meters Centerline goodness : 0.818467 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96519357 -0.23442007 0.11596814 -5.14017352] [ 0.22799028 0.97141742 0.06609561 -0.99943571] [-0.12814761 -0.03735545 0.99105134 1.06799647] [ 0. 0. 0. 1. ]] SLAMing on 24.934860624 meters Centerline goodness : 0.819580 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.9651997 -0.23438715 0.11598363 -5.14000581] [ 0.22798725 0.97143425 0.0658583 -0.99915197] [-0.12810681 -0.03712362 0.99106533 1.06802186] [ 0. 0. 0. 1. ]] SLAMing on 24.964860624 meters Centerline goodness : 0.817215 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.9651855 -0.23445075 0.11597326 -5.13992907] [ 0.22807427 0.97142568 0.0656832 -0.99903069] [-0.12805887 -0.03694596 0.99107816 1.06815285] [ 0. 0. 0. 1. ]] SLAMing on 24.994860623999998 meters Centerline goodness : 0.815029 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96515691 -0.23455167 0.11600709 -5.14010386] [ 0.22821378 0.97141338 0.06537977 -0.99852596] [-0.12802578 -0.03662732 0.99109426 1.06852421] [ 0. 0. 0. 1. ]] SLAMing on 25.024860624 meters Centerline goodness : 0.818224 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96492584 -0.2352962 0.11642092 -5.14170209] [ 0.22906508 0.97127352 0.06447428 -0.99729716] [-0.1282471 -0.03554493 0.99110506 1.07006811] [ 0. 0. 0. 1. ]] SLAMing on 25.054860624 meters Centerline goodness : 0.816189 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96479112 -0.2357147 0.11669051 -5.14246418] [ 0.22952814 0.9711905 0.0640769 -0.99707376] [-0.12843258 -0.03503707 0.99109913 1.07063168] [ 0. 0. 0. 1. ]] SLAMing on 25.084860623999997 meters Centerline goodness : 0.816839 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96454237 -0.23654348 0.1170692 -5.14359869] [ 0.23041226 0.97101313 0.06359009 -0.99753032] [-0.12871755 -0.03436116 0.99108582 1.07153705] [ 0. 0. 0. 1. ]] SLAMing on 25.114860624 meters Centerline goodness : 0.816398 Centerline is valid? [False, False] Translation: X:-5.14, Y:-1.00, Z:1.07 [[ 0.96438942 -0.2370282 0.11734857 -5.14428085] [ 0.23091262 0.97090537 0.0634202 -0.99781331] [-0.12896673 -0.03406451 0.99106367 1.07173668] [ 0. 0. 0. 1. ]] SLAMing on 25.144860624 meters Centerline goodness : 0.817331 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.96420626 -0.23763749 0.11762103 -5.1452118 ] [ 0.23157231 0.97077605 0.06299314 -0.99787808] [-0.12915321 -0.03350061 0.9910586 1.07258343] [ 0. 0. 0. 1. ]] SLAMing on 25.174860623999997 meters Centerline goodness : 0.815109 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.9637498 -0.23914259 0.11830952 -5.1474533 ] [ 0.23317283 0.97044623 0.0621654 -0.9979742 ] [-0.12967942 -0.03232532 0.99102892 1.07394396] [ 0. 0. 0. 1. ]] SLAMing on 25.204860624 meters Centerline goodness : 0.813492 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.07 [[ 0.96348443 -0.23999922 0.11873553 -5.14881404] [ 0.23409338 0.97025953 0.06161763 -0.99815059] [-0.12999246 -0.03157243 0.99101218 1.07499256] [ 0. 0. 0. 1. ]] SLAMing on 25.234860624 meters Centerline goodness : 0.811605 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96327973 -0.24065848 0.11906155 -5.14975871] [ 0.23477773 0.97010905 0.06138284 -0.99875397] [-0.13027498 -0.03117584 0.99098764 1.07552397] [ 0. 0. 0. 1. ]] SLAMing on 25.264860623999997 meters Centerline goodness : 0.809663 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96232543 -0.24402797 0.11991712 -5.14918615] [ 0.23869482 0.96940792 0.05721074 -0.99775919] [-0.13020963 -0.02643176 0.99113411 1.07516281] [ 0. 0. 0. 1. ]] SLAMing on 25.294860624 meters Centerline goodness : 0.809492 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96216626 -0.24453945 0.12015217 -5.14958554] [ 0.23921919 0.96928556 0.05709362 -0.99816939] [-0.1304234 -0.02619085 0.99111239 1.07502711] [ 0. 0. 0. 1. ]] SLAMing on 25.324860624 meters Centerline goodness : 0.809750 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96117111 -0.24793615 0.1211518 -5.14962869] [ 0.24320408 0.96854599 0.05263506 -0.99619308] [-0.13039122 -0.02112669 0.99123751 1.07526085] [ 0. 0. 0. 1. ]] SLAMing on 25.354860623999997 meters Centerline goodness : 0.812379 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96110444 -0.24813815 0.12126715 -5.14983173] [ 0.2434296 0.9684994 0.05244936 -0.99614128] [-0.13046185 -0.0208893 0.99123324 1.0753716 ] [ 0. 0. 0. 1. ]] SLAMing on 25.384860623999998 meters Centerline goodness : 0.808093 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96098943 -0.24845306 0.12153352 -5.15041871] [ 0.24378544 0.96842797 0.05211449 -0.9958858 ] [-0.13064447 -0.02045337 0.99121828 1.07564508] [ 0. 0. 0. 1. ]] SLAMing on 25.414860624 meters Centerline goodness : 0.810871 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96088035 -0.24871702 0.12185561 -5.15118671] [ 0.244109 0.96837252 0.05162816 -0.99498983] [-0.13084243 -0.01986243 0.99120419 1.07614397] [ 0. 0. 0. 1. ]] SLAMing on 25.444860623999997 meters Centerline goodness : 0.809962 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.9607904 -0.24895873 0.12207112 -5.15193265] [ 0.24441285 0.96832181 0.05113938 -0.99382579] [-0.13093572 -0.01929848 0.99120301 1.07673809] [ 0. 0. 0. 1. ]] SLAMing on 25.474860623999998 meters Centerline goodness : 0.810381 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96076585 -0.24902342 0.12213235 -5.15216378] [ 0.24450738 0.96831012 0.05090833 -0.99302947] [-0.13093936 -0.01904872 0.99120736 1.0768845 ] [ 0. 0. 0. 1. ]] SLAMing on 25.504860624 meters Centerline goodness : 0.809136 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96075709 -0.24902243 0.12220324 -5.15217355] [ 0.24454691 0.96831675 0.05059125 -0.99206578] [-0.13092981 -0.01872148 0.99121486 1.07693757] [ 0. 0. 0. 1. ]] SLAMing on 25.534860623999997 meters Centerline goodness : 0.810812 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96079263 -0.24891953 0.12213352 -5.15194491] [ 0.24447009 0.96834625 0.0503976 -0.99129356] [-0.13081249 -0.01856365 0.99123331 1.076827 ] [ 0. 0. 0. 1. ]] SLAMing on 25.564860623999998 meters Centerline goodness : 0.810999 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96082138 -0.24881746 0.1221153 -5.15174222] [ 0.2443958 0.96837612 0.05018354 -0.99041413] [-0.13074008 -0.01837295 0.99124642 1.07662811] [ 0. 0. 0. 1. ]] SLAMing on 25.594860624 meters Centerline goodness : 0.809727 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96112941 -0.24771714 0.12192816 -5.15072778] [ 0.24329283 0.96865479 0.05016474 -0.98818272] [-0.13053296 -0.01855055 0.99127041 1.07593237] [ 0. 0. 0. 1. ]] SLAMing on 25.624860623999997 meters Centerline goodness : 0.811616 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96123784 -0.24731431 0.12189116 -5.15049044] [ 0.24293392 0.96876304 0.04981236 -0.98644554] [-0.13040296 -0.01827003 0.99129273 1.07591002] [ 0. 0. 0. 1. ]] SLAMing on 25.654860623999998 meters Centerline goodness : 0.808071 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.962093 -0.2442349 0.12135226 -5.15160064] [ 0.23940616 0.96946528 0.05312031 -0.98558379] [-0.13062064 -0.0220542 0.9911871 1.07658348] [ 0. 0. 0. 1. ]] SLAMing on 25.684860624 meters Centerline goodness : 0.809163 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96217187 -0.24392206 0.12135614 -5.15159324] [ 0.2391534 0.96955357 0.05264528 -0.98339029] [-0.13050263 -0.02163107 0.99121197 1.07668946] [ 0. 0. 0. 1. ]] SLAMing on 25.714860623999996 meters Centerline goodness : 0.808739 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96223662 -0.24369321 0.12130256 -5.15154257] [ 0.2390129 0.96962469 0.05196917 -0.98107312] [-0.13028249 -0.02101376 0.9912542 1.07705122] [ 0. 0. 0. 1. ]] SLAMing on 25.744860623999998 meters Centerline goodness : 0.807665 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96242033 -0.24302098 0.12119371 -5.15096346] [ 0.23837888 0.96979746 0.05165659 -0.97792089] [-0.13008699 -0.02082533 0.99128385 1.07624661] [ 0. 0. 0. 1. ]] SLAMing on 25.774860624 meters Centerline goodness : 0.805086 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.9624151 -0.24300313 0.12127099 -5.15099678] [ 0.23840437 0.96980944 0.05131288 -0.97681817] [-0.13007894 -0.02047276 0.99129225 1.07617601] [ 0. 0. 0. 1. ]] SLAMing on 25.804860624 meters Centerline goodness : 0.805832 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96230752 -0.24329666 0.12153585 -5.15151735] [ 0.23873166 0.96974377 0.05103141 -0.97628057] [-0.13027441 -0.02009345 0.99127435 1.07610259] [ 0. 0. 0. 1. ]] SLAMing on 25.834860623999997 meters Centerline goodness : 0.805832 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96230752 -0.24329666 0.12153585 -5.15151735] [ 0.23873166 0.96974377 0.05103141 -0.97628057] [-0.13027441 -0.02009345 0.99127435 1.07610259] [ 0. 0. 0. 1. ]] SLAMing on 25.864860624 meters Centerline goodness : 0.805535 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96219256 -0.24363484 0.12176838 -5.15202903] [ 0.23910854 0.96966719 0.05072131 -0.97565156] [-0.13043228 -0.0196878 0.99126173 1.07609665] [ 0. 0. 0. 1. ]] SLAMing on 25.894860624 meters Centerline goodness : 0.804326 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.08 [[ 0.96184332 -0.2447189 0.12235229 -5.15384899] [ 0.24030986 0.96941744 0.04980968 -0.97424956] [-0.13079981 -0.01850665 0.99123605 1.07694738] [ 0. 0. 0. 1. ]] SLAMing on 25.924860623999997 meters Centerline goodness : 0.804978 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.97, Z:1.08 [[ 0.96168987 -0.24516972 0.12265561 -5.15471137] [ 0.24080859 0.96931304 0.0494313 -0.97369777] [-0.13101074 -0.01800106 0.99121751 1.07732333] [ 0. 0. 0. 1. ]] SLAMing on 25.954860624 meters Centerline goodness : 0.803888 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.96131237 -0.24630367 0.1233411 -5.15676043] [ 0.24205661 0.96904687 0.0485466 -0.97244505] [-0.13148052 -0.01681292 0.99117617 1.07812644] [ 0. 0. 0. 1. ]] SLAMing on 25.984860624 meters Centerline goodness : 0.805543 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.96116661 -0.24677326 0.12353824 -5.15732567] [ 0.24256334 0.96893396 0.04827014 -0.97231426] [-0.13161218 -0.0164298 0.99116512 1.07832136] [ 0. 0. 0. 1. ]] SLAMing on 26.014860623999997 meters Centerline goodness : 0.805916 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.96100898 -0.24726219 0.1237867 -5.15790355] [ 0.24308971 0.96881609 0.04798735 -0.97223859] [-0.13179201 -0.016025 0.99114785 1.07840325] [ 0. 0. 0. 1. ]] SLAMing on 26.044860624 meters Centerline goodness : 0.806434 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.96065228 -0.24834948 0.12437735 -5.15957524] [ 0.24427108 0.9685538 0.04727764 -0.97172837] [-0.13220754 -0.01503558 0.99110802 1.07904724] [ 0. 0. 0. 1. ]] SLAMing on 26.074860624 meters Centerline goodness : 0.806278 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.96047602 -0.24885905 0.12471963 -5.16055721] [ 0.24482624 0.96843057 0.04692907 -0.97138016] [-0.13246102 -0.01453961 0.99108157 1.07950605] [ 0. 0. 0. 1. ]] SLAMing on 26.104860623999997 meters Centerline goodness : 0.804881 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.96032432 -0.24929607 0.12501467 -5.16139748] [ 0.24530359 0.96832457 0.0466226 -0.97116765] [-0.13267761 -0.01410627 0.99105886 1.07994097] [ 0. 0. 0. 1. ]] SLAMing on 26.134860623999998 meters Centerline goodness : 0.804998 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.96006592 -0.25005142 0.12548994 -5.16266204] [ 0.24610667 0.96813799 0.04626387 -0.97167611] [-0.13305992 -0.01353245 0.99101561 1.08062026] [ 0. 0. 0. 1. ]] SLAMing on 26.164860624 meters Centerline goodness : 0.805519 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.95993859 -0.25042561 0.12571758 -5.16327549] [ 0.24648949 0.96804364 0.0461999 -0.97224281] [-0.13326974 -0.01336101 0.99098974 1.08096756] [ 0. 0. 0. 1. ]] SLAMing on 26.194860623999997 meters Centerline goodness : 0.806054 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.95970566 -0.25114529 0.12605985 -5.16427291] [ 0.24722939 0.96786157 0.04606089 -0.97320412] [-0.13357646 -0.0130392 0.99095273 1.08147875] [ 0. 0. 0. 1. ]] SLAMing on 26.224860623999998 meters Centerline goodness : 0.803507 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.97, Z:1.08 [[ 0.95962048 -0.25142482 0.12615107 -5.1646067 ] [ 0.24751894 0.96779068 0.04599532 -0.9737637 ] [-0.13365219 -0.01291327 0.99094417 1.08189339] [ 0. 0. 0. 1. ]] SLAMing on 26.254860624 meters Centerline goodness : 0.803913 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.97, Z:1.08 [[ 0.95952815 -0.25169206 0.12632036 -5.16508347] [ 0.24778538 0.9677222 0.04600164 -0.97434818] [-0.13382127 -0.01283953 0.99092231 1.0821937 ] [ 0. 0. 0. 1. ]] SLAMing on 26.284860623999997 meters Centerline goodness : 0.803688 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.97, Z:1.08 [[ 0.95938056 -0.25211054 0.12660655 -5.16591324] [ 0.24822253 0.96761676 0.0458627 -0.97498427] [-0.13406909 -0.01257319 0.99089222 1.08284105] [ 0. 0. 0. 1. ]] SLAMing on 26.314860623999998 meters Centerline goodness : 0.802712 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.98, Z:1.08 [[ 0.95911312 -0.25296353 0.12693099 -5.16665115] [ 0.24907837 0.96739667 0.04586544 -0.97730201] [-0.1343949 -0.01237439 0.99085059 1.08329733] [ 0. 0. 0. 1. ]] SLAMing on 26.344860624 meters Centerline goodness : 0.800613 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.98, Z:1.08 [[ 0.95900253 -0.25332445 0.12704669 -5.16674572] [ 0.24943756 0.96730294 0.04589045 -0.97877125] [-0.13451781 -0.01231884 0.9908346 1.08343848] [ 0. 0. 0. 1. ]] SLAMing on 26.374860623999997 meters Centerline goodness : 0.798695 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.98, Z:1.08 [[ 0.9582207 -0.25597504 0.12763179 -5.16511467] [ 0.25256923 0.96664639 0.04246816 -0.97902066] [-0.1342456 -0.00845801 0.990912 1.08249678] [ 0. 0. 0. 1. ]] SLAMing on 26.404860623999998 meters Centerline goodness : 0.799979 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.08 [[ 0.95820092 -0.25604602 0.12763793 -5.16491861] [ 0.2526297 0.96662699 0.0425499 -0.97951546] [-0.134273 -0.00852622 0.9909077 1.08230553] [ 0. 0. 0. 1. ]] SLAMing on 26.434860624 meters Centerline goodness : 0.801091 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.08 [[ 0.95819381 -0.25605352 0.1276762 -5.16488488] [ 0.25263229 0.9666248 0.04258424 -0.97975786] [-0.13431883 -0.00854882 0.99090129 1.08230763] [ 0. 0. 0. 1. ]] SLAMing on 26.464860623999996 meters Centerline goodness : 0.801868 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.08 [[ 0.95823957 -0.25591518 0.12761013 -5.16417295] [ 0.25243612 0.96665737 0.0430061 -0.98095142] [-0.13436118 -0.00899674 0.99089158 1.08153239] [ 0. 0. 0. 1. ]] SLAMing on 26.494860623999998 meters Centerline goodness : 0.800689 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.08 [[ 0.95821694 -0.25598372 0.12764258 -5.16397887] [ 0.25246876 0.96663694 0.043273 -0.98216913] [-0.13446121 -0.00923916 0.99087578 1.08128451] [ 0. 0. 0. 1. ]] SLAMing on 26.524860624 meters Centerline goodness : 0.800486 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.08 [[ 0.95819125 -0.25614426 0.12751334 -5.16323853] [ 0.25257297 0.96659016 0.04370769 -0.9847583 ] [-0.13444862 -0.0096739 0.99087334 1.08094578] [ 0. 0. 0. 1. ]] SLAMing on 26.554860624 meters Centerline goodness : 0.800278 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 0.95809287 -0.25638949 0.12775949 -5.16364425] [ 0.25280393 0.96652511 0.04381072 -0.98582825] [-0.13471537 -0.00967664 0.99083709 1.08105272] [ 0. 0. 0. 1. ]] SLAMing on 26.584860623999997 meters Centerline goodness : 0.800936 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 0.95805475 -0.25649149 0.12784058 -5.1636449 ] [ 0.25287983 0.96649651 0.04400329 -0.98704428] [-0.13484394 -0.00982926 0.9908181 1.08103756] [ 0. 0. 0. 1. ]] SLAMing on 26.614860624 meters Centerline goodness : 0.799224 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 0.95797399 -0.25669049 0.12804621 -5.16395683] [ 0.25307586 0.9664443 0.04402297 -0.98835924] [-0.1350498 -0.00976746 0.99079067 1.08143084] [ 0. 0. 0. 1. ]] SLAMing on 26.644860624 meters Centerline goodness : 0.799482 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 0.95789319 -0.25692207 0.12818618 -5.16438878] [ 0.2533054 0.96638326 0.04404276 -0.98987889] [-0.13519254 -0.00971801 0.99077169 1.08235976] [ 0. 0. 0. 1. ]] SLAMing on 26.674860623999997 meters Centerline goodness : 0.798886 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 0.95785425 -0.25703186 0.12825697 -5.16471677] [ 0.2534164 0.96635447 0.0440359 -0.99003318] [-0.13526032 -0.00967756 0.99076283 1.08273116] [ 0. 0. 0. 1. ]] SLAMing on 26.704860624 meters Centerline goodness : 0.797804 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 0.95790525 -0.25694719 0.12804561 -5.16371553] [ 0.25324613 0.96636985 0.04467328 -0.99276398] [-0.13521809 -0.01036571 0.99076164 1.08234979] [ 0. 0. 0. 1. ]] SLAMing on 26.734860624 meters Centerline goodness : 0.794576 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95791694 -0.2569615 0.12792934 -5.16306604] [ 0.25321019 0.96636171 0.04505161 -0.99505398] [-0.13520254 -0.01076269 0.99075953 1.08224311] [ 0. 0. 0. 1. ]] SLAMing on 26.764860623999997 meters Centerline goodness : 0.792416 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95786741 -0.25713783 0.12794592 -5.16298201] [ 0.25336076 0.96631295 0.04525038 -0.99684364] [-0.13527139 -0.01092739 0.99074832 1.08251364] [ 0. 0. 0. 1. ]] SLAMing on 26.794860624 meters Centerline goodness : 0.792609 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95778232 -0.25741819 0.12801918 -5.16317769] [ 0.25361671 0.96623686 0.04544121 -0.99932015] [-0.13539425 -0.01105498 0.99073013 1.08346131] [ 0. 0. 0. 1. ]] SLAMing on 26.824860624 meters Centerline goodness : 0.793283 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95776054 -0.25749413 0.12802937 -5.1630164 ] [ 0.25367036 0.9662149 0.04560832 -1.00044239] [-0.13544776 -0.01120459 0.99072113 1.08351891] [ 0. 0. 0. 1. ]] SLAMing on 26.854860623999997 meters Centerline goodness : 0.792631 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95774369 -0.25755964 0.12802365 -5.16290945] [ 0.25371333 0.9661956 0.04577784 -1.00149529] [-0.13548641 -0.01136213 0.99071405 1.08364352] [ 0. 0. 0. 1. ]] SLAMing on 26.884860623999998 meters Centerline goodness : 0.792215 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95773124 -0.257608 0.12801952 -5.16264929] [ 0.25372639 0.96617974 0.04603935 -1.00270405] [-0.13554997 -0.01161139 0.99070247 1.08351403] [ 0. 0. 0. 1. ]] SLAMing on 26.914860624 meters Centerline goodness : 0.788028 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95769436 -0.25776034 0.12798877 -5.16202574] [ 0.25382105 0.9661341 0.0464733 -1.00538302] [-0.13563328 -0.01202097 0.99068618 1.08323856] [ 0. 0. 0. 1. ]] SLAMing on 26.944860623999997 meters Centerline goodness : 0.789062 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95773156 -0.25764964 0.12793325 -5.16138269] [ 0.25367351 0.96615997 0.04674033 -1.00631989] [-0.13564662 -0.01231141 0.99068079 1.08260894] [ 0. 0. 0. 1. ]] SLAMing on 26.974860623999998 meters Centerline goodness : 0.786152 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95781827 -0.25744393 0.12769803 -5.16029371] [ 0.25341017 0.96620819 0.04717018 -1.0071928 ] [-0.13552656 -0.01282048 0.99069076 1.08165309] [ 0. 0. 0. 1. ]] SLAMing on 27.004860624 meters Centerline goodness : 0.785364 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95783036 -0.25744007 0.12761509 -5.15993245] [ 0.25340434 0.96620864 0.04719228 -1.00739635] [-0.13545199 -0.01286398 0.9907004 1.08144161] [ 0. 0. 0. 1. ]] SLAMing on 27.034860623999997 meters Centerline goodness : 0.786324 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95792092 -0.25719643 0.12742651 -5.15925411] [ 0.25315093 0.96627144 0.04726637 -1.00718822] [-0.13528534 -0.01301931 0.99072114 1.08102274] [ 0. 0. 0. 1. ]] SLAMing on 27.064860623999998 meters Centerline goodness : 0.785370 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.9581889 -0.25631697 0.12718349 -5.1579557 ] [ 0.25225668 0.96650155 0.04734255 -1.00616743] [-0.13505774 -0.01328022 0.99074873 1.08011253] [ 0. 0. 0. 1. ]] SLAMing on 27.094860624 meters Centerline goodness : 0.785360 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95829203 -0.2560046 0.12703555 -5.15745334] [ 0.25196178 0.966585 0.04720913 -1.00583548] [-0.13487641 -0.01323203 0.99077408 1.08019059] [ 0. 0. 0. 1. ]] SLAMing on 27.124860623999997 meters Centerline goodness : 0.785499 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95831751 -0.25589182 0.12707058 -5.15742519] [ 0.251864 0.96661637 0.04708834 -1.00529076] [-0.13487803 -0.01312108 0.99077533 1.0801062 ] [ 0. 0. 0. 1. ]] SLAMing on 27.154860623999998 meters Centerline goodness : 0.787485 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95858765 -0.2550128 0.12679976 -5.15657033] [ 0.25100236 0.96684811 0.04693138 -1.00337857] [-0.13456421 -0.0131608 0.99081747 1.07999347] [ 0. 0. 0. 1. ]] SLAMing on 27.184860624 meters Centerline goodness : 0.786203 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95945834 -0.25208069 0.12607543 -5.15719381] [ 0.24754972 0.96754984 0.05066002 -1.00358386] [-0.13475468 -0.01739624 0.99072627 1.07995841] [ 0. 0. 0. 1. ]] SLAMing on 27.214860623999996 meters Centerline goodness : 0.788097 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.9594695 -0.25205257 0.12604671 -5.1571309 ] [ 0.24754225 0.96755959 0.05051016 -1.00304412] [-0.13468892 -0.01726107 0.99073758 1.07998829] [ 0. 0. 0. 1. ]] SLAMing on 27.244860623999998 meters Centerline goodness : 0.786884 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95949377 -0.25200129 0.12596453 -5.15678182] [ 0.24749325 0.96757261 0.05050086 -1.00311799] [-0.13460611 -0.01727989 0.9907485 1.07975869] [ 0. 0. 0. 1. ]] SLAMing on 27.274860624 meters Centerline goodness : 0.785510 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.08 [[ 0.95950391 -0.25196227 0.12596534 -5.15623402] [ 0.24742748 0.96757927 0.05069521 -1.00448002] [-0.13465473 -0.01747496 0.99073848 1.07934734] [ 0. 0. 0. 1. ]] SLAMing on 27.304860624 meters Centerline goodness : 0.784767 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95948091 -0.2520495 0.12596601 -5.15588822] [ 0.24748263 0.96755249 0.0509365 -1.00548901] [-0.13471725 -0.0176982 0.99072601 1.07883896] [ 0. 0. 0. 1. ]] SLAMing on 27.334860623999997 meters Centerline goodness : 0.785803 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95944264 -0.25220252 0.1259512 -5.15563487] [ 0.24761029 0.96750939 0.05113442 -1.00651779] [-0.1347552 -0.01787373 0.9907177 1.07851497] [ 0. 0. 0. 1. ]] SLAMing on 27.364860624 meters Centerline goodness : 0.784649 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95937549 -0.25240851 0.12605006 -5.15545164] [ 0.24778918 0.96745307 0.05133295 -1.00748046] [-0.13490439 -0.01801373 0.99069486 1.078017 ] [ 0. 0. 0. 1. ]] SLAMing on 27.394860624 meters Centerline goodness : 0.782935 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.08 [[ 0.95940582 -0.25233758 0.12596119 -5.15513423] [ 0.24770727 0.96746936 0.05142121 -1.00790728] [-0.1348391 -0.01813231 0.99070159 1.07797395] [ 0. 0. 0. 1. ]] SLAMing on 27.424860623999997 meters Centerline goodness : 0.783122 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.9594258 -0.25229818 0.1258879 -5.15486926] [ 0.24766778 0.96747904 0.05142944 -1.00823056] [-0.13476946 -0.01816435 0.99071048 1.07798068] [ 0. 0. 0. 1. ]] SLAMing on 27.454860624 meters Centerline goodness : 0.783882 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.95945776 -0.25219899 0.12584304 -5.1545137 ] [ 0.24753677 0.9675001 0.05166334 -1.00967038] [-0.13478259 -0.01841801 0.99070401 1.07812334] [ 0. 0. 0. 1. ]] SLAMing on 27.484860624 meters Centerline goodness : 0.783557 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.95943749 -0.25227062 0.12585404 -5.15455484] [ 0.24761002 0.96748184 0.05165431 -1.01029306] [-0.13479236 -0.01839636 0.99070308 1.07842529] [ 0. 0. 0. 1. ]] SLAMing on 27.514860623999997 meters Centerline goodness : 0.783432 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.95940847 -0.25233364 0.1259489 -5.15476968] [ 0.24768969 0.96746845 0.05152288 -1.01044216] [-0.13485255 -0.01823525 0.99069787 1.07879115] [ 0. 0. 0. 1. ]] SLAMing on 27.544860624 meters Centerline goodness : 0.784756 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.95951682 -0.25204576 0.12569965 -5.15429036] [ 0.24742079 0.96754382 0.05139958 -1.0097918 ] [-0.13457496 -0.01821806 0.99073593 1.07906343] [ 0. 0. 0. 1. ]] SLAMing on 27.574860624 meters Centerline goodness : 0.783272 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.95961546 -0.25179205 0.12545489 -5.1538284 ] [ 0.24720339 0.96761263 0.05114962 -1.00869859] [-0.1342708 -0.01807109 0.99077989 1.07918331] [ 0. 0. 0. 1. ]] SLAMing on 27.604860623999997 meters Centerline goodness : 0.782592 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.95975007 -0.25143155 0.12514783 -5.15292426] [ 0.24685389 0.9677051 0.05108803 -1.00821137] [-0.13395134 -0.01813851 0.9908219 1.07887677] [ 0. 0. 0. 1. ]] SLAMing on 27.634860623999998 meters Centerline goodness : 0.781693 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.95989906 -0.25098382 0.12490359 -5.15191321] [ 0.24637977 0.96781526 0.05128967 -1.00815454] [-0.13375648 -0.01845918 0.9908423 1.07811002] [ 0. 0. 0. 1. ]] SLAMing on 27.664860624 meters Centerline goodness : 0.781517 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.96020534 -0.25000672 0.12450842 -5.15021995] [ 0.24537563 0.96805989 0.05148643 -1.00707689] [-0.13340356 -0.01888621 0.99088183 1.07680631] [ 0. 0. 0. 1. ]] SLAMing on 27.694860623999997 meters Centerline goodness : 0.780067 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.96033925 -0.24961647 0.12425837 -5.14961827] [ 0.24503042 0.96816446 0.05116326 -1.00563039] [-0.13307373 -0.01868701 0.99092996 1.0768568 ] [ 0. 0. 0. 1. ]] SLAMing on 27.724860623999998 meters Centerline goodness : 0.780067 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.01, Z:1.08 [[ 0.96033925 -0.24961647 0.12425837 -5.14961827] [ 0.24503042 0.96816446 0.05116326 -1.00563039] [-0.13307373 -0.01868701 0.99092996 1.0768568 ] [ 0. 0. 0. 1. ]] SLAMing on 27.754860624 meters Centerline goodness : 0.779175 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96127693 -0.24637736 0.12347012 -5.15007369] [ 0.24130814 0.96890627 0.05469034 -1.00491414] [-0.13310543 -0.02277821 0.9908401 1.07703912] [ 0. 0. 0. 1. ]] SLAMing on 27.784860623999997 meters Centerline goodness : 0.779181 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96149882 -0.24566996 0.12315146 -5.14915495] [ 0.24063625 0.96908752 0.0544388 -1.00332476] [-0.13271853 -0.02270814 0.9908936 1.07695817] [ 0. 0. 0. 1. ]] SLAMing on 27.814860623999998 meters Centerline goodness : 0.777241 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96248354 -0.24215887 0.12241123 -5.14951378] [ 0.2366533 0.96986764 0.05789618 -1.00244576] [-0.13274277 -0.0267551 0.99078934 1.07731452] [ 0. 0. 0. 1. ]] SLAMing on 27.844860624 meters Centerline goodness : 0.779272 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96273417 -0.24134518 0.12204678 -5.14848207] [ 0.23586744 0.97006981 0.05771588 -1.00061319] [-0.13232334 -0.02677819 0.99084482 1.07705744] [ 0. 0. 0. 1. ]] SLAMing on 27.874860623999997 meters Centerline goodness : 0.780177 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96306288 -0.24019756 0.12171699 -5.14721328] [ 0.23470966 0.97034591 0.05779441 -0.99858997] [-0.13198966 -0.0270915 0.99088081 1.07618204] [ 0. 0. 0. 1. ]] SLAMing on 27.904860623999998 meters Centerline goodness : 0.779393 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.00, Z:1.08 [[ 0.96332115 -0.23929175 0.12145704 -5.14631012] [ 0.23383113 0.97057003 0.05759179 -0.99654284] [-0.1316638 -0.02707896 0.9909245 1.07589931] [ 0. 0. 0. 1. ]] SLAMing on 27.934860624 meters Centerline goodness : 0.778544 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96531863 -0.23168001 0.1203508 -5.15409407] [ 0.22742952 0.97260494 0.04811912 -0.99394264] [-0.12820202 -0.01907896 0.99156454 1.08058018] [ 0. 0. 0. 1. ]] SLAMing on 27.964860623999996 meters Centerline goodness : 0.779682 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96555947 -0.23087265 0.11996968 -5.15289023] [ 0.22663314 0.97279451 0.04804441 -0.99213062] [-0.12779799 -0.01920063 0.99161435 1.07987585] [ 0. 0. 0. 1. ]] SLAMing on 27.994860623999998 meters Centerline goodness : 0.780269 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96598655 -0.22933504 0.11947978 -5.15098945] [ 0.22503049 0.97314206 0.04853665 -0.99028663] [-0.12740195 -0.01999916 0.99164952 1.07845332] [ 0. 0. 0. 1. ]] SLAMing on 28.024860624 meters Centerline goodness : 0.779991 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96605418 -0.22911813 0.11934906 -5.15061915] [ 0.22484014 0.97319595 0.04833784 -0.98924024] [-0.12722509 -0.01986251 0.99167498 1.07830058] [ 0. 0. 0. 1. ]] SLAMing on 28.054860624 meters Centerline goodness : 0.779533 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96613265 -0.22888234 0.11916618 -5.15016136] [ 0.22463206 0.97325397 0.04813683 -0.98806268] [-0.12699663 -0.01973801 0.99170674 1.07812874] [ 0. 0. 0. 1. ]] SLAMing on 28.084860623999997 meters Centerline goodness : 0.780150 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96619288 -0.22866296 0.11909896 -5.14994512] [ 0.22445841 0.97331174 0.04777735 -0.98634515] [-0.12684533 -0.01942938 0.9917322 1.07808087] [ 0. 0. 0. 1. ]] SLAMing on 28.114860624 meters Centerline goodness : 0.780160 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.08 [[ 0.96617916 -0.22871329 0.11911368 -5.15015394] [ 0.22455984 0.97330785 0.04737831 -0.98527857] [-0.12677033 -0.01902779 0.99174958 1.0784301 ] [ 0. 0. 0. 1. ]] SLAMing on 28.144860624 meters Centerline goodness : 0.780551 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.9661473 -0.22880845 0.11918931 -5.15043063] [ 0.22469326 0.97329187 0.04707316 -0.98457387] [-0.12677672 -0.01869857 0.99175502 1.07871959] [ 0. 0. 0. 1. ]] SLAMing on 28.174860623999997 meters Centerline goodness : 0.779555 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96596356 -0.22941148 0.11951894 -5.15127271] [ 0.22536438 0.97316291 0.04652797 -0.98420278] [-0.12698545 -0.01800901 0.99174108 1.07916844] [ 0. 0. 0. 1. ]] SLAMing on 28.204860624 meters Centerline goodness : 0.780339 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96576955 -0.23003303 0.11989155 -5.15233586] [ 0.22603331 0.97302613 0.0461422 -0.98415291] [-0.12727184 -0.01746325 0.99171413 1.07973427] [ 0. 0. 0. 1. ]] SLAMing on 28.234860624 meters Centerline goodness : 0.779135 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96561474 -0.23059949 0.12005022 -5.15298111] [ 0.22662319 0.972897 0.04597125 -0.9846951 ] [-0.12739744 -0.01718435 0.99170287 1.08022204] [ 0. 0. 0. 1. ]] SLAMing on 28.264860623999997 meters Centerline goodness : 0.780236 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.9645673 -0.23443276 0.12104214 -5.1535017 ] [ 0.23106831 0.97205964 0.04132188 -0.98347435] [-0.12734738 -0.01188873 0.99178692 1.08119977] [ 0. 0. 0. 1. ]] SLAMing on 28.294860624 meters Centerline goodness : 0.778916 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.08 [[ 0.96427057 -0.23546099 0.12141003 -5.15469568] [ 0.23214864 0.97181814 0.04094519 -0.98442731] [-0.12762946 -0.01129707 0.99175758 1.0819381 ] [ 0. 0. 0. 1. ]] SLAMing on 28.324860624 meters Centerline goodness : 0.779071 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 0.96397972 -0.23646906 0.12175995 -5.15586483] [ 0.23320794 0.97157986 0.04057861 -0.98532029] [-0.1278951 -0.01072157 0.99172975 1.08270498] [ 0. 0. 0. 1. ]] SLAMing on 28.354860623999997 meters Centerline goodness : 0.775816 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.08 [[ 0.96282112 -0.240605 0.12281991 -5.15645038] [ 0.23794513 0.97060732 0.03610472 -0.98487535] [-0.12789688 -0.00553798 0.99177201 1.08338077] [ 0. 0. 0. 1. ]] SLAMing on 28.384860623999998 meters Centerline goodness : 0.777580 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 9.62506614e-01 -2.41674881e-01 1.23183884e-01 -5.15774221e+00] [ 2.39068349e-01 9.70344633e-01 3.57437778e-02 -9.85688213e-01] [-1.28169194e-01 -4.95425478e-03 9.91739942e-01 1.08417303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414860624 meters Centerline goodness : 0.776013 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.08 [[ 9.62205270e-01 -2.42652261e-01 1.23615928e-01 -5.15902369e+00] [ 2.40088755e-01 9.70103181e-01 3.54571194e-02 -9.86921322e-01] [-1.28523955e-01 -4.43823294e-03 9.91696473e-01 1.08499288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444860623999997 meters Centerline goodness : 0.775147 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.61195592e-01 -2.46241719e-01 1.24370612e-01 -5.15855718e+00] [ 2.44250818e-01 9.69208389e-01 3.12511943e-02 -9.86744343e-01] [-1.28236388e-01 3.39113352e-04 9.91743573e-01 1.08530080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474860623999998 meters Centerline goodness : 0.774241 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.61027771e-01 -2.46804419e-01 1.24552007e-01 -5.15907262e+00] [ 2.44829313e-01 9.69065160e-01 3.11660555e-02 -9.87459940e-01] [-1.28390931e-01 5.42537414e-04 9.91723487e-01 1.08546761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504860624 meters Centerline goodness : 0.774463 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60909462e-01 -2.47191862e-01 1.24696391e-01 -5.15947761e+00] [ 2.45237242e-01 9.68966257e-01 3.10336689e-02 -9.87835689e-01] [-1.28497866e-01 7.59652955e-04 9.91709494e-01 1.08570899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534860623999997 meters Centerline goodness : 0.776502 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60796251e-01 -2.47538555e-01 1.24880856e-01 -5.16001490e+00] [ 2.45611272e-01 9.68877491e-01 3.08465593e-02 -9.87816821e-01] [-1.28629964e-01 1.03488750e-03 9.91692120e-01 1.08601667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564860623999998 meters Centerline goodness : 0.773408 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60562836e-01 -2.48247645e-01 1.25268291e-01 -5.16126122e+00] [ 2.46372856e-01 9.68695325e-01 3.04923424e-02 -9.88441377e-01] [-1.28916460e-01 1.57289570e-03 9.91654210e-01 1.08709926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594860624 meters Centerline goodness : 0.774498 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60472156e-01 -2.48519636e-01 1.25424190e-01 -5.16178663e+00] [ 2.46659410e-01 9.68625298e-01 3.04001248e-02 -9.89160577e-01] [-1.29044072e-01 1.73858337e-03 9.91637335e-01 1.08774934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624860623999997 meters Centerline goodness : 0.773424 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60365260e-01 -2.48849503e-01 1.25588584e-01 -5.16246910e+00] [ 2.47026097e-01 9.68539938e-01 3.01412767e-02 -9.89681344e-01] [-1.29138201e-01 2.07702282e-03 9.91624430e-01 1.08873992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654860623999998 meters Centerline goodness : 0.776526 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60319849e-01 -2.48994684e-01 1.25648058e-01 -5.16290174e+00] [ 2.47211009e-01 9.68501880e-01 2.98467119e-02 -9.89685183e-01] [-1.29122053e-01 2.39919329e-03 9.91625806e-01 1.08971656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684860624 meters Centerline goodness : 0.774410 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60330452e-01 -2.48973416e-01 1.25609163e-01 -5.16291043e+00] [ 2.47215438e-01 9.68506879e-01 2.96471402e-02 -9.89049944e-01] [-1.29034689e-01 2.58147287e-03 9.91636720e-01 1.08994538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714860623999996 meters Centerline goodness : 0.777591 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60417071e-01 -2.48773374e-01 1.25342962e-01 -5.16226478e+00] [ 2.47012556e-01 9.68558536e-01 2.96506394e-02 -9.88659207e-01] [-1.28778285e-01 2.48430509e-03 9.91670299e-01 1.08970105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744860623999998 meters Centerline goodness : 0.776906 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60731878e-01 -2.47741693e-01 1.24973247e-01 -5.16062242e+00] [ 2.45918586e-01 9.68824343e-01 3.00572979e-02 -9.87879186e-01] [-1.28523570e-01 1.85623989e-03 9.91704717e-01 1.08843296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774860624 meters Centerline goodness : 0.778917 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60875224e-01 -2.47319912e-01 1.24706314e-01 -5.15970305e+00] [ 2.45487644e-01 9.68932397e-01 3.00969541e-02 -9.87291782e-01] [-1.28275563e-01 1.69444163e-03 9.91737117e-01 1.08785999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804860623999996 meters Centerline goodness : 0.779940 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.60998442e-01 -2.46966369e-01 1.24457250e-01 -5.15888540e+00] [ 2.45124829e-01 9.69022827e-01 3.01426375e-02 -9.86783443e-01] [-1.28046134e-01 1.54053446e-03 9.91767016e-01 1.08735465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834860623999997 meters Centerline goodness : 0.779482 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.61047449e-01 -2.46864602e-01 1.24280604e-01 -5.15846602e+00] [ 2.45046223e-01 9.69048549e-01 2.99542840e-02 -9.86076578e-01] [-1.27828591e-01 1.66700434e-03 9.91794874e-01 1.08728157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864860624 meters Centerline goodness : 0.779158 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.09 [[ 9.61657527e-01 -2.44689084e-01 1.23863038e-01 -5.16038050e+00] [ 2.42450597e-01 9.69599977e-01 3.30694999e-02 -9.85912569e-01] [-1.28189345e-01 -1.77086592e-03 9.91748131e-01 1.08845792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894860624 meters Centerline goodness : 0.778306 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61650215e-01 -2.44696065e-01 1.23906011e-01 -5.16068115e+00] [ 2.42503245e-01 9.69598802e-01 3.27160386e-02 -9.84684313e-01] [-1.28144606e-01 -1.41377580e-03 9.91754486e-01 1.08880202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924860623999997 meters Centerline goodness : 0.781813 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61687814e-01 -2.44617173e-01 1.23769900e-01 -5.16046245e+00] [ 2.42458032e-01 9.69618998e-01 3.24515300e-02 -9.84024941e-01] [-1.27947848e-01 -1.19923453e-03 9.91780172e-01 1.08904371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954860624 meters Centerline goodness : 0.785084 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61665007e-01 -2.44667789e-01 1.23847033e-01 -5.16050809e+00] [ 2.42527417e-01 9.69606417e-01 3.23086340e-02 -9.83937463e-01] [-1.27987760e-01 -1.03378169e-03 9.91775209e-01 1.08902998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984860624 meters Centerline goodness : 0.785984 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61524916e-01 -2.45065996e-01 1.24147063e-01 -5.16095692e+00] [ 2.42956937e-01 9.69506152e-01 3.20897005e-02 -9.84242206e-01] [-1.28225435e-01 -6.92656475e-04 9.91744805e-01 1.08900580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014860623999997 meters Centerline goodness : 0.785361 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61434034e-01 -2.45341754e-01 1.24306166e-01 -5.16141541e+00] [ 2.43251543e-01 9.69436529e-01 3.19609734e-02 -9.84194322e-01] [-1.28348299e-01 -4.90700958e-04 9.91729032e-01 1.08914448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044860624 meters Centerline goodness : 0.790406 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61212069e-01 -2.46070364e-01 1.24582237e-01 -5.16262427e+00] [ 2.44063000e-01 9.69251934e-01 3.13678372e-02 -9.83549222e-01] [-1.28470269e-01 2.54770684e-04 9.91713328e-01 1.09014326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074860624 meters Centerline goodness : 0.792307 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61109959e-01 -2.46398111e-01 1.24722162e-01 -5.16323260e+00] [ 2.44431737e-01 9.69168502e-01 3.10731595e-02 -9.83167146e-01] [-1.28533159e-01 6.21331801e-04 9.91705017e-01 1.09063953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104860623999997 meters Centerline goodness : 0.793928 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.61017267e-01 -2.46686283e-01 1.24866692e-01 -5.16359744e+00] [ 2.44746288e-01 9.69094996e-01 3.08892134e-02 -9.82987653e-01] [-1.28627631e-01 8.75591835e-04 9.91692576e-01 1.09072813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134860623999998 meters Centerline goodness : 0.794332 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.60847179e-01 -2.47235131e-01 1.25089926e-01 -5.16380445e+00] [ 2.45302492e-01 9.68954974e-01 3.08698109e-02 -9.84384065e-01] [-1.28838608e-01 1.02369991e-03 9.91665047e-01 1.09051137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164860624 meters Centerline goodness : 0.798304 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.98, Z:1.09 [[ 9.60726621e-01 -2.47578948e-01 1.25335645e-01 -5.16434156e+00] [ 2.45656233e-01 9.68867002e-01 3.08179702e-02 -9.84861024e-01] [-1.29063451e-01 1.18183800e-03 9.91635633e-01 1.09059966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194860623999997 meters Centerline goodness : 0.799671 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.98, Z:1.09 [[ 9.60592314e-01 -2.47979143e-01 1.25573689e-01 -5.16503947e+00] [ 2.46079262e-01 9.68764303e-01 3.06711868e-02 -9.84995879e-01] [-1.29257122e-01 1.43857445e-03 9.91610068e-01 1.09088964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224860623999998 meters Centerline goodness : 0.799125 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.98, Z:1.09 [[ 9.60435302e-01 -2.48442007e-01 1.25859448e-01 -5.16598877e+00] [ 2.46591041e-01 9.68644898e-01 3.03301919e-02 -9.84976782e-01] [-1.29448406e-01 1.90562530e-03 9.91584328e-01 1.09165055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254860624 meters Centerline goodness : 0.803834 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.60244467e-01 -2.48975748e-01 1.26260209e-01 -5.16695326e+00] [ 2.47154128e-01 9.68507090e-01 3.01472113e-02 -9.85793537e-01] [-1.29789832e-01 2.25703914e-03 9.91538958e-01 1.09221877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284860623999997 meters Centerline goodness : 0.807177 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.60191536e-01 -2.49141026e-01 1.26336709e-01 -5.16708849e+00] [ 2.47307285e-01 9.68464726e-01 3.02519624e-02 -9.86281864e-01] [-1.29889651e-01 2.19631020e-03 9.91526023e-01 1.09211572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314860623999998 meters Centerline goodness : 0.806604 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.60206422e-01 -2.49118174e-01 1.26268611e-01 -5.16683650e+00] [ 2.47266468e-01 9.68470936e-01 3.03864919e-02 -9.86622884e-01] [-1.29857307e-01 2.04468872e-03 9.91530584e-01 1.09193556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344860624 meters Centerline goodness : 0.811001 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.60124826e-01 -2.49369667e-01 1.26392592e-01 -5.16705134e+00] [ 2.47536810e-01 9.68405796e-01 3.02612209e-02 -9.86558890e-01] [-1.29945549e-01 2.23226950e-03 9.91518619e-01 1.09194641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374860623999997 meters Centerline goodness : 0.811662 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.60114178e-01 -2.49406103e-01 1.26401582e-01 -5.16704776e+00] [ 2.47557780e-01 9.68396661e-01 3.03817658e-02 -9.86832419e-01] [-1.29984268e-01 2.12173087e-03 9.91513786e-01 1.09187430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404860623999998 meters Centerline goodness : 0.814260 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.60050045e-01 -2.49586737e-01 1.26532098e-01 -5.16731836e+00] [ 2.47740843e-01 9.68349985e-01 3.03773170e-02 -9.87379951e-01] [-1.30109131e-01 2.18342420e-03 9.91497275e-01 1.09200898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434860624 meters Centerline goodness : 0.811606 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59997528e-01 -2.49734586e-01 1.26638785e-01 -5.16742249e+00] [ 2.47877459e-01 9.68311972e-01 3.04744022e-02 -9.88138058e-01] [-1.30236364e-01 2.13554964e-03 9.91480675e-01 1.09194314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464860623999996 meters Centerline goodness : 0.815854 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59886758e-01 -2.50079090e-01 1.26798505e-01 -5.16758159e+00] [ 2.48194239e-01 9.68223363e-01 3.07105670e-02 -9.90099758e-01] [-1.30449346e-01 1.99199184e-03 9.91452974e-01 1.09192033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494860623999998 meters Centerline goodness : 0.816815 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59868530e-01 -2.50130834e-01 1.26834425e-01 -5.16763282e+00] [ 2.48238097e-01 9.68210091e-01 3.07744565e-02 -9.90758230e-01] [-1.30500011e-01 1.94570394e-03 9.91446399e-01 1.09206800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524860624 meters Centerline goodness : 0.816762 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59833742e-01 -2.50220736e-01 1.26920337e-01 -5.16782467e+00] [ 2.48335107e-01 9.68186698e-01 3.07277217e-02 -9.91039477e-01] [-1.30571295e-01 2.02527132e-03 9.91436854e-01 1.09226793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554860623999996 meters Centerline goodness : 0.820239 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59841932e-01 -2.50196617e-01 1.26905939e-01 -5.16787066e+00] [ 2.48309864e-01 9.68192959e-01 3.07344448e-02 -9.91388952e-01] [-1.30559091e-01 2.01178752e-03 9.91438489e-01 1.09274417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584860623999997 meters Centerline goodness : 0.822578 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59859107e-01 -2.50162012e-01 1.26844247e-01 -5.16773793e+00] [ 2.48278920e-01 9.68201880e-01 3.07033849e-02 -9.91588052e-01] [-1.30491659e-01 2.02182897e-03 9.91447346e-01 1.09294561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614860624 meters Centerline goodness : 0.819779 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59922213e-01 -2.49972702e-01 1.26739867e-01 -5.16731646e+00] [ 2.48064785e-01 9.68251213e-01 3.08780124e-02 -9.92096780e-01] [-1.30434690e-01 1.79920769e-03 9.91455271e-01 1.09280066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644860624 meters Centerline goodness : 0.819779 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59922213e-01 -2.49972702e-01 1.26739867e-01 -5.16731646e+00] [ 2.48064785e-01 9.68251213e-01 3.08780124e-02 -9.92096780e-01] [-1.30434690e-01 1.79920769e-03 9.91455271e-01 1.09280066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674860623999997 meters Centerline goodness : 0.818277 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59916408e-01 -2.50043919e-01 1.26643313e-01 -5.16699179e+00] [ 2.48092969e-01 9.68233392e-01 3.12085999e-02 -9.93759182e-01] [-1.30423805e-01 1.46166843e-03 9.91457258e-01 1.09278373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704860624 meters Centerline goodness : 0.817714 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.99, Z:1.09 [[ 9.59988348e-01 -2.49871571e-01 1.26438009e-01 -5.16620757e+00] [ 2.47866745e-01 9.68278472e-01 3.16050215e-02 -9.94943312e-01] [-1.30324399e-01 9.99325513e-04 9.91470903e-01 1.09229629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734860624 meters Centerline goodness : 0.817833 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59958082e-01 -2.49941255e-01 1.26530039e-01 -5.16630679e+00] [ 2.47926087e-01 9.68260537e-01 3.16889346e-02 -9.95254412e-01] [-1.30434415e-01 9.50048528e-04 9.91456485e-01 1.09216389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764860623999997 meters Centerline goodness : 0.815647 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59983040e-01 -2.49868626e-01 1.26484119e-01 -5.16611222e+00] [ 2.47848683e-01 9.68279331e-01 3.17201329e-02 -9.95506575e-01] [-1.30397824e-01 8.98132763e-04 9.91461346e-01 1.09226027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794860624 meters Centerline goodness : 0.814953 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59996766e-01 -2.49870639e-01 1.26375920e-01 -5.16585803e+00] [ 2.47819890e-01 9.68279015e-01 3.19539006e-02 -9.96636723e-01] [-1.30351493e-01 6.42825333e-04 9.91467637e-01 1.09241813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824860624 meters Centerline goodness : 0.812931 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.60008932e-01 -2.49847563e-01 1.26329116e-01 -5.16554853e+00] [ 2.47769133e-01 9.68285090e-01 3.21627355e-02 -9.97609084e-01] [-1.30358381e-01 4.23942148e-04 9.91466849e-01 1.09227452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854860623999997 meters Centerline goodness : 0.813350 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.60003318e-01 -2.49865385e-01 1.26336529e-01 -5.16539187e+00] [ 2.47762217e-01 9.68280554e-01 3.23520221e-02 -9.98625197e-01] [-1.30412854e-01 2.43369907e-04 9.91459746e-01 1.09223805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884860623999998 meters Centerline goodness : 0.815184 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59960547e-01 -2.50006960e-01 1.26381443e-01 -5.16564915e+00] [ 2.47908774e-01 9.68243993e-01 3.23235303e-02 -9.99246655e-01] [-1.30449181e-01 3.01754779e-04 9.91454951e-01 1.09273144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914860624 meters Centerline goodness : 0.812952 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59809062e-01 -2.50432857e-01 1.26688392e-01 -5.16660736e+00] [ 2.48352660e-01 9.68133818e-01 3.22159288e-02 -1.00034164e+00] [-1.30719244e-01 5.42258776e-04 9.91419278e-01 1.09378353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944860623999997 meters Centerline goodness : 0.812854 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59790243e-01 -2.50540068e-01 1.26618970e-01 -5.16649227e+00] [ 2.48450822e-01 9.68106119e-01 3.22913503e-02 -1.00119830e+00] [-1.30670876e-01 4.65664190e-04 9.91425693e-01 1.09397988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974860623999998 meters Centerline goodness : 0.813458 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59723549e-01 -2.50748172e-01 1.26712522e-01 -5.16658060e+00] [ 2.48643464e-01 9.68052273e-01 3.24226039e-02 -1.00232450e+00] [-1.30794254e-01 3.89503982e-04 9.91409457e-01 1.09400933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004860624 meters Centerline goodness : 0.809537 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.00, Z:1.09 [[ 9.59622917e-01 -2.51152604e-01 1.26673699e-01 -5.16646829e+00] [ 2.49024507e-01 9.67947475e-01 3.26263860e-02 -1.00452793e+00] [-1.30807689e-01 2.35827878e-04 9.91407733e-01 1.09428133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034860623999997 meters Centerline goodness : 0.808271 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.01, Z:1.09 [[ 9.59580465e-01 -2.51307529e-01 1.26688033e-01 -5.16650362e+00] [ 2.49162520e-01 9.67907284e-01 3.27647413e-02 -1.00547579e+00] [-1.30856296e-01 1.25503940e-04 9.91401338e-01 1.09442946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064860623999998 meters Centerline goodness : 0.808241 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.01, Z:1.09 [[ 9.59504006e-01 -2.51546134e-01 1.26793550e-01 -5.16687625e+00] [ 2.49404865e-01 9.67845289e-01 3.27522397e-02 -1.00619318e+00] [-1.30955239e-01 1.97022967e-04 9.91388262e-01 1.09489020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094860624 meters Centerline goodness : 0.806839 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.01, Z:1.10 [[ 9.59457475e-01 -2.51678963e-01 1.26882041e-01 -5.16710979e+00] [ 2.49530297e-01 9.67810761e-01 3.28171006e-02 -1.00693344e+00] [-1.31057178e-01 1.74300817e-04 9.91374796e-01 1.09520447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124860623999997 meters Centerline goodness : 0.805358 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.01, Z:1.10 [[ 9.59472476e-01 -2.51677463e-01 1.26771537e-01 -5.16656735e+00] [ 2.49469297e-01 9.67811122e-01 3.32671165e-02 -1.00899203e+00] [-1.31063487e-01 -2.93276438e-04 9.91373934e-01 1.09500387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154860623999998 meters Centerline goodness : 0.804070 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.01, Z:1.09 [[ 9.59504209e-01 -2.51601067e-01 1.26682971e-01 -5.16609029e+00] [ 2.49350388e-01 9.67830822e-01 3.35839962e-02 -1.00998068e+00] [-1.31057453e-01 -6.35537727e-04 9.91374571e-01 1.09456595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184860624 meters Centerline goodness : 0.804580 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.01, Z:1.09 [[ 9.59487020e-01 -2.51688361e-01 1.26639757e-01 -5.16594291e+00] [ 2.49401619e-01 9.67807908e-01 3.38627497e-02 -1.01174113e+00] [-1.31085819e-01 -9.06708297e-04 9.91370610e-01 1.09480724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214860623999996 meters Centerline goodness : 0.800513 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.01, Z:1.09 [[ 9.59498700e-01 -2.51634917e-01 1.26657460e-01 -5.16563303e+00] [ 2.49308358e-01 9.67821486e-01 3.41601238e-02 -1.01282400e+00] [-1.31177691e-01 -1.19983103e-03 9.91358146e-01 1.09444931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244860623999998 meters Centerline goodness : 0.800727 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.09 [[ 9.59586242e-01 -2.51420625e-01 1.26419593e-01 -5.16473474e+00] [ 2.49052302e-01 9.67876620e-01 3.44644486e-02 -1.01355774e+00] [-1.31023642e-01 -1.58652002e-03 9.91377974e-01 1.09380339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274860624 meters Centerline goodness : 0.800035 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.09 [[ 9.59681219e-01 -2.51155367e-01 1.26225750e-01 -5.16392421e+00] [ 2.48737181e-01 9.67944666e-01 3.48272609e-02 -1.01410329e+00] [-1.30926595e-01 -2.02603096e-03 9.91389995e-01 1.09305719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304860623999996 meters Centerline goodness : 0.800179 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.09 [[ 9.59856079e-01 -2.50667070e-01 1.25866308e-01 -5.16282749e+00] [ 2.48194240e-01 9.68069962e-01 3.52160218e-02 -1.01471138e+00] [-1.30674889e-01 -2.56302003e-03 9.91421961e-01 1.09266482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334860623999997 meters Centerline goodness : 0.800140 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.09 [[ 9.59907691e-01 -2.50537146e-01 1.25731317e-01 -5.16250549e+00] [ 2.48057944e-01 9.68103343e-01 3.52586809e-02 -1.01499704e+00] [-1.30554518e-01 -2.65642690e-03 9.91437573e-01 1.09278860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364860624 meters Centerline goodness : 0.797521 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.59989199e-01 -2.50277153e-01 1.25626768e-01 -5.16206032e+00] [ 2.47755650e-01 9.68169531e-01 3.55653971e-02 -1.01629938e+00] [-1.30529215e-01 -3.01765571e-03 9.91439871e-01 1.09289063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394860624 meters Centerline goodness : 0.797469 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60043339e-01 -2.50137607e-01 1.25490896e-01 -5.16175258e+00] [ 2.47608761e-01 9.68205270e-01 3.56153980e-02 -1.01679863e+00] [-1.30409698e-01 -3.11968026e-03 9.91455283e-01 1.09314945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424860623999997 meters Centerline goodness : 0.795779 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60132838e-01 -2.49902953e-01 1.25273493e-01 -5.16123344e+00] [ 2.47364540e-01 9.68265374e-01 3.56784060e-02 -1.01725535e+00] [-1.30214125e-01 -3.26778911e-03 9.91480511e-01 1.09335888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454860624 meters Centerline goodness : 0.794304 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60184984e-01 -2.49758126e-01 1.25162595e-01 -5.16085956e+00] [ 2.47201801e-01 9.68302138e-01 3.58083781e-02 -1.01790742e+00] [-1.30138642e-01 -3.44224799e-03 9.91489831e-01 1.09336367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484860624 meters Centerline goodness : 0.794983 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60240962e-01 -2.49629384e-01 1.24989864e-01 -5.16045208e+00] [ 2.47042732e-01 9.68334287e-01 3.60360545e-02 -1.01915434e+00] [-1.30027629e-01 -3.72545825e-03 9.91503372e-01 1.09369090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514860623999997 meters Centerline goodness : 0.795521 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60245216e-01 -2.49629114e-01 1.24957719e-01 -5.16041719e+00] [ 2.47042707e-01 9.68334329e-01 3.60350943e-02 -1.01945107e+00] [-1.29996258e-01 -3.73263376e-03 9.91507459e-01 1.09394145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544860624 meters Centerline goodness : 0.794023 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60277534e-01 -2.49563611e-01 1.24840144e-01 -5.16007952e+00] [ 2.46970391e-01 9.68350868e-01 3.60863202e-02 -1.01983701e+00] [-1.29894894e-01 -3.82106334e-03 9.91520406e-01 1.09396613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574860624 meters Centerline goodness : 0.793018 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60357615e-01 -2.49356328e-01 1.24638169e-01 -5.15935283e+00] [ 2.46726971e-01 9.68402858e-01 3.63552800e-02 -1.02051560e+00] [-1.29765378e-01 -4.16247214e-03 9.91535991e-01 1.09356750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604860623999997 meters Centerline goodness : 0.793669 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60432893e-01 -2.49151324e-01 1.24467972e-01 -5.15872361e+00] [ 2.46481977e-01 9.68454000e-01 3.66535878e-02 -1.02114344e+00] [-1.29673795e-01 -4.52419959e-03 9.91546387e-01 1.09311162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634860623999998 meters Centerline goodness : 0.791264 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60544260e-01 -2.48869123e-01 1.24172796e-01 -5.15807324e+00] [ 2.46196244e-01 9.68525935e-01 3.66731788e-02 -1.02143627e+00] [-1.29391395e-01 -4.65533537e-03 9.91582672e-01 1.09341635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664860624 meters Centerline goodness : 0.791744 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60562634e-01 -2.48819307e-01 1.24130493e-01 -5.15821908e+00] [ 2.46180675e-01 9.68539862e-01 3.64089418e-02 -1.02096463e+00] [-1.29284579e-01 -4.41454039e-03 9.91597705e-01 1.09406787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694860623999997 meters Centerline goodness : 0.794761 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60507443e-01 -2.48974471e-01 1.24246387e-01 -5.15871024e+00] [ 2.46358205e-01 9.68500928e-01 3.62434400e-02 -1.02065419e+00] [-1.29356433e-01 -4.20297694e-03 9.91589254e-01 1.09447806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724860623999998 meters Centerline goodness : 0.791614 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60438893e-01 -2.49208118e-01 1.24307869e-01 -5.15854103e+00] [ 2.46555700e-01 9.68439780e-01 3.65332608e-02 -1.02243004e+00] [-1.29489070e-01 -4.43915094e-03 9.91570913e-01 1.09420621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754860624 meters Centerline goodness : 0.790954 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60389131e-01 -2.49382011e-01 1.24343591e-01 -5.15838424e+00] [ 2.46710043e-01 9.68394442e-01 3.66927647e-02 -1.02348248e+00] [-1.29564158e-01 -4.56251981e-03 9.91560544e-01 1.09396207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784860623999997 meters Centerline goodness : 0.791784 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60296705e-01 -2.49661501e-01 1.24496480e-01 -5.15873663e+00] [ 2.46993470e-01 9.68322860e-01 3.66751230e-02 -1.02418731e+00] [-1.29709154e-01 -4.46918230e-03 9.91542012e-01 1.09423136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814860623999998 meters Centerline goodness : 0.793663 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.09 [[ 9.60176983e-01 -2.50006014e-01 1.24728320e-01 -5.15936611e+00] [ 2.47356078e-01 9.68234986e-01 3.65510935e-02 -1.02453866e+00] [-1.29904317e-01 -4.24321055e-03 9.91517455e-01 1.09460552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844860624 meters Centerline goodness : 0.792679 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.03, Z:1.10 [[ 9.59977640e-01 -2.50612392e-01 1.25045433e-01 -5.16013695e+00] [ 2.47982945e-01 9.68079425e-01 3.64237093e-02 -1.02600567e+00] [-1.30182143e-01 -3.95681190e-03 9.91482200e-01 1.09530499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874860623999997 meters Centerline goodness : 0.792424 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.03, Z:1.10 [[ 9.59911013e-01 -2.50845780e-01 1.25088938e-01 -5.16012464e+00] [ 2.48195508e-01 9.68018455e-01 3.65959073e-02 -1.02718980e+00] [-1.30268329e-01 -4.08230193e-03 9.91470371e-01 1.09524896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904860623999998 meters Centerline goodness : 0.792458 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.03, Z:1.10 [[ 9.59842905e-01 -2.51059800e-01 1.25182167e-01 -5.16021073e+00] [ 2.48389468e-01 9.67962513e-01 3.67592867e-02 -1.02812199e+00] [-1.30400425e-01 -4.18920865e-03 9.91452561e-01 1.09515068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934860624 meters Centerline goodness : 0.791174 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.03, Z:1.10 [[ 9.59514457e-01 -2.52075532e-01 1.25657997e-01 -5.16181548e+00] [ 2.49454978e-01 9.67700823e-01 3.64325583e-02 -1.02897303e+00] [-1.30783103e-01 -3.61155366e-03 9.91404426e-01 1.09635060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964860623999996 meters Centerline goodness : 0.792833 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.03, Z:1.10 [[ 9.59311532e-01 -2.52679935e-01 1.25992992e-01 -5.16270992e+00] [ 2.50077960e-01 9.67544170e-01 3.63220770e-02 -1.02998577e+00] [-1.31081645e-01 -3.33611692e-03 9.91365963e-01 1.09694281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994860623999998 meters Centerline goodness : 0.792683 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.03, Z:1.10 [[ 9.58369597e-01 -2.55820400e-01 1.26821287e-01 -5.16194566e+00] [ 2.53715111e-01 9.66724013e-01 3.27616521e-02 -1.03135095e+00] [-1.30982283e-01 7.78705644e-04 9.91384403e-01 1.09684090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024860624 meters Centerline goodness : 0.789892 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.03, Z:1.10 [[ 9.58230158e-01 -2.56259119e-01 1.26989086e-01 -5.16206477e+00] [ 2.54132333e-01 9.66607874e-01 3.29541413e-02 -1.03335207e+00] [-1.31193450e-01 6.94380676e-04 9.91356544e-01 1.09679696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054860623999996 meters Centerline goodness : 0.789788 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.04, Z:1.10 [[ 9.58091119e-01 -2.56723179e-01 1.27100811e-01 -5.16212621e+00] [ 2.54588953e-01 9.66484722e-01 3.30416134e-02 -1.03524019e+00] [-1.31323540e-01 7.01586011e-04 9.91339314e-01 1.09690528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084860623999997 meters Centerline goodness : 0.789542 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.04, Z:1.10 [[ 9.57084335e-01 -2.59696491e-01 1.28636342e-01 -5.16241359e+00] [ 2.57966004e-01 9.65680933e-01 3.02303994e-02 -1.03726845e+00] [-1.32072391e-01 4.25076135e-03 9.91230959e-01 1.09610746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114860624 meters Centerline goodness : 0.790302 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.04, Z:1.10 [[ 9.56999381e-01 -2.59992659e-01 1.28670131e-01 -5.16245830e+00] [ 2.58244532e-01 9.65601670e-01 3.03838036e-02 -1.03830169e+00] [-1.32143659e-01 4.15107645e-03 9.91221883e-01 1.09610355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144860624 meters Centerline goodness : 0.789167 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.04, Z:1.10 [[ 9.56862098e-01 -2.60415715e-01 1.28835479e-01 -5.16299606e+00] [ 2.58674354e-01 9.65487145e-01 3.03669412e-02 -1.03912741e+00] [-1.32297027e-01 4.26945919e-03 9.91200922e-01 1.09659690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174860623999997 meters Centerline goodness : 0.788942 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.04, Z:1.10 [[ 9.56741406e-01 -2.60796760e-01 1.28960970e-01 -5.16332113e+00] [ 2.59035362e-01 9.65384678e-01 3.05467603e-02 -1.04048611e+00] [-1.32463440e-01 4.18010100e-03 9.91179078e-01 1.09683668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204860624 meters Centerline goodness : 0.790199 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.04, Z:1.10 [[ 0.95595282 -0.26346462 0.12938549 -5.16147729] [ 0.26213646 0.9646389 0.02750024 -1.04284013] [-0.13205562 0.00762772 0.99121296 1.09647769] [ 0. 0. 0. 1. ]] SLAMing on 31.234860624 meters Centerline goodness : 0.792265 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 0.95587088 -0.26375716 0.12939482 -5.16162324] [ 0.26240607 0.96456009 0.02769279 -1.04516836] [-0.13211325 0.00748326 0.99120638 1.09734873] [ 0. 0. 0. 1. ]] SLAMing on 31.264860623999997 meters Centerline goodness : 0.790598 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 0.95583022 -0.26391726 0.12936875 -5.16143185] [ 0.26252549 0.96451851 0.02800741 -1.04719936] [-0.13217019 0.00719226 0.99120094 1.09754085] [ 0. 0. 0. 1. ]] SLAMing on 31.294860624 meters Centerline goodness : 0.790473 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 0.95575742 -0.26411532 0.12950231 -5.16163574] [ 0.26269339 0.96446559 0.02825415 -1.04887774] [-0.13236287 0.00701529 0.9911765 1.09781655] [ 0. 0. 0. 1. ]] SLAMing on 31.324860624 meters Centerline goodness : 0.789951 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 0.95583097 -0.26395235 0.12929161 -5.16115751] [ 0.26245462 0.96451445 0.0288 -1.05136321] [-0.13230546 0.00640525 0.9911883 1.09832421] [ 0. 0. 0. 1. ]] SLAMing on 31.354860623999997 meters Centerline goodness : 0.789484 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 0.9558944 -0.26374575 0.12924427 -5.16096328] [ 0.26222175 0.96457238 0.02898049 -1.05189799] [-0.13230894 0.00618837 0.99118921 1.09840278] [ 0. 0. 0. 1. ]] SLAMing on 31.384860623999998 meters Centerline goodness : 0.790603 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 0.95605189 -0.26332307 0.12894088 -5.16024577] [ 0.26176246 0.96469013 0.0292124 -1.05243915] [-0.13208029 0.00582331 0.99122192 1.09849716] [ 0. 0. 0. 1. ]] SLAMing on 31.414860624 meters Centerline goodness : 0.789195 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 9.56497300e-01 -2.62113767e-01 1.28098742e-01 -5.15813242e+00] [ 2.60428753e-01 9.65025853e-01 3.00327894e-02 -1.05366537e+00] [-1.31490605e-01 4.63431370e-03 9.91306584e-01 1.09809564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444860623999997 meters Centerline goodness : 0.789699 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.05, Z:1.10 [[ 9.56651381e-01 -2.61712869e-01 1.27767401e-01 -5.15721365e+00] [ 2.59966119e-01 9.65137176e-01 3.04606045e-02 -1.05471150e+00] [-1.31285001e-01 4.07501603e-03 9.91336291e-01 1.09785234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474860623999998 meters Centerline goodness : 0.789346 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.06, Z:1.10 [[ 9.56789386e-01 -2.61334040e-01 1.27509182e-01 -5.15645548e+00] [ 2.59522893e-01 9.65242031e-01 3.09142425e-02 -1.05584524e+00] [-1.31156165e-01 3.51313264e-03 9.91355495e-01 1.09766634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504860624 meters Centerline goodness : 0.790502 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.06, Z:1.10 [[ 9.56877466e-01 -2.61110049e-01 1.27306938e-01 -5.15594966e+00] [ 2.59260348e-01 9.65303852e-01 3.11856632e-02 -1.05662858e+00] [-1.31032768e-01 3.16478270e-03 9.91372986e-01 1.09765467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534860623999997 meters Centerline goodness : 0.790502 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.06, Z:1.10 [[ 9.56877466e-01 -2.61110049e-01 1.27306938e-01 -5.15594966e+00] [ 2.59260348e-01 9.65303852e-01 3.11856632e-02 -1.05662858e+00] [-1.31032768e-01 3.16478270e-03 9.91372986e-01 1.09765467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564860623999998 meters Centerline goodness : 0.793192 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.06, Z:1.10 [[ 9.57114746e-01 -2.60443606e-01 1.26887714e-01 -5.15479514e+00] [ 2.58491096e-01 9.65486424e-01 3.19110965e-02 -1.05838935e+00] [-1.30819407e-01 2.25676327e-03 9.91403646e-01 1.09751701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594860624 meters Centerline goodness : 0.790325 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.06, Z:1.10 [[ 9.57232747e-01 -2.60129464e-01 1.26641737e-01 -5.15415451e+00] [ 2.58136496e-01 9.65571928e-01 3.21931839e-02 -1.05901629e+00] [-1.30656102e-01 1.87448443e-03 9.91425978e-01 1.09737647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624860623999997 meters Centerline goodness : 0.790741 Centerline is valid? [False, False] Translation: X:-5.15, Y:-1.06, Z:1.10 [[ 9.57363768e-01 -2.59776360e-01 1.26375859e-01 -5.15330920e+00] [ 2.57731787e-01 9.65667790e-01 3.25583479e-02 -1.05959028e+00] [-1.30494986e-01 1.40089327e-03 9.91447980e-01 1.09686183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654860623999998 meters Centerline goodness : 0.791299 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.06, Z:1.10 [[ 0.95900912 -0.2551256 0.1233387 -5.16084294] [ 0.25426511 0.96686257 0.02293546 -1.06126124] [-0.12510299 0.00936541 0.99209956 1.10083277] [ 0. 0. 0. 1. ]] SLAMing on 31.684860624 meters Centerline goodness : 0.792842 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.06, Z:1.10 [[ 0.95900214 -0.25515866 0.12332462 -5.16084054] [ 0.25427858 0.9668553 0.0230919 -1.06204422] [-0.12512916 0.00921363 0.99209768 1.10102676] [ 0. 0. 0. 1. ]] SLAMing on 31.714860623999996 meters Centerline goodness : 0.794529 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.06, Z:1.10 [[ 0.95898923 -0.25520368 0.1233318 -5.16080378] [ 0.25429617 0.96684537 0.02331282 -1.06303104] [-0.12519229 0.00900606 0.99209162 1.10105847] [ 0. 0. 0. 1. ]] SLAMing on 31.744860623999998 meters Centerline goodness : 0.793819 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.07, Z:1.10 [[ 0.95892916 -0.2554739 0.12323939 -5.16066702] [ 0.25451462 0.96677764 0.02373398 -1.06568931] [-0.1252085 0.00860702 0.99209312 1.10154464] [ 0. 0. 0. 1. ]] SLAMing on 31.774860624 meters Centerline goodness : 0.794784 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.07, Z:1.10 [[ 0.95888516 -0.25563405 0.12324968 -5.16065621] [ 0.25464172 0.96673743 0.02400687 -1.06711023] [-0.12528706 0.00836468 0.99208527 1.10164775] [ 0. 0. 0. 1. ]] SLAMing on 31.804860623999996 meters Centerline goodness : 0.797432 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.07, Z:1.10 [[ 0.95880281 -0.25589408 0.12335066 -5.16094611] [ 0.25489143 0.966669 0.02411214 -1.06819137] [-0.12540941 0.00832224 0.99207017 1.10199593] [ 0. 0. 0. 1. ]] SLAMing on 31.834860623999997 meters Centerline goodness : 0.797637 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.07, Z:1.10 [[ 0.95872734 -0.25613433 0.12343864 -5.16118742] [ 0.25512123 0.96660578 0.02421631 -1.06919738] [-0.12551913 0.00827498 0.99205669 1.10231831] [ 0. 0. 0. 1. ]] SLAMing on 31.864860624 meters Centerline goodness : 0.797234 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.07, Z:1.10 [[ 0.95854555 -0.25671901 0.12363569 -5.16170296] [ 0.25570549 0.96645002 0.0242707 -1.0713919 ] [-0.12571846 0.00834975 0.99203082 1.10301322] [ 0. 0. 0. 1. ]] SLAMing on 31.894860624 meters Centerline goodness : 0.798667 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.07, Z:1.10 [[ 0.95845793 -0.25700148 0.12372804 -5.16180954] [ 0.25597799 0.96637528 0.02437399 -1.07288736] [-0.12583187 0.00831021 0.99201677 1.10325518] [ 0. 0. 0. 1. ]] SLAMing on 31.924860623999997 meters Centerline goodness : 0.796559 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.10 [[ 0.95823468 -0.25783761 0.12371768 -5.1616623 ] [ 0.25681798 0.9661518 0.02439734 -1.07563691] [-0.12582061 0.00839455 0.99201749 1.10350426] [ 0. 0. 0. 1. ]] SLAMing on 31.954860624 meters Centerline goodness : 0.796707 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.10 [[ 0.95815537 -0.25812211 0.12373869 -5.16169036] [ 0.25709106 0.96607639 0.0245072 -1.07671075] [-0.12586688 0.0083304 0.99201216 1.1036055 ] [ 0. 0. 0. 1. ]] SLAMing on 31.984860624 meters Centerline goodness : 0.796627 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.10 [[ 0.95803859 -0.25847459 0.123907 -5.16206482] [ 0.25743868 0.96598197 0.02457972 -1.0775663 ] [-0.12604516 0.00835013 0.99198936 1.10373585] [ 0. 0. 0. 1. ]] SLAMing on 32.014860624 meters Centerline goodness : 0.797188 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.10 [[ 0.9578107 -0.25921447 0.124123 -5.16290806] [ 0.2581972 0.96578162 0.02449613 -1.07927638] [-0.12622546 0.00858556 0.99196442 1.1047704 ] [ 0. 0. 0. 1. ]] SLAMing on 32.044860624 meters Centerline goodness : 0.796910 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.95771264 -0.25951875 0.12424377 -5.16319487] [ 0.25850817 0.96569905 0.02447176 -1.08040637] [-0.12633297 0.00868112 0.99194991 1.10524064] [ 0. 0. 0. 1. ]] SLAMing on 32.074860624 meters Centerline goodness : 0.794914 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.9576345 -0.25976004 0.1243418 -5.16327419] [ 0.25872407 0.96563559 0.02469354 -1.08195712] [-0.12648326 0.00852283 0.99193213 1.10529557] [ 0. 0. 0. 1. ]] SLAMing on 32.104860624000004 meters Centerline goodness : 0.793680 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.10 [[ 0.95756845 -0.26002207 0.12430282 -5.16271112] [ 0.2589454 0.96556767 0.02502719 -1.08399378] [-0.12653041 0.0082224 0.99192865 1.10475042] [ 0. 0. 0. 1. ]] SLAMing on 32.134860624 meters Centerline goodness : 0.795011 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.10 [[ 0.95751739 -0.26020005 0.12432369 -5.16277957] [ 0.25912263 0.96551963 0.0250462 -1.08437583] [-0.12655399 0.00823291 0.99192556 1.10482511] [ 0. 0. 0. 1. ]] SLAMing on 32.164860624 meters Centerline goodness : 0.795724 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.10 [[ 0.95750766 -0.2602597 0.12427377 -5.16269005] [ 0.25917507 0.96550407 0.02510334 -1.0845497 ] [-0.12652022 0.00817202 0.99193037 1.10480623] [ 0. 0. 0. 1. ]] SLAMing on 32.194860624 meters Centerline goodness : 0.837029 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.9574785 -0.26036413 0.12427965 -5.16287118] [ 0.25929143 0.96547507 0.02501708 -1.08457051] [-0.12650245 0.00827134 0.99193181 1.10511215] [ 0. 0. 0. 1. ]] SLAMing on 32.224860624 meters Centerline goodness : 0.836731 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95742883 -0.26051354 0.1243492 -5.16312797] [ 0.25942869 0.96543535 0.02512658 -1.08576221] [-0.12659693 0.00820284 0.99192032 1.10562727] [ 0. 0. 0. 1. ]] SLAMing on 32.254860624 meters Centerline goodness : 0.794827 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95742602 -0.26055533 0.12428332 -5.1628767 ] [ 0.25945901 0.9654249 0.02521495 -1.08650431] [-0.1265561 0.00810498 0.99192634 1.10561645] [ 0. 0. 0. 1. ]] SLAMing on 32.284860624000004 meters Centerline goodness : 0.836353 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95743845 -0.26052013 0.12426134 -5.16264174] [ 0.25939175 0.96543647 0.02546251 -1.08731622] [-0.12659993 0.00785358 0.99192277 1.10535257] [ 0. 0. 0. 1. ]] SLAMing on 32.314860624000005 meters Centerline goodness : 0.833840 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95746822 -0.26044323 0.12419315 -5.16236784] [ 0.25929791 0.96545842 0.02558589 -1.08764785] [-0.126567 0.00770535 0.99192813 1.10519831] [ 0. 0. 0. 1. ]] SLAMing on 32.344860624 meters Centerline goodness : 0.833919 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95743187 -0.26052151 0.12430913 -5.16282521] [ 0.25939967 0.96543561 0.02541431 -1.0869613 ] [-0.12663343 0.00791328 0.99191802 1.10554683] [ 0. 0. 0. 1. ]] SLAMing on 32.374860624 meters Centerline goodness : 0.835711 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95743381 -0.26055349 0.12422713 -5.1626356 ] [ 0.25943185 0.96542709 0.02540974 -1.08682544] [-0.12655283 0.00790033 0.99192841 1.1053954 ] [ 0. 0. 0. 1. ]] SLAMing on 32.404860624 meters Centerline goodness : 0.833382 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.10 [[ 0.95744035 -0.26055314 0.12417743 -5.16224055] [ 0.25941092 0.96542853 0.02556788 -1.08742642] [-0.12654622 0.00773326 0.99193057 1.10496735] [ 0. 0. 0. 1. ]] SLAMing on 32.434860624 meters Centerline goodness : 0.831676 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.10 [[ 0.95747796 -0.26045099 0.1241017 -5.16196288] [ 0.25930761 0.96545635 0.02556562 -1.08734939] [-0.12647337 0.00770199 0.9919401 1.10482867] [ 0. 0. 0. 1. ]] SLAMing on 32.464860624 meters Centerline goodness : 0.832469 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.10 [[ 0.95749535 -0.26041039 0.12405275 -5.16192885] [ 0.25927882 0.96546668 0.0254673 -1.08687851] [-0.12640075 0.00777943 0.99194875 1.1048702 ] [ 0. 0. 0. 1. ]] SLAMing on 32.494860624000005 meters Centerline goodness : 0.831021 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95747819 -0.26046305 0.12407467 -5.1620656 ] [ 0.25936138 0.96545054 0.02523745 -1.08628936] [-0.12636138 0.00801587 0.99195189 1.10508801] [ 0. 0. 0. 1. ]] SLAMing on 32.524860624 meters Centerline goodness : 0.833167 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.09, Z:1.11 [[ 0.95743987 -0.26053744 0.12421412 -5.16258283] [ 0.25946983 0.96542799 0.02498407 -1.08533391] [-0.12642907 0.00830908 0.99194085 1.1054319 ] [ 0. 0. 0. 1. ]] SLAMing on 32.554860624 meters Centerline goodness : 0.835017 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.95741429 -0.26060163 0.12427655 -5.1629296 ] [ 0.25956286 0.96540859 0.02476629 -1.08472195] [-0.12643178 0.00854598 0.99193849 1.10583577] [ 0. 0. 0. 1. ]] SLAMing on 32.584860624 meters Centerline goodness : 0.834481 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.95736383 -0.26072174 0.12441334 -5.16317812] [ 0.2596942 0.96537509 0.02469541 -1.08445082] [-0.12654417 0.00866693 0.99192311 1.10573769] [ 0. 0. 0. 1. ]] SLAMing on 32.614860624 meters Centerline goodness : 0.830385 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.95734041 -0.2607819 0.12446739 -5.16310423] [ 0.25975998 0.96535832 0.02465905 -1.0845463 ] [-0.12658626 0.00872454 0.99191723 1.10555183] [ 0. 0. 0. 1. ]] SLAMing on 32.644860624 meters Centerline goodness : 0.835372 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.95731165 -0.26086758 0.12450907 -5.16304962] [ 0.25985814 0.96533418 0.02456984 -1.08440765] [-0.12660233 0.0088337 0.99191422 1.10537333] [ 0. 0. 0. 1. ]] SLAMing on 32.674860624000004 meters Centerline goodness : 0.832413 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.95727735 -0.26097411 0.12454953 -5.16331444] [ 0.26000847 0.96530212 0.02423645 -1.08357039] [-0.12655302 0.00918293 0.99191734 1.10571036] [ 0. 0. 0. 1. ]] SLAMing on 32.704860624 meters Centerline goodness : 0.788397 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.08, Z:1.11 [[ 0.95810811 -0.25818182 0.12397984 -5.16469424] [ 0.25679273 0.96607984 0.02733557 -1.08189875] [-0.12683197 0.00564669 0.99190814 1.10626428] [ 0. 0. 0. 1. ]] SLAMing on 32.734860624 meters Centerline goodness : 0.787575 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.08, Z:1.11 [[ 9.59010861e-01 -2.55140792e-01 1.23293737e-01 -5.16542175e+00] [ 2.53267986e-01 9.66902598e-01 3.08981295e-02 -1.08155160e+00] [-1.27096408e-01 1.59471459e-03 9.91889087e-01 1.10637855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764860624 meters Centerline goodness : 0.809236 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.08, Z:1.11 [[ 9.59904173e-01 -2.52110136e-01 1.22574297e-01 -5.16610003e+00] [ 2.49757990e-01 9.67695446e-01 3.44451803e-02 -1.08102318e+00] [-1.27298568e-01 -2.45016241e-03 9.91861417e-01 1.10635980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794860624 meters Centerline goodness : 0.788894 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.08, Z:1.11 [[ 0.9613191 -0.24715299 0.12157706 -5.16565326] [ 0.24423687 0.96894835 0.03856739 -1.07738391] [-0.12733393 -0.00738197 0.99183243 1.10514389] [ 0. 0. 0. 1. ]] SLAMing on 32.824860624 meters Centerline goodness : 0.789265 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.08, Z:1.11 [[ 0.96223321 -0.24388594 0.12094167 -5.16637168] [ 0.24050505 0.96973742 0.04203166 -1.07611475] [-0.1275326 -0.01135718 0.99176935 1.10510992] [ 0. 0. 0. 1. ]] SLAMing on 32.854860624000004 meters Centerline goodness : 0.787967 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.07, Z:1.11 [[ 0.96314055 -0.24059088 0.12031751 -5.16707857] [ 0.23677307 0.97050857 0.04529485 -1.07447141] [-0.1276667 -0.01513736 0.9917016 1.1052011 ] [ 0. 0. 0. 1. ]] SLAMing on 32.884860624 meters Centerline goodness : 0.787019 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.07, Z:1.10 [[ 0.96472191 -0.2324285 0.12364724 -5.17260956] [ 0.22778681 0.97239351 0.05063625 -1.07196549] [-0.13200308 -0.02068469 0.99103347 1.10200407] [ 0. 0. 0. 1. ]] SLAMing on 32.914860624 meters Centerline goodness : 0.787974 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.07, Z:1.10 [[ 0.96561247 -0.22906468 0.12297122 -5.17305917] [ 0.2239597 0.97309945 0.05403248 -1.0702267 ] [-0.13204016 -0.02463384 0.99093823 1.10176396] [ 0. 0. 0. 1. ]] SLAMing on 32.944860624 meters Centerline goodness : 0.786823 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.07, Z:1.10 [[ 0.9664454 -0.22585778 0.12235833 -5.1737643 ] [ 0.22029513 0.97374257 0.05740615 -1.06862791] [-0.13211114 -0.02852496 0.99082439 1.10175617] [ 0. 0. 0. 1. ]] SLAMing on 32.974860624 meters Centerline goodness : 0.787671 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.07, Z:1.10 [[ 0.96722128 -0.22281354 0.12180775 -5.17464157] [ 0.21680507 0.97432559 0.06070593 -1.0672913 ] [-0.13220651 -0.03230752 0.99069554 1.10192711] [ 0. 0. 0. 1. ]] SLAMing on 33.004860624 meters Centerline goodness : 0.786176 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.07, Z:1.10 [[ 0.96799928 -0.21973594 0.12121675 -5.17521378] [ 0.21325594 0.97488304 0.06422586 -1.06627537] [-0.13228488 -0.0363204 0.99054608 1.10158683] [ 0. 0. 0. 1. ]] SLAMing on 33.034860624000004 meters Centerline goodness : 0.788123 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.06, Z:1.10 [[ 0.96964579 -0.21316772 0.11977718 -5.18085984] [ 0.20828069 0.97668134 0.05208373 -1.05954325] [-0.12808671 -0.0255555 0.99143367 1.10467161] [ 0. 0. 0. 1. ]] SLAMing on 33.064860624000005 meters Centerline goodness : 0.787431 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.06, Z:1.10 [[ 0.96971006 -0.21289709 0.11973814 -5.18071955] [ 0.20808062 0.97675337 0.05152971 -1.05696922] [-0.12792516 -0.02505369 0.99146733 1.104444 ] [ 0. 0. 0. 1. ]] SLAMing on 33.094860624 meters Centerline goodness : 0.787998 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.05, Z:1.10 [[ 0.96974073 -0.21276617 0.11972251 -5.1806398 ] [ 0.20802131 0.97679536 0.05097011 -1.05459027] [-0.12778911 -0.02452296 0.99149814 1.10421264] [ 0. 0. 0. 1. ]] SLAMing on 33.124860624 meters Centerline goodness : 0.787984 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.05, Z:1.10 [[ 0.96977341 -0.21251162 0.11990971 -5.18091917] [ 0.20788192 0.97687381 0.05002656 -1.04984522] [-0.12776788 -0.02358737 0.99152358 1.10379069] [ 0. 0. 0. 1. ]] SLAMing on 33.154860624 meters Centerline goodness : 0.790432 Centerline is valid? [False, False] Translation: X:-5.26, Y:-1.06, Z:1.11 [[ 0.96999326 -0.20987545 0.12274111 -5.25999994] [ 0.20462965 0.97734712 0.05403069 -1.05955864] [-0.13130039 -0.02729294 0.99096685 1.11051107] [ 0. 0. 0. 1. ]] SLAMing on 33.184860624 meters Centerline goodness : 0.790432 Centerline is valid? [False, False] Translation: X:-5.26, Y:-1.06, Z:1.11 [[ 0.96999326 -0.20987545 0.12274111 -5.25999994] [ 0.20462965 0.97734712 0.05403069 -1.05955864] [-0.13130039 -0.02729294 0.99096685 1.11051107] [ 0. 0. 0. 1. ]] SLAMing on 33.214860624 meters Centerline goodness : 0.789198 Centerline is valid? [False, False] Translation: X:-5.07, Y:-1.00, Z:1.13 [[ 0.9692558 -0.18597706 0.16110779 -5.06795517] [ 0.19656453 0.97909286 -0.05234071 -0.99592876] [-0.14800532 0.08239962 0.98554793 1.13219435] [ 0. 0. 0. 1. ]] SLAMing on 33.244860624000005 meters Centerline goodness : 0.790644 Centerline is valid? [False, False] Translation: X:-5.07, Y:-1.00, Z:1.13 [[ 0.96968639 -0.18400705 0.16077844 -5.06916939] [ 0.19395542 0.97981525 -0.04840833 -0.99694907] [-0.14862569 0.07812475 0.98580268 1.13172821] [ 0. 0. 0. 1. ]] SLAMing on 33.274860624 meters Centerline goodness : 0.790738 Centerline is valid? [False, False] Translation: X:-5.07, Y:-1.00, Z:1.13 [[ 0.96997856 -0.18236597 0.16088582 -5.07149641] [ 0.19182407 0.98038678 -0.04522493 -0.99581791] [-0.14948284 0.07472898 0.98593634 1.13187586] [ 0. 0. 0. 1. ]] SLAMing on 33.304860624 meters Centerline goodness : 0.790750 Centerline is valid? [False, False] Translation: X:-5.07, Y:-1.00, Z:1.13 [[ 0.97036193 -0.18062689 0.16053551 -5.07294021] [ 0.18949509 0.98099848 -0.04163634 -0.99658937] [-0.14996445 0.07082301 0.98615149 1.13200503] [ 0. 0. 0. 1. ]] SLAMing on 33.334860624 meters Centerline goodness : 0.793022 Centerline is valid? [False, False] Translation: X:-5.07, Y:-1.00, Z:1.13 [[ 0.97074318 -0.17883279 0.16023891 -5.07440888] [ 0.18708368 0.98161445 -0.03785194 -0.99770291] [-0.15052366 0.0667226 0.98635223 1.13197681] [ 0. 0. 0. 1. ]] SLAMing on 33.364860624 meters Centerline goodness : 0.795139 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.97112303 -0.1770698 0.15989477 -5.07561733] [ 0.18473247 0.98219071 -0.03428287 -0.99757924] [-0.1509767 0.06283064 0.98653857 1.13143117] [ 0. 0. 0. 1. ]] SLAMing on 33.394860624 meters Centerline goodness : 0.795420 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.97154462 -0.17501821 0.1595922 -5.07675878] [ 0.18203133 0.98282507 -0.03032277 -0.99874041] [-0.15154418 0.0585107 0.98671721 1.13096609] [ 0. 0. 0. 1. ]] SLAMing on 33.424860624000004 meters Centerline goodness : 0.795038 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.97198237 -0.17285233 0.15928701 -5.0778498 ] [ 0.1791865 0.98346648 -0.02618951 -0.99989645] [-0.15212652 0.05399782 0.98688488 1.13035413] [ 0. 0. 0. 1. ]] SLAMing on 33.454860624 meters Centerline goodness : 0.795038 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.97198237 -0.17285233 0.15928701 -5.0778498 ] [ 0.1791865 0.98346648 -0.02618951 -0.99989645] [-0.15212652 0.05399782 0.98688488 1.13035413] [ 0. 0. 0. 1. ]] SLAMing on 33.484860624 meters Centerline goodness : 0.797025 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.97230303 -0.17092879 0.15940567 -5.08019804] [ 0.17672604 0.98399543 -0.02282301 -0.99855117] [-0.15295334 0.05036202 0.98694931 1.13055873] [ 0. 0. 0. 1. ]] SLAMing on 33.514860624 meters Centerline goodness : 0.796665 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.97271147 -0.1687194 0.15926758 -5.08177097] [ 0.17387181 0.98458715 -0.01888739 -0.99902836] [-0.15362614 0.04606412 0.98705476 1.13041536] [ 0. 0. 0. 1. ]] SLAMing on 33.544860624 meters Centerline goodness : 0.797542 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.97313158 -0.16643262 0.15910724 -5.08318795] [ 0.17092754 0.98517096 -0.01489815 -0.99959296] [-0.1542683 0.04169367 0.98714889 1.13013722] [ 0. 0. 0. 1. ]] SLAMing on 33.574860624 meters Centerline goodness : 0.797950 Centerline is valid? [False, False] Translation: X:-5.08, Y:-1.00, Z:1.13 [[ 0.9735569 -0.16408503 0.15894361 -5.08433069] [ 0.16787402 0.98575126 -0.01061938 -1.00049558] [-0.15493638 0.03702108 0.98723055 1.12911034] [ 0. 0. 0. 1. ]] SLAMing on 33.604860624000004 meters Centerline goodness : 0.797473 Centerline is valid? [False, False] Translation: X:-5.09, Y:-1.00, Z:1.13 [[ 0.97402332 -0.16148162 0.15875218 -5.08510125] [ 0.1645832 0.98634179 -0.00649945 -1.00049884] [-0.15553436 0.03245856 0.98729707 1.12777375] [ 0. 0. 0. 1. ]] SLAMing on 33.634860624 meters Centerline goodness : 0.797141 Centerline is valid? [False, False] Translation: X:-5.09, Y:-1.00, Z:1.13 [[ 9.74362124e-01 -1.59489405e-01 1.58687053e-01 -5.08679580e+00] [ 1.61926674e-01 9.86799715e-01 -2.46471388e-03 -1.00151059e+00] [-1.56199243e-01 2.80971905e-02 9.87325855e-01 1.12744841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664860624 meters Centerline goodness : 0.800005 Centerline is valid? [False, False] Translation: X:-5.09, Y:-1.00, Z:1.13 [[ 9.74685408e-01 -1.57376106e-01 1.58811574e-01 -5.08907854e+00] [ 1.59230433e-01 9.87240874e-01 1.06128813e-03 -1.00033295e+00] [-1.56952298e-01 2.42532136e-02 9.87308340e-01 1.12770182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694860624 meters Centerline goodness : 0.800174 Centerline is valid? [False, False] Translation: X:-5.09, Y:-1.00, Z:1.13 [[ 9.74982494e-01 -1.55525453e-01 1.58811114e-01 -5.09115064e+00] [ 1.56784171e-01 9.87621941e-01 4.65035052e-03 -1.00088886e+00] [-1.57568588e-01 2.03650585e-02 9.87298032e-01 1.12824392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724860624 meters Centerline goodness : 0.801537 Centerline is valid? [False, False] Translation: X:-5.09, Y:-1.00, Z:1.13 [[ 0.97521205 -0.15398838 0.15889945 -5.09346977] [ 0.15466406 0.98793325 0.00818121 -1.00207371] [-0.15824186 0.01659762 0.98726087 1.12883805] [ 0. 0. 0. 1. ]] SLAMing on 33.754860624 meters Centerline goodness : 0.799635 Centerline is valid? [False, False] Translation: X:-5.09, Y:-1.00, Z:1.13 [[ 0.97509588 -0.15445326 0.15916095 -5.09416759] [ 0.15520406 0.98785181 0.00777888 -1.00085898] [-0.15842891 0.01711727 0.987222 1.1287304 ] [ 0. 0. 0. 1. ]] SLAMing on 33.784860624000004 meters Centerline goodness : 0.803795 Centerline is valid? [False, False] Translation: X:-5.10, Y:-1.00, Z:1.13 [[ 0.97534762 -0.15292783 0.15909151 -5.09604605] [ 0.15306959 0.98814923 0.01143655 -1.00222355] [-0.15895512 0.01319746 0.9871976 1.12880868] [ 0. 0. 0. 1. ]] SLAMing on 33.814860624000005 meters Centerline goodness : 0.801408 Centerline is valid? [False, False] Translation: X:-5.10, Y:-1.00, Z:1.13 [[ 0.97554046 -0.15166977 0.15911346 -5.09834488] [ 0.15132237 0.98838003 0.01436882 -1.00284404] [-0.15944389 0.01006006 0.98715573 1.12978007] [ 0. 0. 0. 1. ]] SLAMing on 33.844860624 meters Centerline goodness : 0.805182 Centerline is valid? [False, False] Translation: X:-5.10, Y:-1.00, Z:1.13 [[ 0.97571591 -0.15049459 0.15915351 -5.10092497] [ 0.14968354 0.98858536 0.01714152 -1.00319205] [-0.15991653 0.00709741 0.98710502 1.13124878] [ 0. 0. 0. 1. ]] SLAMing on 33.874860624 meters Centerline goodness : 0.803910 Centerline is valid? [False, False] Translation: X:-5.10, Y:-1.00, Z:1.13 [[ 0.97557906 -0.15108755 0.15943042 -5.10196397] [ 0.15039677 0.98848867 0.01646103 -1.00130624] [-0.16008222 0.00791878 0.98707192 1.13178079] [ 0. 0. 0. 1. ]] SLAMing on 33.904860624 meters Centerline goodness : 0.804563 Centerline is valid? [False, False] Translation: X:-5.10, Y:-1.00, Z:1.13 [[ 0.97548244 -0.15151772 0.15961322 -5.10257836] [ 0.15088906 0.98841922 0.01612268 -1.00076647] [-0.16020765 0.0083565 0.98704796 1.13203114] [ 0. 0. 0. 1. ]] SLAMing on 33.934860624 meters Centerline goodness : 0.804702 Centerline is valid? [False, False] Translation: X:-5.10, Y:-1.00, Z:1.13 [[ 0.975261 -0.15253792 0.15999429 -5.10379334] [ 0.15201609 0.98825538 0.01556962 -0.99967806] [-0.16049017 0.00913726 0.98699514 1.13208495] [ 0. 0. 0. 1. ]] SLAMing on 33.964860624 meters Centerline goodness : 0.805301 Centerline is valid? [False, False] Translation: X:-5.10, Y:-1.00, Z:1.13 [[ 0.9751292 -0.15310687 0.16025397 -5.10457942] [ 0.1526346 0.98816383 0.015327 -0.99941186] [-0.16070385 0.0095145 0.98695681 1.13221666] [ 0. 0. 0. 1. ]] SLAMing on 33.994860624000005 meters Centerline goodness : 0.805445 Centerline is valid? [False, False] Translation: X:-5.11, Y:-1.00, Z:1.13 [[ 0.97499228 -0.15371105 0.16050847 -5.10536386] [ 0.15331255 0.98806481 0.01493955 -0.99903286] [-0.16088914 0.01004201 0.9869214 1.13243807] [ 0. 0. 0. 1. ]] SLAMing on 34.024860624 meters Centerline goodness : 0.804237 Centerline is valid? [False, False] Translation: X:-5.11, Y:-1.00, Z:1.13 [[ 0.97488104 -0.15420598 0.1607093 -5.10601848] [ 0.15388766 0.98798193 0.01450175 -0.99847629] [-0.16101414 0.0105937 0.98689524 1.13280133] [ 0. 0. 0. 1. ]] SLAMing on 34.054860624 meters Centerline goodness : 0.804882 Centerline is valid? [False, False] Translation: X:-5.11, Y:-1.00, Z:1.13 [[ 0.97463137 -0.1552227 0.16124392 -5.10762282] [ 0.15506757 0.98780992 0.01362414 -0.99713794] [-0.16139311 0.01172519 0.98682054 1.13344135] [ 0. 0. 0. 1. ]] SLAMing on 34.084860624 meters Centerline goodness : 0.807018 Centerline is valid? [False, False] Translation: X:-5.11, Y:-1.00, Z:1.13 [[ 0.97456619 -0.15545134 0.16141756 -5.10808505] [ 0.15534751 0.98776978 0.01334245 -0.99646195] [-0.16151748 0.01207272 0.986796 1.13358711] [ 0. 0. 0. 1. ]] SLAMing on 34.114860624 meters Centerline goodness : 0.809690 Centerline is valid? [False, False] Translation: X:-5.11, Y:-1.00, Z:1.13 [[ 0.97449933 -0.15574585 0.16153724 -5.10870815] [ 0.15573945 0.98771548 0.01278091 -0.99533872] [-0.1615434 0.01270273 0.98678385 1.1343605 ] [ 0. 0. 0. 1. ]] SLAMing on 34.144860624 meters Centerline goodness : 0.807690 Centerline is valid? [False, False] Translation: X:-5.11, Y:-1.00, Z:1.14 [[ 0.9746839 -0.15439767 0.16171783 -5.11160561] [ 0.15388354 0.98796303 0.01577677 -0.99526083] [-0.16220713 0.00950834 0.98671092 1.13568148] [ 0. 0. 0. 1. ]] SLAMing on 34.174860624000004 meters Centerline goodness : 0.810094 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.99, Z:1.14 [[ 0.97493783 -0.15248928 0.16199765 -5.11452598] [ 0.15150242 0.98828372 0.01850169 -0.99273773] [-0.16292095 0.00650503 0.98661768 1.13711544] [ 0. 0. 0. 1. ]] SLAMing on 34.204860624 meters Centerline goodness : 0.810700 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.99, Z:1.14 [[ 0.97617449 -0.14893926 0.1577988 -5.12580633] [ 0.14959523 0.98871671 0.00778012 -0.98856032] [-0.15717708 0.0160112 0.98744063 1.14481991] [ 0. 0. 0. 1. ]] SLAMing on 34.234860624 meters Centerline goodness : 0.810558 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.99, Z:1.14 [[ 0.97650365 -0.14667992 0.15787849 -5.12762984] [ 0.14669189 0.98911373 0.01164156 -0.9891172 ] [-0.15786736 0.01179147 0.98738992 1.14471824] [ 0. 0. 0. 1. ]] SLAMing on 34.264860624 meters Centerline goodness : 0.810068 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.98, Z:1.15 [[ 9.77694700e-01 -1.43076453e-01 1.53760210e-01 -5.13892926e+00] [ 1.44650844e-01 9.89482297e-01 9.57685981e-04 -9.84536954e-01] [-1.52280028e-01 2.13052196e-02 9.88107727e-01 1.15176042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294860624 meters Centerline goodness : 0.811596 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.99, Z:1.15 [[ 9.77931230e-01 -1.41364810e-01 1.53839200e-01 -5.14119428e+00] [ 1.42336002e-01 9.89807054e-01 4.73913466e-03 -9.85802242e-01] [-1.52941072e-01 1.72623088e-02 9.88084531e-01 1.15209163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324860624 meters Centerline goodness : 0.813343 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.99, Z:1.15 [[ 0.97815361 -0.13965822 0.1539841 -5.14359526] [ 0.14004833 0.99010933 0.00836529 -0.9865463 ] [-0.15362937 0.01338268 0.98803791 1.1525769 ] [ 0. 0. 0. 1. ]] SLAMing on 34.354860624000004 meters Centerline goodness : 0.813094 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.15 [[ 0.97835724 -0.13805925 0.15413227 -5.14620242] [ 0.13791786 0.99037501 0.01166203 -0.98686885] [-0.1542588 0.00984796 0.9879814 1.15360986] [ 0. 0. 0. 1. ]] SLAMing on 34.384860624 meters Centerline goodness : 0.812729 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.97831583 -0.13830973 0.15417052 -5.14625703] [ 0.13822015 0.99033646 0.01135241 -0.98498223] [-0.15425084 0.01020323 0.98797903 1.15312887] [ 0. 0. 0. 1. ]] SLAMing on 34.414860624 meters Centerline goodness : 0.811672 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.97825753 -0.13859518 0.1542841 -5.14637667] [ 0.13853297 0.99029441 0.01120729 -0.98470065] [-0.15433996 0.01040982 0.98796296 1.15270128] [ 0. 0. 0. 1. ]] SLAMing on 34.444860624 meters Centerline goodness : 0.809745 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.9782214 -0.13876664 0.15435906 -5.14661891] [ 0.1387107 0.99026977 0.0111858 -0.98463288] [-0.15440933 0.01046906 0.9879515 1.15267848] [ 0. 0. 0. 1. ]] SLAMing on 34.474860624 meters Centerline goodness : 0.809745 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.9782214 -0.13876664 0.15435906 -5.14661891] [ 0.1387107 0.99026977 0.0111858 -0.98463288] [-0.15440933 0.01046906 0.9879515 1.15267848] [ 0. 0. 0. 1. ]] SLAMing on 34.504860624 meters Centerline goodness : 0.810342 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.97804558 -0.13954524 0.15477073 -5.1481094 ] [ 0.13958934 0.99015235 0.01063713 -0.98366584] [-0.15473096 0.01120075 0.98789315 1.15350617] [ 0. 0. 0. 1. ]] SLAMing on 34.534860624000004 meters Centerline goodness : 0.810396 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.97819367 -0.13860248 0.15468193 -5.15034237] [ 0.13820406 0.9903134 0.01337946 -0.98467045] [-0.15503802 0.00828996 0.98787372 1.15469375] [ 0. 0. 0. 1. ]] SLAMing on 34.564860624000005 meters Centerline goodness : 0.810782 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.97818859 -0.13868186 0.15464292 -5.1503313 ] [ 0.13830532 0.99030108 0.01324412 -0.98418952] [-0.15497977 0.00843269 0.98788165 1.1547516 ] [ 0. 0. 0. 1. ]] SLAMing on 34.594860624 meters Centerline goodness : 0.810640 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.15 [[ 0.97808324 -0.13916495 0.15487511 -5.15101802] [ 0.13881766 0.99023119 0.01310897 -0.98440294] [-0.15518648 0.00867774 0.98784708 1.15483019] [ 0. 0. 0. 1. ]] SLAMing on 34.624860624 meters Centerline goodness : 0.810792 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.9780171 -0.13939476 0.15508597 -5.15149506] [ 0.1390588 0.99019791 0.01306705 -0.98503349] [-0.15538729 0.00878627 0.98781455 1.15500368] [ 0. 0. 0. 1. ]] SLAMing on 34.654860624 meters Centerline goodness : 0.810123 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.9779547 -0.13968173 0.15522118 -5.15193479] [ 0.13935853 0.99015644 0.01301652 -0.98570604] [-0.15551142 0.00890183 0.98779398 1.15529179] [ 0. 0. 0. 1. ]] SLAMing on 34.684860624 meters Centerline goodness : 0.812518 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97791354 -0.13988985 0.15529308 -5.15234338] [ 0.1395829 0.99012591 0.01293398 -0.98598577] [-0.15556903 0.00902794 0.98778377 1.15573201] [ 0. 0. 0. 1. ]] SLAMing on 34.714860624 meters Centerline goodness : 0.811458 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97785416 -0.14021441 0.15537425 -5.15294933] [ 0.13996917 0.99007604 0.01257279 -0.98534252] [-0.15559521 0.00945325 0.98777567 1.15653179] [ 0. 0. 0. 1. ]] SLAMing on 34.744860624000005 meters Centerline goodness : 0.814141 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.98, Z:1.16 [[ 0.97783135 -0.14037344 0.15537422 -5.15315875] [ 0.14015661 0.99005163 0.01240509 -0.98496558] [-0.15556985 0.00964664 0.98777779 1.15690146] [ 0. 0. 0. 1. ]] SLAMing on 34.774860624 meters Centerline goodness : 0.815717 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97780667 -0.14054137 0.1553777 -5.15334694] [ 0.14033336 0.99002713 0.01236263 -0.98501122] [-0.1555656 0.00971641 0.98777778 1.1570666 ] [ 0. 0. 0. 1. ]] SLAMing on 34.804860624 meters Centerline goodness : 0.812722 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97773291 -0.14078791 0.15561852 -5.15381695] [ 0.14053132 0.98999471 0.01270538 -0.98719473] [-0.15585027 0.00944681 0.98773552 1.15698061] [ 0. 0. 0. 1. ]] SLAMing on 34.834860624 meters Centerline goodness : 0.811238 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97770077 -0.1409338 0.15568838 -5.15396454] [ 0.1406363 0.98997623 0.01298036 -0.98883527] [-0.15595716 0.00920453 0.98772093 1.1570042 ] [ 0. 0. 0. 1. ]] SLAMing on 34.864860624 meters Centerline goodness : 0.813430 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97765473 -0.14113366 0.15579643 -5.15420412] [ 0.14081299 0.98994889 0.01314938 -0.99002335] [-0.15608633 0.00908261 0.98770166 1.15698407] [ 0. 0. 0. 1. ]] SLAMing on 34.894860624 meters Centerline goodness : 0.814666 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97761489 -0.14145205 0.15575764 -5.15455173] [ 0.14113205 0.9899032 0.01316816 -0.99074049] [-0.15604765 0.009109 0.98770753 1.15762608] [ 0. 0. 0. 1. ]] SLAMing on 34.924860624000004 meters Centerline goodness : 0.814599 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97764803 -0.14138156 0.1556136 -5.15437873] [ 0.14105565 0.98991378 0.01319147 -0.99083208] [-0.15590908 0.00905356 0.98772992 1.15798557] [ 0. 0. 0. 1. ]] SLAMing on 34.954860624 meters Centerline goodness : 0.816379 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97769009 -0.14126304 0.15545687 -5.15410215] [ 0.14093167 0.98993122 0.01320748 -0.99101397] [-0.15575734 0.00899597 0.98775438 1.15824672] [ 0. 0. 0. 1. ]] SLAMing on 34.984860624 meters Centerline goodness : 0.816465 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.99, Z:1.16 [[ 0.97765109 -0.14141034 0.15556822 -5.15477002] [ 0.14104963 0.98991168 0.01341161 -0.99307592] [-0.15589533 0.00883097 0.9877341 1.15930611] [ 0. 0. 0. 1. ]] SLAMing on 35.014860624 meters Centerline goodness : 0.816369 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.99, Z:1.16 [[ 0.97760772 -0.14159713 0.15567079 -5.15521527] [ 0.14121986 0.9898857 0.01353719 -0.99469425] [-0.15601312 0.00874975 0.98771623 1.15995795] [ 0. 0. 0. 1. ]] SLAMing on 35.044860624 meters Centerline goodness : 0.814792 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.16 [[ 0.9775632 -0.14180051 0.15576521 -5.15558276] [ 0.14137998 0.98985876 0.0138324 -0.99612786] [-0.156147 0.00850004 0.98769725 1.1601023 ] [ 0. 0. 0. 1. ]] SLAMing on 35.074860624 meters Centerline goodness : 0.816089 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.16 [[ 0.9774364 -0.14240023 0.15601367 -5.15655225] [ 0.14193706 0.98977436 0.0141632 -0.99833717] [-0.15643517 0.00830049 0.98765335 1.16062328] [ 0. 0. 0. 1. ]] SLAMing on 35.104860624000004 meters Centerline goodness : 0.815818 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.16 [[ 0.97736887 -0.14273829 0.15612775 -5.15707426] [ 0.14225487 0.98972641 0.01432397 -1.00007888] [-0.15656834 0.00821013 0.987633 1.16113829] [ 0. 0. 0. 1. ]] SLAMing on 35.134860624 meters Centerline goodness : 0.814734 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.00, Z:1.16 [[ 0.97729337 -0.14311785 0.15625283 -5.15750169] [ 0.14259092 0.9896735 0.01463513 -1.00221197] [-0.15673383 0.00797742 0.98760866 1.16130363] [ 0. 0. 0. 1. ]] SLAMing on 35.164860624 meters Centerline goodness : 0.814173 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.16 [[ 0.97711995 -0.144313 0.15623816 -5.15760724] [ 0.14378305 0.98949932 0.01474882 -1.00763953] [-0.156726 0.00805304 0.98760929 1.16155226] [ 0. 0. 0. 1. ]] SLAMing on 35.194860624 meters Centerline goodness : 0.813245 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.17 [[ 0.97857246 -0.14663482 0.14454817 -5.15994058] [ 0.14647496 0.98914392 0.01180626 -1.00806057] [-0.14471015 0.00961941 0.98942733 1.16900053] [ 0. 0. 0. 1. ]] SLAMing on 35.224860624 meters Centerline goodness : 0.810308 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.17 [[ 0.9785655 -0.14680889 0.14441851 -5.15984331] [ 0.14657965 0.98912258 0.01228514 -1.01036842] [-0.14465117 0.009147 0.98944043 1.16924335] [ 0. 0. 0. 1. ]] SLAMing on 35.254860624 meters Centerline goodness : 0.811812 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.17 [[ 0.97859621 -0.14675074 0.14426948 -5.15972612] [ 0.14650346 0.9891325 0.01239485 -1.01094759] [-0.14452058 0.00900642 0.98946081 1.16968718] [ 0. 0. 0. 1. ]] SLAMing on 35.284860624000004 meters Centerline goodness : 0.809741 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.17 [[ 0.97861931 -0.1467385 0.14412517 -5.15958772] [ 0.14645365 0.98913675 0.0126423 -1.01232824] [-0.14441462 0.00873566 0.9894787 1.17003213] [ 0. 0. 0. 1. ]] SLAMing on 35.314860624 meters Centerline goodness : 0.810763 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.17 [[ 0.97858961 -0.14684307 0.14422028 -5.15981282] [ 0.14652074 0.98912332 0.01291242 -1.01419052] [-0.14454775 0.0084953 0.98946136 1.170248 ] [ 0. 0. 0. 1. ]] SLAMing on 35.344860624 meters Centerline goodness : 0.810763 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.01, Z:1.17 [[ 0.97858961 -0.14684307 0.14422028 -5.15981282] [ 0.14652074 0.98912332 0.01291242 -1.01419052] [-0.14454775 0.0084953 0.98946136 1.170248 ] [ 0. 0. 0. 1. ]] SLAMing on 35.374860624 meters Centerline goodness : 0.809384 Centerline is valid? [False, False] Translation: X:-5.16, Y:-1.02, Z:1.17 [[ 0.97861091 -0.14673691 0.1441838 -5.15959025] [ 0.14636093 0.98914225 0.0132697 -1.01637254] [-0.14456545 0.008117 0.98946195 1.17034363] [ 0. 0. 0. 1. ]] SLAMing on 35.404860624 meters Centerline goodness : 0.807429 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.02, Z:1.18 [[ 9.79481421e-01 -1.43881777e-01 1.41117612e-01 -5.16931588e+00] [ 1.45122307e-01 9.89412563e-01 1.51528643e-03 -1.01705660e+00] [-1.39841560e-01 1.89951185e-02 9.89991679e-01 1.17647288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434860624 meters Centerline goodness : 0.805702 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.02, Z:1.18 [[ 9.79493656e-01 -1.43899518e-01 1.41014561e-01 -5.16921280e+00] [ 1.45096617e-01 9.89415835e-01 1.81006436e-03 -1.01807102e+00] [-1.39782507e-01 1.86877892e-02 9.90005867e-01 1.17656945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464860624 meters Centerline goodness : 0.805603 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.02, Z:1.18 [[ 0.97985295 -0.14183752 0.14060696 -5.17011019] [ 0.14235964 0.98979437 0.00638995 -1.02211397] [-0.14007832 0.01375554 0.99004487 1.17625729] [ 0. 0. 0. 1. ]] SLAMing on 35.494860624000005 meters Centerline goodness : 0.804264 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.02, Z:1.18 [[ 0.97992196 -0.14158462 0.14038076 -5.16938959] [ 0.14203725 0.98983767 0.00684116 -1.02340235] [-0.13992277 0.0132355 0.99007396 1.17583934] [ 0. 0. 0. 1. ]] SLAMing on 35.524860624 meters Centerline goodness : 0.802383 Centerline is valid? [False, False] Translation: X:-5.17, Y:-1.03, Z:1.18 [[ 0.98002486 -0.14115084 0.14009895 -5.16835787] [ 0.14151863 0.98990805 0.00738465 -1.0251083 ] [-0.13972743 0.01258947 0.99010997 1.17530461] [ 0. 0. 0. 1. ]] SLAMing on 35.554860624 meters Centerline goodness : 0.800821 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.02, Z:1.18 [[ 9.81060662e-01 -1.38054552e-01 1.35870958e-01 -5.17708452e+00] [ 1.39917916e-01 9.90154135e-01 -4.21486665e-03 -1.02377659e+00] [-1.33951310e-01 2.31458212e-02 9.90717577e-01 1.18095674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584860624 meters Centerline goodness : 0.800010 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.03, Z:1.18 [[ 9.81379125e-01 -1.35960721e-01 1.35682332e-01 -5.17823300e+00] [ 1.37257196e-01 9.90535421e-01 -2.02213945e-04 -1.02695859e+00] [-1.34370663e-01 1.88218250e-02 9.90752373e-01 1.18095206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614860624 meters Centerline goodness : 0.802300 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.03, Z:1.18 [[ 9.81725701e-01 -1.33450781e-01 1.35667011e-01 -5.18001225e+00] [ 1.34150275e-01 9.90952868e-01 4.01469939e-03 -1.02965081e+00] [-1.34975378e-01 1.42584332e-02 9.90746357e-01 1.18171229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644860624 meters Centerline goodness : 0.800151 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.03, Z:1.18 [[ 0.98204127 -0.13112231 0.13565353 -5.18177074] [ 0.13127484 0.99131486 0.00785959 -1.03164991] [-0.13550592 0.01008945 0.99072516 1.18251289] [ 0. 0. 0. 1. ]] SLAMing on 35.674860624000004 meters Centerline goodness : 0.801324 Centerline is valid? [False, False] Translation: X:-5.18, Y:-1.03, Z:1.18 [[ 0.98248495 -0.12811339 0.13531551 -5.1824246 ] [ 0.12768498 0.99174366 0.01187644 -1.03401461] [-0.13571983 0.00560933 0.99073138 1.18314804] [ 0. 0. 0. 1. ]] SLAMing on 35.704860624 meters Centerline goodness : 0.800301 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.03, Z:1.19 [[ 9.83583057e-01 -1.24046530e-01 1.31060399e-01 -5.19171168e+00] [ 1.24892612e-01 9.92168675e-01 1.77646791e-03 -1.03280939e+00] [-1.30254387e-01 1.46211718e-02 9.91372794e-01 1.18882593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734860624 meters Centerline goodness : 0.797555 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.04, Z:1.19 [[ 0.98391802 -0.12149934 0.13093223 -5.19265993] [ 0.12176318 0.99254093 0.00601901 -1.03578902] [-0.1306869 0.01002051 0.99137305 1.1886542 ] [ 0. 0. 0. 1. ]] SLAMing on 35.764860624 meters Centerline goodness : 0.795452 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.04, Z:1.19 [[ 0.98400269 -0.1209806 0.13077615 -5.19198801] [ 0.12116481 0.99261061 0.00657707 -1.0370477 ] [-0.13060549 0.00937361 0.99139011 1.18832136] [ 0. 0. 0. 1. ]] SLAMing on 35.794860624 meters Centerline goodness : 0.794025 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.04, Z:1.19 [[ 0.98402533 -0.12081125 0.13076231 -5.19189033] [ 0.1209258 0.9926362 0.00709355 -1.03828751] [-0.13065638 0.0088323 0.99138837 1.18817907] [ 0. 0. 0. 1. ]] SLAMing on 35.824860624 meters Centerline goodness : 0.794893 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.04, Z:1.19 [[ 0.98400103 -0.12094217 0.13082413 -5.19214039] [ 0.12101814 0.99262272 0.00739906 -1.03960506] [-0.13075387 0.00855141 0.99137798 1.18827935] [ 0. 0. 0. 1. ]] SLAMing on 35.854860624000004 meters Centerline goodness : 0.793444 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.04, Z:1.19 [[ 0.98394827 -0.12128415 0.1309044 -5.19226058] [ 0.12128897 0.99258527 0.00796611 -1.04270696] [-0.13089995 0.00803902 0.99136299 1.18800089] [ 0. 0. 0. 1. ]] SLAMing on 35.884860624 meters Centerline goodness : 0.788323 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98387037 -0.12186643 0.13094913 -5.19218816] [ 0.12177374 0.99251936 0.00874557 -1.0467373 ] [-0.13103534 0.00734166 0.99135051 1.18716633] [ 0. 0. 0. 1. ]] SLAMing on 35.914860624 meters Centerline goodness : 0.787842 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98389508 -0.1218216 0.13080506 -5.19188082] [ 0.12170007 0.99252654 0.00895284 -1.04731664] [-0.13091815 0.00711033 0.99136768 1.1871096 ] [ 0. 0. 0. 1. ]] SLAMing on 35.944860624 meters Centerline goodness : 0.787842 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98389508 -0.1218216 0.13080506 -5.19188082] [ 0.12170007 0.99252654 0.00895284 -1.04731664] [-0.13091815 0.00711033 0.99136768 1.1871096 ] [ 0. 0. 0. 1. ]] SLAMing on 35.974860624 meters Centerline goodness : 0.788481 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98388618 -0.1219091 0.13079047 -5.19193978] [ 0.12178925 0.99251567 0.00894509 -1.04766119] [-0.13090208 0.00712792 0.99136968 1.1873081 ] [ 0. 0. 0. 1. ]] SLAMing on 36.004860624 meters Centerline goodness : 0.788481 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98388618 -0.1219091 0.13079047 -5.19193978] [ 0.12178925 0.99251567 0.00894509 -1.04766119] [-0.13090208 0.00712792 0.99136968 1.1873081 ] [ 0. 0. 0. 1. ]] SLAMing on 36.034860624000004 meters Centerline goodness : 0.787928 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98386817 -0.12205154 0.13079312 -5.19206305] [ 0.12191583 0.99249896 0.00907479 -1.04877648] [-0.13091963 0.00701736 0.99136815 1.18757346] [ 0. 0. 0. 1. ]] SLAMing on 36.064860624 meters Centerline goodness : 0.787820 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98384618 -0.12219669 0.13082304 -5.192158 ] [ 0.12203686 0.99248229 0.00926864 -1.05027768] [-0.13097214 0.00684632 0.99136241 1.18767347] [ 0. 0. 0. 1. ]] SLAMing on 36.094860624 meters Centerline goodness : 0.786586 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.98376768 -0.12261702 0.13101989 -5.19286781] [ 0.1224378 0.99243116 0.00945357 -1.05329683] [-0.13118739 0.00674167 0.99133467 1.18845608] [ 0. 0. 0. 1. ]] SLAMing on 36.124860624 meters Centerline goodness : 0.787966 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.05, Z:1.19 [[ 0.9837007 -0.12295621 0.13120484 -5.19368399] [ 0.12280703 0.99238738 0.00925904 -1.053923 ] [-0.13134449 0.00700475 0.99131204 1.18932728] [ 0. 0. 0. 1. ]] SLAMing on 36.154860624 meters Centerline goodness : 0.787726 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.06, Z:1.19 [[ 0.98358912 -0.12354026 0.1314924 -5.19496735] [ 0.12339828 0.99231403 0.0092593 -1.05557447] [-0.13162565 0.00711859 0.99127393 1.19054592] [ 0. 0. 0. 1. ]] SLAMing on 36.184860624 meters Centerline goodness : 0.787942 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.06, Z:1.19 [[ 0.98357765 -0.12365792 0.13146758 -5.19487593] [ 0.12349239 0.99230059 0.00944317 -1.0567719 ] [-0.13162308 0.00694716 0.99127549 1.19047289] [ 0. 0. 0. 1. ]] SLAMing on 36.214860624 meters Centerline goodness : 0.787987 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.06, Z:1.20 [[ 0.9850533 -0.12484083 0.1186792 -5.19448754] [ 0.12493019 0.9921428 0.00671589 -1.05645654] [-0.11858514 0.00821111 0.99290994 1.19662595] [ 0. 0. 0. 1. ]] SLAMing on 36.244860624000005 meters Centerline goodness : 0.786121 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.06, Z:1.20 [[ 9.86467187e-01 -1.25590267e-01 1.05401959e-01 -5.19383575e+00] [ 1.25868205e-01 9.92038756e-01 4.03748032e-03 -1.05744033e+00] [-1.05069896e-01 9.28391352e-03 9.94421503e-01 1.20239894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274860624 meters Centerline goodness : 0.787311 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.06, Z:1.20 [[ 9.86510671e-01 -1.25371927e-01 1.05254817e-01 -5.19335523e+00] [ 1.25616579e-01 9.92069424e-01 4.32816961e-03 -1.05842610e+00] [-1.04962717e-01 8.95196449e-03 9.94435865e-01 1.20224617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304860624 meters Centerline goodness : 0.785719 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.06, Z:1.20 [[ 9.86533266e-01 -1.25261378e-01 1.05174626e-01 -5.19309166e+00] [ 1.25502827e-01 9.92083744e-01 4.34575467e-03 -1.05884003e+00] [-1.04886392e-01 8.91248138e-03 9.94444273e-01 1.20228557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334860624 meters Centerline goodness : 0.786104 Centerline is valid? [False, False] Translation: X:-5.19, Y:-1.06, Z:1.20 [[ 9.86607463e-01 -1.24877580e-01 1.04934758e-01 -5.19242756e+00] [ 1.25081405e-01 9.92135528e-01 4.66229213e-03 -1.05947337e+00] [-1.04691718e-01 8.52553479e-03 9.94468179e-01 1.20214224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364860624 meters Centerline goodness : 0.786391 Centerline is valid? [False, False] Translation: X:-5.20, Y:-1.06, Z:1.21 [[ 9.87744458e-01 -1.19325232e-01 1.00610014e-01 -5.20092512e+00] [ 1.20301319e-01 9.92730643e-01 -3.66908365e-03 -1.05861082e+00] [-9.94408300e-02 1.57276345e-02 9.94919174e-01 1.20645869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394860624 meters Centerline goodness : 0.782803 Centerline is valid? [False, False] Translation: X:-5.20, Y:-1.06, Z:1.21 [[ 9.88152067e-01 -1.16060179e-01 1.00426726e-01 -5.20152014e+00] [ 1.16582969e-01 9.93180732e-01 6.67470595e-04 -1.06018857e+00] [-9.98193560e-02 1.10484834e-02 9.94944233e-01 1.20615840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424860624000004 meters Centerline goodness : 0.783783 Centerline is valid? [False, False] Translation: X:-5.20, Y:-1.06, Z:1.21 [[ 9.88558672e-01 -1.12723637e-01 1.00225415e-01 -5.20197329e+00] [ 1.12807972e-01 9.93605002e-01 4.84378742e-03 -1.06173821e+00] [-1.00130483e-01 6.51785770e-03 9.94952966e-01 1.20594294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454860624 meters Centerline goodness : 0.785553 Centerline is valid? [False, False] Translation: X:-5.21, Y:-1.06, Z:1.21 [[ 9.89794171e-01 -1.05891560e-01 9.53649700e-02 -5.20933410e+00] [ 1.06638387e-01 9.94294054e-01 -2.75473615e-03 -1.06038602e+00] [-9.45291193e-02 1.28961884e-02 9.95438564e-01 1.21001978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484860624 meters Centerline goodness : 0.784580 Centerline is valid? [False, False] Translation: X:-5.21, Y:-1.06, Z:1.21 [[ 9.90157874e-01 -1.02654722e-01 9.51282915e-02 -5.20977087e+00] [ 1.02972368e-01 9.94682967e-01 1.57684353e-03 -1.06228806e+00] [-9.47843617e-02 8.23426138e-03 9.95463772e-01 1.20975830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514860624 meters Centerline goodness : 0.783420 Centerline is valid? [False, False] Translation: X:-5.21, Y:-1.06, Z:1.21 [[ 9.90438862e-01 -1.00209602e-01 9.48097865e-02 -5.21057160e+00] [ 1.00154964e-01 9.94957484e-01 5.34675986e-03 -1.06453968e+00] [-9.48675033e-02 4.20003200e-03 9.95481048e-01 1.21017448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544860624 meters Centerline goodness : 0.788637 Centerline is valid? [False, False] Translation: X:-5.82, Y:-1.14, Z:1.32 [[ 0.99369268 -0.08763433 -0.0699649 -5.81923829] [ 0.10215141 0.96478641 0.24238867 -1.13802224] [ 0.04625962 -0.24800686 0.96765316 1.3233709 ] [ 0. 0. 0. 1. ]] SLAMing on 36.574860624 meters Centerline goodness : 0.782578 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.96, Z:1.38 [[ 0.97349728 -0.22095321 -0.05901464 -5.46226159] [ 0.22413479 0.97305276 0.05414723 -0.96412539] [ 0.04546035 -0.06593941 0.99678751 1.37554504] [ 0. 0. 0. 1. ]] SLAMing on 36.604860624000004 meters Centerline goodness : 0.783173 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.96, Z:1.38 [[ 0.97266538 -0.22472194 -0.05849884 -5.46119511] [ 0.22770301 0.97241969 0.05051028 -0.96469256] [ 0.04553466 -0.06244996 0.99700882 1.37547347] [ 0. 0. 0. 1. ]] SLAMing on 36.634860624 meters Centerline goodness : 0.781561 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.97, Z:1.38 [[ 0.97176773 -0.22873524 -0.0578591 -5.46049946] [ 0.2315038 0.97171141 0.04672183 -0.96537705] [ 0.04553542 -0.05879737 0.99723086 1.37565499] [ 0. 0. 0. 1. ]] SLAMing on 36.664860624 meters Centerline goodness : 0.781354 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.97, Z:1.38 [[ 0.97059589 -0.2338942 -0.05689572 -5.46091755] [ 0.23642367 0.97071266 0.04267061 -0.96907181] [ 0.04524899 -0.05486741 0.99746784 1.37699714] [ 0. 0. 0. 1. ]] SLAMing on 36.694860624 meters Centerline goodness : 0.781151 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.97, Z:1.38 [[ 0.96976 -0.23744052 -0.05645826 -5.4595852 ] [ 0.23978153 0.97004226 0.03902351 -0.96945367] [ 0.04550114 -0.05138109 0.99764204 1.37702949] [ 0. 0. 0. 1. ]] SLAMing on 36.724860624 meters Centerline goodness : 0.780878 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.97, Z:1.38 [[ 0.96969194 -0.23771597 -0.05646827 -5.45943265] [ 0.24006732 0.96996295 0.03923714 -0.97158419] [ 0.04544484 -0.05160413 0.99763309 1.3772924 ] [ 0. 0. 0. 1. ]] SLAMing on 36.754860624 meters Centerline goodness : 0.781454 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.97, Z:1.38 [[ 0.96962028 -0.23800565 -0.05647849 -5.45922482] [ 0.24036351 0.96988434 0.0393669 -0.9733109 ] [ 0.04540805 -0.05174631 0.9976274 1.37738597] [ 0. 0. 0. 1. ]] SLAMing on 36.784860624000004 meters Centerline goodness : 0.782116 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.98, Z:1.38 [[ 0.96910128 -0.24019474 -0.05611776 -5.45930221] [ 0.2424477 0.96944136 0.03745075 -0.97608745] [ 0.04540741 -0.04989919 0.99772152 1.3786918 ] [ 0. 0. 0. 1. ]] SLAMing on 36.814860624 meters Centerline goodness : 0.781508 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.98, Z:1.38 [[ 0.96903173 -0.24049844 -0.05601785 -5.45972497] [ 0.24274807 0.96936486 0.03748529 -0.97771092] [ 0.04528658 -0.04992266 0.99772584 1.37935549] [ 0. 0. 0. 1. ]] SLAMing on 36.844860624 meters Centerline goodness : 0.783075 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.98, Z:1.38 [[ 0.9689845 -0.2406808 -0.05605161 -5.45979218] [ 0.24293853 0.96931173 0.03762505 -0.9795691 ] [ 0.04527585 -0.05007519 0.99771868 1.37995467] [ 0. 0. 0. 1. ]] SLAMing on 36.874860624 meters Centerline goodness : 0.780512 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.98, Z:1.38 [[ 0.96815091 -0.2441393 -0.05549605 -5.45889648] [ 0.24623007 0.96859672 0.03451304 -0.98221334] [ 0.0453273 -0.04707863 0.99786223 1.38056733] [ 0. 0. 0. 1. ]] SLAMing on 36.904860624 meters Centerline goodness : 0.784564 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.98, Z:1.38 [[ 0.96810303 -0.24433272 -0.05548009 -5.45900602] [ 0.2464311 0.96853908 0.03469534 -0.98440178] [ 0.04525743 -0.04726069 0.9978568 1.38118035] [ 0. 0. 0. 1. ]] SLAMing on 36.934860624 meters Centerline goodness : 0.784371 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.99, Z:1.38 [[ 0.96803853 -0.24460291 -0.0554149 -5.4594261 ] [ 0.24670594 0.96846307 0.03486359 -0.98740542] [ 0.04513955 -0.04742049 0.99785456 1.38230455] [ 0. 0. 0. 1. ]] SLAMing on 36.964860624 meters Centerline goodness : 0.781481 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.99, Z:1.38 [[ 0.96808692 -0.24435539 -0.05566116 -5.45875164] [ 0.24648781 0.96850443 0.03525529 -0.98915635] [ 0.04529326 -0.04784998 0.99782709 1.38250638] [ 0. 0. 0. 1. ]] SLAMing on 36.994860624000005 meters Centerline goodness : 0.783179 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.99, Z:1.38 [[ 0.96814852 -0.24405966 -0.05588669 -5.45811188] [ 0.24622046 0.96855823 0.03564329 -0.9908155 ] [ 0.04543042 -0.04826845 0.9978007 1.38264946] [ 0. 0. 0. 1. ]] SLAMing on 37.024860624 meters Centerline goodness : 0.783909 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.99, Z:1.38 [[ 0.96836597 -0.24308777 -0.05635329 -5.45685152] [ 0.24530918 0.96875829 0.03648001 -0.99290511] [ 0.04572488 -0.04914998 0.99774421 1.38272244] [ 0. 0. 0. 1. ]] SLAMing on 37.054860624 meters Centerline goodness : 0.783358 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.99, Z:1.38 [[ 0.96847628 -0.24260705 -0.05652897 -5.45634325] [ 0.2448512 0.96886239 0.03679061 -0.99340501] [ 0.04584314 -0.04947202 0.99772287 1.38274039] [ 0. 0. 0. 1. ]] SLAMing on 37.084860624 meters Centerline goodness : 0.783047 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.99, Z:1.38 [[ 0.96859406 -0.24203559 -0.05695897 -5.45531233] [ 0.24431636 0.96898465 0.03712508 -0.99398237] [ 0.04620678 -0.04987514 0.99768603 1.38275644] [ 0. 0. 0. 1. ]] SLAMing on 37.114860624 meters Centerline goodness : 0.783963 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.9688944 -0.24070406 -0.05749083 -5.45380082] [ 0.24305726 0.96926277 0.03811627 -0.99553655] [ 0.04654898 -0.05090421 0.99761814 1.38261167] [ 0. 0. 0. 1. ]] SLAMing on 37.144860624 meters Centerline goodness : 0.784486 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96894511 -0.24046213 -0.05764849 -5.45364019] [ 0.24282853 0.96931569 0.03822827 -0.99613201] [ 0.04668714 -0.05103979 0.99760476 1.3830754 ] [ 0. 0. 0. 1. ]] SLAMing on 37.174860624000004 meters Centerline goodness : 0.785244 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96901019 -0.24015959 -0.05781536 -5.45318638] [ 0.24254954 0.96937278 0.03855047 -0.99717393] [ 0.04678637 -0.05137889 0.9975827 1.38316125] [ 0. 0. 0. 1. ]] SLAMing on 37.204860624 meters Centerline goodness : 0.785855 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.9690526 -0.23996325 -0.05791981 -5.4527035 ] [ 0.24237182 0.96940591 0.03883401 -0.99834607] [ 0.04682907 -0.05167033 0.99756564 1.383112 ] [ 0. 0. 0. 1. ]] SLAMing on 37.234860624 meters Centerline goodness : 0.787382 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96921156 -0.23923567 -0.0582687 -5.4513408 ] [ 0.24170257 0.96953825 0.03969183 -1.00047768] [ 0.04699803 -0.05255347 0.99751156 1.38260634] [ 0. 0. 0. 1. ]] SLAMing on 37.264860624 meters Centerline goodness : 0.785898 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96922811 -0.23915297 -0.05833295 -5.45099256] [ 0.24162761 0.96955313 0.03978476 -1.00103958] [ 0.04704225 -0.05265536 0.99750411 1.38254879] [ 0. 0. 0. 1. ]] SLAMing on 37.294860624 meters Centerline goodness : 0.785898 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96922811 -0.23915297 -0.05833295 -5.45099256] [ 0.24162761 0.96955313 0.03978476 -1.00103958] [ 0.04704225 -0.05265536 0.99750411 1.38254879] [ 0. 0. 0. 1. ]] SLAMing on 37.324860624 meters Centerline goodness : 0.786362 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96924988 -0.23905067 -0.05839047 -5.45063046] [ 0.24153827 0.9695667 0.03999585 -1.00182033] [ 0.04705243 -0.05286951 0.9974923 1.38239219] [ 0. 0. 0. 1. ]] SLAMing on 37.354860624000004 meters Centerline goodness : 0.786698 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.9692247 -0.2392321 -0.05806443 -5.45047609] [ 0.24169454 0.96953474 0.03982622 -1.00298565] [ 0.04676777 -0.05263441 0.99751812 1.3818712 ] [ 0. 0. 0. 1. ]] SLAMing on 37.384860624 meters Centerline goodness : 0.785127 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96916534 -0.23944738 -0.05816787 -5.45027341] [ 0.24191606 0.96947887 0.03984138 -1.00341103] [ 0.0468526 -0.05268463 0.99751149 1.38213505] [ 0. 0. 0. 1. ]] SLAMing on 37.414860624 meters Centerline goodness : 0.837430 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.00, Z:1.38 [[ 0.96912901 -0.23962087 -0.05805859 -5.45041895] [ 0.24207861 0.96944287 0.03973 -1.00396145] [ 0.04676435 -0.05255823 0.99752229 1.38235921] [ 0. 0. 0. 1. ]] SLAMing on 37.444860624 meters Centerline goodness : 0.836826 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.01, Z:1.38 [[ 0.96900524 -0.24010517 -0.0581236 -5.4502547 ] [ 0.24258028 0.96930537 0.04002375 -1.0057014 ] [ 0.04672961 -0.05288286 0.99750676 1.38301051] [ 0. 0. 0. 1. ]] SLAMing on 37.474860624 meters Centerline goodness : 0.828385 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.01, Z:1.39 [[ 0.96964152 -0.23452046 -0.06924943 -5.45259159] [ 0.23767792 0.97045963 0.0414405 -1.01148306] [ 0.05748513 -0.05664149 0.99673828 1.3887448 ] [ 0. 0. 0. 1. ]] SLAMing on 37.504860624 meters Centerline goodness : 0.834186 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.01, Z:1.39 [[ 0.96960581 -0.23467095 -0.06923954 -5.45241764] [ 0.23784234 0.97040866 0.04168994 -1.01292449] [ 0.05740723 -0.0568909 0.99672857 1.3889688 ] [ 0. 0. 0. 1. ]] SLAMing on 37.534860624000004 meters Centerline goodness : 0.840027 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96957775 -0.23478602 -0.06924235 -5.45219737] [ 0.23799266 0.97034548 0.0422983 -1.01508101] [ 0.05725795 -0.05749066 0.99670274 1.38936178] [ 0. 0. 0. 1. ]] SLAMing on 37.564860624 meters Centerline goodness : 0.839313 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96950053 -0.23507167 -0.06935439 -5.45198788] [ 0.23829021 0.97026851 0.04238864 -1.0157693 ] [ 0.05732801 -0.05762228 0.99669111 1.38968505] [ 0. 0. 0. 1. ]] SLAMing on 37.594860624 meters Centerline goodness : 0.841075 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96935664 -0.2356036 -0.06956044 -5.45176633] [ 0.23884146 0.97012767 0.04250949 -1.01652018] [ 0.05746712 -0.05782078 0.9966716 1.39035797] [ 0. 0. 0. 1. ]] SLAMing on 37.624860624 meters Centerline goodness : 0.840360 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96865694 -0.23877263 -0.06849349 -5.45188943] [ 0.24176949 0.96953694 0.03931472 -1.0173245 ] [ 0.05701969 -0.05464211 0.99687662 1.39022442] [ 0. 0. 0. 1. ]] SLAMing on 37.654860624 meters Centerline goodness : 0.840315 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96812606 -0.2412197 -0.06741654 -5.4522738 ] [ 0.24396666 0.96911912 0.03589419 -1.01698731] [ 0.05667627 -0.05119749 0.99707904 1.38993355] [ 0. 0. 0. 1. ]] SLAMing on 37.684860624 meters Centerline goodness : 0.837823 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96799377 -0.24171248 -0.06755103 -5.45157701] [ 0.24447192 0.96898849 0.035983 -1.01797432] [ 0.05675863 -0.05134565 0.99706674 1.38984857] [ 0. 0. 0. 1. ]] SLAMing on 37.714860624 meters Centerline goodness : 0.841765 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96787342 -0.2421769 -0.0676121 -5.45112956] [ 0.24492668 0.96888228 0.03574976 -1.01829101] [ 0.0568504 -0.05116125 0.99707099 1.38979325] [ 0. 0. 0. 1. ]] SLAMing on 37.744860624000005 meters Centerline goodness : 0.839417 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96784039 -0.24237938 -0.06735888 -5.45140187] [ 0.24510646 0.96884324 0.03557523 -1.01895802] [ 0.05663749 -0.05094124 0.99709437 1.389858 ] [ 0. 0. 0. 1. ]] SLAMing on 37.774860624 meters Centerline goodness : 0.839099 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96783778 -0.24244531 -0.06715877 -5.451662 ] [ 0.24514127 0.96884795 0.03520521 -1.01872462] [ 0.0565313 -0.05053632 0.997121 1.38970722] [ 0. 0. 0. 1. ]] SLAMing on 37.804860624 meters Centerline goodness : 0.837075 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96788145 -0.24231059 -0.06701552 -5.45205191] [ 0.24499701 0.9688858 0.03516764 -1.01897908] [ 0.05640889 -0.05045671 0.99713197 1.38994801] [ 0. 0. 0. 1. ]] SLAMing on 37.834860624 meters Centerline goodness : 0.840072 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.39 [[ 0.96788743 -0.24237675 -0.06668906 -5.45292399] [ 0.245029 0.96888909 0.03485287 -1.01846784] [ 0.05616677 -0.05007441 0.9971649 1.39022909] [ 0. 0. 0. 1. ]] SLAMing on 37.864860624 meters Centerline goodness : 0.839361 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.40 [[ 0.96852243 -0.23641904 -0.07791236 -5.45408169] [ 0.23964087 0.97023588 0.03485093 -1.02242163] [ 0.06735394 -0.05242489 0.99635088 1.39550196] [ 0. 0. 0. 1. ]] SLAMing on 37.894860624 meters Centerline goodness : 0.838557 Centerline is valid? [False, False] Translation: X:-5.45, Y:-1.02, Z:1.40 [[ 0.968559 -0.23639256 -0.07753726 -5.45462223] [ 0.23955908 0.97027488 0.03432343 -1.02215036] [ 0.06711865 -0.05181902 0.99639845 1.39530732] [ 0. 0. 0. 1. ]] SLAMing on 37.924860624000004 meters Centerline goodness : 0.838802 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.02, Z:1.40 [[ 0.96851792 -0.23657142 -0.07750485 -5.45502669] [ 0.23971488 0.97024774 0.03400138 -1.02168038] [ 0.06715515 -0.05151001 0.99641202 1.39574572] [ 0. 0. 0. 1. ]] SLAMing on 37.954860624 meters Centerline goodness : 0.840784 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.02, Z:1.40 [[ 0.96844105 -0.23695069 -0.07730656 -5.45570696] [ 0.24004787 0.97018438 0.03345573 -1.02102779] [ 0.06707426 -0.05095717 0.99644589 1.39618549] [ 0. 0. 0. 1. ]] SLAMing on 37.984860624 meters Centerline goodness : 0.839584 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.02, Z:1.40 [[ 0.96839984 -0.23717239 -0.07714271 -5.45609803] [ 0.24023476 0.9701518 0.03305668 -1.02062882] [ 0.06700001 -0.05054445 0.99647191 1.39636892] [ 0. 0. 0. 1. ]] SLAMing on 38.014860624 meters Centerline goodness : 0.838498 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.02, Z:1.40 [[ 0.96840749 -0.23707402 -0.07734879 -5.45623478] [ 0.24014768 0.97017286 0.03307131 -1.01992217] [ 0.06720135 -0.05060164 0.99645544 1.39681189] [ 0. 0. 0. 1. ]] SLAMing on 38.044860624 meters Centerline goodness : 0.838553 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.02, Z:1.40 [[ 0.96831097 -0.23751771 -0.07719584 -5.45679807] [ 0.24053281 0.97010325 0.03230567 -1.01853774] [ 0.06721476 -0.04985007 0.99649242 1.39697163] [ 0. 0. 0. 1. ]] SLAMing on 38.074860624 meters Centerline goodness : 0.837432 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.02, Z:1.40 [[ 0.96907201 -0.23333735 -0.08033137 -5.46129897] [ 0.23603694 0.97140153 0.02579984 -1.01780132] [ 0.07201395 -0.04396307 0.99643426 1.39926038] [ 0. 0. 0. 1. ]] SLAMing on 38.104860624000004 meters Centerline goodness : 0.836347 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.02, Z:1.40 [[ 0.96901584 -0.23364961 -0.08010088 -5.46166251] [ 0.23627092 0.97136952 0.0248456 -1.0161011 ] [ 0.07200239 -0.04300129 0.99647707 1.39897997] [ 0. 0. 0. 1. ]] SLAMing on 38.134860624 meters Centerline goodness : 0.836331 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.01, Z:1.40 [[ 0.96898134 -0.23388539 -0.07982969 -5.46224839] [ 0.2364178 0.97136076 0.02376748 -1.01398871] [ 0.07198456 -0.04190341 0.99652513 1.39868369] [ 0. 0. 0. 1. ]] SLAMing on 38.164860624 meters Centerline goodness : 0.834091 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.01, Z:1.40 [[ 0.96908504 -0.23357667 -0.07947403 -5.46312851] [ 0.23603011 0.97147613 0.02288916 -1.01192809] [ 0.07186075 -0.0409398 0.99657411 1.39836135] [ 0. 0. 0. 1. ]] SLAMing on 38.194860624 meters Centerline goodness : 0.834942 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.01, Z:1.40 [[ 0.9698608 -0.23022042 -0.07980347 -5.46432895] [ 0.2328135 0.97220649 0.02474711 -1.00876362] [ 0.07188816 -0.04258058 0.99650338 1.39799539] [ 0. 0. 0. 1. ]] SLAMing on 38.224860624 meters Centerline goodness : 0.836737 Centerline is valid? [False, False] Translation: X:-5.46, Y:-1.01, Z:1.40 [[ 0.97051946 -0.22721772 -0.08039956 -5.46495383] [ 0.2300111 0.97280623 0.02725675 -1.00739845] [ 0.07201998 -0.044946 0.99638997 1.39814362] [ 0. 0. 0. 1. ]] SLAMing on 38.254860624 meters Centerline goodness : 0.836643 Centerline is valid? [False, False] Translation: X:-5.47, Y:-1.01, Z:1.40 [[ 0.97115692 -0.22421535 -0.0811278 -5.46571944] [ 0.2272195 0.97338762 0.02979673 -1.00567286] [ 0.07228791 -0.04737112 0.99625822 1.39867431] [ 0. 0. 0. 1. ]] SLAMing on 38.284860624000004 meters Centerline goodness : 0.788705 Centerline is valid? [False, False] Translation: X:-5.47, Y:-1.00, Z:1.40 [[ 0.97181763 -0.2210914 -0.08178687 -5.46658891] [ 0.22430984 0.97397915 0.0323994 -1.00385116] [ 0.07249548 -0.04983191 0.99612308 1.39902939] [ 0. 0. 0. 1. ]] SLAMing on 38.314860624 meters Centerline goodness : 0.787691 Centerline is valid? [False, False] Translation: X:-5.47, Y:-1.00, Z:1.40 [[ 0.9728488 -0.21649796 -0.08181588 -5.46873745] [ 0.21983288 0.97494072 0.03411899 -0.99949911] [ 0.07237894 -0.05117844 0.99606328 1.39861995] [ 0. 0. 0. 1. ]] SLAMing on 38.344860624 meters Centerline goodness : 0.790544 Centerline is valid? [False, False] Translation: X:-5.47, Y:-1.00, Z:1.40 [[ 0.973527 -0.21320457 -0.08239538 -5.46911073] [ 0.21675132 0.97553653 0.03670615 -0.99812689] [ 0.07255379 -0.05359373 0.99592352 1.39840771] [ 0. 0. 0. 1. ]] SLAMing on 38.374860624 meters Centerline goodness : 0.789742 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.99, Z:1.40 [[ 0.97373318 -0.21226977 -0.08237258 -5.46908403] [ 0.21579634 0.97575698 0.03647269 -0.99459137] [ 0.07263357 -0.05329036 0.99593398 1.39812336] [ 0. 0. 0. 1. ]] SLAMing on 38.404860624 meters Centerline goodness : 0.791409 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.99, Z:1.40 [[ 0.97459742 -0.20812938 -0.08271654 -5.47033744] [ 0.21184204 0.9765302 0.03888085 -0.98932116] [ 0.07268295 -0.05541602 0.99581437 1.39835337] [ 0. 0. 0. 1. ]] SLAMing on 38.434860624 meters Centerline goodness : 0.790504 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.99, Z:1.40 [[ 0.97534708 -0.2043386 -0.08332959 -5.47072108] [ 0.20832438 0.97714734 0.04223776 -0.98771113] [ 0.07279448 -0.05855606 0.99562651 1.397977 ] [ 0. 0. 0. 1. ]] SLAMing on 38.464860624 meters Centerline goodness : 0.788513 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.98, Z:1.40 [[ 0.97558774 -0.2031256 -0.08347788 -5.46974595] [ 0.20712378 0.97739904 0.04231851 -0.98414615] [ 0.07299523 -0.05857568 0.99561066 1.39690408] [ 0. 0. 0. 1. ]] SLAMing on 38.494860624000005 meters Centerline goodness : 0.789571 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.98, Z:1.40 [[ 0.97651626 -0.19841059 -0.08395968 -5.46957879] [ 0.20266318 0.97819069 0.04550397 -0.9789209 ] [ 0.07310011 -0.0614509 0.99542964 1.39542801] [ 0. 0. 0. 1. ]] SLAMing on 38.524860624 meters Centerline goodness : 0.788234 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.98, Z:1.39 [[ 0.97668434 -0.19752517 -0.08409228 -5.46905194] [ 0.2017638 0.97838958 0.04522384 -0.97523701] [ 0.07334217 -0.06113619 0.99543121 1.39497219] [ 0. 0. 0. 1. ]] SLAMing on 38.554860624 meters Centerline goodness : 0.787841 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.97, Z:1.39 [[ 0.97675458 -0.19716399 -0.08412397 -5.46897236] [ 0.20134896 0.97850919 0.04447889 -0.97129099] [ 0.07354644 -0.06038323 0.9954621 1.39479765] [ 0. 0. 0. 1. ]] SLAMing on 38.584860624 meters Centerline goodness : 0.787887 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.97, Z:1.40 [[ 0.97738036 -0.19397872 -0.0842608 -5.47088345] [ 0.19835109 0.97900454 0.04697816 -0.96767267] [ 0.07337895 -0.06262875 0.99533571 1.39501955] [ 0. 0. 0. 1. ]] SLAMing on 38.614860624 meters Centerline goodness : 0.787722 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.96, Z:1.40 [[ 0.97731532 -0.19436166 -0.08413273 -5.47151373] [ 0.1986494 0.97899378 0.04593035 -0.9647555 ] [ 0.07343832 -0.06160135 0.99539544 1.39540461] [ 0. 0. 0. 1. ]] SLAMing on 38.644860624 meters Centerline goodness : 0.788643 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.96, Z:1.40 [[ 0.97743105 -0.19394327 -0.08375288 -5.47256011] [ 0.19815207 0.97912919 0.04518618 -0.9588182 ] [ 0.07324133 -0.06076218 0.99546153 1.39503973] [ 0. 0. 0. 1. ]] SLAMing on 38.674860624000004 meters Centerline goodness : 0.789393 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.96, Z:1.40 [[ 0.97739748 -0.1941609 -0.08364032 -5.47298843] [ 0.19829201 0.97914505 0.04421826 -0.95551673] [ 0.07331054 -0.05980403 0.99551446 1.39513843] [ 0. 0. 0. 1. ]] SLAMing on 38.704860624 meters Centerline goodness : 0.790651 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.95, Z:1.40 [[ 0.97737882 -0.19423039 -0.08369709 -5.47306947] [ 0.19830832 0.97917617 0.04344933 -0.95268988] [ 0.07351501 -0.05906428 0.99554355 1.39528017] [ 0. 0. 0. 1. ]] SLAMing on 38.734860624 meters Centerline goodness : 0.793444 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.95, Z:1.40 [[ 0.97733438 -0.1945001 -0.08358965 -5.47357802] [ 0.19850625 0.97917526 0.04255669 -0.95002857] [ 0.07357163 -0.05818519 0.99559113 1.39555102] [ 0. 0. 0. 1. ]] SLAMing on 38.764860624 meters Centerline goodness : 0.794095 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.95, Z:1.40 [[ 0.97731244 -0.1946731 -0.0834433 -5.47400233] [ 0.19861248 0.97918786 0.04176386 -0.9473515 ] [ 0.07357636 -0.05738922 0.99563698 1.39562547] [ 0. 0. 0. 1. ]] SLAMing on 38.794860624 meters Centerline goodness : 0.796725 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.94, Z:1.40 [[ 0.97742475 -0.19417762 -0.08328214 -5.47436436] [ 0.19805347 0.97933159 0.04104226 -0.94271545] [ 0.07359134 -0.05661004 0.99568048 1.39549886] [ 0. 0. 0. 1. ]] SLAMing on 38.824860624 meters Centerline goodness : 0.797557 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.94, Z:1.40 [[ 0.97741051 -0.19424002 -0.08330367 -5.47447012] [ 0.19806798 0.97935631 0.04037679 -0.94040673] [ 0.07374118 -0.05596449 0.99570589 1.39568153] [ 0. 0. 0. 1. ]] SLAMing on 38.854860624000004 meters Centerline goodness : 0.799747 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.40 [[ 0.97740116 -0.1944083 -0.08302039 -5.47566235] [ 0.19814069 0.97938563 0.03929453 -0.93571244] [ 0.07366979 -0.05485624 0.99577284 1.39604647] [ 0. 0. 0. 1. ]] SLAMing on 38.884860624 meters Centerline goodness : 0.800789 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.93, Z:1.40 [[ 0.97735381 -0.19474462 -0.08278927 -5.47653016] [ 0.19841417 0.97935762 0.03860666 -0.93361251] [ 0.07356186 -0.05415893 0.99581899 1.39635303] [ 0. 0. 0. 1. ]] SLAMing on 38.914860624 meters Centerline goodness : 0.802040 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.93, Z:1.40 [[ 0.97731512 -0.19494693 -0.08276985 -5.47666545] [ 0.19857474 0.97934684 0.03805055 -0.93201689] [ 0.07364255 -0.05362338 0.99584201 1.39645666] [ 0. 0. 0. 1. ]] SLAMing on 38.944860624 meters Centerline goodness : 0.802333 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.93, Z:1.40 [[ 0.97728144 -0.19519853 -0.08257434 -5.4768922 ] [ 0.19876431 0.9793355 0.03734604 -0.92935204] [ 0.07357809 -0.05291042 0.99588491 1.39603894] [ 0. 0. 0. 1. ]] SLAMing on 38.974860624 meters Centerline goodness : 0.803211 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.93, Z:1.40 [[ 0.9772269 -0.19551192 -0.08247832 -5.4772041 ] [ 0.19903382 0.97930098 0.03681197 -0.9279135 ] [ 0.07357392 -0.05238963 0.99591275 1.39610761] [ 0. 0. 0. 1. ]] SLAMing on 39.004860624 meters Centerline goodness : 0.804187 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.93, Z:1.40 [[ 0.97716584 -0.19586452 -0.08236511 -5.47768715] [ 0.19933948 0.9792599 0.03624667 -0.92654345] [ 0.07355741 -0.05183762 0.99594285 1.39634164] [ 0. 0. 0. 1. ]] SLAMing on 39.034860624000004 meters Centerline goodness : 0.802963 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.92, Z:1.40 [[ 0.97706295 -0.1964824 -0.08211374 -5.47833786] [ 0.19989164 0.97917417 0.03551443 -0.92457357] [ 0.07342569 -0.05111369 0.99598999 1.3962438 ] [ 0. 0. 0. 1. ]] SLAMing on 39.064860624 meters Centerline goodness : 0.805890 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.92, Z:1.40 [[ 0.97694048 -0.19722255 -0.08179592 -5.47945844] [ 0.20056212 0.9790639 0.03476661 -0.92344493] [ 0.07322667 -0.05037007 0.99604252 1.39673361] [ 0. 0. 0. 1. ]] SLAMing on 39.094860624 meters Centerline goodness : 0.806198 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.92, Z:1.40 [[ 0.97680341 -0.19803368 -0.08147243 -5.48084338] [ 0.20130827 0.97893493 0.03407923 -0.92257541] [ 0.07300737 -0.04968978 0.99609279 1.39742703] [ 0. 0. 0. 1. ]] SLAMing on 39.124860624 meters Centerline goodness : 0.805442 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.92, Z:1.40 [[ 0.97590869 -0.2027484 -0.08059351 -5.48170293] [ 0.20562366 0.9781998 0.02905289 -0.9194309 ] [ 0.07294613 -0.0449249 0.99632355 1.39832772] [ 0. 0. 0. 1. ]] SLAMing on 39.154860624 meters Centerline goodness : 0.804681 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.92, Z:1.40 [[ 0.97574165 -0.20372434 -0.08015374 -5.48308054] [ 0.20654834 0.9780186 0.02859036 -0.91934925] [ 0.0725673 -0.04445243 0.9963724 1.39858003] [ 0. 0. 0. 1. ]] SLAMing on 39.184860624 meters Centerline goodness : 0.804681 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.92, Z:1.40 [[ 0.97574165 -0.20372434 -0.08015374 -5.48308054] [ 0.20654834 0.9780186 0.02859036 -0.91934925] [ 0.0725673 -0.04445243 0.9963724 1.39858003] [ 0. 0. 0. 1. ]] SLAMing on 39.214860624 meters Centerline goodness : 0.807301 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.92, Z:1.40 [[ 0.97556573 -0.20469059 -0.0798327 -5.48421425] [ 0.20747067 0.97783608 0.02815168 -0.91960512] [ 0.07230091 -0.04402676 0.99641067 1.39894341] [ 0. 0. 0. 1. ]] SLAMing on 39.244860624000005 meters Centerline goodness : 0.802407 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.92, Z:1.40 [[ 0.97538393 -0.20566824 -0.07954102 -5.48522005] [ 0.20841206 0.977646 0.02779752 -0.92031211] [ 0.07204589 -0.04369056 0.99644394 1.39924298] [ 0. 0. 0. 1. ]] SLAMing on 39.274860624 meters Centerline goodness : 0.803473 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.92, Z:1.40 [[ 0.97438009 -0.21075182 -0.07853092 -5.4859868 ] [ 0.21312711 0.97675116 0.02310838 -0.91875644] [ 0.07183503 -0.03925342 0.99664382 1.39958665] [ 0. 0. 0. 1. ]] SLAMing on 39.304860624 meters Centerline goodness : 0.803815 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.92, Z:1.40 [[ 0.97419496 -0.21173093 -0.07819327 -5.48704401] [ 0.21406696 0.97655487 0.02271405 -0.91878199] [ 0.07155076 -0.03886651 0.99667943 1.3997151 ] [ 0. 0. 0. 1. ]] SLAMing on 39.334860624 meters Centerline goodness : 0.802788 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.92, Z:1.40 [[ 0.97324626 -0.21632532 -0.07742782 -5.48697982] [ 0.21832056 0.97570731 0.01820374 -0.91644585] [ 0.07160896 -0.03462081 0.99683176 1.39972144] [ 0. 0. 0. 1. ]] SLAMing on 39.364860624 meters Centerline goodness : 0.802846 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.92, Z:1.40 [[ 0.97309629 -0.21709721 -0.0771519 -5.48768408] [ 0.21905568 0.97555004 0.01779704 -0.91651062] [ 0.07140185 -0.0342188 0.9968605 1.39980209] [ 0. 0. 0. 1. ]] SLAMing on 39.394860624 meters Centerline goodness : 0.801666 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.92, Z:1.40 [[ 0.97294233 -0.21793591 -0.07672777 -5.48884185] [ 0.21985155 0.97537867 0.01737103 -0.9164139 ] [ 0.07105286 -0.03376973 0.99690075 1.39996551] [ 0. 0. 0. 1. ]] SLAMing on 39.424860624000004 meters Centerline goodness : 0.801753 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.92, Z:1.40 [[ 0.97266062 -0.21939351 -0.07614336 -5.49104627] [ 0.22121135 0.97509102 0.0162185 -0.91518751] [ 0.07068847 -0.03261888 0.99696497 1.4009131 ] [ 0. 0. 0. 1. ]] SLAMing on 39.454860624 meters Centerline goodness : 0.803015 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.91, Z:1.40 [[ 0.97257489 -0.21988641 -0.07581585 -5.4921524 ] [ 0.22165061 0.97500146 0.0155938 -0.91395391] [ 0.0704917 -0.03197077 0.99699989 1.40139534] [ 0. 0. 0. 1. ]] SLAMing on 39.484860624 meters Centerline goodness : 0.802324 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.91, Z:1.40 [[ 0.97253702 -0.22006472 -0.07578428 -5.49257036] [ 0.2217774 0.97498388 0.01487344 -0.91188554] [ 0.07061533 -0.03127221 0.9970133 1.40193098] [ 0. 0. 0. 1. ]] SLAMing on 39.514860624 meters Centerline goodness : 0.803190 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.91, Z:1.40 [[ 0.97333149 -0.21637886 -0.07619707 -5.49358768] [ 0.21831603 0.9757124 0.01798393 -0.90953729] [ 0.07045509 -0.03413937 0.99693058 1.40177047] [ 0. 0. 0. 1. ]] SLAMing on 39.544860624 meters Centerline goodness : 0.804589 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.91, Z:1.40 [[ 0.97343428 -0.215845 -0.07639789 -5.49291786] [ 0.2177589 0.9758443 0.01757717 -0.90714624] [ 0.0707585 -0.03374654 0.99692247 1.40170889] [ 0. 0. 0. 1. ]] SLAMing on 39.574860624 meters Centerline goodness : 0.803768 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.90, Z:1.40 [[ 0.97355944 -0.21524858 -0.07648575 -5.49262003] [ 0.21713927 0.97598856 0.01722977 -0.90467631] [ 0.07094054 -0.03338227 0.99692179 1.40180332] [ 0. 0. 0. 1. ]] SLAMing on 39.604860624000004 meters Centerline goodness : 0.805119 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.90, Z:1.40 [[ 0.97438929 -0.21133328 -0.07683592 -5.49417071] [ 0.21343861 0.97674736 0.02021282 -0.90145406] [ 0.07077764 -0.0360949 0.99683885 1.40225084] [ 0. 0. 0. 1. ]] SLAMing on 39.634860624 meters Centerline goodness : 0.804644 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.90, Z:1.40 [[ 0.97450546 -0.21074062 -0.07699021 -5.49369134] [ 0.21282143 0.97689027 0.01981013 -0.89885522] [ 0.07103619 -0.03569025 0.99683502 1.40232861] [ 0. 0. 0. 1. ]] SLAMing on 39.664860624 meters Centerline goodness : 0.805620 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.90, Z:1.40 [[ 0.97459016 -0.21027516 -0.07719056 -5.49316766] [ 0.21233418 0.97700411 0.01942087 -0.89670141] [ 0.07133177 -0.03531758 0.99682719 1.40241449] [ 0. 0. 0. 1. ]] SLAMing on 39.694860624 meters Centerline goodness : 0.803154 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.90, Z:1.40 [[ 0.97538657 -0.206445 -0.07746934 -5.49388239] [ 0.20876507 0.97769385 0.02306242 -0.89583959] [ 0.07098018 -0.03866766 0.99672796 1.40168244] [ 0. 0. 0. 1. ]] SLAMing on 39.724860624 meters Centerline goodness : 0.803971 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.89, Z:1.40 [[ 0.97540629 -0.2063275 -0.07753406 -5.49353398] [ 0.2086289 0.97772979 0.02276942 -0.89425891] [ 0.07110941 -0.03838528 0.99672966 1.40144408] [ 0. 0. 0. 1. ]] SLAMing on 39.754860624 meters Centerline goodness : 0.802872 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.89, Z:1.40 [[ 0.97540274 -0.20635681 -0.07750071 -5.49358912] [ 0.208634 0.97773615 0.02244705 -0.89288148] [ 0.07114314 -0.03806419 0.99673957 1.40138645] [ 0. 0. 0. 1. ]] SLAMing on 39.784860624000004 meters Centerline goodness : 0.804639 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.89, Z:1.40 [[ 0.9753408 -0.20674501 -0.07724524 -5.4943198 ] [ 0.20896452 0.97768108 0.02176102 -0.89030155] [ 0.07102223 -0.03736592 0.99677461 1.40134391] [ 0. 0. 0. 1. ]] SLAMing on 39.814860624 meters Centerline goodness : 0.805008 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.89, Z:1.40 [[ 0.97530733 -0.20693316 -0.07716391 -5.49435128] [ 0.209136 0.97764879 0.02156349 -0.88945573] [ 0.070977 -0.03716878 0.99678521 1.4010334 ] [ 0. 0. 0. 1. ]] SLAMing on 39.844860624 meters Centerline goodness : 0.804193 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.89, Z:1.40 [[ 0.97528833 -0.20704188 -0.07711245 -5.49405392] [ 0.20923479 0.9776302 0.02144729 -0.88882158] [ 0.07094697 -0.0370519 0.9967917 1.40044933] [ 0. 0. 0. 1. ]] SLAMing on 39.874860624 meters Centerline goodness : 0.803550 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.89, Z:1.40 [[ 0.975174 -0.20775538 -0.07663799 -5.49480805] [ 0.2098966 0.97749928 0.02094233 -0.88777107] [ 0.0705627 -0.03650847 0.99683902 1.39994624] [ 0. 0. 0. 1. ]] SLAMing on 39.904860624 meters Centerline goodness : 0.804033 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.89, Z:1.40 [[ 0.97507437 -0.20830288 -0.07641909 -5.495605 ] [ 0.21039992 0.97740229 0.02041182 -0.88675607] [ 0.07044035 -0.03598161 0.99686683 1.40023277] [ 0. 0. 0. 1. ]] SLAMing on 39.934860624 meters Centerline goodness : 0.804600 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.89, Z:1.40 [[ 0.97495909 -0.20896767 -0.07607421 -5.49669567] [ 0.21101312 0.97728199 0.0198336 -0.88555892] [ 0.07020137 -0.0353896 0.99690488 1.40046118] [ 0. 0. 0. 1. ]] SLAMing on 39.964860624 meters Centerline goodness : 0.805281 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.88, Z:1.40 [[ 0.97474307 -0.21017955 -0.07550171 -5.49861642] [ 0.21213806 0.97705808 0.01884035 -0.88389362] [ 0.06980969 -0.03438129 0.99696767 1.40099824] [ 0. 0. 0. 1. ]] SLAMing on 39.994860624000005 meters Centerline goodness : 0.803348 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.88, Z:1.40 [[ 0.97463379 -0.21080306 -0.07517341 -5.49954491] [ 0.21272308 0.97693871 0.01842975 -0.88355553] [ 0.06955476 -0.03395337 0.99700015 1.40121763] [ 0. 0. 0. 1. ]] SLAMing on 40.024860624 meters Centerline goodness : 0.804464 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.88, Z:1.40 [[ 0.97451888 -0.21142954 -0.07490333 -5.50032146] [ 0.21331538 0.97681665 0.01804958 -0.88343023] [ 0.0693506 -0.03356769 0.99702743 1.40140173] [ 0. 0. 0. 1. ]] SLAMing on 40.054860624 meters Centerline goodness : 0.804408 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.88, Z:1.40 [[ 0.97438426 -0.21221131 -0.07444245 -5.50164839] [ 0.21405259 0.97666351 0.01760323 -0.88308923] [ 0.06896962 -0.03308691 0.99706993 1.40164878] [ 0. 0. 0. 1. ]] SLAMing on 40.084860624 meters Centerline goodness : 0.805131 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.88, Z:1.40 [[ 0.97398055 -0.21434569 -0.07360584 -5.50496083] [ 0.2160766 0.97623993 0.01632463 -0.88246704] [ 0.06835785 -0.03180437 0.99715379 1.40298427] [ 0. 0. 0. 1. ]] SLAMing on 40.114860624 meters Centerline goodness : 0.805447 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.88, Z:1.40 [[ 0.97377899 -0.21541911 -0.07313745 -5.50677355] [ 0.21710154 0.97602121 0.01579621 -0.88264231] [ 0.06798089 -0.03126027 0.99719677 1.40371762] [ 0. 0. 0. 1. ]] SLAMing on 40.144860624 meters Centerline goodness : 0.806806 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.88, Z:1.41 [[ 0.9726917 -0.22072061 -0.07178625 -5.50887969] [ 0.22203789 0.97497801 0.01081929 -0.88153684] [ 0.06760198 -0.0264631 0.99736136 1.40519545] [ 0. 0. 0. 1. ]] SLAMing on 40.174860624000004 meters Centerline goodness : 0.806934 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.88, Z:1.41 [[ 0.97248547 -0.22179387 -0.07127055 -5.51044407] [ 0.22307698 0.97474452 0.01047778 -0.88248415] [ 0.06714667 -0.02608831 0.99740199 1.40557675] [ 0. 0. 0. 1. ]] SLAMing on 40.204860624 meters Centerline goodness : 0.806957 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.88, Z:1.41 [[ 0.97225761 -0.22295829 -0.07074423 -5.512061 ] [ 0.22421383 0.97448626 0.01023135 -0.88331349] [ 0.06665812 -0.02580934 0.99744202 1.40572467] [ 0. 0. 0. 1. ]] SLAMing on 40.234860624 meters Centerline goodness : 0.808126 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.88, Z:1.41 [[ 0.97119876 -0.22788307 -0.06958651 -5.51304729] [ 0.22883063 0.97344863 0.00585695 -0.88273268] [ 0.06640419 -0.02161179 0.99755873 1.40615146] [ 0. 0. 0. 1. ]] SLAMing on 40.264860624 meters Centerline goodness : 0.805739 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.88, Z:1.41 [[ 0.97100343 -0.22881849 -0.06924183 -5.51392483] [ 0.22975421 0.97323165 0.0057586 -0.88369101] [ 0.06607067 -0.02150023 0.99758328 1.40596402] [ 0. 0. 0. 1. ]] SLAMing on 40.294860624 meters Centerline goodness : 0.806485 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.89, Z:1.41 [[ 0.9708105 -0.22972856 -0.06893297 -5.51493734] [ 0.23065522 0.9730189 0.00569068 -0.885045 ] [ 0.06576577 -0.02142432 0.99760506 1.40611092] [ 0. 0. 0. 1. ]] SLAMing on 40.324860624 meters Centerline goodness : 0.808122 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.88, Z:1.41 [[ 9.69818580e-01 -2.34138924e-01 -6.80506192e-02 -5.51499152e+00] [ 2.34789798e-01 9.72044823e-01 1.61614258e-03 -8.84709200e-01] [ 6.57698503e-02 -1.75449562e-02 9.97680561e-01 1.40632186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354860624000004 meters Centerline goodness : 0.805913 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.89, Z:1.41 [[ 9.69713604e-01 -2.34627311e-01 -6.78642072e-02 -5.51538317e+00] [ 2.35272110e-01 9.71928295e-01 1.55667655e-03 -8.85107821e-01] [ 6.55939044e-02 -1.74760856e-02 9.97693353e-01 1.40614494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384860624 meters Centerline goodness : 0.806993 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.69633599e-01 -2.34998217e-01 -6.77238649e-02 -5.51571449e+00] [ 2.35630601e-01 9.71841696e-01 1.39214498e-03 -8.84962188e-01] [ 6.54897241e-02 -1.73076855e-02 9.97703132e-01 1.40608260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414860624 meters Centerline goodness : 0.806653 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.69593495e-01 -2.35208406e-01 -6.75681939e-02 -5.51600629e+00] [ 2.35830333e-01 9.71793419e-01 1.26649811e-03 -8.84403914e-01] [ 6.53644352e-02 -1.71626180e-02 9.97713854e-01 1.40589017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444860624 meters Centerline goodness : 0.806147 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.69537054e-01 -2.35459610e-01 -6.75031315e-02 -5.51634538e+00] [ 2.36064352e-01 9.71736897e-01 1.01248111e-03 -8.83682994e-01] [ 6.53568851e-02 -1.69167209e-02 9.97718549e-01 1.40601586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474860624 meters Centerline goodness : 0.806372 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.69456371e-01 -2.35864687e-01 -6.72472632e-02 -5.51724953e+00] [ 2.36429265e-01 9.71648599e-01 4.50034589e-04 -8.82296009e-01] [ 6.52345618e-02 -1.63355099e-02 9.97736239e-01 1.40638456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504860624 meters Centerline goodness : 0.809045 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.69444468e-01 -2.35907983e-01 -6.72669840e-02 -5.51720795e+00] [ 2.36457109e-01 9.71641905e-01 2.07449900e-04 -8.81804429e-01] [ 6.53104814e-02 -1.61068677e-02 9.97734990e-01 1.40648150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534860624000004 meters Centerline goodness : 0.808577 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.69496948e-01 -2.35713811e-01 -6.71912755e-02 -5.51720054e+00] [ 2.36240625e-01 9.71694579e-01 -1.08169367e-04 -8.80408163e-01] [ 6.53148952e-02 -1.57684390e-02 9.97740107e-01 1.40647637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564860624 meters Centerline goodness : 0.809500 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.69471237e-01 -2.35821009e-01 -6.71861064e-02 -5.51767066e+00] [ 2.36303816e-01 9.71678905e-01 -7.82121779e-04 -8.78339148e-01] [ 6.54677631e-02 -1.51180887e-02 9.97740154e-01 1.40717057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594860624 meters Centerline goodness : 0.812059 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.41 [[ 9.70209992e-01 -2.32729618e-01 -6.73015286e-02 -5.52047398e+00] [ 2.33403689e-01 9.72377385e-01 2.22245139e-03 -8.76417309e-01] [ 6.49252541e-02 -1.78646696e-02 9.97730207e-01 1.40794061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624860624 meters Centerline goodness : 0.809911 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.70231409e-01 -2.32627133e-01 -6.73470896e-02 -5.52059148e+00] [ 2.33265872e-01 9.72411559e-01 1.67138366e-03 -8.74591717e-01] [ 6.51002792e-02 -1.73314065e-02 9.97728207e-01 1.40844526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654860624 meters Centerline goodness : 0.811783 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.70252280e-01 -2.32519787e-01 -6.74170760e-02 -5.52050440e+00] [ 2.33133636e-01 9.72443870e-01 1.27564255e-03 -8.73208466e-01] [ 6.52627102e-02 -1.69548831e-02 9.97724065e-01 1.40872109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684860624 meters Centerline goodness : 0.809964 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.70341392e-01 -2.32155798e-01 -6.73889366e-02 -5.52013868e+00] [ 2.32757939e-01 9.72534059e-01 1.11653133e-03 -8.71551729e-01] [ 6.52788268e-02 -1.67687266e-02 9.97726157e-01 1.40831242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714860624 meters Centerline goodness : 0.810457 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.70310427e-01 -2.32296439e-01 -6.73501270e-02 -5.52031368e+00] [ 2.32880145e-01 9.72505081e-01 8.39871842e-04 -8.70738913e-01] [ 6.53032415e-02 -1.64994437e-02 9.97729049e-01 1.40842189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744860624000005 meters Centerline goodness : 0.809027 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.70285389e-01 -2.32435369e-01 -6.72314098e-02 -5.52042038e+00] [ 2.33022242e-01 9.72470976e-01 9.13647524e-04 -8.70397806e-01] [ 6.51682307e-02 -1.65529127e-02 9.97736991e-01 1.40795027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774860624 meters Centerline goodness : 0.809585 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.70200392e-01 -2.32850627e-01 -6.70207776e-02 -5.52088620e+00] [ 2.33427394e-01 9.72373907e-01 7.97889750e-04 -8.70113770e-01] [ 6.49834662e-02 -1.64185984e-02 9.97751261e-01 1.40770766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804860624 meters Centerline goodness : 0.808324 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.70027321e-01 -2.33597891e-01 -6.69254943e-02 -5.52096107e+00] [ 2.34173006e-01 9.72194635e-01 7.70956304e-04 -8.70804786e-01] [ 6.48845128e-02 -1.64199928e-02 9.97757678e-01 1.40717125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834860624 meters Centerline goodness : 0.809018 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.69939144e-01 -2.33995094e-01 -6.68158153e-02 -5.52101562e+00] [ 2.34578277e-01 9.72096808e-01 9.09497529e-04 -8.71767797e-01] [ 6.47386228e-02 -1.65556961e-02 9.97764912e-01 1.40676850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864860624 meters Centerline goodness : 0.808374 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.69801097e-01 -2.34648020e-01 -6.65292367e-02 -5.52176378e+00] [ 2.35227230e-01 9.71939989e-01 8.99334368e-04 -8.72664183e-01] [ 6.44513985e-02 -1.65216635e-02 9.97784071e-01 1.40664172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894860624 meters Centerline goodness : 0.809206 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.87, Z:1.41 [[ 9.69460031e-01 -2.36244236e-01 -6.58476185e-02 -5.52418325e+00] [ 2.36775808e-01 9.71564275e-01 2.76730969e-04 -8.73224424e-01] [ 6.39098176e-02 -1.58594027e-02 9.97829652e-01 1.40736633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924860624000004 meters Centerline goodness : 0.809304 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.69308148e-01 -2.36940778e-01 -6.55803530e-02 -5.52536593e+00] [ 2.37440180e-01 9.71402145e-01 -1.84187511e-04 -8.73003913e-01] [ 6.37485371e-02 -1.53928764e-02 9.97847275e-01 1.40801670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954860624 meters Centerline goodness : 0.808214 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.69197703e-01 -2.37464617e-01 -6.53174388e-02 -5.52631485e+00] [ 2.37938954e-01 9.71279965e-01 -5.31814901e-04 -8.72768429e-01] [ 6.35678069e-02 -1.50261293e-02 9.97864394e-01 1.40845468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984860624 meters Centerline goodness : 0.808888 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.69057101e-01 -2.38131968e-01 -6.49730814e-02 -5.52748942e+00] [ 2.38581923e-01 9.71121996e-01 -8.57048532e-04 -8.72871954e-01] [ 6.33008791e-02 -1.46708738e-02 9.97886649e-01 1.40886084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014860624 meters Centerline goodness : 0.809124 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.68982799e-01 -2.38521950e-01 -6.46499331e-02 -5.52833985e+00] [ 2.38954111e-01 9.71030264e-01 -1.07670279e-03 -8.73154362e-01] [ 6.30338589e-02 -1.44050608e-02 9.97907424e-01 1.40915908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044860624 meters Centerline goodness : 0.809509 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.68912551e-01 -2.38840478e-01 -6.45267018e-02 -5.52903656e+00] [ 2.39244807e-01 9.70958120e-01 -1.50023394e-03 -8.72543097e-01] [ 6.30110417e-02 -1.39840829e-02 9.97914853e-01 1.40977790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074860624 meters Centerline goodness : 0.812023 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.68902929e-01 -2.38839945e-01 -6.46729891e-02 -5.52888904e+00] [ 2.39224154e-01 9.70962605e-01 -1.85042047e-03 -8.71404476e-01] [ 6.32370083e-02 -1.36784633e-02 9.97904795e-01 1.41008683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104860624000004 meters Centerline goodness : 0.812023 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.68902929e-01 -2.38839945e-01 -6.46729891e-02 -5.52888904e+00] [ 2.39224154e-01 9.70962605e-01 -1.85042047e-03 -8.71404476e-01] [ 6.32370083e-02 -1.36784633e-02 9.97904795e-01 1.41008683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134860624 meters Centerline goodness : 0.810701 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.68965305e-01 -2.38525089e-01 -6.49000786e-02 -5.52820422e+00] [ 2.38908308e-01 9.71040263e-01 -1.90453060e-03 -8.70476779e-01] [ 6.34748677e-02 -1.36597439e-02 9.97889950e-01 1.40991119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164860624 meters Centerline goodness : 0.808781 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.69893200e-01 -2.34504815e-01 -6.56861654e-02 -5.52812452e+00] [ 2.35144126e-01 9.71958315e-01 2.06716747e-03 -8.70629349e-01] [ 6.33594540e-02 -1.74506477e-02 9.97838191e-01 1.40921642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194860624 meters Centerline goodness : 0.811514 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.69970637e-01 -2.34099966e-01 -6.59861233e-02 -5.52744540e+00] [ 2.34725871e-01 9.72059961e-01 1.78823087e-03 -8.69319345e-01] [ 6.37238437e-02 -1.72231817e-02 9.97818938e-01 1.40951084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224860624 meters Centerline goodness : 0.812578 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.70075939e-01 -2.33570716e-01 -6.63128387e-02 -5.52651352e+00] [ 2.34188158e-01 9.72189997e-01 1.58617886e-03 -8.68182619e-01] [ 6.40981935e-02 -1.70683955e-02 9.97797620e-01 1.40967381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254860624 meters Centerline goodness : 0.813832 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 9.71020904e-01 -2.29416891e-01 -6.69798057e-02 -5.52688133e+00] [ 2.30276893e-01 9.73110660e-01 5.30988738e-03 -8.67855625e-01] [ 6.39605851e-02 -2.05799132e-02 9.97740202e-01 1.40956902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284860624000004 meters Centerline goodness : 0.814371 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97188147 -0.22556984 -0.06756223 -5.5275061 ] [ 0.22668122 0.97392592 0.0091615 -0.86812925] [ 0.06373405 -0.02421898 0.997673 1.40931974] [ 0. 0. 0. 1. ]] SLAMing on 41.314860624 meters Centerline goodness : 0.817150 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97275119 -0.22158491 -0.06822934 -5.52782225] [ 0.22295828 0.97473966 0.01312246 -0.86843319] [ 0.0635981 -0.02797719 0.99758336 1.40891748] [ 0. 0. 0. 1. ]] SLAMing on 41.344860624 meters Centerline goodness : 0.814537 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97376442 -0.21680048 -0.06914047 -5.52727232] [ 0.21843169 0.97570615 0.01688511 -0.86683944] [ 0.06380008 -0.03154459 0.99746403 1.4086349 ] [ 0. 0. 0. 1. ]] SLAMing on 41.374860624 meters Centerline goodness : 0.816654 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.41 [[ 0.97390084 -0.21609795 -0.06941781 -5.52635919] [ 0.21771553 0.9758718 0.01655833 -0.86499485] [ 0.06416466 -0.03123951 0.99745024 1.40883277] [ 0. 0. 0. 1. ]] SLAMing on 41.404860624 meters Centerline goodness : 0.816759 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.41 [[ 0.97398822 -0.21559979 -0.06974003 -5.52566664] [ 0.21720564 0.97599083 0.01623624 -0.86340176] [ 0.0645651 -0.03096183 0.99743306 1.40919479] [ 0. 0. 0. 1. ]] SLAMing on 41.434860624 meters Centerline goodness : 0.819643 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.41 [[ 0.97480185 -0.21171314 -0.07027735 -5.52650436] [ 0.21357209 0.97672259 0.0199988 -0.86343126] [ 0.06440747 -0.03450414 0.997327 1.40926106] [ 0. 0. 0. 1. ]] SLAMing on 41.464860624 meters Centerline goodness : 0.821057 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.41 [[ 0.97483288 -0.2115275 -0.07040578 -5.52633521] [ 0.21337418 0.97677098 0.01974621 -0.86227581] [ 0.06459345 -0.03427203 0.99732297 1.40950571] [ 0. 0. 0. 1. ]] SLAMing on 41.494860624000005 meters Centerline goodness : 0.821377 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.41 [[ 0.9748503 -0.21139344 -0.07056696 -5.52610889] [ 0.21322944 0.97680752 0.01950041 -0.86151826] [ 0.06480808 -0.03405693 0.99731642 1.4098959 ] [ 0. 0. 0. 1. ]] SLAMing on 41.524860624 meters Centerline goodness : 0.821493 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.41 [[ 0.97489319 -0.21116382 -0.07066191 -5.52543453] [ 0.21300935 0.97685347 0.01960402 -0.86143815] [ 0.06488668 -0.03416348 0.99730766 1.40945843] [ 0. 0. 0. 1. ]] SLAMing on 41.554860624 meters Centerline goodness : 0.821281 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.86, Z:1.41 [[ 0.97488111 -0.21118202 -0.0707741 -5.52493075] [ 0.21303896 0.97684469 0.01971938 -0.86214732] [ 0.06497092 -0.03430169 0.99729743 1.40922345] [ 0. 0. 0. 1. ]] SLAMing on 41.584860624 meters Centerline goodness : 0.820170 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.86, Z:1.41 [[ 0.97484552 -0.21134931 -0.070765 -5.52479332] [ 0.21321064 0.97680588 0.01978644 -0.86283101] [ 0.06494181 -0.03437657 0.99729675 1.40904582] [ 0. 0. 0. 1. ]] SLAMing on 41.614860624 meters Centerline goodness : 0.821642 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.41 [[ 0.97469393 -0.21216046 -0.070425 -5.5259231 ] [ 0.21400811 0.97663258 0.01973152 -0.86404019] [ 0.0645931 -0.03430372 0.99732191 1.40922811] [ 0. 0. 0. 1. ]] SLAMing on 41.644860624 meters Centerline goodness : 0.822181 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97461483 -0.21257775 -0.07026112 -5.52638118] [ 0.21442265 0.976541 0.01976358 -0.86501107] [ 0.06441157 -0.03432746 0.99733283 1.40929429] [ 0. 0. 0. 1. ]] SLAMing on 41.674860624000004 meters Centerline goodness : 0.822823 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97374537 -0.21670074 -0.06971904 -5.52578771] [ 0.2182776 0.9757594 0.01576349 -0.86545603] [ 0.06461305 -0.03056773 0.99744211 1.40984503] [ 0. 0. 0. 1. ]] SLAMing on 41.704860624 meters Centerline goodness : 0.823250 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97362068 -0.21729739 -0.06960322 -5.52624206] [ 0.2188787 0.97562304 0.01586844 -0.86695183] [ 0.06445833 -0.0306845 0.99744854 1.40987118] [ 0. 0. 0. 1. ]] SLAMing on 41.734860624 meters Centerline goodness : 0.822127 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97351318 -0.21782224 -0.06946629 -5.52661587] [ 0.21940484 0.97550373 0.0159371 -0.8680291 ] [ 0.06429317 -0.03075622 0.99745699 1.40978981] [ 0. 0. 0. 1. ]] SLAMing on 41.764860624 meters Centerline goodness : 0.823113 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97341392 -0.21832145 -0.06928982 -5.5273781 ] [ 0.21989026 0.97539679 0.01579167 -0.86860777] [ 0.0641374 -0.03060798 0.99747158 1.41019492] [ 0. 0. 0. 1. ]] SLAMing on 41.794860624 meters Centerline goodness : 0.822346 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97319241 -0.21941005 -0.06896199 -5.52930876] [ 0.2209361 0.9751691 0.01524658 -0.86944786] [ 0.06390435 -0.03007405 0.99750277 1.41161856] [ 0. 0. 0. 1. ]] SLAMing on 41.824860624 meters Centerline goodness : 0.822933 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97314163 -0.21965471 -0.06889979 -5.52970752] [ 0.22117281 0.97511704 0.01514395 -0.87018707] [ 0.06385892 -0.02997597 0.99750864 1.41209727] [ 0. 0. 0. 1. ]] SLAMing on 41.854860624000004 meters Centerline goodness : 0.822054 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97313063 -0.21972399 -0.06883414 -5.52984702] [ 0.22124142 0.9751012 0.01516211 -0.87093978] [ 0.06378878 -0.02998367 0.99751289 1.41229919] [ 0. 0. 0. 1. ]] SLAMing on 41.884860624 meters Centerline goodness : 0.820908 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97314214 -0.21964898 -0.06891086 -5.52965312] [ 0.22117584 0.9751143 0.01527581 -0.87187409] [ 0.06384065 -0.03010695 0.99750586 1.41250271] [ 0. 0. 0. 1. ]] SLAMing on 41.914860624 meters Centerline goodness : 0.822971 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97315062 -0.21959207 -0.06897238 -5.52962625] [ 0.22111554 0.97512923 0.01519555 -0.87190544] [ 0.06392016 -0.03003843 0.99750283 1.41283355] [ 0. 0. 0. 1. ]] SLAMing on 41.944860624 meters Centerline goodness : 0.821280 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97318436 -0.21938866 -0.06914338 -5.52923507] [ 0.22091844 0.97517352 0.01521996 -0.87202697] [ 0.06408771 -0.03008687 0.99749062 1.41301493] [ 0. 0. 0. 1. ]] SLAMing on 41.974860624 meters Centerline goodness : 0.820742 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97318126 -0.21936726 -0.06925485 -5.52907985] [ 0.22089923 0.97517815 0.01520225 -0.8726016 ] [ 0.06420093 -0.03009289 0.99748316 1.41335514] [ 0. 0. 0. 1. ]] SLAMing on 42.004860624 meters Centerline goodness : 0.819141 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97322649 -0.21908789 -0.06950326 -5.52846277] [ 0.22064666 0.97523048 0.01550987 -0.87414329] [ 0.06438367 -0.03043028 0.99746115 1.41364359] [ 0. 0. 0. 1. ]] SLAMing on 42.034860624000004 meters Centerline goodness : 0.819865 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.41 [[ 0.97323506 -0.21904607 -0.06951504 -5.52849561] [ 0.22061013 0.97523751 0.01558757 -0.87488169] [ 0.06437928 -0.03050609 0.99745912 1.4139511 ] [ 0. 0. 0. 1. ]] SLAMing on 42.064860624 meters Centerline goodness : 0.820076 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.88, Z:1.41 [[ 0.97322118 -0.21913998 -0.06941323 -5.52880874] [ 0.22071985 0.97520799 0.01587845 -0.87649968] [ 0.06421273 -0.03077412 0.99746162 1.41417083] [ 0. 0. 0. 1. ]] SLAMing on 42.094860624 meters Centerline goodness : 0.818522 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.88, Z:1.41 [[ 0.97320559 -0.21921505 -0.06939482 -5.52889322] [ 0.2208072 0.97518498 0.01607577 -0.87792739] [ 0.06414873 -0.03096791 0.99745974 1.41440391] [ 0. 0. 0. 1. ]] SLAMing on 42.124860624 meters Centerline goodness : 0.818790 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.88, Z:1.41 [[ 0.97316614 -0.21939058 -0.06939333 -5.52897462] [ 0.22099452 0.97513959 0.0162543 -0.87970474] [ 0.06410214 -0.03115368 0.99745695 1.4147004 ] [ 0. 0. 0. 1. ]] SLAMing on 42.154860624 meters Centerline goodness : 0.815571 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.88, Z:1.41 [[ 0.97243856 -0.22266765 -0.0691546 -5.52719562] [ 0.22406619 0.97448625 0.01307276 -0.88199049] [ 0.06447932 -0.02820766 0.9975203 1.41498409] [ 0. 0. 0. 1. ]] SLAMing on 42.184860624 meters Centerline goodness : 0.817921 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.88, Z:1.42 [[ 0.97237934 -0.22295199 -0.06907125 -5.52742475] [ 0.22436829 0.97441263 0.01337533 -0.88403171] [ 0.06432184 -0.02850329 0.99752206 1.41511669] [ 0. 0. 0. 1. ]] SLAMing on 42.214860624 meters Centerline goodness : 0.814783 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.89, Z:1.42 [[ 0.9723356 -0.22315336 -0.06903669 -5.5275248 ] [ 0.22458855 0.97435769 0.01367752 -0.88576814] [ 0.06421425 -0.02880399 0.99752036 1.41521594] [ 0. 0. 0. 1. ]] SLAMing on 42.244860624 meters Centerline goodness : 0.812222 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.89, Z:1.42 [[ 0.97228007 -0.22334969 -0.06918372 -5.5270783 ] [ 0.22483098 0.97429254 0.01432041 -0.88907186] [ 0.06420672 -0.02947809 0.99750115 1.41517844] [ 0. 0. 0. 1. ]] SLAMing on 42.274860624 meters Centerline goodness : 0.810294 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.89, Z:1.42 [[ 0.97223056 -0.22358033 -0.06913448 -5.52715482] [ 0.2250815 0.97422987 0.0146451 -0.89123218] [ 0.06407852 -0.0297993 0.99749985 1.41524391] [ 0. 0. 0. 1. ]] SLAMing on 42.304860624 meters Centerline goodness : 0.811225 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.89, Z:1.42 [[ 0.97213642 -0.22402507 -0.06901839 -5.52752822] [ 0.22553547 0.97412209 0.01482901 -0.89364119] [ 0.06391027 -0.02998191 0.99750517 1.41559409] [ 0. 0. 0. 1. ]] SLAMing on 42.334860624 meters Centerline goodness : 0.809472 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.90, Z:1.42 [[ 0.97125473 -0.22800472 -0.06839657 -5.52732586] [ 0.22926602 0.97330062 0.01109069 -0.8956463 ] [ 0.06404169 -0.02645289 0.99759656 1.41680127] [ 0. 0. 0. 1. ]] SLAMing on 42.364860624 meters Centerline goodness : 0.807108 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.90, Z:1.42 [[ 0.97118195 -0.22835311 -0.0682677 -5.52777658] [ 0.22962263 0.97321459 0.01126117 -0.89769909] [ 0.0638676 -0.02661246 0.99760348 1.41721008] [ 0. 0. 0. 1. ]] SLAMing on 42.394860624 meters Centerline goodness : 0.807839 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.90, Z:1.42 [[ 0.97112141 -0.22864863 -0.0681396 -5.52821243] [ 0.22992313 0.97314222 0.01138309 -0.89942055] [ 0.0637068 -0.02672123 0.99761086 1.41762065] [ 0. 0. 0. 1. ]] SLAMing on 42.424860624000004 meters Centerline goodness : 0.804518 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.90, Z:1.42 [[ 0.97104274 -0.22903936 -0.06794827 -5.52894641] [ 0.23031512 0.97304849 0.01147088 -0.90093348] [ 0.06348968 -0.02678823 0.9976229 1.4181053 ] [ 0. 0. 0. 1. ]] SLAMing on 42.454860624 meters Centerline goodness : 0.806113 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.90, Z:1.42 [[ 0.9709899 -0.22929548 -0.06783952 -5.52940696] [ 0.23057813 0.97298446 0.01161712 -0.9021939 ] [ 0.06334304 -0.02692241 0.99762861 1.41843341] [ 0. 0. 0. 1. ]] SLAMing on 42.484860624 meters Centerline goodness : 0.803602 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.91, Z:1.42 [[ 0.97101263 -0.22912625 -0.06808555 -5.52844421] [ 0.23045533 0.97300583 0.01224724 -0.90541663] [ 0.06344147 -0.0275829 0.99760431 1.41836218] [ 0. 0. 0. 1. ]] SLAMing on 42.514860624 meters Centerline goodness : 0.802248 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.91, Z:1.42 [[ 0.97104593 -0.22895322 -0.06819256 -5.5278285 ] [ 0.23030983 0.97303528 0.01263862 -0.90714093] [ 0.06346012 -0.0279781 0.99759212 1.41822122] [ 0. 0. 0. 1. ]] SLAMing on 42.544860624 meters Centerline goodness : 0.800563 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.91, Z:1.42 [[ 0.9710919 -0.22870578 -0.06836806 -5.52740937] [ 0.23010373 0.97307634 0.01321787 -0.90969158] [ 0.06350434 -0.02856752 0.9975726 1.41856905] [ 0. 0. 0. 1. ]] SLAMing on 42.574860624 meters Centerline goodness : 0.799362 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.91, Z:1.42 [[ 0.9710994 -0.22865803 -0.06842114 -5.52736697] [ 0.2300668 0.97308305 0.01336554 -0.91077917] [ 0.06352331 -0.0287207 0.997567 1.4188931 ] [ 0. 0. 0. 1. ]] SLAMing on 42.604860624000004 meters Centerline goodness : 0.799089 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.91, Z:1.42 [[ 0.9711134 -0.2285766 -0.06849452 -5.5273619 ] [ 0.22999569 0.97309805 0.01349676 -0.91194136] [ 0.06356684 -0.02886032 0.99756019 1.41939117] [ 0. 0. 0. 1. ]] SLAMing on 42.634860624 meters Centerline goodness : 0.799435 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.91, Z:1.42 [[ 0.97123144 -0.22799717 -0.06875152 -5.52683348] [ 0.22944986 0.97322088 0.01392426 -0.91396483] [ 0.06373572 -0.0292987 0.99753664 1.42007794] [ 0. 0. 0. 1. ]] SLAMing on 42.664860624 meters Centerline goodness : 0.798474 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.91, Z:1.42 [[ 0.97136334 -0.227347 -0.06904061 -5.52578226] [ 0.22883209 0.97336061 0.01431744 -0.91478958] [ 0.06394639 -0.02970615 0.9975111 1.41992994] [ 0. 0. 0. 1. ]] SLAMing on 42.694860624 meters Centerline goodness : 0.797624 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97178745 -0.22531912 -0.06971689 -5.52279523] [ 0.22689898 0.97379438 0.01553566 -0.91631042] [ 0.06438943 -0.03091605 0.99744584 1.41892686] [ 0. 0. 0. 1. ]] SLAMing on 42.724860624 meters Centerline goodness : 0.796036 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97192566 -0.22457515 -0.07018919 -5.52136697] [ 0.2261897 0.97395403 0.01586723 -0.91657772] [ 0.06479766 -0.03129784 0.99740749 1.41874549] [ 0. 0. 0. 1. ]] SLAMing on 42.754860624 meters Centerline goodness : 0.798656 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97206892 -0.22382999 -0.07058427 -5.52017904] [ 0.22547722 0.97411373 0.01620096 -0.9169246 ] [ 0.06513084 -0.0316636 0.99737425 1.41870935] [ 0. 0. 0. 1. ]] SLAMing on 42.784860624000004 meters Centerline goodness : 0.798525 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97217524 -0.22325984 -0.07092493 -5.51931475] [ 0.22493304 0.97423536 0.01644979 -0.91720205] [ 0.065425 -0.03194544 0.99734601 1.41882525] [ 0. 0. 0. 1. ]] SLAMing on 42.814860624 meters Centerline goodness : 0.794798 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97244524 -0.22193079 -0.07139322 -5.51767167] [ 0.22367439 0.97450981 0.01733177 -0.91887672] [ 0.06572694 -0.03282303 0.99729766 1.41870406] [ 0. 0. 0. 1. ]] SLAMing on 42.844860624 meters Centerline goodness : 0.794934 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97252123 -0.22153174 -0.07159715 -5.51696167] [ 0.2233011 0.97459002 0.0176325 -0.91975673] [ 0.06587171 -0.0331357 0.99727777 1.41867188] [ 0. 0. 0. 1. ]] SLAMing on 42.874860624 meters Centerline goodness : 0.792218 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97259791 -0.22114539 -0.07174969 -5.51633152] [ 0.22294356 0.97466509 0.01800361 -0.92108865] [ 0.0659505 -0.03350641 0.99726017 1.41866607] [ 0. 0. 0. 1. ]] SLAMing on 42.904860624 meters Centerline goodness : 0.792086 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.92, Z:1.42 [[ 0.97259524 -0.22117616 -0.07169109 -5.51647841] [ 0.22300384 0.9746424 0.01847938 -0.92396446] [ 0.06578598 -0.03396034 0.99725568 1.41909359] [ 0. 0. 0. 1. ]] SLAMing on 42.934860624 meters Centerline goodness : 0.792332 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.93, Z:1.42 [[ 0.97260068 -0.22113707 -0.07173779 -5.51611533] [ 0.22299146 0.97463791 0.01886138 -0.92557245] [ 0.06574741 -0.03434151 0.99724517 1.41894916] [ 0. 0. 0. 1. ]] SLAMing on 42.964860624 meters Centerline goodness : 0.788948 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.93, Z:1.42 [[ 0.97190736 -0.22425367 -0.07145897 -5.51395379] [ 0.22589841 0.97402389 0.0157278 -0.92698694] [ 0.06607573 -0.03142843 0.99731953 1.41850405] [ 0. 0. 0. 1. ]] SLAMing on 42.994860624 meters Centerline goodness : 0.788948 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.93, Z:1.42 [[ 0.97190736 -0.22425367 -0.07145897 -5.51395379] [ 0.22589841 0.97402389 0.0157278 -0.92698694] [ 0.06607573 -0.03142843 0.99731953 1.41850405] [ 0. 0. 0. 1. ]] SLAMing on 43.024860624 meters Centerline goodness : 0.790126 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.93, Z:1.42 [[ 0.97190603 -0.22424711 -0.07149753 -5.51361766] [ 0.2259215 0.97401151 0.01615727 -0.92906596] [ 0.0660162 -0.03185618 0.9973099 1.41842629] [ 0. 0. 0. 1. ]] SLAMing on 43.054860624 meters Centerline goodness : 0.791965 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.93, Z:1.42 [[ 0.97187292 -0.22438902 -0.07150238 -5.51356021] [ 0.22607529 0.97397295 0.01632979 -0.93087085] [ 0.06597716 -0.0320354 0.99730675 1.41872342] [ 0. 0. 0. 1. ]] SLAMing on 43.084860624 meters Centerline goodness : 0.790525 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.93, Z:1.42 [[ 0.9718384 -0.22453556 -0.07151162 -5.51355717] [ 0.22623617 0.97393209 0.0165373 -0.93255256] [ 0.06593425 -0.0322501 0.99730267 1.41897743] [ 0. 0. 0. 1. ]] SLAMing on 43.114860624 meters Centerline goodness : 0.791909 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.94, Z:1.42 [[ 0.97169692 -0.22518905 -0.07137921 -5.51442062] [ 0.22688985 0.97377922 0.01658397 -0.93510806] [ 0.06577306 -0.03230981 0.99731138 1.41999197] [ 0. 0. 0. 1. ]] SLAMing on 43.144860624 meters Centerline goodness : 0.790898 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.94, Z:1.42 [[ 0.97165223 -0.2254003 -0.07132068 -5.51476894] [ 0.2271051 0.97372763 0.01666671 -0.93633942] [ 0.06569023 -0.03239154 0.99731418 1.42046069] [ 0. 0. 0. 1. ]] SLAMing on 43.174860624000004 meters Centerline goodness : 0.791254 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.94, Z:1.42 [[ 0.97163386 -0.2255189 -0.07119599 -5.51498224] [ 0.22722903 0.97369632 0.01680577 -0.93751435] [ 0.06553325 -0.03250685 0.99732076 1.42062245] [ 0. 0. 0. 1. ]] SLAMing on 43.204860624 meters Centerline goodness : 0.790676 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.94, Z:1.42 [[ 0.97156796 -0.22578911 -0.07123889 -5.5148486 ] [ 0.22752281 0.973622 0.01713429 -0.94046668] [ 0.06549102 -0.0328556 0.99731211 1.42100794] [ 0. 0. 0. 1. ]] SLAMing on 43.234860624 meters Centerline goodness : 0.790563 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.94, Z:1.42 [[ 0.97150715 -0.22606723 -0.07118608 -5.51496243] [ 0.22780664 0.97355378 0.01723892 -0.94198283] [ 0.06540633 -0.0329644 0.99731407 1.4212417 ] [ 0. 0. 0. 1. ]] SLAMing on 43.264860624 meters Centerline goodness : 0.789920 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.94, Z:1.42 [[ 0.97146498 -0.22628161 -0.0710804 -5.51511235] [ 0.22803095 0.97349773 0.01743714 -0.94365951] [ 0.0652509 -0.03314811 0.99731817 1.42138755] [ 0. 0. 0. 1. ]] SLAMing on 43.294860624 meters Centerline goodness : 0.790454 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97139755 -0.22661588 -0.07093695 -5.51537786] [ 0.22837362 0.97341395 0.01762847 -0.9453663 ] [ 0.06505613 -0.03332438 0.99732502 1.42148141] [ 0. 0. 0. 1. ]] SLAMing on 43.324860624 meters Centerline goodness : 0.787435 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97117882 -0.22762085 -0.07071388 -5.51624792] [ 0.22935899 0.97318619 0.01740986 -0.94807131] [ 0.06485492 -0.03312695 0.9973447 1.4224192 ] [ 0. 0. 0. 1. ]] SLAMing on 43.354860624000004 meters Centerline goodness : 0.788837 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97111889 -0.22789915 -0.07064057 -5.51646343] [ 0.22964499 0.97311609 0.01755732 -0.94962205] [ 0.06474017 -0.0332725 0.99734731 1.42267574] [ 0. 0. 0. 1. ]] SLAMing on 43.384860624 meters Centerline goodness : 0.787591 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97106622 -0.22816603 -0.07050286 -5.51667845] [ 0.22991515 0.97305024 0.01767054 -0.9509738 ] [ 0.06457101 -0.03336894 0.99735505 1.42277968] [ 0. 0. 0. 1. ]] SLAMing on 43.414860624 meters Centerline goodness : 0.787352 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97106824 -0.22815435 -0.07051293 -5.51639261] [ 0.22992481 0.97304201 0.01799544 -0.95299336] [ 0.0645063 -0.03368748 0.99734853 1.42286767] [ 0. 0. 0. 1. ]] SLAMing on 43.444860624 meters Centerline goodness : 0.786077 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97111197 -0.22793371 -0.07062412 -5.51599338] [ 0.22971815 0.97308776 0.01816014 -0.95341134] [ 0.06458416 -0.03385917 0.99733768 1.42286023] [ 0. 0. 0. 1. ]] SLAMing on 43.474860624 meters Centerline goodness : 0.786913 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97113843 -0.22781096 -0.07065631 -5.51597052] [ 0.22959489 0.97311724 0.01813908 -0.95316853] [ 0.06462459 -0.03383788 0.99733578 1.42297262] [ 0. 0. 0. 1. ]] SLAMing on 43.504860624 meters Centerline goodness : 0.784441 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.42 [[ 0.97132116 -0.22697463 -0.07083581 -5.5154754 ] [ 0.22877071 0.97330909 0.01825857 -0.95279389] [ 0.0648009 -0.03394009 0.99732087 1.42333829] [ 0. 0. 0. 1. ]] SLAMing on 43.534860624000004 meters Centerline goodness : 0.784601 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97143235 -0.22640784 -0.07112435 -5.51454203] [ 0.2282223 0.97343503 0.01840731 -0.95258427] [ 0.06506737 -0.03411362 0.9972976 1.42317248] [ 0. 0. 0. 1. ]] SLAMing on 43.564860624 meters Centerline goodness : 0.785153 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97156181 -0.22579287 -0.07131076 -5.51358512] [ 0.22762789 0.97356971 0.01864323 -0.95262078] [ 0.06521648 -0.03434537 0.9972799 1.42278084] [ 0. 0. 0. 1. ]] SLAMing on 43.594860624 meters Centerline goodness : 0.785172 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97169889 -0.2250628 -0.07174959 -5.51216102] [ 0.22692236 0.97373121 0.01880892 -0.95215993] [ 0.06563163 -0.03455819 0.99724532 1.42240364] [ 0. 0. 0. 1. ]] SLAMing on 43.624860624 meters Centerline goodness : 0.784468 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97275345 -0.22010968 -0.07281789 -5.51079885] [ 0.22228854 0.97470465 0.02320879 -0.95235471] [ 0.06586746 -0.03876301 0.99707518 1.42130777] [ 0. 0. 0. 1. ]] SLAMing on 43.654860624 meters Centerline goodness : 0.783443 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97291946 -0.21924441 -0.07320945 -5.50941886] [ 0.22144381 0.97489439 0.02331456 -0.95107071] [ 0.0662599 -0.03889497 0.99704403 1.42081206] [ 0. 0. 0. 1. ]] SLAMing on 43.684860624 meters Centerline goodness : 0.782161 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97310109 -0.21832446 -0.0735438 -5.5081798 ] [ 0.22054366 0.97509533 0.02344339 -0.94990922] [ 0.06659395 -0.03903241 0.99701641 1.42037409] [ 0. 0. 0. 1. ]] SLAMing on 43.714860624 meters Centerline goodness : 0.782500 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.9740964 -0.21355233 -0.07437475 -5.50781067] [ 0.21607035 0.9759892 0.0275441 -0.94992639] [ 0.06670684 -0.04290079 0.9968499 1.42005657] [ 0. 0. 0. 1. ]] SLAMing on 43.744860624 meters Centerline goodness : 0.781584 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97423898 -0.21283072 -0.07457545 -5.50709901] [ 0.21534984 0.97615101 0.02745257 -0.94877632] [ 0.06695415 -0.04280518 0.99683743 1.42006813] [ 0. 0. 0. 1. ]] SLAMing on 43.774860624 meters Centerline goodness : 0.780389 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97441523 -0.21193641 -0.07481918 -5.5061647 ] [ 0.21446937 0.9763427 0.02752845 -0.94791582] [ 0.06721488 -0.04287056 0.99681707 1.41998498] [ 0. 0. 0. 1. ]] SLAMing on 43.804860624 meters Centerline goodness : 0.781128 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.42 [[ 0.97457396 -0.21110793 -0.07509356 -5.50528903] [ 0.21365188 0.97652158 0.02754039 -0.94683715] [ 0.06751649 -0.04288402 0.99679611 1.41996023] [ 0. 0. 0. 1. ]] SLAMing on 43.834860624 meters Centerline goodness : 0.780182 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.95, Z:1.42 [[ 0.97554645 -0.20625744 -0.07594075 -5.50454301] [ 0.20910608 0.97738198 0.03160867 -0.94639169] [ 0.06770359 -0.0467154 0.99661121 1.41932803] [ 0. 0. 0. 1. ]] SLAMing on 43.864860624 meters Centerline goodness : 0.780537 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.95, Z:1.42 [[ 0.97571974 -0.20532762 -0.07623352 -5.50339061] [ 0.20820054 0.97756944 0.03178878 -0.94544702] [ 0.06799644 -0.0468888 0.99658312 1.4189256 ] [ 0. 0. 0. 1. ]] SLAMing on 43.894860624 meters Centerline goodness : 0.779673 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.94, Z:1.42 [[ 0.97585506 -0.2045404 -0.07661671 -5.5021443 ] [ 0.20743571 0.97772926 0.03187361 -0.94452586] [ 0.06839096 -0.04699706 0.99655103 1.4186702 ] [ 0. 0. 0. 1. ]] SLAMing on 43.924860624000004 meters Centerline goodness : 0.778939 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.95, Z:1.42 [[ 0.97678635 -0.19967109 -0.07758795 -5.50090123] [ 0.2029058 0.97852731 0.03624269 -0.94507259] [ 0.06868531 -0.05114441 0.99632654 1.41772244] [ 0. 0. 0. 1. ]] SLAMing on 43.954860624 meters Centerline goodness : 0.778595 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.94, Z:1.42 [[ 0.97690199 -0.19896369 -0.07794839 -5.49978757] [ 0.20221993 0.978667 0.03630419 -0.94425134] [ 0.06906231 -0.05122836 0.99629617 1.41754148] [ 0. 0. 0. 1. ]] SLAMing on 43.984860624 meters Centerline goodness : 0.779438 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.94, Z:1.42 [[ 0.97702153 -0.19828965 -0.07816744 -5.49901223] [ 0.20155927 0.97880151 0.0363519 -0.94363873] [ 0.0693022 -0.05127196 0.99627727 1.41751038] [ 0. 0. 0. 1. ]] SLAMing on 44.014860624 meters Centerline goodness : 0.778790 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.94, Z:1.42 [[ 0.9771508 -0.19750926 -0.07852653 -5.49795134] [ 0.20080256 0.97895353 0.03644622 -0.94312545] [ 0.06967536 -0.05138178 0.99624558 1.41750001] [ 0. 0. 0. 1. ]] SLAMing on 44.044860624 meters Centerline goodness : 0.778123 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.94, Z:1.42 [[ 0.97730793 -0.19662017 -0.07880181 -5.49690245] [ 0.19993632 0.97912535 0.03659261 -0.94215811] [ 0.06996201 -0.05151759 0.99621848 1.4172042 ] [ 0. 0. 0. 1. ]] SLAMing on 44.074860624 meters Centerline goodness : 0.777558 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.94, Z:1.42 [[ 0.97819804 -0.19184562 -0.07952261 -5.49676146] [ 0.19546952 0.97987151 0.04053998 -0.94205582] [ 0.07014452 -0.05520037 0.99600837 1.41729011] [ 0. 0. 0. 1. ]] SLAMing on 44.104860624000004 meters Centerline goodness : 0.780018 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.94, Z:1.42 [[ 0.97836983 -0.19086547 -0.07976751 -5.49583929] [ 0.19451003 0.9800573 0.04066367 -0.94089512] [ 0.07041544 -0.05529969 0.99598374 1.41711969] [ 0. 0. 0. 1. ]] SLAMing on 44.134860624 meters Centerline goodness : 0.778415 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97853042 -0.18989585 -0.08011106 -5.49451933] [ 0.19356411 0.98024089 0.04075216 -0.93971984] [ 0.07078947 -0.05538385 0.99595255 1.41679257] [ 0. 0. 0. 1. ]] SLAMing on 44.164860624 meters Centerline goodness : 0.777786 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97946422 -0.18451391 -0.08126788 -5.49225315] [ 0.18856458 0.98101555 0.04529772 -0.94043228] [ 0.07136699 -0.05969174 0.99566242 1.41554055] [ 0. 0. 0. 1. ]] SLAMing on 44.194860624 meters Centerline goodness : 0.777759 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.979657 -0.18332618 -0.08163127 -5.4905879 ] [ 0.18741576 0.98122348 0.04556111 -0.93947229] [ 0.07174598 -0.05993324 0.99562067 1.41492289] [ 0. 0. 0. 1. ]] SLAMing on 44.224860624 meters Centerline goodness : 0.778052 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.97983622 -0.18220101 -0.08199864 -5.489118 ] [ 0.18632646 0.98142093 0.04577554 -0.93831687] [ 0.07213483 -0.06013105 0.99558065 1.4144562 ] [ 0. 0. 0. 1. ]] SLAMing on 44.254860624 meters Centerline goodness : 0.777957 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98066119 -0.17741245 -0.08263447 -5.48875819] [ 0.18186886 0.98205632 0.04989097 -0.93848826] [ 0.07230043 -0.06395478 0.99533031 1.41409557] [ 0. 0. 0. 1. ]] SLAMing on 44.284860624000004 meters Centerline goodness : 0.780230 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98071845 -0.17698145 -0.08287872 -5.48826008] [ 0.18143375 0.98215014 0.04962753 -0.93725456] [ 0.07261619 -0.06370763 0.99532318 1.41440783] [ 0. 0. 0. 1. ]] SLAMing on 44.314860624 meters Centerline goodness : 0.778225 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98077417 -0.17659029 -0.08305353 -5.48789438] [ 0.18104116 0.9822309 0.04946273 -0.93628879] [ 0.07284311 -0.06354788 0.99531681 1.41461762] [ 0. 0. 0. 1. ]] SLAMing on 44.344860624 meters Centerline goodness : 0.778943 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98078927 -0.17647151 -0.0831277 -5.48770173] [ 0.1809023 0.98227335 0.04912651 -0.93543504] [ 0.0729847 -0.06322075 0.99532727 1.41490223] [ 0. 0. 0. 1. ]] SLAMing on 44.374860624 meters Centerline goodness : 0.778568 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98088499 -0.1758583 -0.08329767 -5.48682357] [ 0.18031286 0.98237226 0.0493154 -0.93553526] [ 0.0731568 -0.06339238 0.99530372 1.41469925] [ 0. 0. 0. 1. ]] SLAMing on 44.404860624 meters Centerline goodness : 0.776870 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98089658 -0.17568629 -0.08352386 -5.4857994 ] [ 0.18016171 0.98239543 0.04940627 -0.93598452] [ 0.07337345 -0.06351024 0.99528025 1.41429065] [ 0. 0. 0. 1. ]] SLAMing on 44.434860624 meters Centerline goodness : 0.776601 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98087885 -0.17573698 -0.08362537 -5.48529148] [ 0.18022124 0.98238296 0.04943701 -0.93662606] [ 0.07346423 -0.06356279 0.9952702 1.41413455] [ 0. 0. 0. 1. ]] SLAMing on 44.464860624 meters Centerline goodness : 0.775911 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.41 [[ 0.98083794 -0.17594349 -0.08367097 -5.48509581] [ 0.1804304 0.98234497 0.04942908 -0.93725004] [ 0.07349703 -0.06357871 0.99526677 1.41410448] [ 0. 0. 0. 1. ]] SLAMing on 44.494860624 meters Centerline goodness : 0.775363 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.41 [[ 0.98011741 -0.18016435 -0.0831304 -5.48489517] [ 0.18432096 0.98182093 0.04531506 -0.93662929] [ 0.07345501 -0.05973675 0.99550785 1.41452204] [ 0. 0. 0. 1. ]] SLAMing on 44.524860624 meters Centerline goodness : 0.775020 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.41 [[ 0.97942236 -0.18405972 -0.08278805 -5.48406526] [ 0.18790929 0.98131637 0.0413314 -0.93596892] [ 0.07363382 -0.05603754 0.99570972 1.4147451 ] [ 0. 0. 0. 1. ]] SLAMing on 44.554860624 meters Centerline goodness : 0.771680 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97849962 -0.18924263 -0.08201053 -5.48488166] [ 0.19274861 0.98054624 0.03710853 -0.93768268] [ 0.0733926 -0.0521181 0.99594037 1.41590397] [ 0. 0. 0. 1. ]] SLAMing on 44.584860624 meters Centerline goodness : 0.772478 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.9777256 -0.19339514 -0.08155348 -5.48450607] [ 0.19658044 0.97993385 0.03295125 -0.93715192] [ 0.07354441 -0.04824911 0.99612411 1.41654112] [ 0. 0. 0. 1. ]] SLAMing on 44.614860624 meters Centerline goodness : 0.771625 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97696578 -0.19737866 -0.08111427 -5.48371115] [ 0.20026361 0.9793116 0.02903909 -0.93664471] [ 0.07370445 -0.04461444 0.99628169 1.41663531] [ 0. 0. 0. 1. ]] SLAMing on 44.644860624 meters Centerline goodness : 0.770715 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97619125 -0.20132244 -0.080746 -5.48277419] [ 0.20391424 0.97866525 0.02516556 -0.93645328] [ 0.07395691 -0.04103166 0.99641697 1.41683766] [ 0. 0. 0. 1. ]] SLAMing on 44.674860624000004 meters Centerline goodness : 0.769500 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97526004 -0.20605318 -0.08006209 -5.4828144 ] [ 0.20833981 0.9778256 0.02125129 -0.93812017] [ 0.07390786 -0.03740566 0.99656332 1.41749513] [ 0. 0. 0. 1. ]] SLAMing on 44.704860624 meters Centerline goodness : 0.768748 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97511239 -0.20681754 -0.07988951 -5.4833537 ] [ 0.20909033 0.97766813 0.02112481 -0.93970096] [ 0.07373644 -0.03730318 0.99657986 1.41783678] [ 0. 0. 0. 1. ]] SLAMing on 44.734860624 meters Centerline goodness : 0.768379 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97501803 -0.20722746 -0.07997887 -5.4832845 ] [ 0.20950028 0.97758165 0.02106547 -0.94081914] [ 0.07382054 -0.03729481 0.99657394 1.41813296] [ 0. 0. 0. 1. ]] SLAMing on 44.764860624 meters Centerline goodness : 0.769776 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.9748742 -0.20793893 -0.07988553 -5.48412748] [ 0.21019209 0.97743835 0.02082183 -0.94207755] [ 0.07375351 -0.03708997 0.99658655 1.4190863 ] [ 0. 0. 0. 1. ]] SLAMing on 44.794860624 meters Centerline goodness : 0.769547 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97482919 -0.20814834 -0.07988941 -5.48435381] [ 0.21038761 0.97740047 0.02062463 -0.94201539] [ 0.07379096 -0.03691324 0.99659034 1.41943412] [ 0. 0. 0. 1. ]] SLAMing on 44.824860624 meters Centerline goodness : 0.769613 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97478606 -0.20835814 -0.07986882 -5.48454195] [ 0.21057193 0.97736792 0.02028349 -0.94165402] [ 0.07383499 -0.0365902 0.99659899 1.41978573] [ 0. 0. 0. 1. ]] SLAMing on 44.854860624000004 meters Centerline goodness : 0.768827 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97476899 -0.20844903 -0.0798399 -5.48481773] [ 0.21064204 0.97735836 0.02001419 -0.94127853] [ 0.07386026 -0.03632685 0.99660675 1.42020174] [ 0. 0. 0. 1. ]] SLAMing on 44.884860624 meters Centerline goodness : 0.768827 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97476899 -0.20844903 -0.0798399 -5.48481773] [ 0.21064204 0.97735836 0.02001419 -0.94127853] [ 0.07386026 -0.03632685 0.99660675 1.42020174] [ 0. 0. 0. 1. ]] SLAMing on 44.914860624 meters Centerline goodness : 0.769095 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97479855 -0.20836373 -0.07970164 -5.48536442] [ 0.21052723 0.97738975 0.01968673 -0.94045872] [ 0.07379756 -0.03596996 0.99662434 1.42079447] [ 0. 0. 0. 1. ]] SLAMing on 44.944860624 meters Centerline goodness : 0.769326 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97482031 -0.20821771 -0.07981701 -5.48510729] [ 0.21037006 0.97742762 0.01948549 -0.93958768] [ 0.07395812 -0.03578596 0.99661907 1.42084695] [ 0. 0. 0. 1. ]] SLAMing on 44.974860624 meters Centerline goodness : 0.769451 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97484238 -0.20809758 -0.07986072 -5.48496366] [ 0.21023165 0.97746261 0.01922244 -0.93827405] [ 0.07406072 -0.0355281 0.99662067 1.42084508] [ 0. 0. 0. 1. ]] SLAMing on 45.004860624 meters Centerline goodness : 0.769718 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.94, Z:1.42 [[ 0.97484252 -0.2080632 -0.07994849 -5.48488791] [ 0.21017572 0.97748108 0.018892 -0.93691735] [ 0.0742174 -0.03521995 0.99661995 1.42097471] [ 0. 0. 0. 1. ]] SLAMing on 45.034860624000004 meters Centerline goodness : 0.768275 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97480657 -0.20825537 -0.07988653 -5.48523161] [ 0.21033517 0.97745475 0.01847505 -0.93558456] [ 0.07423794 -0.03481255 0.99663274 1.42120238] [ 0. 0. 0. 1. ]] SLAMing on 45.064860624 meters Centerline goodness : 0.766567 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97473971 -0.20858181 -0.07985065 -5.48530771] [ 0.21063946 0.97739471 0.01818256 -0.93571369] [ 0.07425305 -0.03454296 0.99664099 1.4213731 ] [ 0. 0. 0. 1. ]] SLAMing on 45.094860624 meters Centerline goodness : 0.769816 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97456338 -0.20949163 -0.07962081 -5.48592397] [ 0.21151618 0.97721219 0.0178113 -0.93630327] [ 0.07407511 -0.03419933 0.99666608 1.42150767] [ 0. 0. 0. 1. ]] SLAMing on 45.124860624 meters Centerline goodness : 0.769403 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97440365 -0.21033668 -0.07934733 -5.48702081] [ 0.21231551 0.97704819 0.01729024 -0.93629471] [ 0.0738894 -0.03369435 0.99669707 1.42209691] [ 0. 0. 0. 1. ]] SLAMing on 45.154860624 meters Centerline goodness : 0.768730 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97421955 -0.21134009 -0.07894066 -5.48851285] [ 0.21326251 0.97685261 0.01667569 -0.93605205] [ 0.07358915 -0.03308087 0.99673983 1.42274948] [ 0. 0. 0. 1. ]] SLAMing on 45.184860624 meters Centerline goodness : 0.769457 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.9740097 -0.21243382 -0.07859372 -5.4901516 ] [ 0.21429606 0.97663812 0.0159742 -0.93594321] [ 0.07336416 -0.03240135 0.99677874 1.42377997] [ 0. 0. 0. 1. ]] SLAMing on 45.214860624 meters Centerline goodness : 0.769218 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.94, Z:1.42 [[ 0.97379153 -0.21360339 -0.0781258 -5.49183477] [ 0.2154024 0.97640589 0.01527566 -0.93581052] [ 0.07301956 -0.03170379 0.99682647 1.42453045] [ 0. 0. 0. 1. ]] SLAMing on 45.244860624 meters Centerline goodness : 0.766808 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.93, Z:1.42 [[ 0.97280909 -0.21836487 -0.07719623 -5.49227757] [ 0.21980721 0.97548569 0.01060473 -0.93364283] [ 0.07298812 -0.02728466 0.99695952 1.42480501] [ 0. 0. 0. 1. ]] SLAMing on 45.274860624 meters Centerline goodness : 0.767023 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.93, Z:1.42 [[ 0.97263781 -0.21921403 -0.07694738 -5.49288055] [ 0.22062562 0.97530476 0.01024509 -0.93412534] [ 0.07280128 -0.02694133 0.99698252 1.42486143] [ 0. 0. 0. 1. ]] SLAMing on 45.304860624 meters Centerline goodness : 0.766674 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.93, Z:1.42 [[ 0.97246445 -0.22012144 -0.07654699 -5.4938229 ] [ 0.22149277 0.97511271 0.00980612 -0.93456065] [ 0.0724834 -0.02649071 0.99701775 1.42499186] [ 0. 0. 0. 1. ]] SLAMing on 45.334860624 meters Centerline goodness : 0.767868 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.93, Z:1.43 [[ 9.71426467e-01 -2.25001217e-01 -7.55319291e-02 -5.49477986e+00] [ 2.26015365e-01 9.74110661e-01 5.04718217e-03 -9.31887614e-01] [ 7.24408353e-02 -2.19743429e-02 9.97130610e-01 1.42558778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364860624 meters Centerline goodness : 0.767332 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.93, Z:1.43 [[ 9.71228498e-01 -2.25976496e-01 -7.51653409e-02 -5.49610169e+00] [ 2.26940312e-01 9.73898610e-01 4.42628317e-03 -9.30958685e-01] [ 7.22031851e-02 -2.13569783e-02 9.97161261e-01 1.42595592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394860624 meters Centerline goodness : 0.766762 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.93, Z:1.43 [[ 9.70877656e-01 -2.27676581e-01 -7.45650747e-02 -5.49819709e+00] [ 2.28558792e-01 9.73524154e-01 3.40605712e-03 -9.29611836e-01] [ 7.18154218e-02 -2.03493681e-02 9.97210333e-01 1.42643705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424860624000004 meters Centerline goodness : 0.766944 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.93, Z:1.43 [[ 9.70724358e-01 -2.28441442e-01 -7.42208014e-02 -5.49921621e+00] [ 2.29285991e-01 9.73354628e-01 2.95013878e-03 -9.29101663e-01] [ 7.15692266e-02 -1.98815616e-02 9.97237469e-01 1.42657711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454860624 meters Centerline goodness : 0.766087 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.93, Z:1.43 [[ 9.70583028e-01 -2.29136491e-01 -7.39260016e-02 -5.50007170e+00] [ 2.29938957e-01 9.73202050e-01 2.41790430e-03 -9.28205344e-01] [ 7.13909062e-02 -1.93452446e-02 9.97260798e-01 1.42668500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484860624 meters Centerline goodness : 0.766612 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.93, Z:1.43 [[ 9.70455080e-01 -2.29774908e-01 -7.36235649e-02 -5.50084999e+00] [ 2.30534777e-01 9.73062272e-01 1.87917683e-03 -9.27074562e-01] [ 7.12085257e-02 -1.87964488e-02 9.97284332e-01 1.42667284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514860624 meters Centerline goodness : 0.767955 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.92, Z:1.43 [[ 9.70244589e-01 -2.30854935e-01 -7.30166911e-02 -5.50265152e+00] [ 2.31519938e-01 9.72829933e-01 6.62539200e-04 -9.23506162e-01] [ 7.08798723e-02 -1.75476449e-02 9.97330499e-01 1.42680975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544860624 meters Centerline goodness : 0.765379 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.92, Z:1.43 [[ 9.70139970e-01 -2.31373357e-01 -7.27654335e-02 -5.50354410e+00] [ 2.31979774e-01 9.72720602e-01 -1.20661064e-04 -9.21087960e-01] [ 7.08083540e-02 -1.67630507e-02 9.97349075e-01 1.42702459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574860624 meters Centerline goodness : 0.767779 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.92, Z:1.43 [[ 9.70035555e-01 -2.31881856e-01 -7.25384509e-02 -5.50444855e+00] [ 2.32427890e-01 9.72613179e-01 -9.37862954e-04 -9.18607710e-01] [ 7.07693268e-02 -1.59501987e-02 9.97365176e-01 1.42733774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604860624000004 meters Centerline goodness : 0.769697 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.92, Z:1.43 [[ 9.69960605e-01 -2.32270668e-01 -7.22963436e-02 -5.50495229e+00] [ 2.32770654e-01 9.72530424e-01 -1.54817010e-03 -9.16212678e-01] [ 7.06699882e-02 -1.53268031e-02 9.97381994e-01 1.42703892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634860624 meters Centerline goodness : 0.767533 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.91, Z:1.43 [[ 9.69781854e-01 -2.33163882e-01 -7.18175429e-02 -5.50631341e+00] [ 2.33560701e-01 9.72337779e-01 -2.93969430e-03 -9.11530274e-01] [ 7.05163407e-02 -1.39228935e-02 9.97413454e-01 1.42699395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664860624 meters Centerline goodness : 0.769779 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.91, Z:1.43 [[ 9.69645541e-01 -2.33840765e-01 -7.14564311e-02 -5.50763998e+00] [ 2.34169056e-01 9.72188206e-01 -3.86603211e-03 -9.08746057e-01] [ 7.03731355e-02 -1.29842042e-02 9.97436230e-01 1.42739647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694860624 meters Centerline goodness : 0.769019 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.91, Z:1.43 [[ 9.69497784e-01 -2.34560788e-01 -7.11005118e-02 -5.50915007e+00] [ 2.34809452e-01 9.72028770e-01 -4.95904991e-03 -9.05684753e-01] [ 7.02749416e-02 -1.18872843e-02 9.97456829e-01 1.42812733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724860624 meters Centerline goodness : 0.770489 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.90, Z:1.43 [[ 0.96926593 -0.23568722 -0.0705343 -5.5114694 ] [ 0.23582733 0.97177354 -0.00645375 -0.90010276] [ 0.07006443 -0.01037852 0.99748848 1.4286331 ] [ 0. 0. 0. 1. ]] SLAMing on 45.754860624 meters Centerline goodness : 0.771568 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.90, Z:1.43 [[ 0.96914408 -0.23626798 -0.07026518 -5.51252115] [ 0.23635202 0.97164056 -0.00723535 -0.89760102] [ 0.06998198 -0.00959522 0.99750211 1.42892455] [ 0. 0. 0. 1. ]] SLAMing on 45.784860624000004 meters Centerline goodness : 0.771828 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.90, Z:1.43 [[ 0.96900136 -0.23694289 -0.06996016 -5.51354031] [ 0.2369678 0.97148404 -0.0080635 -0.89503248] [ 0.06987577 -0.00876476 0.9975172 1.42905451] [ 0. 0. 0. 1. ]] SLAMing on 45.814860624 meters Centerline goodness : 0.771670 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.89, Z:1.43 [[ 0.96887714 -0.23750193 -0.06978482 -5.51422043] [ 0.23747752 0.97135347 -0.00876679 -0.89276494] [ 0.06986786 -0.00807839 0.99752354 1.42912114] [ 0. 0. 0. 1. ]] SLAMing on 45.844860624 meters Centerline goodness : 0.772005 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.89, Z:1.43 [[ 0.96865746 -0.23858496 -0.06913707 -5.51579983] [ 0.23847651 0.9710974 -0.00993956 -0.88835697] [ 0.06951026 -0.00685954 0.99755765 1.42864069] [ 0. 0. 0. 1. ]] SLAMing on 45.874860624 meters Centerline goodness : 0.774542 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.89, Z:1.43 [[ 0.96854129 -0.23909069 -0.06901743 -5.51637194] [ 0.23892318 0.97097848 -0.01079369 -0.88551783] [ 0.06959511 -0.00603573 0.99755706 1.42875444] [ 0. 0. 0. 1. ]] SLAMing on 45.904860624 meters Centerline goodness : 0.773426 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.43 [[ 9.68416225e-01 -2.39673648e-01 -6.87499648e-02 -5.51734492e+00] [ 2.39439466e-01 9.70840204e-01 -1.17490978e-02 -8.82216125e-01] [ 6.95611789e-02 -5.08343791e-03 9.97564735e-01 1.42890588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934860624 meters Centerline goodness : 0.774234 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.43 [[ 0.96892555 -0.23766413 -0.06854949 -5.52043893] [ 0.23759418 0.97132008 -0.0092906 -0.87892564] [ 0.06879154 -0.00728506 0.99760446 1.42858933] [ 0. 0. 0. 1. ]] SLAMing on 45.964860624 meters Centerline goodness : 0.774004 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.88, Z:1.43 [[ 0.96883554 -0.2380804 -0.06837712 -5.52122217] [ 0.23795614 0.97122364 -0.01007563 -0.87637405] [ 0.06880829 -0.00650913 0.99760867 1.42889826] [ 0. 0. 0. 1. ]] SLAMing on 45.994860624 meters Centerline goodness : 0.775592 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.43 [[ 0.96928716 -0.23634946 -0.06798039 -5.52550344] [ 0.23636189 0.97163236 -0.00797631 -0.87265677] [ 0.06793714 -0.00833664 0.99765477 1.42953423] [ 0. 0. 0. 1. ]] SLAMing on 46.024860624 meters Centerline goodness : 0.776427 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.43 [[ 0.96922443 -0.23664321 -0.06785271 -5.52606383] [ 0.23660009 0.97156738 -0.00878716 -0.86955548] [ 0.06800291 -0.00753723 0.99765665 1.42972858] [ 0. 0. 0. 1. ]] SLAMing on 46.054860624 meters Centerline goodness : 0.778564 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.87, Z:1.43 [[ 0.96983276 -0.2341886 -0.06767656 -5.52876649] [ 0.23431141 0.97214163 -0.00622969 -0.86585231] [ 0.06725012 -0.00981563 0.99768786 1.42921611] [ 0. 0. 0. 1. ]] SLAMing on 46.084860624 meters Centerline goodness : 0.781167 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.43 [[ 9.70474813e-01 -2.31551687e-01 -6.75459417e-02 -5.53140557e+00] [ 2.31834122e-01 9.72748162e-01 -3.73525201e-03 -8.61676788e-01] [ 6.65700946e-02 -1.20344861e-02 9.97709173e-01 1.42886602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114860624 meters Centerline goodness : 0.782983 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.86, Z:1.43 [[ 9.71061016e-01 -2.29145969e-01 -6.73247931e-02 -5.53447436e+00] [ 2.29585778e-01 9.73287648e-01 -1.23494402e-03 -8.57886052e-01] [ 6.58093720e-02 -1.42576090e-02 9.97730348e-01 1.42869548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144860624 meters Centerline goodness : 0.782221 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 9.70799484e-01 -2.30430581e-01 -6.67091319e-02 -5.53657783e+00] [ 2.30773173e-01 9.73004023e-01 -2.62940717e-03 -8.53910463e-01] [ 6.55141495e-02 -1.28420509e-02 9.97769000e-01 1.42907673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174860624000004 meters Centerline goodness : 0.782537 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 9.70651405e-01 -2.31160359e-01 -6.63380665e-02 -5.53788295e+00] [ 2.31460725e-01 9.72838895e-01 -3.22756051e-03 -8.52580478e-01] [ 6.52823354e-02 -1.22218209e-02 9.97791984e-01 1.42937697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204860624 meters Centerline goodness : 0.782537 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 9.70651405e-01 -2.31160359e-01 -6.63380665e-02 -5.53788295e+00] [ 2.31460725e-01 9.72838895e-01 -3.22756051e-03 -8.52580478e-01] [ 6.52823354e-02 -1.22218209e-02 9.97791984e-01 1.42937697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234860624 meters Centerline goodness : 0.783155 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 9.70495331e-01 -2.31933669e-01 -6.59210533e-02 -5.53916038e+00] [ 2.32191319e-01 9.72662586e-01 -3.83202663e-03 -8.51194648e-01] [ 6.50077182e-02 -1.15873324e-02 9.97817483e-01 1.42952026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264860624 meters Centerline goodness : 0.783155 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 9.70495331e-01 -2.31933669e-01 -6.59210533e-02 -5.53916038e+00] [ 2.32191319e-01 9.72662586e-01 -3.83202663e-03 -8.51194648e-01] [ 6.50077182e-02 -1.15873324e-02 9.97817483e-01 1.42952026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294860624 meters Centerline goodness : 0.782358 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 9.70174304e-01 -2.33491095e-01 -6.51439070e-02 -5.54155458e+00] [ 2.33683318e-01 9.72301109e-01 -4.76023368e-03 -8.49260298e-01] [ 6.44509652e-02 -1.06047880e-02 9.97864526e-01 1.42953657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324860624 meters Centerline goodness : 0.783302 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 9.70036464e-01 -2.34165726e-01 -6.47739960e-02 -5.54259809e+00] [ 2.34330979e-01 9.72143280e-01 -5.14160888e-03 -8.48771840e-01] [ 6.41735935e-02 -1.01910058e-02 9.97886714e-01 1.42962330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354860624000004 meters Centerline goodness : 0.781910 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.85, Z:1.43 [[ 0.96985413 -0.23505208 -0.06429212 -5.54409794] [ 0.23518124 0.97193506 -0.0056595 -0.84823737] [ 0.06381804 -0.00963141 0.99791507 1.42995726] [ 0. 0. 0. 1. ]] SLAMing on 46.384860624 meters Centerline goodness : 0.783951 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.85, Z:1.43 [[ 0.96953282 -0.23659034 -0.06349106 -5.54708038] [ 0.23664371 0.9715728 -0.00678667 -0.84696345] [ 0.06329185 -0.00844486 0.99795933 1.4311922 ] [ 0. 0. 0. 1. ]] SLAMing on 46.414860624 meters Centerline goodness : 0.785628 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.85, Z:1.43 [[ 0.96943514 -0.23704336 -0.06329261 -5.54788858] [ 0.23707186 0.97146567 -0.00716824 -0.84643192] [ 0.06318578 -0.00805575 0.99796927 1.43159412] [ 0. 0. 0. 1. ]] SLAMing on 46.444860624 meters Centerline goodness : 0.786539 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.85, Z:1.43 [[ 0.96934768 -0.23745858 -0.0630753 -5.5486335 ] [ 0.23746647 0.97136693 -0.00748057 -0.84580716] [ 0.06304559 -0.007727 0.99798073 1.43177512] [ 0. 0. 0. 1. ]] SLAMing on 46.474860624 meters Centerline goodness : 0.785292 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 0.96926619 -0.2378265 -0.06294133 -5.54923559] [ 0.23780433 0.97128052 -0.00795263 -0.8444612 ] [ 0.06302503 -0.00725951 0.99798554 1.43207302] [ 0. 0. 0. 1. ]] SLAMing on 46.504860624 meters Centerline goodness : 0.785463 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 0.9692615 -0.23782346 -0.0630249 -5.54912021] [ 0.23777673 0.97128394 -0.00835024 -0.84292998] [ 0.06320095 -0.00689229 0.99797702 1.432251 ] [ 0. 0. 0. 1. ]] SLAMing on 46.534860624000004 meters Centerline goodness : 0.785976 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 0.96929914 -0.23760711 -0.0632617 -5.54851727] [ 0.2375387 0.97133903 -0.00870991 -0.84137264] [ 0.0635181 -0.00658459 0.99795896 1.43237843] [ 0. 0. 0. 1. ]] SLAMing on 46.564860624 meters Centerline goodness : 0.786883 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 0.96937589 -0.2372188 -0.06354236 -5.54767055] [ 0.23713938 0.97143488 -0.00889838 -0.83994516] [ 0.06383813 -0.00644252 0.99793947 1.43226889] [ 0. 0. 0. 1. ]] SLAMing on 46.594860624 meters Centerline goodness : 0.788394 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 9.70294886e-01 -2.33291010e-01 -6.40557423e-02 -5.54837457e+00] [ 2.33434898e-01 9.72357805e-01 -5.33359279e-03 -8.38832888e-01] [ 6.35293802e-02 -9.77768783e-03 9.97932069e-01 1.43189726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624860624 meters Centerline goodness : 0.789059 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 9.71164013e-01 -2.29527402e-01 -6.44796931e-02 -5.54922111e+00] [ 2.29910104e-01 9.73210681e-01 -1.52141193e-03 -8.39132823e-01] [ 6.31015317e-02 -1.33469924e-02 9.97917860e-01 1.43149863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654860624 meters Centerline goodness : 0.790382 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 9.72064455e-01 -2.25488409e-01 -6.51588247e-02 -5.54939044e+00] [ 2.26121895e-01 9.74096007e-01 2.42020830e-03 -8.39350226e-01] [ 6.29252221e-02 -1.70864354e-02 9.97871971e-01 1.43098953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684860624 meters Centerline goodness : 0.792203 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 0.97310297 -0.22072019 -0.06597882 -5.5490788 ] [ 0.22157764 0.97512499 0.00588196 -0.8360496 ] [ 0.06303932 -0.02034318 0.99780369 1.43064168] [ 0. 0. 0. 1. ]] SLAMing on 46.714860624 meters Centerline goodness : 0.792711 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.84, Z:1.43 [[ 0.97390873 -0.21701767 -0.0663711 -5.5502388 ] [ 0.21811357 0.97587569 0.00964943 -0.83562215] [ 0.06267585 -0.0238741 0.99774835 1.43036969] [ 0. 0. 0. 1. ]] SLAMing on 46.744860624 meters Centerline goodness : 0.794184 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 0.97399967 -0.2165125 -0.0666857 -5.54951529] [ 0.21758427 0.97599851 0.00916432 -0.83298792] [ 0.06310095 -0.0234358 0.99773194 1.43065876] [ 0. 0. 0. 1. ]] SLAMing on 46.774860624 meters Centerline goodness : 0.794184 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 0.97399967 -0.2165125 -0.0666857 -5.54951529] [ 0.21758427 0.97599851 0.00916432 -0.83298792] [ 0.06310095 -0.0234358 0.99773194 1.43065876] [ 0. 0. 0. 1. ]] SLAMing on 46.804860624 meters Centerline goodness : 0.794529 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 0.97397499 -0.21664212 -0.06662513 -5.549995 ] [ 0.21767486 0.97598375 0.00856551 -0.83131927] [ 0.06316939 -0.02284521 0.99774131 1.43123354] [ 0. 0. 0. 1. ]] SLAMing on 46.834860624 meters Centerline goodness : 0.797119 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 0.97375217 -0.21780766 -0.06607969 -5.55245959] [ 0.2187703 0.9757467 0.00761133 -0.83047661] [ 0.06281924 -0.02186782 0.99778532 1.4326989 ] [ 0. 0. 0. 1. ]] SLAMing on 46.864860624 meters Centerline goodness : 0.800099 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 0.97357873 -0.21871045 -0.06565205 -5.55379937] [ 0.21965452 0.97554939 0.00743501 -0.83062996] [ 0.06242071 -0.02165933 0.99781488 1.43263421] [ 0. 0. 0. 1. ]] SLAMing on 46.894860624 meters Centerline goodness : 0.799567 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 9.72547378e-01 -2.23494370e-01 -6.48217824e-02 -5.55404850e+00] [ 2.24159112e-01 9.74547704e-01 3.07661139e-03 -8.29961314e-01] [ 6.24843139e-02 -1.75225435e-02 9.97892114e-01 1.43300241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924860624000004 meters Centerline goodness : 0.800060 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 9.71631797e-01 -2.27628146e-01 -6.41644537e-02 -5.55352399e+00] [ 2.28029438e-01 9.73653621e-01 -1.09587362e-03 -8.29518634e-01] [ 6.27234043e-02 -1.35665987e-02 9.97938737e-01 1.43339862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954860624 meters Centerline goodness : 0.800475 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 9.70675313e-01 -2.31888442e-01 -6.33812815e-02 -5.55341876e+00] [ 2.32025749e-01 9.72695273e-01 -5.28743830e-03 -8.29557155e-01] [ 6.28767687e-02 -9.57370349e-03 9.97975379e-01 1.43399615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984860624 meters Centerline goodness : 0.800654 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.83, Z:1.43 [[ 0.97029651 -0.23355786 -0.06305091 -5.55499707] [ 0.23366168 0.97230051 -0.00582567 -0.83186324] [ 0.06266506 -0.00907995 0.99799331 1.43478216] [ 0. 0. 0. 1. ]] SLAMing on 47.014860624 meters Centerline goodness : 0.804112 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.83, Z:1.44 [[ 9.69066083e-01 -2.38960084e-01 -6.17171329e-02 -5.55719548e+00] [ 2.38780267e-01 9.71018130e-01 -1.03814827e-02 -8.32353574e-01] [ 6.24092150e-02 -4.67649067e-03 9.98039689e-01 1.43635257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044860624 meters Centerline goodness : 0.806367 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.83, Z:1.44 [[ 9.68797347e-01 -2.40194641e-01 -6.11411113e-02 -5.55936866e+00] [ 2.40002368e-01 9.70714660e-01 -1.05788434e-02 -8.33508837e-01] [ 6.18915545e-02 -4.42525609e-03 9.98073070e-01 1.43693620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074860624 meters Centerline goodness : 0.805000 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.84, Z:1.44 [[ 9.68496415e-01 -2.41526366e-01 -6.06606074e-02 -5.56134433e+00] [ 2.41316691e-01 9.70385547e-01 -1.08694072e-02 -8.35175005e-01] [ 6.14894251e-02 -4.11143514e-03 9.98099267e-01 1.43769573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104860624000004 meters Centerline goodness : 0.805351 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.84, Z:1.44 [[ 9.68236270e-01 -2.42642255e-01 -6.03594403e-02 -5.56235821e+00] [ 2.42432584e-01 9.70107196e-01 -1.08843984e-02 -8.37911843e-01] [ 6.11961424e-02 -4.09442580e-03 9.98117362e-01 1.43795285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134860624 meters Centerline goodness : 0.806691 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.84, Z:1.44 [[ 9.67044191e-01 -2.47637029e-01 -5.91729175e-02 -5.56326379e+00] [ 2.47199526e-01 9.68852799e-01 -1.47189504e-02 -8.41388735e-01] [ 6.09748039e-02 -3.93641662e-04 9.98139228e-01 1.43883386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164860624 meters Centerline goodness : 0.809539 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.84, Z:1.44 [[ 9.66788329e-01 -2.48754515e-01 -5.86644450e-02 -5.56519718e+00] [ 2.48307222e-01 9.68566553e-01 -1.49115700e-02 -8.43488706e-01] [ 6.05297397e-02 -1.50473552e-04 9.98166383e-01 1.43972020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194860624 meters Centerline goodness : 0.809217 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.84, Z:1.44 [[ 9.66536543e-01 -2.49857237e-01 -5.81246184e-02 -5.56739046e+00] [ 2.49394197e-01 9.68282666e-01 -1.52057240e-02 -8.44903495e-01] [ 6.00803206e-02 2.00945398e-04 9.98193526e-01 1.44074233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224860624 meters Centerline goodness : 0.811417 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.85, Z:1.44 [[ 9.66162390e-01 -2.51399066e-01 -5.76952813e-02 -5.56951999e+00] [ 2.50922485e-01 9.67883402e-01 -1.54798556e-02 -8.47730315e-01] [ 5.97339264e-02 4.79010946e-04 9.98214220e-01 1.44193391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254860624 meters Centerline goodness : 0.811575 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.85, Z:1.44 [[ 9.66124597e-01 -2.51560723e-01 -5.76234785e-02 -5.56957482e+00] [ 2.51102916e-01 9.67841499e-01 -1.51709631e-02 -8.49561718e-01] [ 5.95868122e-02 1.87617198e-04 9.98223110e-01 1.44188102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284860624000004 meters Centerline goodness : 0.810084 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.85, Z:1.44 [[ 9.66115010e-01 -2.51607429e-01 -5.75802792e-02 -5.56933355e+00] [ 2.51172494e-01 9.67829361e-01 -1.47887549e-02 -8.51540693e-01] [ 5.94488454e-02 -1.74944229e-04 9.98231338e-01 1.44163185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314860624 meters Centerline goodness : 0.811333 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.86, Z:1.44 [[ 9.66080569e-01 -2.51751880e-01 -5.75267332e-02 -5.56920440e+00] [ 2.51347044e-01 9.67791589e-01 -1.42865232e-02 -8.55081296e-01] [ 5.92705476e-02 -6.57241870e-04 9.98241739e-01 1.44170029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344860624 meters Centerline goodness : 0.810061 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.86, Z:1.44 [[ 9.66079160e-01 -2.51741578e-01 -5.75954333e-02 -5.56921069e+00] [ 2.51343503e-01 9.67794174e-01 -1.41732023e-02 -8.56247755e-01] [ 5.93085091e-02 -7.83802596e-04 9.98239393e-01 1.44211299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374860624 meters Centerline goodness : 0.813099 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.86, Z:1.44 [[ 9.66088245e-01 -2.51688119e-01 -5.76766281e-02 -5.56927932e+00] [ 2.51287209e-01 9.67808101e-01 -1.42203618e-02 -8.56808794e-01] [ 5.93990040e-02 -7.55274490e-04 9.98234035e-01 1.44272052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404860624 meters Centerline goodness : 0.809997 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.86, Z:1.44 [[ 9.66180313e-01 -2.51263710e-01 -5.79840625e-02 -5.56851150e+00] [ 2.50873953e-01 9.67918156e-01 -1.40251135e-02 -8.57343856e-01] [ 5.96478289e-02 -9.95902405e-04 9.98218986e-01 1.44293808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434860624 meters Centerline goodness : 0.811289 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.86, Z:1.44 [[ 9.66427087e-01 -2.50163750e-01 -5.86240815e-02 -5.56630087e+00] [ 2.49822199e-01 9.68201705e-01 -1.32032758e-02 -8.59297379e-01] [ 6.00629167e-02 -1.88559358e-03 9.98192812e-01 1.44253071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464860624 meters Centerline goodness : 0.811395 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.86, Z:1.44 [[ 9.66547104e-01 -2.49630902e-01 -5.89161194e-02 -5.56511334e+00] [ 2.49317718e-01 9.68338118e-01 -1.27265616e-02 -8.60993441e-01] [ 6.02276672e-02 -2.38801118e-03 9.98181810e-01 1.44228503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494860624 meters Centerline goodness : 0.812822 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.86, Z:1.44 [[ 9.66644204e-01 -2.49189150e-01 -5.91924885e-02 -5.56419998e+00] [ 2.48894148e-01 9.68451006e-01 -1.24238242e-02 -8.62471758e-01] [ 6.04209073e-02 -2.72324638e-03 9.98169273e-01 1.44242169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524860624 meters Centerline goodness : 0.813636 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.86, Z:1.44 [[ 9.66918019e-01 -2.47938521e-01 -5.99669357e-02 -5.56187469e+00] [ 2.47684940e-01 9.68769454e-01 -1.17437148e-02 -8.64260827e-01] [ 6.10058549e-02 -3.49769744e-03 9.98131280e-01 1.44249289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554860624 meters Centerline goodness : 0.813930 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.86, Z:1.44 [[ 9.67039644e-01 -2.47349093e-01 -6.04380124e-02 -5.56076161e+00] [ 2.47106088e-01 9.68919228e-01 -1.15806101e-02 -8.64413891e-01] [ 6.14240058e-02 -3.73569173e-03 9.98104772e-01 1.44275299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584860624 meters Centerline goodness : 0.816210 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.87, Z:1.44 [[ 0.9679254 -0.24362371 -0.06138329 -5.56108274] [ 0.24362867 0.96983944 -0.00751832 -0.86776954] [ 0.06136358 -0.00767755 0.99808595 1.44346225] [ 0. 0. 0. 1. ]] SLAMing on 47.614860624 meters Centerline goodness : 0.814298 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.87, Z:1.44 [[ 0.96801683 -0.24318776 -0.06166953 -5.56031268] [ 0.24320811 0.96994673 -0.00729092 -0.86908106] [ 0.06158922 -0.00794079 0.99806999 1.44384815] [ 0. 0. 0. 1. ]] SLAMing on 47.644860624 meters Centerline goodness : 0.811852 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.87, Z:1.44 [[ 0.96810688 -0.24277463 -0.06188332 -5.55953162] [ 0.24281776 0.97004712 -0.0069371 -0.87070589] [ 0.06171389 -0.00831052 0.99805928 1.44394952] [ 0. 0. 0. 1. ]] SLAMing on 47.674860624000004 meters Centerline goodness : 0.808558 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.87, Z:1.44 [[ 0.96834077 -0.24167488 -0.0625252 -5.55731544] [ 0.24178764 0.97031143 -0.00587072 -0.87437979] [ 0.06208772 -0.00943296 0.99802612 1.44376729] [ 0. 0. 0. 1. ]] SLAMing on 47.704860624 meters Centerline goodness : 0.808146 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.88, Z:1.44 [[ 9.68451112e-01 -2.41139431e-01 -6.28825713e-02 -5.55606222e+00] [ 2.41282718e-01 9.70439737e-01 -5.41912477e-03 -8.75545594e-01] [ 6.23305106e-02 -9.92432032e-03 9.98006220e-01 1.44353171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734860624 meters Centerline goodness : 0.808167 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.88, Z:1.44 [[ 9.68731541e-01 -2.39794648e-01 -6.37003057e-02 -5.55328040e+00] [ 2.40012401e-01 9.70760187e-01 -4.32516375e-03 -8.77617905e-01] [ 6.28748718e-02 -1.10989407e-02 9.97959701e-01 1.44283513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764860624 meters Centerline goodness : 0.806406 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.88, Z:1.44 [[ 9.68871934e-01 -2.39124723e-01 -6.40823041e-02 -5.55189598e+00] [ 2.39378935e-01 9.70918806e-01 -3.79447194e-03 -8.78802609e-01] [ 6.31260662e-02 -1.16635964e-02 9.97937403e-01 1.44252913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794860624 meters Centerline goodness : 0.804230 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.88, Z:1.44 [[ 9.69013836e-01 -2.38448145e-01 -6.44567099e-02 -5.55054662e+00] [ 2.38743994e-01 9.71077317e-01 -3.18588708e-03 -8.80457212e-01] [ 6.33521178e-02 -1.23014837e-02 9.97915419e-01 1.44225238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824860624 meters Centerline goodness : 0.806931 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.88, Z:1.44 [[ 9.69098609e-01 -2.38039493e-01 -6.46922326e-02 -5.54970570e+00] [ 2.38366528e-01 9.71171435e-01 -2.72807355e-03 -8.82104564e-01] [ 6.34766376e-02 -1.27766906e-02 9.97901535e-01 1.44217312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854860624000004 meters Centerline goodness : 0.806738 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.88, Z:1.44 [[ 9.69194191e-01 -2.37596771e-01 -6.48875524e-02 -5.54889056e+00] [ 2.37953925e-01 9.71273767e-01 -2.28008180e-03 -8.83664408e-01] [ 6.35653175e-02 -1.32304058e-02 9.97889977e-01 1.44212306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884860624 meters Centerline goodness : 0.805989 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.44 [[ 9.69281769e-01 -2.37168751e-01 -6.51447345e-02 -5.54820196e+00] [ 2.37566749e-01 9.71369764e-01 -1.67987340e-03 -8.86056622e-01] [ 6.36780388e-02 -1.38479522e-02 9.97874412e-01 1.44240465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914860624 meters Centerline goodness : 0.807722 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.44 [[ 9.69325579e-01 -2.36946888e-01 -6.53000281e-02 -5.54775863e+00] [ 2.37362424e-01 9.71420110e-01 -1.43188559e-03 -8.86992641e-01] [ 6.37730412e-02 -1.41118096e-02 9.97864648e-01 1.44248620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944860624 meters Centerline goodness : 0.806516 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.44 [[ 9.69381627e-01 -2.36666316e-01 -6.54852341e-02 -5.54706454e+00] [ 2.37104623e-01 9.71483489e-01 -1.10793421e-03 -8.87984394e-01] [ 6.38800344e-02 -1.44528407e-02 9.97852923e-01 1.44235125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974860624 meters Centerline goodness : 0.806920 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.44 [[ 9.69519058e-01 -2.36014202e-01 -6.58034359e-02 -5.54582409e+00] [ 2.36495928e-01 9.71632360e-01 -4.82144622e-04 -8.89909265e-01] [ 6.40505407e-02 -1.50947963e-02 9.97832489e-01 1.44217463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004860624 meters Centerline goodness : 0.808700 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.44 [[ 9.69582097e-01 -2.35714921e-01 -6.59472051e-02 -5.54515628e+00] [ 2.36212812e-01 9.71701314e-01 -2.54521823e-04 -8.90741565e-01] [ 6.41409804e-02 -1.53307949e-02 9.97823081e-01 1.44205191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034860624000004 meters Centerline goodness : 0.808147 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.69637442e-01 -2.35452336e-01 -6.60713871e-02 -5.54446168e+00] [ 2.35969551e-01 9.71760449e-01 2.48806367e-05 -8.91471200e-01] [ 6.41997026e-02 -1.56149607e-02 9.97814898e-01 1.44172751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064860624 meters Centerline goodness : 0.809355 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.69666561e-01 -2.35314966e-01 -6.61334087e-02 -5.54430934e+00] [ 2.35834670e-01 9.71793191e-01 5.31109863e-05 -8.92068489e-01] [ 6.42554985e-02 -1.56480506e-02 9.97810788e-01 1.44202121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094860624 meters Centerline goodness : 0.810771 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.69727629e-01 -2.35069353e-01 -6.61114558e-02 -5.54452897e+00] [ 2.35583989e-01 9.71853993e-01 -1.18957468e-05 -8.92595246e-01] [ 6.42534786e-02 -1.55632648e-02 9.97812244e-01 1.44277776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124860624 meters Centerline goodness : 0.808979 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.69783706e-01 -2.34812624e-01 -6.62011660e-02 -5.54425399e+00] [ 2.35330627e-01 9.71915375e-01 2.73121647e-05 -8.92585310e-01] [ 6.43355178e-02 -1.56056488e-02 9.97806296e-01 1.44291545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154860624 meters Centerline goodness : 0.808424 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.69954734e-01 -2.34004534e-01 -6.65559256e-02 -5.54309124e+00] [ 2.34545090e-01 9.72105190e-01 3.16995503e-04 -8.92721899e-01] [ 6.46251824e-02 -1.59178368e-02 9.97782646e-01 1.44287416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184860624 meters Centerline goodness : 0.808501 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.70006319e-01 -2.33764451e-01 -6.66477462e-02 -5.54278708e+00] [ 2.34311758e-01 9.72161424e-01 4.06679823e-04 -8.93032368e-01] [ 6.46973006e-02 -1.60108326e-02 9.97776484e-01 1.44294313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214860624 meters Centerline goodness : 0.810403 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.70054266e-01 -2.33533481e-01 -6.67595304e-02 -5.54232809e+00] [ 2.34089407e-01 9.72214935e-01 5.19628223e-04 -8.93364400e-01] [ 6.47832620e-02 -1.61317665e-02 9.97768959e-01 1.44288798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244860624 meters Centerline goodness : 0.809071 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.70141525e-01 -2.33093748e-01 -6.70277959e-02 -5.54162027e+00] [ 2.33667681e-01 9.72316235e-01 7.44251370e-04 -8.94030533e-01] [ 6.49987338e-02 -1.63842588e-02 9.97750831e-01 1.44305831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274860624 meters Centerline goodness : 0.812837 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.89, Z:1.44 [[ 9.70148310e-01 -2.33061684e-01 -6.70410934e-02 -5.54159895e+00] [ 2.33641784e-01 9.72322383e-01 8.36641840e-04 -8.94465006e-01] [ 6.49905665e-02 -1.64752673e-02 9.97749864e-01 1.44313205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304860624 meters Centerline goodness : 0.809253 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.90, Z:1.44 [[ 9.70147896e-01 -2.33059878e-01 -6.70533690e-02 -5.54156170e+00] [ 2.33649779e-01 9.72320324e-01 9.84070925e-04 -8.95252726e-01] [ 6.49680060e-02 -1.66216991e-02 9.97748905e-01 1.44322759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334860624 meters Centerline goodness : 0.810920 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.90, Z:1.44 [[ 9.70124789e-01 -2.33186761e-01 -6.69464596e-02 -5.54166235e+00] [ 2.33783774e-01 9.72287972e-01 1.11659456e-03 -8.96269925e-01] [ 6.48308623e-02 -1.67342321e-02 9.97755944e-01 1.44322042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364860624 meters Centerline goodness : 0.808581 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.90, Z:1.44 [[ 9.70037086e-01 -2.33553635e-01 -6.69384078e-02 -5.54130102e+00] [ 2.34180133e-01 9.72191972e-01 1.56031584e-03 -8.99209446e-01] [ 6.47125652e-02 -1.71892095e-02 9.97755889e-01 1.44288913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394860624 meters Centerline goodness : 0.807324 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.90, Z:1.44 [[ 9.69994447e-01 -2.33772229e-01 -6.67931017e-02 -5.54140713e+00] [ 2.34408570e-01 9.72136607e-01 1.74373995e-03 -9.00403113e-01] [ 6.45243812e-02 -1.73482935e-02 9.97765324e-01 1.44270185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424860624000004 meters Centerline goodness : 0.807780 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.90, Z:1.44 [[ 9.69922569e-01 -2.34111840e-01 -6.66472520e-02 -5.54171415e+00] [ 2.34747879e-01 9.72054686e-01 1.76683866e-03 -9.01417023e-01] [ 6.43711358e-02 -1.73589977e-02 9.97775036e-01 1.44278332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454860624 meters Centerline goodness : 0.805665 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.90, Z:1.44 [[ 9.69669878e-01 -2.35244302e-01 -6.63358541e-02 -5.54259160e+00] [ 2.35877412e-01 9.71781212e-01 1.76720266e-03 -9.03858500e-01] [ 6.40482123e-02 -1.73607328e-02 9.97795786e-01 1.44291631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484860624 meters Centerline goodness : 0.803963 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.91, Z:1.44 [[ 9.69517057e-01 -2.35977670e-01 -6.59637487e-02 -5.54364735e+00] [ 2.36604355e-01 9.71604519e-01 1.74318665e-03 -9.05434911e-01] [ 6.36793232e-02 -1.72973594e-02 9.97820497e-01 1.44325080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514860624 meters Centerline goodness : 0.803408 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.91, Z:1.44 [[ 9.69358202e-01 -2.36726845e-01 -6.56130822e-02 -5.54474783e+00] [ 2.37344864e-01 9.71424008e-01 1.67724659e-03 -9.07432045e-01] [ 6.33410740e-02 -1.71987808e-02 9.97843730e-01 1.44386512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544860624 meters Centerline goodness : 0.803438 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.91, Z:1.44 [[ 9.69151382e-01 -2.37657488e-01 -6.53032739e-02 -5.54580508e+00] [ 2.38262117e-01 9.71199700e-01 1.51875516e-03 -9.09534186e-01] [ 6.30615765e-02 -1.70312000e-02 9.97864307e-01 1.44447598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574860624 meters Centerline goodness : 0.804175 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.91, Z:1.45 [[ 9.68058194e-01 -2.42376516e-01 -6.41635145e-02 -5.54654885e+00] [ 2.42728684e-01 9.70091328e-01 -2.36683524e-03 -9.11386200e-01] [ 6.28181343e-02 -1.32830912e-02 9.97936592e-01 1.44518355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604860624000004 meters Centerline goodness : 0.802522 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.91, Z:1.45 [[ 9.67860273e-01 -2.43272079e-01 -6.37588199e-02 -5.54783478e+00] [ 2.43615665e-01 9.69868762e-01 -2.44775647e-03 -9.13045360e-01] [ 6.24331586e-02 -1.31635610e-02 9.97962335e-01 1.44568601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.634860624 meters Centerline goodness : 0.802353 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.91, Z:1.45 [[ 9.67683285e-01 -2.44054077e-01 -6.34560261e-02 -5.54893819e+00] [ 2.44389617e-01 9.69673796e-01 -2.53870317e-03 -9.14516632e-01] [ 6.21512265e-02 -1.30513333e-02 9.97981407e-01 1.44624188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664860624 meters Centerline goodness : 0.801184 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.45 [[ 0.96681108 -0.24758656 -0.06306527 -5.54722692] [ 0.24771176 0.96881551 -0.0059499 -0.91536511] [ 0.06257172 -0.00986958 0.99799167 1.44601157] [ 0. 0. 0. 1. ]] SLAMing on 48.694860624 meters Centerline goodness : 0.801184 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.45 [[ 0.96681108 -0.24758656 -0.06306527 -5.54722692] [ 0.24771176 0.96881551 -0.0059499 -0.91536511] [ 0.06257172 -0.00986958 0.99799167 1.44601157] [ 0. 0. 0. 1. ]] SLAMing on 48.724860624 meters Centerline goodness : 0.802224 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.45 [[ 0.96674457 -0.24788189 -0.06292463 -5.54729724] [ 0.24801539 0.9687387 -0.00580452 -0.91710475] [ 0.06239636 -0.00999479 0.9980014 1.44595931] [ 0. 0. 0. 1. ]] SLAMing on 48.754860624 meters Centerline goodness : 0.802628 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.45 [[ 0.96668167 -0.24813638 -0.06288792 -5.5472635 ] [ 0.24828143 0.96867163 -0.00562211 -0.91873716] [ 0.0623128 -0.01017911 0.99800476 1.44597348] [ 0. 0. 0. 1. ]] SLAMing on 48.784860624000004 meters Centerline goodness : 0.799971 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.45 [[ 9.66555464e-01 -2.48687795e-01 -6.26491484e-02 -5.54800646e+00] [ 2.48837997e-01 9.68529401e-01 -5.51828012e-03 -9.21189722e-01] [ 6.20498711e-02 -1.02557648e-02 9.98020357e-01 1.44656048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.814860624 meters Centerline goodness : 0.801347 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.45 [[ 0.96650268 -0.24890279 -0.06260964 -5.54837975] [ 0.24904958 0.9684747 -0.0055737 -0.92198481] [ 0.06202316 -0.01020591 0.99802253 1.44711428] [ 0. 0. 0. 1. ]] SLAMing on 48.844860624 meters Centerline goodness : 0.802543 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.45 [[ 9.66512709e-01 -2.48840939e-01 -6.27006341e-02 -5.54818276e+00] [ 2.49005630e-01 9.68487541e-01 -5.29887227e-03 -9.23322698e-01] [ 6.20433594e-02 -1.04913835e-02 9.98018313e-01 1.44727152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874860624 meters Centerline goodness : 0.799349 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.45 [[ 9.66582356e-01 -2.48505655e-01 -6.29562367e-02 -5.54744590e+00] [ 2.48713861e-01 9.68565925e-01 -4.63304677e-03 -9.26534150e-01] [ 6.21286039e-02 -1.11798675e-02 9.98005535e-01 1.44754775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904860624 meters Centerline goodness : 0.800963 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.45 [[ 9.66613910e-01 -2.48348549e-01 -6.30915783e-02 -5.54696940e+00] [ 2.48584235e-01 9.68601126e-01 -4.21141918e-03 -9.27983613e-01] [ 6.21564736e-02 -1.16127554e-02 9.97998856e-01 1.44740812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934860624 meters Centerline goodness : 0.798933 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.45 [[ 9.66674887e-01 -2.48059570e-01 -6.32938525e-02 -5.54626980e+00] [ 2.48327774e-01 9.68668926e-01 -3.71876112e-03 -9.29648052e-01] [ 6.22332624e-02 -1.21227885e-02 9.97988005e-01 1.44729350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964860624 meters Centerline goodness : 0.799598 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.45 [[ 9.66719727e-01 -2.47826479e-01 -6.35216877e-02 -5.54539200e+00] [ 2.48147294e-01 9.68717932e-01 -2.91349629e-03 -9.33922401e-01] [ 6.22566395e-02 -1.29462005e-02 9.97976205e-01 1.44741742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.994860624 meters Centerline goodness : 0.797509 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.45 [[ 9.66792220e-01 -2.47488952e-01 -6.37339977e-02 -5.54463703e+00] [ 2.47849694e-01 9.68795749e-01 -2.30784587e-03 -9.36220840e-01] [ 6.23163924e-02 -1.35652444e-02 9.97964254e-01 1.44736985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024860624 meters Centerline goodness : 0.799428 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.45 [[ 9.66895099e-01 -2.46999326e-01 -6.40718351e-02 -5.54379694e+00] [ 2.47411685e-01 9.68909222e-01 -1.54168362e-03 -9.39747583e-01] [ 6.24605868e-02 -1.43614744e-02 9.97944098e-01 1.44783683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054860624 meters Centerline goodness : 0.798248 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.45 [[ 9.66977005e-01 -2.46603732e-01 -6.43589259e-02 -5.54298406e+00] [ 2.47046346e-01 9.69003026e-01 -1.11292905e-03 -9.41264672e-01] [ 6.26384464e-02 -1.48234607e-02 9.97926195e-01 1.44788339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084860624 meters Centerline goodness : 0.797861 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.45 [[ 9.67058068e-01 -2.46224609e-01 -6.45920727e-02 -5.54222420e+00] [ 2.46704163e-01 9.69090673e-01 -5.68510775e-04 -9.42866862e-01] [ 6.27355565e-02 -1.53853503e-02 9.97911590e-01 1.44771148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114860624 meters Centerline goodness : 0.797819 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.45 [[ 9.67136770e-01 -2.45860102e-01 -6.48018395e-02 -5.54142112e+00] [ 2.46373610e-01 9.69174927e-01 -6.89672624e-05 -9.44386535e-01] [ 6.28212744e-02 -1.58987623e-02 9.97898150e-01 1.44749860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144860624 meters Centerline goodness : 0.798542 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.45 [[ 9.67370294e-01 -2.44764033e-01 -6.54620650e-02 -5.53916093e+00] [ 2.45351795e-01 9.69433625e-01 9.70856884e-04 -9.46520289e-01] [ 6.32234962e-02 -1.70004133e-02 9.97854586e-01 1.44675045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174860624000004 meters Centerline goodness : 0.795273 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.45 [[ 9.67486837e-01 -2.44198828e-01 -6.58494670e-02 -5.53807330e+00] [ 2.44812979e-01 9.69569448e-01 1.30011991e-03 -9.47098886e-01] [ 6.35281436e-02 -1.73786531e-02 9.97828721e-01 1.44665024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204860624 meters Centerline goodness : 0.796347 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.45 [[ 9.67603100e-01 -2.43659775e-01 -6.61373899e-02 -5.53711796e+00] [ 2.44301072e-01 9.69698002e-01 1.66438235e-03 -9.47649675e-01] [ 6.37277519e-02 -1.77678968e-02 9.97809138e-01 1.44637378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234860624 meters Centerline goodness : 0.796241 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.45 [[ 9.67824752e-01 -2.42631536e-01 -6.66722363e-02 -5.53551052e+00] [ 2.43322421e-01 9.69942684e-01 2.32148380e-03 -9.48900336e-01] [ 6.41049826e-02 -1.84696395e-02 9.97772230e-01 1.44620210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264860624 meters Centerline goodness : 0.796344 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.67908785e-01 -2.42250964e-01 -6.68360294e-02 -5.53495007e+00] [ 2.42958407e-01 9.70033370e-01 2.54439423e-03 -9.49324757e-01] [ 6.42167968e-02 -1.87011167e-02 9.97760728e-01 1.44612327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294860624 meters Centerline goodness : 0.794441 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68057240e-01 -2.41571724e-01 -6.71437461e-02 -5.53413134e+00] [ 2.42305955e-01 9.70195577e-01 2.89254271e-03 -9.50286159e-01] [ 6.44438090e-02 -1.90694765e-02 9.97739119e-01 1.44635679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324860624 meters Centerline goodness : 0.794578 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68097625e-01 -2.41368155e-01 -6.72934007e-02 -5.53388353e+00] [ 2.42111200e-01 9.70243896e-01 2.99135287e-03 -9.50589886e-01] [ 6.45689939e-02 -1.91884076e-02 9.97728746e-01 1.44655996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354860624000004 meters Centerline goodness : 0.794094 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68118210e-01 -2.41257969e-01 -6.73923175e-02 -5.53364802e+00] [ 2.42004141e-01 9.70270535e-01 3.01395149e-03 -9.50756034e-01] [ 6.46616401e-02 -1.92270812e-02 9.97722001e-01 1.44664509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384860624 meters Centerline goodness : 0.794905 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68158224e-01 -2.41033006e-01 -6.76220593e-02 -5.53307852e+00] [ 2.41791575e-01 9.70323116e-01 3.14401012e-03 -9.51147446e-01] [ 6.48574371e-02 -1.93943434e-02 9.97706055e-01 1.44666596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414860624 meters Centerline goodness : 0.794517 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68184873e-01 -2.40921828e-01 -6.76367076e-02 -5.53283281e+00] [ 2.41687711e-01 9.70348622e-01 3.25594986e-03 -9.51550212e-01] [ 6.48467567e-02 -1.94993225e-02 9.97704703e-01 1.44654277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444860624 meters Centerline goodness : 0.794940 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68234586e-01 -2.40692929e-01 -6.77399444e-02 -5.53211107e+00] [ 2.41479870e-01 9.70399312e-01 3.55638700e-03 -9.52861985e-01] [ 6.48787982e-02 -1.98012498e-02 9.97696673e-01 1.44625880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474860624 meters Centerline goodness : 0.793560 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68257199e-01 -2.40576284e-01 -6.78310276e-02 -5.53162580e+00] [ 2.41373273e-01 9.70425345e-01 3.68689331e-03 -9.53179382e-01] [ 6.49379692e-02 -1.99424581e-02 9.97690011e-01 1.44598323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504860624 meters Centerline goodness : 0.795315 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68320971e-01 -2.40260945e-01 -6.80380406e-02 -5.53112590e+00] [ 2.41070452e-01 9.70500077e-01 3.82592131e-03 -9.53499370e-01] [ 6.51117042e-02 -2.01066810e-02 9.97675392e-01 1.44611452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534860624000004 meters Centerline goodness : 0.794144 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68333731e-01 -2.40184758e-01 -6.81253811e-02 -5.53115492e+00] [ 2.40990415e-01 9.70520279e-01 3.74265834e-03 -9.53317041e-01] [ 6.52181344e-02 -2.00417062e-02 9.97669747e-01 1.44644915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564860624 meters Centerline goodness : 0.794483 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68355865e-01 -2.40088263e-01 -6.81508912e-02 -5.53117630e+00] [ 2.40887296e-01 9.70546281e-01 3.63685928e-03 -9.53050774e-01] [ 6.52704268e-02 -1.99384579e-02 9.97668396e-01 1.44666876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594860624 meters Centerline goodness : 0.793327 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68390732e-01 -2.39915735e-01 -6.82629548e-02 -5.53104072e+00] [ 2.40721851e-01 9.70587027e-01 3.71666191e-03 -9.53489699e-01] [ 6.53634527e-02 -2.00315658e-02 9.97660441e-01 1.44701661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624860624 meters Centerline goodness : 0.792156 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68392728e-01 -2.39886083e-01 -6.83388005e-02 -5.53085568e+00] [ 2.40694832e-01 9.70593659e-01 3.73453826e-03 -9.53670929e-01] [ 6.54333427e-02 -2.00652958e-02 9.97655182e-01 1.44705086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654860624 meters Centerline goodness : 0.793355 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68438482e-01 -2.39676669e-01 -6.84251456e-02 -5.53019254e+00] [ 2.40508418e-01 9.70638538e-01 4.06569757e-03 -9.54676599e-01] [ 6.54416305e-02 -2.03942015e-02 9.97647969e-01 1.44664068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684860624 meters Centerline goodness : 0.793263 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68404887e-01 -2.39816227e-01 -6.84116398e-02 -5.53022538e+00] [ 2.40645230e-01 9.70604805e-01 4.02322099e-03 -9.54932774e-01] [ 6.54358326e-02 -2.03590417e-02 9.97649067e-01 1.44669949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714860624 meters Centerline goodness : 0.793188 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68405923e-01 -2.39809214e-01 -6.84215514e-02 -5.53003685e+00] [ 2.40640634e-01 9.70605803e-01 4.05720593e-03 -9.54844395e-01] [ 6.54373994e-02 -2.03940277e-02 9.97648250e-01 1.44648404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744860624 meters Centerline goodness : 0.792292 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68383946e-01 -2.39901033e-01 -6.84107208e-02 -5.53003950e+00] [ 2.40727918e-01 9.70584444e-01 3.98825897e-03 -9.54854625e-01] [ 6.54415939e-02 -2.03305363e-02 9.97649271e-01 1.44649316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.774860624 meters Centerline goodness : 0.790074 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68332782e-01 -2.40168897e-01 -6.81947500e-02 -5.53037227e+00] [ 2.40995609e-01 9.70517782e-01 4.04376404e-03 -9.56151871e-01] [ 6.52130311e-02 -2.03503446e-02 9.97663833e-01 1.44662137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804860624 meters Centerline goodness : 0.790518 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68314349e-01 -2.40239869e-01 -6.82065054e-02 -5.53027734e+00] [ 2.41072485e-01 9.70498334e-01 4.12796067e-03 -9.56871613e-01] [ 6.52025991e-02 -2.04398753e-02 9.97662685e-01 1.44665599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834860624 meters Centerline goodness : 0.840766 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68297698e-01 -2.40300237e-01 -6.82302225e-02 -5.53007524e+00] [ 2.41135366e-01 9.70482589e-01 4.15686485e-03 -9.57084352e-01] [ 6.52173474e-02 -2.04778023e-02 9.97660943e-01 1.44652866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864860624 meters Centerline goodness : 0.791043 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68294699e-01 -2.40290650e-01 -6.83065087e-02 -5.52963462e+00] [ 2.41137865e-01 9.70481265e-01 4.31792723e-03 -9.57340264e-01] [ 6.52526294e-02 -2.06523117e-02 9.97655039e-01 1.44610951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894860624 meters Centerline goodness : 0.791395 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68222259e-01 -2.40583347e-01 -6.83030775e-02 -5.52921838e+00] [ 2.41439154e-01 9.70405801e-01 4.44030672e-03 -9.58291701e-01] [ 6.52134388e-02 -2.07902410e-02 9.97654737e-01 1.44566292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924860624000004 meters Centerline goodness : 0.790755 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68172257e-01 -2.40818825e-01 -6.81819185e-02 -5.52939158e+00] [ 2.41677257e-01 9.70346202e-01 4.51120442e-03 -9.59017338e-01] [ 6.50736828e-02 -2.08456420e-02 9.97662706e-01 1.44560098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.954860624 meters Centerline goodness : 0.792827 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.67972156e-01 -2.41717739e-01 -6.78412860e-02 -5.53052593e+00] [ 2.42549334e-01 9.70130082e-01 4.17668064e-03 -9.60617079e-01] [ 6.48052946e-02 -2.04977693e-02 9.97687384e-01 1.44644535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984860624 meters Centerline goodness : 0.792637 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.67896975e-01 -2.42029926e-01 -6.78008864e-02 -5.53090007e+00] [ 2.42851431e-01 9.70055151e-01 4.02337995e-03 -9.61223950e-01] [ 6.47968207e-02 -2.03597595e-02 9.97690760e-01 1.44696735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014860624 meters Centerline goodness : 0.842610 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.67816957e-01 -2.42385964e-01 -6.76711293e-02 -5.53157727e+00] [ 2.43192121e-01 9.69970636e-01 3.81536226e-03 -9.61521103e-01] [ 6.47142181e-02 -2.01496577e-02 9.97700387e-01 1.44755095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044860624 meters Centerline goodness : 0.793252 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.67656520e-01 -2.43105394e-01 -6.73841677e-02 -5.53263094e+00] [ 2.43892236e-01 9.69795726e-01 3.58156525e-03 -9.62394974e-01] [ 6.44781800e-02 -1.99002003e-02 9.97720676e-01 1.44819687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074860624 meters Centerline goodness : 0.793413 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.67611159e-01 -2.43301165e-01 -6.73289546e-02 -5.53261729e+00] [ 2.44093636e-01 9.69744688e-01 3.67916363e-03 -9.63322240e-01] [ 6.43967513e-02 -1.99945691e-02 9.97724048e-01 1.44813871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104860624000004 meters Centerline goodness : 0.796131 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.67566030e-01 -2.43489558e-01 -6.72964458e-02 -5.53264968e+00] [ 2.44285503e-01 9.69696153e-01 3.73670025e-03 -9.64093824e-01] [ 6.43472571e-02 -2.00550504e-02 9.97726027e-01 1.44816963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.134860624 meters Centerline goodness : 0.795144 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.67487933e-01 -2.43818651e-01 -6.72277133e-02 -5.53281464e+00] [ 2.44614638e-01 9.69613136e-01 3.74761179e-03 -9.64967831e-01] [ 6.42711363e-02 -2.00706519e-02 9.97730620e-01 1.44829097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164860624 meters Centerline goodness : 0.795185 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.45 [[ 9.67465565e-01 -2.43911059e-01 -6.72143949e-02 -5.53278223e+00] [ 2.44711611e-01 9.69588386e-01 3.81952977e-03 -9.65958619e-01] [ 6.42386711e-02 -2.01434064e-02 9.97731245e-01 1.44841869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194860624 meters Centerline goodness : 0.796134 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.45 [[ 9.67444076e-01 -2.44011097e-01 -6.71605834e-02 -5.53269146e+00] [ 2.44815404e-01 9.69561898e-01 3.89141313e-03 -9.66792807e-01] [ 6.41667948e-02 -2.02066699e-02 9.97734590e-01 1.44836154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224860624 meters Centerline goodness : 0.796533 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.45 [[ 9.67436146e-01 -2.44053553e-01 -6.71205436e-02 -5.53283187e+00] [ 2.44858121e-01 9.69551050e-01 3.90666988e-03 -9.67315168e-01] [ 6.41233569e-02 -2.02144638e-02 9.97737225e-01 1.44857271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254860624 meters Centerline goodness : 0.797915 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.45 [[ 9.67566334e-01 -2.43471063e-01 -6.73589755e-02 -5.53227148e+00] [ 2.44289390e-01 9.69693855e-01 4.06472539e-03 -9.66692266e-01] [ 6.43279416e-02 -2.03879745e-02 9.97720525e-01 1.44853412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284860624000004 meters Centerline goodness : 0.797132 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.45 [[ 9.67621258e-01 -2.43195656e-01 -6.75645884e-02 -5.53188784e+00] [ 2.44006249e-01 9.69765860e-01 3.88945424e-03 -9.65534294e-01] [ 6.45759328e-02 -2.02497004e-02 9.97707321e-01 1.44860867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.314860624 meters Centerline goodness : 0.798947 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.45 [[ 0.96852951 -0.23930309 -0.06844427 -5.53226111] [ 0.24036684 0.97065212 0.00763139 -0.96555449] [ 0.06460936 -0.02384296 0.99762575 1.4487467 ] [ 0. 0. 0. 1. ]] SLAMing on 50.344860624 meters Centerline goodness : 0.800855 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.96861287 -0.23891961 -0.06860413 -5.53179051] [ 0.23998495 0.97074678 0.00760982 -0.96475727] [ 0.0647791 -0.02383493 0.99761494 1.44861691] [ 0. 0. 0. 1. ]] SLAMing on 50.374860624 meters Centerline goodness : 0.800175 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.96874257 -0.23834468 -0.06877249 -5.53142409] [ 0.23940807 0.97088978 0.00753762 -0.96391937] [ 0.06497396 -0.02376671 0.99760389 1.4488158 ] [ 0. 0. 0. 1. ]] SLAMing on 50.404860624 meters Centerline goodness : 0.798363 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.96875926 -0.23827906 -0.06876467 -5.53147186] [ 0.23933192 0.97090976 0.00738094 -0.9633126 ] [ 0.06500557 -0.02360794 0.9976056 1.44887362] [ 0. 0. 0. 1. ]] SLAMing on 50.434860624 meters Centerline goodness : 0.798866 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.96877679 -0.23819196 -0.06881955 -5.53138681] [ 0.23923128 0.97093624 0.00715646 -0.96252999] [ 0.06511478 -0.0233968 0.99760346 1.44898419] [ 0. 0. 0. 1. ]] SLAMing on 50.464860624 meters Centerline goodness : 0.798680 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.96883041 -0.2379425 -0.06892746 -5.53112133] [ 0.23896164 0.97100508 0.0068177 -0.96044873] [ 0.0653067 -0.02307621 0.99759838 1.448875 ] [ 0. 0. 0. 1. ]] SLAMing on 50.494860624 meters Centerline goodness : 0.799246 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.9688158 -0.23798219 -0.06899581 -5.53102452] [ 0.23897925 0.97100322 0.0064555 -0.95919835] [ 0.06545886 -0.02274276 0.99759606 1.44890687] [ 0. 0. 0. 1. ]] SLAMing on 50.524860624 meters Centerline goodness : 0.798883 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.96877767 -0.23813618 -0.0689999 -5.53121957] [ 0.23911223 0.97097259 0.00612885 -0.95848177] [ 0.06553751 -0.02243621 0.99759784 1.44918154] [ 0. 0. 0. 1. ]] SLAMing on 50.554860624 meters Centerline goodness : 0.800695 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 0.96871034 -0.2383974 -0.06904318 -5.53136372] [ 0.23934292 0.97091871 0.00564091 -0.95733441] [ 0.06569054 -0.0219894 0.99759772 1.44948009] [ 0. 0. 0. 1. ]] SLAMing on 50.584860624 meters Centerline goodness : 0.798124 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68673686e-01 -2.38541524e-01 -6.90596150e-02 -5.53147132e+00] [ 2.39468650e-01 9.70889350e-01 5.35124130e-03 -9.56543250e-01] [ 6.57727514e-02 -2.17212194e-02 9.97598183e-01 1.44963016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614860624 meters Centerline goodness : 0.798124 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68673686e-01 -2.38541524e-01 -6.90596150e-02 -5.53147132e+00] [ 2.39468650e-01 9.70889350e-01 5.35124130e-03 -9.56543250e-01] [ 6.57727514e-02 -2.17212194e-02 9.97598183e-01 1.44963016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644860624 meters Centerline goodness : 0.799381 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68562033e-01 -2.39022493e-01 -6.89625726e-02 -5.53226494e+00] [ 2.39912989e-01 9.70782475e-01 4.81080148e-03 -9.55887573e-01] [ 6.57977671e-02 -2.12045766e-02 9.97607648e-01 1.45039362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.674860624 meters Centerline goodness : 0.801837 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68508033e-01 -2.39238781e-01 -6.89709751e-02 -5.53255295e+00] [ 2.40108917e-01 9.70735561e-01 4.49208272e-03 -9.55466654e-01] [ 6.58778978e-02 -2.09111644e-02 9.97608553e-01 1.45082108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704860624 meters Centerline goodness : 0.801146 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.45 [[ 9.68453049e-01 -2.39466377e-01 -6.89532181e-02 -5.53286447e+00] [ 2.40315901e-01 9.70685744e-01 4.17774083e-03 -9.55048385e-01] [ 6.59314774e-02 -2.06165006e-02 9.97611147e-01 1.45123408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734860624 meters Centerline goodness : 0.802000 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68378448e-01 -2.39789057e-01 -6.88795333e-02 -5.53334761e+00] [ 2.40619179e-01 9.70611783e-01 3.89583074e-03 -9.54826184e-01] [ 6.59211090e-02 -2.03463753e-02 9.97617378e-01 1.45165500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764860624 meters Centerline goodness : 0.801885 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68347150e-01 -2.39893449e-01 -6.89559968e-02 -5.53337342e+00] [ 2.40708719e-01 9.70590559e-01 3.64414641e-03 -9.53953274e-01] [ 6.60538326e-02 -2.01271085e-02 9.97613047e-01 1.45185345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794860624 meters Centerline goodness : 0.798518 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68359627e-01 -2.39822597e-01 -6.90271991e-02 -5.53310178e+00] [ 2.40637338e-01 9.70608361e-01 3.61691144e-03 -9.53615714e-01] [ 6.61309595e-02 -2.01129924e-02 9.97608222e-01 1.45170696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824860624 meters Centerline goodness : 0.800651 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68384598e-01 -2.39688917e-01 -6.91411110e-02 -5.53280619e+00] [ 2.40497816e-01 9.70643373e-01 3.49896933e-03 -9.53112900e-01] [ 6.62726970e-02 -2.00166342e-02 9.97600754e-01 1.45172067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854860624000004 meters Centerline goodness : 0.800810 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68412471e-01 -2.39543706e-01 -6.92538669e-02 -5.53262512e+00] [ 2.40348749e-01 9.70680605e-01 3.41203685e-03 -9.52831506e-01] [ 6.64060534e-02 -1.99493393e-02 9.97593234e-01 1.45190286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884860624 meters Centerline goodness : 0.803753 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68487909e-01 -2.39219825e-01 -6.93184350e-02 -5.53275336e+00] [ 2.40005744e-01 9.70766463e-01 3.11717096e-03 -9.51844420e-01] [ 6.65463229e-02 -1.96557649e-02 9.97589714e-01 1.45254977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914860624 meters Centerline goodness : 0.803687 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68476270e-01 -2.39284926e-01 -6.92563301e-02 -5.53326464e+00] [ 2.40043437e-01 9.70758331e-01 2.72229844e-03 -9.50664543e-01] [ 6.65797544e-02 -1.92610089e-02 9.97595183e-01 1.45303307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944860624 meters Centerline goodness : 0.805187 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68502867e-01 -2.39141222e-01 -6.93806355e-02 -5.53351499e+00] [ 2.39873413e-01 9.70801455e-01 2.29807930e-03 -9.49069949e-01] [ 6.68052564e-02 -1.88682663e-02 9.97587613e-01 1.45377249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974860624 meters Centerline goodness : 0.804731 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68508114e-01 -2.39102341e-01 -6.94413613e-02 -5.53328879e+00] [ 2.39838577e-01 9.70809955e-01 2.34261401e-03 -9.49037270e-01] [ 6.68542404e-02 -1.89235579e-02 9.97583284e-01 1.45364245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004860624 meters Centerline goodness : 0.805182 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68466367e-01 -2.39292176e-01 -6.93696687e-02 -5.53343306e+00] [ 2.40025873e-01 9.70763723e-01 2.31831724e-03 -9.49599019e-01] [ 6.67868027e-02 -1.88957275e-02 9.97588329e-01 1.45372121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034860624000004 meters Centerline goodness : 0.805615 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68369321e-01 -2.39718468e-01 -6.92525387e-02 -5.53364832e+00] [ 2.40449208e-01 9.70659015e-01 2.29225925e-03 -9.50701400e-01] [ 6.66711042e-02 -1.88714716e-02 9.97596527e-01 1.45381498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064860624 meters Centerline goodness : 0.806067 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68289901e-01 -2.40072095e-01 -6.91379610e-02 -5.53395186e+00] [ 2.40799516e-01 9.70572240e-01 2.26256077e-03 -9.51139769e-01] [ 6.65602080e-02 -1.88392023e-02 9.97604542e-01 1.45385053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094860624 meters Centerline goodness : 0.807487 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.68197457e-01 -2.40445200e-01 -6.91360235e-02 -5.53402778e+00] [ 2.41168493e-01 9.70480794e-01 2.18804156e-03 -9.51536441e-01] [ 6.65690788e-02 -1.87918868e-02 9.97604843e-01 1.45390629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124860624 meters Centerline goodness : 0.806899 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.67960047e-01 -2.41423505e-01 -6.90509920e-02 -5.53433277e+00] [ 2.42132290e-01 9.70241265e-01 1.95994234e-03 -9.52833289e-01] [ 6.65229457e-02 -1.86166207e-02 9.97611206e-01 1.45406158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154860624 meters Centerline goodness : 0.811149 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.67869976e-01 -2.41806306e-01 -6.89740580e-02 -5.53447603e+00] [ 2.42513737e-01 9.70146017e-01 1.94769440e-03 -9.53634844e-01] [ 6.64439429e-02 -1.86122715e-02 9.97616552e-01 1.45407542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184860624 meters Centerline goodness : 0.806436 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.45 [[ 9.67753992e-01 -2.42297113e-01 -6.88790167e-02 -5.53478150e+00] [ 2.42995396e-01 9.70025735e-01 1.81955043e-03 -9.54101392e-01] [ 6.63735470e-02 -1.84981611e-02 9.97623361e-01 1.45416622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214860624 meters Centerline goodness : 0.807703 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.45 [[ 9.67653299e-01 -2.42748789e-01 -6.87031176e-02 -5.53516731e+00] [ 2.43431467e-01 9.69916751e-01 1.61776508e-03 -9.54149479e-01] [ 6.62435941e-02 -1.82899364e-02 9.97635838e-01 1.45413217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244860624 meters Centerline goodness : 0.809020 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.45 [[ 9.67514055e-01 -2.43350760e-01 -6.85343794e-02 -5.53583266e+00] [ 2.44008258e-01 9.69772331e-01 1.26337652e-03 -9.54578703e-01] [ 6.61553013e-02 -1.79452891e-02 9.97647955e-01 1.45465886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274860624 meters Centerline goodness : 0.808790 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.67393793e-01 -2.43894104e-01 -6.83001787e-02 -5.53677237e+00] [ 2.44524975e-01 9.69642572e-01 9.05370425e-04 -9.54754407e-01] [ 6.60059464e-02 -1.75769492e-02 9.97664405e-01 1.45528959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304860624 meters Centerline goodness : 0.811007 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.67310057e-01 -2.44267123e-01 -6.81529670e-02 -5.53740534e+00] [ 2.44881151e-01 9.69552868e-01 6.76580292e-04 -9.55065451e-01] [ 6.59126383e-02 -1.73438400e-02 9.97674654e-01 1.45580857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334860624 meters Centerline goodness : 0.811305 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.67216428e-01 -2.44692521e-01 -6.79555182e-02 -5.53802205e+00] [ 2.45289575e-01 9.69449749e-01 4.56236725e-04 -9.55241666e-01] [ 6.57678224e-02 -1.71100598e-02 9.97688248e-01 1.45612048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364860624 meters Centerline goodness : 0.811096 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.67188677e-01 -2.44799125e-01 -6.79665497e-02 -5.53805938e+00] [ 2.45398430e-01 9.69422187e-01 4.83773758e-04 -9.55502336e-01] [ 6.57698538e-02 -1.71467851e-02 9.97687483e-01 1.45616421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394860624 meters Centerline goodness : 0.810070 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.67103902e-01 -2.45171855e-01 -6.78292249e-02 -5.53868661e+00] [ 2.45761629e-01 9.69330228e-01 3.61793790e-04 -9.56066169e-01] [ 6.56602164e-02 -1.70197130e-02 9.97696880e-01 1.45665051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424860624 meters Centerline goodness : 0.810516 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66907879e-01 -2.46026765e-01 -6.75276586e-02 -5.53973033e+00] [ 2.46604389e-01 9.69116208e-01 2.25111889e-04 -9.58043672e-01] [ 6.53867648e-02 -1.68702795e-02 9.97717377e-01 1.45741942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454860624 meters Centerline goodness : 0.811659 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66843628e-01 -2.46308329e-01 -6.74211136e-02 -5.53999631e+00] [ 2.46886253e-01 9.69044435e-01 2.47485307e-04 -9.58855009e-01] [ 6.52730973e-02 -1.68846257e-02 9.97724577e-01 1.45755703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484860624 meters Centerline goodness : 0.811449 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66768785e-01 -2.46650672e-01 -6.72425708e-02 -5.54060335e+00] [ 2.47223675e-01 9.68958416e-01 2.06523230e-04 -9.59464523e-01] [ 6.51043158e-02 -1.68236157e-02 9.97736636e-01 1.45785556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514860624 meters Centerline goodness : 0.811475 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66561899e-01 -2.47565790e-01 -6.68526290e-02 -5.54176811e+00] [ 2.48124710e-01 9.68728096e-01 5.91465944e-05 -9.61213987e-01] [ 6.47473774e-02 -1.66449580e-02 9.97762859e-01 1.45848394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544860624 meters Centerline goodness : 0.811439 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66555718e-01 -2.47587484e-01 -6.68616599e-02 -5.54138444e+00] [ 2.48165708e-01 9.68717532e-01 3.53675865e-04 -9.62262245e-01] [ 6.46824964e-02 -1.69346186e-02 9.97762193e-01 1.45804819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574860624 meters Centerline goodness : 0.812395 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66555047e-01 -2.47598286e-01 -6.68313515e-02 -5.54109286e+00] [ 2.48191727e-01 9.68710747e-01 5.96201711e-04 -9.63140511e-01] [ 6.45926300e-02 -1.71632503e-02 9.97764108e-01 1.45766795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604860624000004 meters Centerline goodness : 0.812170 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66580833e-01 -2.47506908e-01 -6.67968843e-02 -5.54086082e+00] [ 2.48118684e-01 9.68729231e-01 8.92075027e-04 -9.64109399e-01] [ 6.44872996e-02 -1.74358177e-02 9.97766195e-01 1.45742765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.634860624 meters Centerline goodness : 0.810478 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66584103e-01 -2.47461924e-01 -6.69161233e-02 -5.54050734e+00] [ 2.48077810e-01 9.68739668e-01 9.24815044e-04 -9.64213856e-01] [ 6.45954466e-02 -1.74943169e-02 9.97758176e-01 1.45731654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664860624 meters Centerline goodness : 0.808783 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66674810e-01 -2.47098462e-01 -6.69489451e-02 -5.54014826e+00] [ 2.47725416e-01 9.68829660e-01 1.09935201e-03 -9.63770063e-01] [ 6.45904755e-02 -1.76476711e-02 9.97755797e-01 1.45694217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694860624 meters Centerline goodness : 0.808112 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66698433e-01 -2.46968196e-01 -6.70883644e-02 -5.53996231e+00] [ 2.47586012e-01 9.68865476e-01 9.24913454e-04 -9.62902638e-01] [ 6.47711760e-02 -1.75042530e-02 9.97746609e-01 1.45707523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724860624 meters Centerline goodness : 0.809200 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66697281e-01 -2.46971991e-01 -6.70909985e-02 -5.54011161e+00] [ 2.47572411e-01 9.68869171e-01 6.56250086e-04 -9.62021912e-01] [ 6.48403248e-02 -1.72442754e-02 9.97746645e-01 1.45728509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754860624 meters Centerline goodness : 0.846681 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66704742e-01 -2.46941237e-01 -6.70967013e-02 -5.54025406e+00] [ 2.47532058e-01 9.68879571e-01 5.08133358e-04 -9.61788700e-01] [ 6.48831440e-02 -1.70997994e-02 9.97746348e-01 1.45757170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784860624000004 meters Centerline goodness : 0.848271 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66714104e-01 -2.46954453e-01 -6.69129166e-02 -5.54087200e+00] [ 2.47521874e-01 9.68882286e-01 1.95657885e-04 -9.61210996e-01] [ 6.47824210e-02 -1.67515558e-02 9.97758800e-01 1.45807571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.814860624 meters Centerline goodness : 0.844312 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66695308e-01 -2.47035424e-01 -6.68855806e-02 -5.54112996e+00] [ 2.47580642e-01 9.68867280e-01 -1.41950885e-04 -9.60335985e-01] [ 6.48383174e-02 -1.64223517e-02 9.97760642e-01 1.45836592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844860624 meters Centerline goodness : 0.843870 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66703880e-01 -2.47017903e-01 -6.68263717e-02 -5.54123511e+00] [ 2.47548344e-01 9.68875478e-01 -3.53814027e-04 -9.59366268e-01] [ 6.48338312e-02 -1.62007243e-02 9.97764557e-01 1.45830972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874860624 meters Centerline goodness : 0.843315 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66717482e-01 -2.46973912e-01 -6.67921967e-02 -5.54114159e+00] [ 2.47493047e-01 9.68889531e-01 -5.17765643e-04 -9.58476864e-01] [ 6.48421348e-02 -1.60300712e-02 9.97766774e-01 1.45809625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904860624 meters Centerline goodness : 0.808279 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66763128e-01 -2.46803470e-01 -6.67615333e-02 -5.54096106e+00] [ 2.47292189e-01 9.68940467e-01 -9.72113781e-04 -9.56346279e-01] [ 6.49278723e-02 -1.55698019e-02 9.97768487e-01 1.45784746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934860624 meters Centerline goodness : 0.803594 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.46 [[ 9.66791275e-01 -2.46698059e-01 -6.67435209e-02 -5.54082077e+00] [ 2.47173364e-01 9.68970566e-01 -1.17023952e-03 -9.55339149e-01] [ 6.49612031e-02 -1.53658432e-02 9.97769479e-01 1.45762625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964860624 meters Centerline goodness : 0.803206 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66783017e-01 -2.46728280e-01 -6.67514273e-02 -5.54072238e+00] [ 2.47187022e-01 9.68966738e-01 -1.42740841e-03 -9.54574111e-01] [ 6.50320947e-02 -1.51200923e-02 9.97768615e-01 1.45761199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.994860624 meters Centerline goodness : 0.802653 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66768473e-01 -2.46802336e-01 -6.66882798e-02 -5.54102163e+00] [ 2.47233174e-01 9.68954261e-01 -1.84345335e-03 -9.53347274e-01] [ 6.50728614e-02 -1.47053625e-02 9.97772156e-01 1.45788493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024860624 meters Centerline goodness : 0.802228 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66748459e-01 -2.46909113e-01 -6.65830764e-02 -5.54132729e+00] [ 2.47321680e-01 9.68931143e-01 -2.10378058e-03 -9.52470804e-01] [ 6.50338590e-02 -1.44336117e-02 9.97778667e-01 1.45794221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054860624 meters Centerline goodness : 0.801841 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66749332e-01 -2.46940058e-01 -6.64555232e-02 -5.54171120e+00] [ 2.47333468e-01 9.68927518e-01 -2.37079264e-03 -9.51493621e-01] [ 6.49760289e-02 -1.41447128e-02 9.97786572e-01 1.45811842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084860624 meters Centerline goodness : 0.800875 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66731625e-01 -2.47028284e-01 -6.63851726e-02 -5.54203728e+00] [ 2.47407394e-01 9.68908114e-01 -2.57823321e-03 -9.51095072e-01] [ 6.49580289e-02 -1.39317230e-02 9.97790740e-01 1.45835996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114860624 meters Centerline goodness : 0.800947 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66704869e-01 -2.47177355e-01 -6.62197202e-02 -5.54250706e+00] [ 2.47536833e-01 9.68874292e-01 -2.84995101e-03 -9.50640992e-01] [ 6.48630279e-02 -1.36367583e-02 9.97800995e-01 1.45862735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144860624 meters Centerline goodness : 0.799090 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66616003e-01 -2.47585391e-01 -6.59922494e-02 -5.54339281e+00] [ 2.47912761e-01 9.68776702e-01 -3.31125339e-03 -9.49629561e-01] [ 6.47515717e-02 -1.31596102e-02 9.97814641e-01 1.45911088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.174860624 meters Centerline goodness : 0.799402 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66571165e-01 -2.47767469e-01 -6.59656295e-02 -5.54361399e+00] [ 2.48081620e-01 9.68732754e-01 -3.51580727e-03 -9.49409269e-01] [ 6.47741686e-02 -1.29665823e-02 9.97815702e-01 1.45937369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204860624 meters Centerline goodness : 0.798955 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66546044e-01 -2.47852591e-01 -6.60139279e-02 -5.54332376e+00] [ 2.48163926e-01 9.68711468e-01 -3.57177494e-03 -9.49387263e-01] [ 6.48337227e-02 -1.29299906e-02 9.97812309e-01 1.45919588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234860624 meters Centerline goodness : 0.798669 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66521914e-01 -2.47957226e-01 -6.59742652e-02 -5.54298651e+00] [ 2.48272069e-01 9.68683971e-01 -3.51341278e-03 -9.49402805e-01] [ 6.47793893e-02 -1.29837769e-02 9.97815139e-01 1.45860270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264860624 meters Centerline goodness : 0.798517 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66401140e-01 -2.48499833e-01 -6.57013720e-02 -5.54315822e+00] [ 2.48813218e-01 9.68545164e-01 -3.49968864e-03 -9.50006118e-01] [ 6.45044181e-02 -1.29652667e-02 9.97833193e-01 1.45800174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294860624 meters Centerline goodness : 0.797309 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.46 [[ 9.66277253e-01 -2.49077365e-01 -6.53355622e-02 -5.54405996e+00] [ 2.49369788e-01 9.68400994e-01 -3.77151781e-03 -9.50220139e-01] [ 6.42104230e-02 -1.26483834e-02 9.97856222e-01 1.45820590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324860624 meters Centerline goodness : 0.797043 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 9.66147977e-01 -2.49673506e-01 -6.49709629e-02 -5.54511501e+00] [ 2.49944403e-01 9.68251695e-01 -4.05590783e-03 -9.50425127e-01] [ 6.39208977e-02 -1.23205214e-02 9.97878912e-01 1.45856611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354860624000004 meters Centerline goodness : 0.800131 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 9.66010245e-01 -2.50312970e-01 -6.45571382e-02 -5.54621305e+00] [ 2.50562885e-01 9.68090656e-01 -4.32691278e-03 -9.50596545e-01] [ 6.35802447e-02 -1.19957807e-02 9.97904632e-01 1.45883240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384860624 meters Centerline goodness : 0.797891 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 9.65721429e-01 -2.51536447e-01 -6.41212746e-02 -5.54783493e+00] [ 2.51744300e-01 9.67781128e-01 -4.94940560e-03 -9.50762233e-01] [ 6.33003153e-02 -1.13624183e-02 9.97929840e-01 1.45959877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414860624 meters Centerline goodness : 0.796525 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 9.65633378e-01 -2.51921086e-01 -6.39370495e-02 -5.54816479e+00] [ 2.52116707e-01 9.67683278e-01 -5.12246708e-03 -9.50805098e-01] [ 6.31612711e-02 -1.11731732e-02 9.97940787e-01 1.45957387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444860624 meters Centerline goodness : 0.797339 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96549636 -0.2525176 -0.06365254 -5.54906989] [ 0.25268439 0.96753285 -0.00554911 -0.95019773] [ 0.06298717 -0.01072636 0.99795669 1.45985527] [ 0. 0. 0. 1. ]] SLAMing on 52.474860624 meters Centerline goodness : 0.796896 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96543038 -0.25280817 -0.06349971 -5.54971549] [ 0.25295173 0.9674609 -0.0059014 -0.94966746] [ 0.0629254 -0.01036497 0.99796441 1.46028807] [ 0. 0. 0. 1. ]] SLAMing on 52.504860624 meters Centerline goodness : 0.798672 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96537848 -0.25304195 -0.0633574 -5.55020892] [ 0.25316424 0.96740329 -0.00622351 -0.94899098] [ 0.06286696 -0.01003179 0.9979715 1.46054453] [ 0. 0. 0. 1. ]] SLAMing on 52.534860624000004 meters Centerline goodness : 0.798672 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96537848 -0.25304195 -0.0633574 -5.55020892] [ 0.25316424 0.96740329 -0.00622351 -0.94899098] [ 0.06286696 -0.01003179 0.9979715 1.46054453] [ 0. 0. 0. 1. ]] SLAMing on 52.564860624 meters Centerline goodness : 0.799322 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.9653425 -0.25318805 -0.06332189 -5.55048473] [ 0.25328888 0.96736842 -0.00656345 -0.94806888] [ 0.06291739 -0.00970275 0.99797157 1.46079916] [ 0. 0. 0. 1. ]] SLAMing on 52.594860624 meters Centerline goodness : 0.838609 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96533308 -0.25320232 -0.06340839 -5.55070384] [ 0.25327677 0.96736857 -0.00699467 -0.94676557] [ 0.06311035 -0.00930768 0.99796315 1.461357 ] [ 0. 0. 0. 1. ]] SLAMing on 52.624860624 meters Centerline goodness : 0.837731 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96529624 -0.25333824 -0.06342643 -5.550835 ] [ 0.2533976 0.96733512 -0.00724041 -0.94646065] [ 0.06318888 -0.00908296 0.99796025 1.46166254] [ 0. 0. 0. 1. ]] SLAMing on 52.654860624 meters Centerline goodness : 0.836971 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96535806 -0.25305784 -0.0636046 -5.55032176] [ 0.25311649 0.96740851 -0.00726779 -0.94633608] [ 0.06337081 -0.00908336 0.99794871 1.46173763] [ 0. 0. 0. 1. ]] SLAMing on 52.684860624 meters Centerline goodness : 0.836851 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96541354 -0.2528002 -0.06378683 -5.54972941] [ 0.25286211 0.96747528 -0.00723416 -0.94608898] [ 0.06354098 -0.00914532 0.99793733 1.46157505] [ 0. 0. 0. 1. ]] SLAMing on 52.714860624 meters Centerline goodness : 0.837195 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96544379 -0.252646 -0.06393965 -5.5493311 ] [ 0.25270456 0.96751592 -0.0073034 -0.94559915] [ 0.06370781 -0.00910681 0.99792704 1.46150819] [ 0. 0. 0. 1. ]] SLAMing on 52.744860624 meters Centerline goodness : 0.798265 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96552669 -0.25226905 -0.06417583 -5.54861718] [ 0.25233344 0.96761331 -0.00723348 -0.94521344] [ 0.06392217 -0.00920959 0.99791239 1.4613785 ] [ 0. 0. 0. 1. ]] SLAMing on 52.774860624 meters Centerline goodness : 0.800467 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96555406 -0.25213593 -0.06428714 -5.54829806] [ 0.25220605 0.9676471 -0.00715584 -0.94522223] [ 0.06401151 -0.00930425 0.99790579 1.46130568] [ 0. 0. 0. 1. ]] SLAMing on 52.804860624 meters Centerline goodness : 0.799567 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96555062 -0.25212858 -0.0643675 -5.54815309] [ 0.25219373 0.96764965 -0.00724459 -0.94518161] [ 0.06411175 -0.00923806 0.99789997 1.46147811] [ 0. 0. 0. 1. ]] SLAMing on 52.834860624 meters Centerline goodness : 0.802912 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96553769 -0.25218529 -0.06433933 -5.54852198] [ 0.25224814 0.96763521 -0.00727822 -0.94571931] [ 0.06409246 -0.00920208 0.99790154 1.46210152] [ 0. 0. 0. 1. ]] SLAMing on 52.864860624 meters Centerline goodness : 0.800828 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96552563 -0.25224941 -0.06426886 -5.54857016] [ 0.25230846 0.9676191 -0.00732963 -0.94588212] [ 0.06403667 -0.00913863 0.9979057 1.46216326] [ 0. 0. 0. 1. ]] SLAMing on 52.894860624 meters Centerline goodness : 0.801768 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96546476 -0.25251079 -0.06415678 -5.54887542] [ 0.25255539 0.967553 -0.00754775 -0.94582072] [ 0.06398097 -0.00891606 0.99791129 1.46237037] [ 0. 0. 0. 1. ]] SLAMing on 52.924860624 meters Centerline goodness : 0.801545 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96541753 -0.25271544 -0.0640616 -5.54903943] [ 0.25275051 0.96750093 -0.00769031 -0.94584367] [ 0.06392312 -0.00876724 0.99791631 1.4624396 ] [ 0. 0. 0. 1. ]] SLAMing on 52.954860624 meters Centerline goodness : 0.799141 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.46 [[ 0.96529537 -0.2532195 -0.06391191 -5.54966593] [ 0.25322386 0.96737324 -0.00816668 -0.94524984] [ 0.06389463 -0.00830076 0.99792213 1.4628517 ] [ 0. 0. 0. 1. ]] SLAMing on 52.984860624 meters Centerline goodness : 0.801788 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 0.96524151 -0.25342886 -0.06389554 -5.54984594] [ 0.25341101 0.9673212 -0.00851834 -0.94449083] [ 0.06396631 -0.00796958 0.99792024 1.46305481] [ 0. 0. 0. 1. ]] SLAMing on 53.014860624 meters Centerline goodness : 0.799216 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 0.96521552 -0.25357238 -0.06371844 -5.55014043] [ 0.25352655 0.96728713 -0.00893838 -0.9429923 ] [ 0.06390056 -0.00752685 0.99792789 1.46299223] [ 0. 0. 0. 1. ]] SLAMing on 53.044860624 meters Centerline goodness : 0.799953 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 0.96525353 -0.25340423 -0.06381159 -5.54965479] [ 0.25334888 0.96733225 -0.00909217 -0.94208995] [ 0.06403101 -0.00739034 0.99792054 1.46270869] [ 0. 0. 0. 1. ]] SLAMing on 53.074860624 meters Centerline goodness : 0.798353 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 0.96529026 -0.25322149 -0.06398121 -5.5490237 ] [ 0.25315822 0.96738087 -0.00922866 -0.94117886] [ 0.06423109 -0.00728903 0.99790843 1.46242971] [ 0. 0. 0. 1. ]] SLAMing on 53.104860624000004 meters Centerline goodness : 0.799298 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 0.96533216 -0.25307194 -0.06394078 -5.54909851] [ 0.25298325 0.96742289 -0.00961391 -0.9388044 ] [ 0.06429078 -0.00689533 0.99790739 1.46235904] [ 0. 0. 0. 1. ]] SLAMing on 53.134860624 meters Centerline goodness : 0.798188 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 0.96527269 -0.25333273 -0.06380562 -5.54982086] [ 0.2532036 0.96735885 -0.01023648 -0.93715649] [ 0.06431617 -0.00627482 0.99790984 1.46293206] [ 0. 0. 0. 1. ]] SLAMing on 53.164860624 meters Centerline goodness : 0.799771 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 0.9652304 -0.25352637 -0.06367623 -5.55056091] [ 0.25336494 0.96731124 -0.01073189 -0.93588162] [ 0.06431555 -0.00577457 0.9979129 1.4635619 ] [ 0. 0. 0. 1. ]] SLAMing on 53.194860624 meters Centerline goodness : 0.799656 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65183525e-01 -2.53745099e-01 -6.35152508e-02 -5.55134302e+00] [ 2.53553077e-01 9.67256633e-01 -1.12000966e-02 -9.34823785e-01] [ 6.42775173e-02 -5.29433852e-03 9.97918018e-01 1.46414372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224860624 meters Centerline goodness : 0.800467 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65145344e-01 -2.53963451e-01 -6.32220705e-02 -5.55232607e+00] [ 2.53733329e-01 9.67202516e-01 -1.17767050e-02 -9.33718561e-01] [ 6.41393983e-02 -4.67531442e-03 9.97929997e-01 1.46486017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254860624 meters Centerline goodness : 0.845598 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65129948e-01 -2.54044084e-01 -6.31330883e-02 -5.55241221e+00] [ 2.53804452e-01 9.67182087e-01 -1.19210004e-02 -9.33325979e-01] [ 6.40896518e-02 -4.51814443e-03 9.97933917e-01 1.46476008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284860624000004 meters Centerline goodness : 0.798588 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65114933e-01 -2.54124741e-01 -6.30379447e-02 -5.55256285e+00] [ 2.53880576e-01 9.67161284e-01 -1.19876326e-02 -9.32977505e-01] [ 6.40142136e-02 -4.43466649e-03 9.97939134e-01 1.46463570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314860624 meters Centerline goodness : 0.797688 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65124572e-01 -2.54086237e-01 -6.30455790e-02 -5.55216854e+00] [ 2.53847549e-01 9.67171017e-01 -1.19015047e-02 -9.32706603e-01] [ 6.39998653e-02 -4.51753106e-03 9.97939682e-01 1.46405426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344860624 meters Centerline goodness : 0.797955 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65112263e-01 -2.54114817e-01 -6.31187792e-02 -5.55181159e+00] [ 2.53877585e-01 9.67163337e-01 -1.18849639e-02 -9.32413223e-01] [ 6.40663145e-02 -4.55411875e-03 9.97935252e-01 1.46375083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374860624 meters Centerline goodness : 0.843819 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65083232e-01 -2.54241375e-01 -6.30529742e-02 -5.55190582e+00] [ 2.54003518e-01 9.67130157e-01 -1.18942111e-02 -9.32538533e-01] [ 6.40044335e-02 -4.53677360e-03 9.97939302e-01 1.46368877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404860624 meters Centerline goodness : 0.799680 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65054498e-01 -2.54365063e-01 -6.29938941e-02 -5.55205540e+00] [ 2.54129513e-01 9.67097501e-01 -1.18580876e-02 -9.33048532e-01] [ 6.39375208e-02 -4.56490679e-03 9.97943463e-01 1.46375657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434860624 meters Centerline goodness : 0.797423 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.65016734e-01 -2.54536292e-01 -6.28806743e-02 -5.55218026e+00] [ 2.54310636e-01 9.67051803e-01 -1.17008994e-02 -9.33896770e-01] [ 6.37871730e-02 -4.69966052e-03 9.97952459e-01 1.46362434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464860624 meters Centerline goodness : 0.799437 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 9.64859250e-01 -2.55214895e-01 -6.25458566e-02 -5.55262036e+00] [ 2.54998322e-01 9.66872444e-01 -1.15556750e-02 -9.35341290e-01] [ 6.34230456e-02 -4.79948854e-03 9.97975191e-01 1.46323168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494860624 meters Centerline goodness : 0.797538 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 9.64777007e-01 -2.55540556e-01 -6.24848014e-02 -5.55276913e+00] [ 2.55323196e-01 9.66786484e-01 -1.15741188e-02 -9.35908996e-01] [ 6.33671182e-02 -4.78737545e-03 9.97978802e-01 1.46326804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524860624 meters Centerline goodness : 0.797243 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 9.64590007e-01 -2.56336828e-01 -6.21091702e-02 -5.55375711e+00] [ 2.56108882e-01 9.66576653e-01 -1.17394027e-02 -9.37163159e-01] [ 6.30425152e-02 -4.58299964e-03 9.98000319e-01 1.46357536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554860624 meters Centerline goodness : 0.796956 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 9.64519649e-01 -2.56637611e-01 -6.19595238e-02 -5.55418844e+00] [ 2.56404063e-01 9.66497322e-01 -1.18271774e-02 -9.37781050e-01] [ 6.29190124e-02 -4.47912863e-03 9.98008585e-01 1.46381295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584860624 meters Centerline goodness : 0.796980 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 9.64450813e-01 -2.56925792e-01 -6.18366191e-02 -5.55457250e+00] [ 2.56681748e-01 9.66421550e-01 -1.19945259e-02 -9.38460208e-01] [ 6.28419443e-02 -4.30420126e-03 9.98014210e-01 1.46417304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614860624 meters Centerline goodness : 0.795791 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 9.64458005e-01 -2.56882041e-01 -6.19061713e-02 -5.55436202e+00] [ 2.56635282e-01 9.66433312e-01 -1.20409725e-02 -9.38231662e-01] [ 6.29212958e-02 -4.27429539e-03 9.98009339e-01 1.46412852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644860624 meters Centerline goodness : 0.795171 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.46 [[ 9.64451451e-01 -2.56899114e-01 -6.19374234e-02 -5.55438996e+00] [ 2.56640197e-01 9.66429553e-01 -1.22363082e-02 -9.37379488e-01] [ 6.30016532e-02 -4.09430741e-03 9.98005024e-01 1.46421300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.674860624 meters Centerline goodness : 0.794049 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.46 [[ 0.96526442 -0.25370166 -0.06245047 -5.55573063] [ 0.2536479 0.96725549 -0.00891958 -0.93746055] [ 0.06266848 -0.00723068 0.99800821 1.46450693] [ 0. 0. 0. 1. ]] SLAMing on 53.704860624 meters Centerline goodness : 0.794589 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.46 [[ 0.96530862 -0.25352193 -0.06249721 -5.55571205] [ 0.25345166 0.96730448 -0.00918153 -0.93654627] [ 0.06278155 -0.00697702 0.9980029 1.46477119] [ 0. 0. 0. 1. ]] SLAMing on 53.734860624 meters Centerline goodness : 0.793259 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.47 [[ 0.96538131 -0.25319725 -0.06269028 -5.55543558] [ 0.25311429 0.96739078 -0.00939349 -0.93572964] [ 0.06302441 -0.00679951 0.99798882 1.46513888] [ 0. 0. 0. 1. ]] SLAMing on 53.764860624 meters Centerline goodness : 0.795077 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96544139 -0.25295574 -0.0627401 -5.55549745] [ 0.25284843 0.96745651 -0.00977581 -0.93452853] [ 0.06317117 -0.00642576 0.99798202 1.46562614] [ 0. 0. 0. 1. ]] SLAMing on 53.794860624 meters Centerline goodness : 0.792007 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96554738 -0.25248899 -0.06298866 -5.55503687] [ 0.25236886 0.96757956 -0.00998745 -0.93311889] [ 0.06346826 -0.00625302 0.99796427 1.46583157] [ 0. 0. 0. 1. ]] SLAMing on 53.824860624 meters Centerline goodness : 0.790465 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96654844 -0.24843478 -0.0637516 -5.55529346] [ 0.24854891 0.96859911 -0.00626101 -0.93281763] [ 0.0633052 -0.00979382 0.99794616 1.46553944] [ 0. 0. 0. 1. ]] SLAMing on 53.854860624000004 meters Centerline goodness : 0.791374 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96667827 -0.2478508 -0.06405547 -5.55430904] [ 0.2479718 0.96874753 -0.00618054 -0.93186857] [ 0.06358543 -0.00990936 0.9979272 1.46517369] [ 0. 0. 0. 1. ]] SLAMing on 53.884860624 meters Centerline goodness : 0.789375 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96677767 -0.24740762 -0.06426825 -5.55375582] [ 0.24752904 0.96886069 -0.00619235 -0.93125324] [ 0.06379902 -0.00992163 0.99791345 1.46515278] [ 0. 0. 0. 1. ]] SLAMing on 53.914860624 meters Centerline goodness : 0.792346 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67656423e-01 -2.43739688e-01 -6.50539067e-02 -5.55424846e+00] [ 2.44105192e-01 9.69745810e-01 -2.39161470e-03 -9.32517614e-01] [ 6.36686849e-02 -1.35657351e-02 9.97878885e-01 1.46534215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944860624 meters Centerline goodness : 0.789784 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67738250e-01 -2.43355037e-01 -6.52763746e-02 -5.55359828e+00] [ 2.43729170e-01 9.69840627e-01 -2.29120013e-03 -9.32314421e-01] [ 6.38652552e-02 -1.36924746e-02 9.97864593e-01 1.46522707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974860624 meters Centerline goodness : 0.791141 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67823222e-01 -2.42966109e-01 -6.54651106e-02 -5.55283371e+00] [ 2.43355521e-01 9.69934927e-01 -2.08035748e-03 -9.32351359e-01] [ 6.40023536e-02 -1.39178778e-02 9.97852690e-01 1.46486330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004860624 meters Centerline goodness : 0.788703 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67893126e-01 -2.42624386e-01 -6.56985844e-02 -5.55205564e+00] [ 2.43028106e-01 9.70017392e-01 -1.89716637e-03 -9.32417862e-01] [ 6.41890683e-02 -1.41303483e-02 9.97837711e-01 1.46459866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034860624000004 meters Centerline goodness : 0.789033 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67903369e-01 -2.42585503e-01 -6.56912573e-02 -5.55204244e+00] [ 2.42987488e-01 9.70027520e-01 -1.92119079e-03 -9.32382544e-01] [ 6.41883804e-02 -1.41026265e-02 9.97838147e-01 1.46458976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064860624 meters Centerline goodness : 0.789687 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67905430e-01 -2.42561420e-01 -6.57497957e-02 -5.55192435e+00] [ 2.42963459e-01 9.70033517e-01 -1.93241241e-03 -9.32540184e-01] [ 6.42482342e-02 -1.41044053e-02 9.97834270e-01 1.46469437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094860624 meters Centerline goodness : 0.788566 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67901332e-01 -2.42597862e-01 -6.56756293e-02 -5.55193672e+00] [ 2.43002866e-01 9.70023766e-01 -1.87122037e-03 -9.33226271e-01] [ 6.41608753e-02 -1.41482095e-02 9.97839271e-01 1.46469756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124860624 meters Centerline goodness : 0.787855 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67908056e-01 -2.42517339e-01 -6.58736250e-02 -5.55130796e+00] [ 2.42927118e-01 9.70042801e-01 -1.83813222e-03 -9.33382579e-01] [ 6.43460147e-02 -1.42233469e-02 9.97826281e-01 1.46452735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154860624 meters Centerline goodness : 0.787320 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67919535e-01 -2.42436734e-01 -6.60015500e-02 -5.55068429e+00] [ 2.42858818e-01 9.70060202e-01 -1.67318649e-03 -9.33526931e-01] [ 6.44311188e-02 -1.44095486e-02 9.97818118e-01 1.46403324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184860624 meters Centerline goodness : 0.787885 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67903559e-01 -2.42498259e-01 -6.60098097e-02 -5.55055741e+00] [ 2.42916555e-01 9.70045635e-01 -1.73579028e-03 -9.33461520e-01] [ 6.44534539e-02 -1.43547980e-02 9.97817464e-01 1.46397676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214860624 meters Centerline goodness : 0.786179 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67862391e-01 -2.42669213e-01 -6.59851964e-02 -5.55067104e+00] [ 2.43078861e-01 9.70004727e-01 -1.87006198e-03 -9.33287722e-01] [ 6.44597589e-02 -1.42296437e-02 9.97818850e-01 1.46402236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244860624 meters Centerline goodness : 0.788776 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.46 [[ 9.67790995e-01 -2.42965146e-01 -6.59433707e-02 -5.55104527e+00] [ 2.43353969e-01 9.69935067e-01 -2.19332129e-03 -9.32846258e-01] [ 6.44936884e-02 -1.39249044e-02 9.97820956e-01 1.46438086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.274860624 meters Centerline goodness : 0.787581 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67661060e-01 -2.43530834e-01 -6.57632491e-02 -5.55192682e+00] [ 2.43881506e-01 9.69801096e-01 -2.76497356e-03 -9.32176672e-01] [ 6.44506274e-02 -1.33628830e-02 9.97831424e-01 1.46506450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304860624 meters Centerline goodness : 0.787500 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67522861e-01 -2.44168582e-01 -6.54310154e-02 -5.55300807e+00] [ 2.44492339e-01 9.69646153e-01 -3.13611004e-03 -9.32209101e-01] [ 6.42106719e-02 -1.29631238e-02 9.97852167e-01 1.46553415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334860624 meters Centerline goodness : 0.787983 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67340660e-01 -2.44978782e-01 -6.50956514e-02 -5.55399060e+00] [ 2.45265838e-01 9.69448922e-01 -3.66843761e-03 -9.32100513e-01] [ 6.40055984e-02 -1.24171106e-02 9.97872286e-01 1.46592908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364860624 meters Centerline goodness : 0.789079 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67287023e-01 -2.45218123e-01 -6.49914332e-02 -5.55409681e+00] [ 2.45497018e-01 9.69389962e-01 -3.78369195e-03 -9.32051101e-01] [ 6.39298727e-02 -1.22952869e-02 9.97878649e-01 1.46576660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394860624 meters Centerline goodness : 0.788247 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67204490e-01 -2.45584122e-01 -6.48375981e-02 -5.55440151e+00] [ 2.45850805e-01 9.69299603e-01 -3.95741977e-03 -9.32059998e-01] [ 6.38189375e-02 -1.21127415e-02 9.97887982e-01 1.46570869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424860624 meters Centerline goodness : 0.788247 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67204490e-01 -2.45584122e-01 -6.48375981e-02 -5.55440151e+00] [ 2.45850805e-01 9.69299603e-01 -3.95741977e-03 -9.32059998e-01] [ 6.38189375e-02 -1.21127415e-02 9.97887982e-01 1.46570869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.454860624 meters Centerline goodness : 0.788925 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67145333e-01 -2.45839370e-01 -6.47526722e-02 -5.55450936e+00] [ 2.46097290e-01 9.69236514e-01 -4.08706404e-03 -9.32173310e-01] [ 6.37654155e-02 -1.19826722e-02 9.97892974e-01 1.46570311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484860624 meters Centerline goodness : 0.788420 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67133119e-01 -2.45876562e-01 -6.47938707e-02 -5.55416799e+00] [ 2.46130417e-01 9.69227793e-01 -4.15964838e-03 -9.31821986e-01] [ 6.38227803e-02 -1.19248087e-02 9.97890000e-01 1.46533437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514860624 meters Centerline goodness : 0.787565 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67143713e-01 -2.45798401e-01 -6.49321535e-02 -5.55388605e+00] [ 2.46050284e-01 9.69247906e-01 -4.21363586e-03 -9.31568242e-01] [ 6.39710587e-02 -1.19013833e-02 9.97880785e-01 1.46537103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544860624 meters Centerline goodness : 0.789317 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67132715e-01 -2.45839087e-01 -6.49419360e-02 -5.55412313e+00] [ 2.46077044e-01 9.69240129e-01 -4.43394026e-03 -9.31265948e-01] [ 6.40343663e-02 -1.16925110e-02 9.97879194e-01 1.46580634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574860624 meters Centerline goodness : 0.790996 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 9.67087673e-01 -2.46059399e-01 -6.47781223e-02 -5.55523738e+00] [ 2.46270985e-01 9.69189011e-01 -4.82311433e-03 -9.30851330e-01] [ 6.39690169e-02 -1.12885976e-02 9.97888036e-01 1.46690584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604860624000004 meters Centerline goodness : 0.789825 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 9.67095755e-01 -2.46023961e-01 -6.47920646e-02 -5.55539253e+00] [ 2.46231396e-01 9.69198739e-01 -4.88911117e-03 -9.30627440e-01] [ 6.39992259e-02 -1.12256019e-02 9.97886810e-01 1.46717695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.634860624 meters Centerline goodness : 0.791780 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 9.67113740e-01 -2.45941599e-01 -6.48362836e-02 -5.55524126e+00] [ 2.46151780e-01 9.69219153e-01 -4.85128157e-03 -9.30452970e-01] [ 6.40336998e-02 -1.12678256e-02 9.97884122e-01 1.46707594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664860624 meters Centerline goodness : 0.790127 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67185484e-01 -2.45584905e-01 -6.51175394e-02 -5.55402348e+00] [ 2.45831097e-01 9.69303011e-01 -4.32939362e-03 -9.31748776e-01] [ 6.41818607e-02 -1.18205895e-02 9.97868209e-01 1.46642865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694860624 meters Centerline goodness : 0.788554 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67186605e-01 -2.45544394e-01 -6.52535131e-02 -5.55356322e+00] [ 2.45797051e-01 9.69311985e-01 -4.25277470e-03 -9.32125999e-01] [ 6.42952573e-02 -1.19258943e-02 9.97859656e-01 1.46628992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724860624 meters Centerline goodness : 0.788952 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67182017e-01 -2.45564988e-01 -6.52440157e-02 -5.55342866e+00] [ 2.45819435e-01 9.69306434e-01 -4.22393118e-03 -9.32221535e-01] [ 6.42786938e-02 -1.19529368e-02 9.97860399e-01 1.46611642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754860624 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67188296e-01 -2.45527781e-01 -6.52909525e-02 -5.55323232e+00] [ 2.45789770e-01 9.69314428e-01 -4.11439147e-03 -9.32496514e-01] [ 6.42976597e-02 -1.20684569e-02 9.97857787e-01 1.46601511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784860624000004 meters Centerline goodness : 0.790992 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67155738e-01 -2.45651176e-01 -6.53090948e-02 -5.55320665e+00] [ 2.45911718e-01 9.69283370e-01 -4.14446510e-03 -9.32831272e-01] [ 6.43211122e-02 -1.20519285e-02 9.97856475e-01 1.46607790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.814860624 meters Centerline goodness : 0.790284 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67086311e-01 -2.45949656e-01 -6.52137504e-02 -5.55312429e+00] [ 2.46214821e-01 9.69206757e-01 -4.06487445e-03 -9.33713069e-01] [ 6.42053620e-02 -1.21255075e-02 9.97863038e-01 1.46573948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844860624 meters Centerline goodness : 0.789353 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67046149e-01 -2.46130128e-01 -6.51283840e-02 -5.55320269e+00] [ 2.46394413e-01 9.69161101e-01 -4.06854897e-03 -9.34004796e-01] [ 6.41212888e-02 -1.21127953e-02 9.97868599e-01 1.46563851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874860624 meters Centerline goodness : 0.789353 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67046149e-01 -2.46130128e-01 -6.51283840e-02 -5.55320269e+00] [ 2.46394413e-01 9.69161101e-01 -4.06854897e-03 -9.34004796e-01] [ 6.41212888e-02 -1.21127953e-02 9.97868599e-01 1.46563851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904860624 meters Centerline goodness : 0.788878 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.66955224e-01 -2.46536945e-01 -6.49394261e-02 -5.55364673e+00] [ 2.46786314e-01 9.69060474e-01 -4.27926395e-03 -9.34020972e-01] [ 6.39852278e-02 -1.18883050e-02 9.97880032e-01 1.46570378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934860624 meters Centerline goodness : 0.788184 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.66896361e-01 -2.46794380e-01 -6.48379663e-02 -5.55407281e+00] [ 2.47025951e-01 9.68998196e-01 -4.54695603e-03 -9.33678527e-01] [ 6.39500356e-02 -1.16202251e-02 9.97885446e-01 1.46596619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964860624 meters Centerline goodness : 0.787882 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.66835594e-01 -2.47081238e-01 -6.46513451e-02 -5.55469652e+00] [ 2.47283903e-01 9.68930299e-01 -4.97465265e-03 -9.32928083e-01] [ 6.38717905e-02 -1.11775657e-02 9.97895514e-01 1.46635672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.994860624 meters Centerline goodness : 0.792810 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96676928 -0.24737603 -0.06451553 -5.55560923] [ 0.24753065 0.96886323 -0.00571187 -0.93108546] [ 0.06391971 -0.01044751 0.99790036 1.46717918] [ 0. 0. 0. 1. ]] SLAMing on 55.024860624 meters Centerline goodness : 0.792451 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96675223 -0.24744916 -0.06449062 -5.55576068] [ 0.24758887 0.96884696 -0.00594321 -0.9302314 ] [ 0.06395219 -0.01022155 0.99790062 1.46725992] [ 0. 0. 0. 1. ]] SLAMing on 55.054860624 meters Centerline goodness : 0.791337 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96675435 -0.24743247 -0.06452287 -5.55566541] [ 0.24756525 0.9688523 -0.00605578 -0.92963522] [ 0.06401152 -0.01011917 0.99789785 1.46715725] [ 0. 0. 0. 1. ]] SLAMing on 55.084860624 meters Centerline goodness : 0.790696 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96674553 -0.24748414 -0.06445681 -5.5560415 ] [ 0.24759267 0.96884291 -0.0064252 -0.92897111] [ 0.06403866 -0.0097475 0.99789981 1.4676534 ] [ 0. 0. 0. 1. ]] SLAMing on 55.114860624 meters Centerline goodness : 0.793021 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96675196 -0.24744923 -0.06449439 -5.55611612] [ 0.24754542 0.96885366 -0.006622 -0.92836109] [ 0.06412423 -0.00956346 0.9978961 1.46788727] [ 0. 0. 0. 1. ]] SLAMing on 55.144860624 meters Centerline goodness : 0.791403 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96678158 -0.247348 -0.06443863 -5.55644146] [ 0.2474324 0.96888134 -0.00679373 -0.9278437 ] [ 0.0641138 -0.00937615 0.99789855 1.46825872] [ 0. 0. 0. 1. ]] SLAMing on 55.174860624 meters Centerline goodness : 0.792058 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.96681892 -0.24717661 -0.06453599 -5.5561467 ] [ 0.24726464 0.9689245 -0.00674575 -0.92790925] [ 0.0641979 -0.00943555 0.99789258 1.46825585] [ 0. 0. 0. 1. ]] SLAMing on 55.204860624 meters Centerline goodness : 0.790693 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.47 [[ 0.9668594 -0.24698887 -0.06464831 -5.55561946] [ 0.24708128 0.96897168 -0.00668785 -0.9279989 ] [ 0.06429421 -0.00950718 0.9978857 1.46804444] [ 0. 0. 0. 1. ]] SLAMing on 55.234860624 meters Centerline goodness : 0.790916 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96698101 -0.24644947 -0.06488747 -5.5546678 ] [ 0.24656033 0.96910618 -0.0064195 -0.92791793] [ 0.06446493 -0.00979114 0.99787194 1.46761541] [ 0. 0. 0. 1. ]] SLAMing on 55.264860624 meters Centerline goodness : 0.789536 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96702173 -0.24627032 -0.0649608 -5.55428852] [ 0.24638961 0.96915042 -0.00629432 -0.92768123] [ 0.06450689 -0.00991892 0.99786797 1.46725356] [ 0. 0. 0. 1. ]] SLAMing on 55.294860624 meters Centerline goodness : 0.788180 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96707624 -0.2460004 -0.06517174 -5.55360032] [ 0.24612424 0.96921815 -0.00624739 -0.9275707 ] [ 0.06470249 -0.00999864 0.99785451 1.46709661] [ 0. 0. 0. 1. ]] SLAMing on 55.324860624 meters Centerline goodness : 0.789938 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96716206 -0.24559051 -0.06544355 -5.55261754] [ 0.24573278 0.96931909 -0.00599207 -0.92771143] [ 0.06490728 -0.01028632 0.99783828 1.46665208] [ 0. 0. 0. 1. ]] SLAMing on 55.354860624000004 meters Centerline goodness : 0.787362 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 9.67366217e-01 -2.44687933e-01 -6.58059102e-02 -5.55091834e+00] [ 2.44864846e-01 9.69541688e-01 -5.48843703e-03 -9.27483106e-01] [ 6.51445275e-02 -1.08042255e-02 9.97817348e-01 1.46559617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384860624 meters Centerline goodness : 0.787193 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96734589 -0.24477597 -0.06577734 -5.55124738] [ 0.24493749 0.96952198 -0.0057225 -0.92687163] [ 0.06517331 -0.0105757 0.99781792 1.46595507] [ 0. 0. 0. 1. ]] SLAMing on 55.414860624 meters Centerline goodness : 0.787675 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96729221 -0.24501169 -0.06568902 -5.55177809] [ 0.24515411 0.9694655 -0.00600889 -0.92611698] [ 0.06515548 -0.01029158 0.99782205 1.46629586] [ 0. 0. 0. 1. ]] SLAMing on 55.444860624 meters Centerline goodness : 0.789036 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.47 [[ 0.96730714 -0.24492998 -0.06577379 -5.55160192] [ 0.2450622 0.96948769 -0.00617549 -0.92522509] [ 0.06527944 -0.01014508 0.99781545 1.46624756] [ 0. 0. 0. 1. ]] SLAMing on 55.474860624 meters Centerline goodness : 0.787911 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 0.96736867 -0.24467105 -0.06583262 -5.55126027] [ 0.24479981 0.96955364 -0.00622852 -0.92474559] [ 0.0653522 -0.01009053 0.99781124 1.46609745] [ 0. 0. 0. 1. ]] SLAMing on 55.504860624 meters Centerline goodness : 0.787691 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 0.96738972 -0.24457603 -0.06587641 -5.55110702] [ 0.24469612 0.96957893 -0.00636435 -0.92448956] [ 0.06542895 -0.0099629 0.99780749 1.46617412] [ 0. 0. 0. 1. ]] SLAMing on 55.534860624000004 meters Centerline goodness : 0.787006 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 0.96745451 -0.24428327 -0.06601106 -5.55069563] [ 0.24439991 0.96965322 -0.00642726 -0.92385097] [ 0.06557791 -0.00991501 0.99779819 1.4660821 ] [ 0. 0. 0. 1. ]] SLAMing on 55.564860624 meters Centerline goodness : 0.785926 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 9.68320113e-01 -2.40673409e-01 -6.65767892e-02 -5.55153683e+00] [ 2.41017796e-01 9.70516273e-01 -2.93015493e-03 -9.22993651e-01] [ 6.53190677e-02 -1.32088630e-02 9.97777002e-01 1.46579563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594860624 meters Centerline goodness : 0.787072 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 9.69148094e-01 -2.37142643e-01 -6.71962712e-02 -5.55235440e+00] [ 2.37727011e-01 9.71331739e-01 7.21825376e-04 -9.23107222e-01] [ 6.50986954e-02 -1.66739244e-02 9.97739515e-01 1.46574672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624860624 meters Centerline goodness : 0.787185 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 9.69970731e-01 -2.33589504e-01 -6.77696403e-02 -5.55337225e+00] [ 2.34407533e-01 9.72129047e-01 4.26894034e-03 -9.23165905e-01] [ 6.48836562e-02 -2.00264614e-02 9.97691862e-01 1.46595863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654860624 meters Centerline goodness : 0.788789 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 9.70069408e-01 -2.33122438e-01 -6.79652309e-02 -5.55291944e+00] [ 2.33919368e-01 9.72248172e-01 3.90139015e-03 -9.21169192e-01] [ 6.51695700e-02 -1.96830031e-02 9.97680062e-01 1.46608382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684860624 meters Centerline goodness : 0.787733 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 0.97096357 -0.22920115 -0.06853164 -5.55373935] [ 0.23023111 0.97310768 0.00742159 -0.92069188] [ 0.06498763 -0.02298421 0.99762134 1.46624537] [ 0. 0. 0. 1. ]] SLAMing on 55.714860624 meters Centerline goodness : 0.790206 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.92, Z:1.47 [[ 0.97101167 -0.2289714 -0.06861802 -5.5537074 ] [ 0.22997695 0.97317072 0.00702495 -0.9191383 ] [ 0.06516854 -0.02260187 0.99761827 1.46660889] [ 0. 0. 0. 1. ]] SLAMing on 55.744860624 meters Centerline goodness : 0.792495 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.47 [[ 0.97176832 -0.22558467 -0.06912226 -5.55505661] [ 0.2268027 0.97388722 0.01020867 -0.91856127] [ 0.06501436 -0.02559757 0.99755596 1.46717576] [ 0. 0. 0. 1. ]] SLAMing on 55.774860624 meters Centerline goodness : 0.792756 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.47 [[ 0.97179639 -0.22544914 -0.06916988 -5.55507144] [ 0.2266453 0.97392746 0.00985954 -0.91689427] [ 0.06514362 -0.0252585 0.99755617 1.46730207] [ 0. 0. 0. 1. ]] SLAMing on 55.804860624 meters Centerline goodness : 0.794647 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.47 [[ 0.97255607 -0.221966 -0.06975519 -5.55577338] [ 0.22338983 0.9746395 0.01322203 -0.91583853] [ 0.06505132 -0.02844177 0.99747651 1.46709568] [ 0. 0. 0. 1. ]] SLAMing on 55.834860624 meters Centerline goodness : 0.796164 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 0.9726031 -0.22167877 -0.07001233 -5.55504398] [ 0.22309826 0.97470857 0.01305285 -0.914617 ] [ 0.06534808 -0.02831487 0.99746072 1.46693878] [ 0. 0. 0. 1. ]] SLAMing on 55.864860624 meters Centerline goodness : 0.795354 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.91, Z:1.47 [[ 0.97264716 -0.22147042 -0.07005967 -5.55458751] [ 0.22288264 0.97475955 0.01292847 -0.91391568] [ 0.06542805 -0.02818993 0.99745902 1.46661868] [ 0. 0. 0. 1. ]] SLAMing on 55.894860624 meters Centerline goodness : 0.796693 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.91, Z:1.47 [[ 0.97261858 -0.22162725 -0.06996046 -5.55491314] [ 0.22302312 0.97473021 0.01271654 -0.91368206] [ 0.06537424 -0.02797114 0.99746871 1.46684877] [ 0. 0. 0. 1. ]] SLAMing on 55.924860624 meters Centerline goodness : 0.796292 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 0.97223762 -0.22356661 -0.0690795 -5.55845599] [ 0.22486927 0.97431995 0.01159475 -0.91288572] [ 0.06471334 -0.02680671 0.99754378 1.46840343] [ 0. 0. 0. 1. ]] SLAMing on 55.954860624 meters Centerline goodness : 0.796292 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 0.97223762 -0.22356661 -0.0690795 -5.55845599] [ 0.22486927 0.97431995 0.01159475 -0.91288572] [ 0.06471334 -0.02680671 0.99754378 1.46840343] [ 0. 0. 0. 1. ]] SLAMing on 55.984860624 meters Centerline goodness : 0.796915 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 0.97206437 -0.22442728 -0.06872593 -5.55950829] [ 0.22570582 0.9741295 0.01133992 -0.91340799] [ 0.06440297 -0.02653498 0.99757113 1.46860794] [ 0. 0. 0. 1. ]] SLAMing on 56.014860624 meters Centerline goodness : 0.796745 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 0.97186912 -0.22536419 -0.06842075 -5.56042863] [ 0.22662388 0.97391861 0.01114247 -0.91441346] [ 0.06412513 -0.0263348 0.99759433 1.46875513] [ 0. 0. 0. 1. ]] SLAMing on 56.044860624 meters Centerline goodness : 0.794962 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 0.97097864 -0.2293683 -0.06775443 -5.5597381 ] [ 0.2303574 0.97308049 0.00705931 -0.91342108] [ 0.06431133 -0.02246217 0.99767705 1.46870806] [ 0. 0. 0. 1. ]] SLAMing on 56.074860624 meters Centerline goodness : 0.791165 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.69826530e-01 -2.34495505e-01 -6.66960200e-02 -5.55984864e+00] [ 2.35212312e-01 9.71939402e-01 2.99447250e-03 -9.14539922e-01] [ 6.41222995e-02 -1.85918439e-02 9.97768848e-01 1.46841481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104860624000004 meters Centerline goodness : 0.791165 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.69826530e-01 -2.34495505e-01 -6.66960200e-02 -5.55984864e+00] [ 2.35212312e-01 9.71939402e-01 2.99447250e-03 -9.14539922e-01] [ 6.41222995e-02 -1.85918439e-02 9.97768848e-01 1.46841481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.134860624 meters Centerline goodness : 0.792458 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68728111e-01 -2.39262122e-01 -6.57227755e-02 -5.55967627e+00] [ 2.39709251e-01 9.70844085e-01 -1.11264019e-03 -9.14244448e-01] [ 6.40727805e-02 -1.46765114e-02 9.97837301e-01 1.46800326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164860624 meters Centerline goodness : 0.790960 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68561806e-01 -2.40008567e-01 -6.54516285e-02 -5.56056495e+00] [ 2.40433225e-01 9.70664632e-01 -1.42684847e-03 -9.14285039e-01] [ 6.38740368e-02 -1.43547552e-02 9.97854723e-01 1.46826237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194860624 meters Centerline goodness : 0.792642 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68400587e-01 -2.40755729e-01 -6.50921086e-02 -5.56171087e+00] [ 2.41150264e-01 9.70486038e-01 -1.84380367e-03 -9.13913533e-01] [ 6.36148889e-02 -1.39114386e-02 9.97877557e-01 1.46861697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224860624 meters Centerline goodness : 0.795262 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68260553e-01 -2.41378932e-01 -6.48668894e-02 -5.56257781e+00] [ 2.41745663e-01 9.70337034e-01 -2.25272411e-03 -9.13585164e-01] [ 6.34865052e-02 -1.35000653e-02 9.97891383e-01 1.46902491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254860624 meters Centerline goodness : 0.795153 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68117019e-01 -2.42021636e-01 -6.46139708e-02 -5.56319198e+00] [ 2.42362240e-01 9.70182259e-01 -2.63237297e-03 -9.13088110e-01] [ 6.33244194e-02 -1.31115417e-02 9.97906862e-01 1.46898730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284860624000004 meters Centerline goodness : 0.799729 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68116002e-01 -2.41987566e-01 -6.47566494e-02 -5.56263326e+00] [ 2.42323569e-01 9.70191640e-01 -2.73312567e-03 -9.12772071e-01] [ 6.34877423e-02 -1.30460797e-02 9.97897343e-01 1.46875665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314860624 meters Centerline goodness : 0.799729 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68116002e-01 -2.41987566e-01 -6.47566494e-02 -5.56263326e+00] [ 2.42323569e-01 9.70191640e-01 -2.73312567e-03 -9.12772071e-01] [ 6.34877423e-02 -1.30460797e-02 9.97897343e-01 1.46875665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344860624 meters Centerline goodness : 0.796002 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68069561e-01 -2.42173952e-01 -6.47541667e-02 -5.56278627e+00] [ 2.42484418e-01 9.70150219e-01 -3.13999796e-03 -9.11879351e-01] [ 6.35816947e-02 -1.26621400e-02 9.97896306e-01 1.46900542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374860624 meters Centerline goodness : 0.800530 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 9.68773509e-01 -2.39262563e-01 -6.50485542e-02 -5.56510829e+00] [ 2.39758265e-01 9.70832600e-01 -1.91251028e-04 -9.10673290e-01] [ 6.31970162e-02 -1.54106495e-02 9.97882082e-01 1.46985513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404860624 meters Centerline goodness : 0.799644 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 9.68788048e-01 -2.39162710e-01 -6.51990472e-02 -5.56512308e+00] [ 2.39622818e-01 9.70865742e-01 -7.84662446e-04 -9.08754702e-01] [ 6.34871834e-02 -1.48630079e-02 9.97871970e-01 1.47045907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434860624 meters Centerline goodness : 0.801513 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.47 [[ 9.68806980e-01 -2.39037021e-01 -6.53784242e-02 -5.56492439e+00] [ 2.39467361e-01 9.70903560e-01 -1.28856087e-03 -9.07273521e-01] [ 6.37841586e-02 -1.44076320e-02 9.97859710e-01 1.47093740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464860624 meters Centerline goodness : 0.801792 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 9.69635486e-01 -2.35514566e-01 -6.58780202e-02 -5.56616001e+00] [ 2.36167005e-01 9.71710021e-01 2.18652958e-03 -9.07450127e-01] [ 6.34993728e-02 -1.76783514e-02 9.97825288e-01 1.47128993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494860624 meters Centerline goodness : 0.803302 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 9.69680852e-01 -2.35272075e-01 -6.60764396e-02 -5.56583868e+00] [ 2.35903356e-01 9.71774839e-01 1.80827504e-03 -9.06095237e-01] [ 6.37859848e-02 -1.73411035e-02 9.97812925e-01 1.47163365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524860624 meters Centerline goodness : 0.804477 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.69709215e-01 -2.35124511e-01 -6.61853604e-02 -5.56570458e+00] [ 2.35737490e-01 9.71815616e-01 1.49798580e-03 -9.04560893e-01] [ 6.39677536e-02 -1.70549813e-02 9.97806221e-01 1.47177132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554860624 meters Centerline goodness : 0.804784 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.69698397e-01 -2.35150513e-01 -6.62514566e-02 -5.56588711e+00] [ 2.35736828e-01 9.71816349e-01 1.06429232e-03 -9.03153784e-01] [ 6.41339798e-02 -1.66499508e-02 9.97802391e-01 1.47222509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584860624 meters Centerline goodness : 0.807211 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.69590554e-01 -2.35661627e-01 -6.60132925e-02 -5.56702504e+00] [ 2.36213985e-01 9.71700889e-01 5.79218862e-04 -9.02191255e-01] [ 6.40086753e-02 -1.61548680e-02 9.97818576e-01 1.47286513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614860624 meters Centerline goodness : 0.807308 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.69473567e-01 -2.36204682e-01 -6.57902020e-02 -5.56796039e+00] [ 2.36741847e-01 9.71572516e-01 3.79783608e-04 -9.02310006e-01] [ 6.38302454e-02 -1.59434841e-02 9.97833405e-01 1.47331207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644860624 meters Centerline goodness : 0.804586 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.69307985e-01 -2.36902327e-01 -6.57215114e-02 -5.56766145e+00] [ 2.37443172e-01 9.71401335e-01 4.30991239e-04 -9.03639683e-01] [ 6.37398611e-02 -1.60228874e-02 9.97837911e-01 1.47262910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.674860624 meters Centerline goodness : 0.805684 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.69189961e-01 -2.37443046e-01 -6.55104546e-02 -5.56794430e+00] [ 2.37980064e-01 9.71269954e-01 4.05933127e-04 -9.04468822e-01] [ 6.35319502e-02 -1.59836085e-02 9.97851800e-01 1.47238307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704860624 meters Centerline goodness : 0.802841 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 9.69015808e-01 -2.38221225e-01 -6.52611088e-02 -5.56857805e+00] [ 2.38749546e-01 9.71081130e-01 3.05661330e-04 -9.05457135e-01] [ 6.33010162e-02 -1.58772507e-02 9.97868175e-01 1.47240282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734860624 meters Centerline goodness : 0.804797 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.67959116e-01 -2.42677390e-01 -6.45200345e-02 -5.56825784e+00] [ 2.42929338e-01 9.70035614e-01 -4.03043990e-03 -9.03952068e-01] [ 6.35648279e-02 -1.17725082e-02 9.97908273e-01 1.47264091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764860624 meters Centerline goodness : 0.804414 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.67748044e-01 -2.43617188e-01 -6.41434979e-02 -5.56948769e+00] [ 2.43845101e-01 9.69804341e-01 -4.37124320e-03 -9.04091569e-01] [ 6.32715526e-02 -1.14108157e-02 9.97931112e-01 1.47296097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794860624 meters Centerline goodness : 0.805389 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.67548712e-01 -2.44499773e-01 -6.37914687e-02 -5.57061846e+00] [ 2.44705613e-01 9.69586095e-01 -4.68683161e-03 -9.04298550e-01] [ 6.29972503e-02 -1.10753926e-02 9.97952244e-01 1.47324576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824860624 meters Centerline goodness : 0.803497 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.47 [[ 9.67383463e-01 -2.45233145e-01 -6.34818046e-02 -5.57143754e+00] [ 2.45426141e-01 9.69403105e-01 -4.86095237e-03 -9.04894684e-01] [ 6.27315251e-02 -1.08776894e-02 9.97971158e-01 1.47335321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854860624000004 meters Centerline goodness : 0.804487 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 9.67211735e-01 -2.45963454e-01 -6.32727287e-02 -5.57206692e+00] [ 2.46144320e-01 9.69220072e-01 -5.04232495e-03 -9.05849692e-01] [ 6.25654264e-02 -1.06972269e-02 9.97983535e-01 1.47355901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884860624 meters Centerline goodness : 0.804903 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 9.67060394e-01 -2.46634601e-01 -6.29727582e-02 -5.57270852e+00] [ 2.46794975e-01 9.69052997e-01 -5.34124418e-03 -9.06385085e-01] [ 6.23412757e-02 -1.03760546e-02 9.98000953e-01 1.47364459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914860624 meters Centerline goodness : 0.802886 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.47 [[ 0.9669122 -0.24730246 -0.06262817 -5.57380712] [ 0.24743261 0.96888779 -0.0057917 -0.90646138] [ 0.06211197 -0.00989618 0.99802012 1.47418987] [ 0. 0. 0. 1. ]] SLAMing on 56.944860624 meters Centerline goodness : 0.803442 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.91, Z:1.48 [[ 0.96673699 -0.24806634 -0.06231116 -5.57527045] [ 0.24815372 0.96869916 -0.00645598 -0.90590321] [ 0.06196228 -0.00922151 0.99803589 1.47517078] [ 0. 0. 0. 1. ]] SLAMing on 56.974860624 meters Centerline goodness : 0.803461 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.96652688 -0.2490172 -0.06177555 -5.57765251] [ 0.24903323 0.96846541 -0.00756348 -0.90376429] [ 0.06171092 -0.00807386 0.99806141 1.47672584] [ 0. 0. 0. 1. ]] SLAMing on 57.004860624 meters Centerline goodness : 0.803918 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.96646554 -0.24928354 -0.06166096 -5.57845167] [ 0.2492671 0.96840105 -0.00808264 -0.90280894] [ 0.06172741 -0.00755846 0.99806443 1.47752775] [ 0. 0. 0. 1. ]] SLAMing on 57.034860624000004 meters Centerline goodness : 0.806125 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.96646225 -0.24929355 -0.06167215 -5.57863635] [ 0.24926414 0.96840002 -0.00829381 -0.90240135] [ 0.06179091 -0.007357 0.998062 1.47794445] [ 0. 0. 0. 1. ]] SLAMing on 57.064860624 meters Centerline goodness : 0.801436 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.9664693 -0.24925505 -0.06171716 -5.57852296] [ 0.24922529 0.96840994 -0.00830355 -0.902479 ] [ 0.06183721 -0.00735635 0.99805914 1.47799121] [ 0. 0. 0. 1. ]] SLAMing on 57.094860624 meters Centerline goodness : 0.804663 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.96648261 -0.24918468 -0.06179288 -5.57817011] [ 0.24915896 0.9684275 -0.00824524 -0.90277097] [ 0.06189651 -0.00742737 0.99805494 1.47787418] [ 0. 0. 0. 1. ]] SLAMing on 57.124860624 meters Centerline goodness : 0.804081 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.96648681 -0.24916775 -0.06179537 -5.578018 ] [ 0.24915225 0.96843062 -0.0080802 -0.90358102] [ 0.06185786 -0.00758705 0.99805613 1.4778393 ] [ 0. 0. 0. 1. ]] SLAMing on 57.154860624 meters Centerline goodness : 0.806382 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.96643234 -0.24940054 -0.06170812 -5.57841594] [ 0.24937959 0.96837139 -0.00816504 -0.90395776] [ 0.06179274 -0.00749778 0.99806084 1.47816705] [ 0. 0. 0. 1. ]] SLAMing on 57.184860624 meters Centerline goodness : 0.809327 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.966365 -0.24969469 -0.06157319 -5.57905973] [ 0.24966723 0.96829644 -0.00826338 -0.90440936] [ 0.06168442 -0.00738736 0.99806836 1.47872467] [ 0. 0. 0. 1. ]] SLAMing on 57.214860624 meters Centerline goodness : 0.809714 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.90, Z:1.48 [[ 0.9663877 -0.24956806 -0.06173001 -5.57849845] [ 0.24955335 0.9683274 -0.00807236 -0.90487652] [ 0.06178946 -0.0076039 0.99806024 1.47852641] [ 0. 0. 0. 1. ]] SLAMing on 57.244860624 meters Centerline goodness : 0.809960 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.91, Z:1.48 [[ 0.96645983 -0.24921457 -0.06202813 -5.57732409] [ 0.24921995 0.9684157 -0.00777434 -0.90549266] [ 0.0620065 -0.00794506 0.99804412 1.47804809] [ 0. 0. 0. 1. ]] SLAMing on 57.274860624 meters Centerline goodness : 0.807232 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.91, Z:1.48 [[ 0.96656649 -0.2487328 -0.06229939 -5.57593607] [ 0.24877047 0.96853514 -0.00727539 -0.9062347 ] [ 0.06214878 -0.0084661 0.99803099 1.47713865] [ 0. 0. 0. 1. ]] SLAMing on 57.304860624 meters Centerline goodness : 0.810313 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96673944 -0.24795686 -0.06270766 -5.57420451] [ 0.24803247 0.96872855 -0.00669959 -0.90732346] [ 0.06240791 -0.00907678 0.99800945 1.47646128] [ 0. 0. 0. 1. ]] SLAMing on 57.334860624 meters Centerline goodness : 0.810757 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96678175 -0.24774332 -0.06289908 -5.57370006] [ 0.24782522 0.96878214 -0.00662009 -0.90750708] [ 0.06257559 -0.00918779 0.99799794 1.47650256] [ 0. 0. 0. 1. ]] SLAMing on 57.364860624 meters Centerline goodness : 0.844239 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96683441 -0.24750845 -0.06301421 -5.57335509] [ 0.24759437 0.96884154 -0.00656531 -0.90757744] [ 0.06267575 -0.0092544 0.99799104 1.476584 ] [ 0. 0. 0. 1. ]] SLAMing on 57.394860624 meters Centerline goodness : 0.812645 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96688336 -0.24727377 -0.06318428 -5.57313487] [ 0.24735522 0.96890202 -0.00665377 -0.9075641 ] [ 0.06286468 -0.00919554 0.9979797 1.47707294] [ 0. 0. 0. 1. ]] SLAMing on 57.424860624 meters Centerline goodness : 0.812610 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96689133 -0.24722254 -0.06326274 -5.57323601] [ 0.24729366 0.96891653 -0.00682725 -0.90729562] [ 0.06298417 -0.00904327 0.99797355 1.47760101] [ 0. 0. 0. 1. ]] SLAMing on 57.454860624 meters Centerline goodness : 0.815620 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96695579 -0.24696505 -0.06328322 -5.57351053] [ 0.24702401 0.96898397 -0.00701417 -0.9072387 ] [ 0.06305268 -0.00885009 0.99797096 1.47856259] [ 0. 0. 0. 1. ]] SLAMing on 57.484860624 meters Centerline goodness : 0.817663 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96699369 -0.24678284 -0.06341482 -5.57316257] [ 0.24685031 0.96902911 -0.00689223 -0.90782429] [ 0.06315169 -0.00898922 0.99796346 1.47867966] [ 0. 0. 0. 1. ]] SLAMing on 57.514860624 meters Centerline goodness : 0.817052 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96700866 -0.24673259 -0.0633821 -5.57314344] [ 0.24680871 0.96904072 -0.006749 -0.90868401] [ 0.06308504 -0.00911692 0.99796651 1.47873877] [ 0. 0. 0. 1. ]] SLAMing on 57.544860624 meters Centerline goodness : 0.817437 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96703668 -0.24658999 -0.06350935 -5.57261111] [ 0.24667857 0.96907511 -0.00656596 -0.90950457] [ 0.06316443 -0.00931687 0.99795964 1.47861102] [ 0. 0. 0. 1. ]] SLAMing on 57.574860624 meters Centerline goodness : 0.852831 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96699314 -0.24677732 -0.06344462 -5.57269366] [ 0.24687705 0.96902577 -0.00638613 -0.91093509] [ 0.06305543 -0.00948767 0.99796493 1.47868682] [ 0. 0. 0. 1. ]] SLAMing on 57.604860624 meters Centerline goodness : 0.818231 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96696589 -0.24687231 -0.06349041 -5.57242309] [ 0.24698457 0.96899959 -0.00619793 -0.91188443] [ 0.06305228 -0.00968796 0.9979632 1.47852472] [ 0. 0. 0. 1. ]] SLAMing on 57.634860624 meters Centerline goodness : 0.853015 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96692836 -0.24701602 -0.063503 -5.57228216] [ 0.24713932 0.96896119 -0.00602992 -0.9130134 ] [ 0.06302143 -0.00986359 0.99796343 1.47846817] [ 0. 0. 0. 1. ]] SLAMing on 57.664860624 meters Centerline goodness : 0.820052 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.48 [[ 0.96690515 -0.24709239 -0.06355925 -5.57194331] [ 0.24723038 0.96893932 -0.00580894 -0.91445014] [ 0.0630204 -0.01009708 0.99796116 1.47837213] [ 0. 0. 0. 1. ]] SLAMing on 57.694860624 meters Centerline goodness : 0.818475 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.48 [[ 9.66878132e-01 -2.47196168e-01 -6.35667479e-02 -5.57172886e+00] [ 2.47356047e-01 9.68909233e-01 -5.46665144e-03 -9.16197642e-01] [ 6.29417443e-02 -1.04380337e-02 9.97962617e-01 1.47819480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724860624 meters Centerline goodness : 0.817308 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.48 [[ 9.66864109e-01 -2.47262020e-01 -6.35239201e-02 -5.57150679e+00] [ 2.47445293e-01 9.68888495e-01 -5.09027372e-03 -9.18229803e-01] [ 6.28062267e-02 -1.07970921e-02 9.97967334e-01 1.47806043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754860624 meters Centerline goodness : 0.817474 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.48 [[ 9.66790034e-01 -2.47588273e-01 -6.33804159e-02 -5.57169151e+00] [ 2.47790513e-01 9.68801873e-01 -4.77410528e-03 -9.21599672e-01] [ 6.25850781e-02 -1.10895083e-02 9.97978021e-01 1.47848948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784860624000004 meters Centerline goodness : 0.855374 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.48 [[ 9.66755251e-01 -2.47725326e-01 -6.33754549e-02 -5.57207572e+00] [ 2.47925487e-01 9.68767159e-01 -4.81090755e-03 -9.22423548e-01] [ 6.25878430e-02 -1.10614204e-02 9.97978160e-01 1.47916289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.814860624 meters Centerline goodness : 0.818849 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.48 [[ 9.66770078e-01 -2.47629271e-01 -6.35244889e-02 -5.57201609e+00] [ 2.47835281e-01 9.68790584e-01 -4.74103859e-03 -9.22983779e-01] [ 6.27159466e-02 -1.11601153e-02 9.97969018e-01 1.47964890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844860624 meters Centerline goodness : 0.818149 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.48 [[ 9.66833456e-01 -2.47330104e-01 -6.37251000e-02 -5.57152423e+00] [ 2.47554799e-01 9.68863581e-01 -4.47025756e-03 -9.23952185e-01] [ 6.28465578e-02 -1.14534598e-02 9.97957478e-01 1.47983572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874860624 meters Centerline goodness : 0.859452 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.48 [[ 9.66898174e-01 -2.47039809e-01 -6.38690306e-02 -5.57103441e+00] [ 2.47284717e-01 9.68933904e-01 -4.16641791e-03 -9.25133972e-01] [ 6.29141402e-02 -1.17653333e-02 9.97949592e-01 1.47988599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904860624 meters Centerline goodness : 0.856629 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.48 [[ 9.67059031e-01 -2.46349251e-01 -6.41005281e-02 -5.56992942e+00] [ 2.46650228e-01 9.69098953e-01 -3.29905088e-03 -9.28483926e-01] [ 6.29324734e-02 -1.26200329e-02 9.97937993e-01 1.47978359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934860624 meters Centerline goodness : 0.856358 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.48 [[ 9.67117511e-01 -2.46089478e-01 -6.42159513e-02 -5.56959311e+00] [ 2.46412814e-01 9.69160445e-01 -2.95940541e-03 -9.29690128e-01] [ 6.29638384e-02 -1.29615404e-02 9.97931638e-01 1.47987315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964860624 meters Centerline goodness : 0.856740 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.48 [[ 9.67169184e-01 -2.45831748e-01 -6.44245433e-02 -5.56924943e+00] [ 2.46161416e-01 9.69224527e-01 -2.89367978e-03 -9.30051201e-01] [ 6.31532059e-02 -1.30601589e-02 9.97918386e-01 1.48024201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.994860624 meters Centerline goodness : 0.855864 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.48 [[ 9.67220056e-01 -2.45561304e-01 -6.46916458e-02 -5.56890035e+00] [ 2.45898013e-01 9.69291578e-01 -2.82902054e-03 -9.30270354e-01] [ 6.33997655e-02 -1.31712618e-02 9.97901292e-01 1.48066206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024860624 meters Centerline goodness : 0.854593 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.48 [[ 9.67332256e-01 -2.45047733e-01 -6.49608750e-02 -5.56796360e+00] [ 2.45418426e-01 9.69414435e-01 -2.33449052e-03 -9.31746724e-01] [ 6.35460715e-02 -1.36843677e-02 9.97885081e-01 1.48064289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054860624 meters Centerline goodness : 0.816246 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.48 [[ 9.67400426e-01 -2.44717871e-01 -6.51887974e-02 -5.56691214e+00] [ 2.45126745e-01 9.69489417e-01 -1.77436881e-03 -9.33486147e-01] [ 6.36340690e-02 -1.42629926e-02 9.97871371e-01 1.48012967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084860624 meters Centerline goodness : 0.815991 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67435840e-01 -2.44506389e-01 -6.54562533e-02 -5.56586550e+00] [ 2.44952156e-01 9.69534361e-01 -1.25046372e-03 -9.35665534e-01] [ 6.37678331e-02 -1.48239069e-02 9.97854656e-01 1.47982867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114860624 meters Centerline goodness : 0.852314 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67433128e-01 -2.44497627e-01 -6.55290270e-02 -5.56520811e+00] [ 2.44969263e-01 9.69530462e-01 -8.62470672e-04 -9.37670378e-01] [ 6.37432598e-02 -1.52182148e-02 9.97850291e-01 1.47948985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144860624 meters Centerline goodness : 0.851624 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67345843e-01 -2.44829825e-01 -6.55772553e-02 -5.56516230e+00] [ 2.45319389e-01 9.69442124e-01 -6.04701631e-04 -9.40328886e-01] [ 6.37214026e-02 -1.55024166e-02 9.97847312e-01 1.47992210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.174860624 meters Centerline goodness : 0.851368 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67280677e-01 -2.45093036e-01 -6.55552819e-02 -5.56568469e+00] [ 2.45577091e-01 9.69376815e-01 -6.94563581e-04 -9.41059531e-01] [ 6.37180031e-02 -1.54270375e-02 9.97848697e-01 1.48066591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204860624 meters Centerline goodness : 0.851368 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67280677e-01 -2.45093036e-01 -6.55552819e-02 -5.56568469e+00] [ 2.45577091e-01 9.69376815e-01 -6.94563581e-04 -9.41059531e-01] [ 6.37180031e-02 -1.54270375e-02 9.97848697e-01 1.48066591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234860624 meters Centerline goodness : 0.850648 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67205500e-01 -2.45417215e-01 -6.54515907e-02 -5.56635938e+00] [ 2.45888243e-01 9.69297781e-01 -8.84627229e-04 -9.41503372e-01] [ 6.36591844e-02 -1.52381603e-02 9.97855354e-01 1.48141798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264860624 meters Centerline goodness : 0.851240 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67125278e-01 -2.45747014e-01 -6.53995495e-02 -5.56680936e+00] [ 2.46214891e-01 9.69214815e-01 -9.32757160e-04 -9.43152055e-01] [ 6.36154346e-02 -1.52002499e-02 9.97858722e-01 1.48237215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294860624 meters Centerline goodness : 0.850401 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.48 [[ 9.67145667e-01 -2.45614915e-01 -6.55939940e-02 -5.56615687e+00] [ 2.46097367e-01 9.69244824e-01 -7.46754921e-04 -9.44235140e-01] [ 6.37600533e-02 -1.54202884e-02 9.97846116e-01 1.48233619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324860624 meters Centerline goodness : 0.850076 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.95, Z:1.48 [[ 9.67157435e-01 -2.45520339e-01 -6.57742973e-02 -5.56552033e+00] [ 2.46015936e-01 9.69265609e-01 -5.81979212e-04 -9.45259660e-01] [ 6.38956521e-02 -1.56186598e-02 9.97834357e-01 1.48226252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.354860624 meters Centerline goodness : 0.847430 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67161571e-01 -2.45447249e-01 -6.59859289e-02 -5.56488397e+00] [ 2.45953025e-01 9.69281634e-01 -4.72781215e-04 -9.45961831e-01] [ 6.40749918e-02 -1.57721830e-02 9.97820442e-01 1.48223741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384860624 meters Centerline goodness : 0.812207 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67152693e-01 -2.45468602e-01 -6.60366087e-02 -5.56478751e+00] [ 2.45974792e-01 9.69276107e-01 -4.79555734e-04 -9.46488235e-01] [ 6.41254229e-02 -1.57795375e-02 9.97817086e-01 1.48247613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414860624 meters Centerline goodness : 0.846217 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67133797e-01 -2.45515579e-01 -6.61386286e-02 -5.56477652e+00] [ 2.46019119e-01 9.69264821e-01 -5.47468634e-04 -9.46846131e-01] [ 6.42402581e-02 -1.57418917e-02 9.97810294e-01 1.48290574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444860624 meters Centerline goodness : 0.811292 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.95, Z:1.48 [[ 9.67119138e-01 -2.45594810e-01 -6.60587790e-02 -5.56524721e+00] [ 2.46085362e-01 9.69247883e-01 -7.32480732e-04 -9.47179012e-01] [ 6.42072252e-02 -1.55477024e-02 9.97815464e-01 1.48372787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474860624 meters Centerline goodness : 0.809337 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.95, Z:1.48 [[ 9.67145788e-01 -2.45463823e-01 -6.61553942e-02 -5.56500510e+00] [ 2.45960112e-01 9.69279725e-01 -6.62389442e-04 -9.47624453e-01] [ 6.42856749e-02 -1.56309610e-02 9.97809113e-01 1.48387448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504860624 meters Centerline goodness : 0.843546 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67196159e-01 -2.45198993e-01 -6.64006250e-02 -5.56440020e+00] [ 2.45707948e-01 9.69343766e-01 -5.17042359e-04 -9.48273233e-01] [ 6.44918102e-02 -1.58150799e-02 9.97792909e-01 1.48401759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534860624000004 meters Centerline goodness : 0.844544 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67268504e-01 -2.44865736e-01 -6.65763650e-02 -5.56374774e+00] [ 2.45397645e-01 9.69422487e-01 -1.94323656e-04 -9.49191780e-01] [ 6.45882086e-02 -1.61497201e-02 9.97781314e-01 1.48383630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564860624 meters Centerline goodness : 0.843609 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67343966e-01 -2.44490539e-01 -6.68582608e-02 -5.56288758e+00] [ 2.45041254e-01 9.69512652e-01 3.75120649e-05 -9.49817583e-01] [ 6.48107584e-02 -1.64193191e-02 9.97762483e-01 1.48375014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594860624 meters Centerline goodness : 0.807845 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67649427e-01 -2.43113911e-01 -6.74552588e-02 -5.56109241e+00] [ 2.43715728e-01 9.69846448e-01 7.14873147e-04 -9.49821551e-01] [ 6.52474475e-02 -1.71316541e-02 9.97722044e-01 1.48341496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624860624 meters Centerline goodness : 0.808313 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67749702e-01 -2.42606402e-01 -6.78428202e-02 -5.56021154e+00] [ 2.43211581e-01 9.69973021e-01 6.82013289e-04 -9.49048499e-01] [ 6.56402445e-02 -1.71601777e-02 9.97695789e-01 1.48354325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654860624 meters Centerline goodness : 0.807418 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67858659e-01 -2.42047275e-01 -6.82842063e-02 -5.55917225e+00] [ 2.42670401e-01 9.70108417e-01 8.57459055e-04 -9.48760948e-01] [ 6.60355377e-02 -1.74004549e-02 9.97665541e-01 1.48349879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684860624 meters Centerline goodness : 0.845468 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.67968567e-01 -2.41517785e-01 -6.86003887e-02 -5.55817598e+00] [ 2.42163142e-01 9.70234890e-01 1.12723572e-03 -9.48838559e-01] [ 6.62862431e-02 -1.77036144e-02 9.97643582e-01 1.48320407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714860624 meters Centerline goodness : 0.846590 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68062523e-01 -2.41072709e-01 -6.88396706e-02 -5.55740035e+00] [ 2.41738357e-01 9.70340483e-01 1.38342854e-03 -9.49299418e-01] [ 6.64644124e-02 -1.79804342e-02 9.97626777e-01 1.48306374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744860624 meters Centerline goodness : 0.805343 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68198176e-01 -2.40426204e-01 -6.91919893e-02 -5.55619451e+00] [ 2.41127979e-01 9.70491562e-01 1.85089968e-03 -9.50751658e-01] [ 6.67052369e-02 -1.84761622e-02 9.97601645e-01 1.48296189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.774860624 meters Centerline goodness : 0.806284 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68217766e-01 -2.40308960e-01 -6.93250479e-02 -5.55591093e+00] [ 2.41016987e-01 9.70519015e-01 1.91148088e-03 -9.51293276e-01] [ 6.68219312e-02 -1.85592439e-02 9.97592293e-01 1.48318018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804860624 meters Centerline goodness : 0.805972 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68239022e-01 -2.40213687e-01 -6.93583465e-02 -5.55578866e+00] [ 2.40932504e-01 9.70539673e-01 2.06665039e-03 -9.51823093e-01] [ 6.68185892e-02 -1.87116917e-02 9.97589670e-01 1.48320145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834860624 meters Centerline goodness : 0.805674 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68226503e-01 -2.40259990e-01 -6.93727337e-02 -5.55596541e+00] [ 2.40976840e-01 9.70528740e-01 2.03160680e-03 -9.52242223e-01] [ 6.68401180e-02 -1.86842777e-02 9.97588741e-01 1.48367332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864860624 meters Centerline goodness : 0.849494 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68202817e-01 -2.40317881e-01 -6.95026733e-02 -5.55580158e+00] [ 2.41039917e-01 9.70512994e-01 2.07042156e-03 -9.52731129e-01] [ 6.69556883e-02 -1.87575066e-02 9.97579617e-01 1.48389002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894860624 meters Centerline goodness : 0.804884 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68144215e-01 -2.40546775e-01 -6.95271792e-02 -5.55590774e+00] [ 2.41273785e-01 9.70454752e-01 2.12949996e-03 -9.53628548e-01] [ 6.69607371e-02 -1.88367487e-02 9.97577785e-01 1.48413659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924860624 meters Centerline goodness : 0.805242 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.48 [[ 9.68044903e-01 -2.40977579e-01 -6.94180971e-02 -5.55637930e+00] [ 2.41697688e-01 9.70349451e-01 2.04202518e-03 -9.54554338e-01] [ 6.68677302e-02 -1.87549656e-02 9.97585564e-01 1.48457082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.954860624 meters Centerline goodness : 0.805300 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.49 [[ 9.67048014e-01 -2.45181632e-01 -6.85864803e-02 -5.55665147e+00] [ 2.45629016e-01 9.69361919e-01 -1.96373463e-03 -9.55518606e-01] [ 6.69665939e-02 -1.49478040e-02 9.97643242e-01 1.48582376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984860624 meters Centerline goodness : 0.805262 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.49 [[ 9.66791599e-01 -2.46258985e-01 -6.83411743e-02 -5.55769956e+00] [ 2.46684826e-01 9.69093106e-01 -2.26902746e-03 -9.57698443e-01] [ 6.67877293e-02 -1.46650540e-02 9.97659429e-01 1.48677292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014860624 meters Centerline goodness : 0.805834 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.49 [[ 9.66491749e-01 -2.47523702e-01 -6.80126118e-02 -5.55899838e+00] [ 2.47918053e-01 9.68777206e-01 -2.71373339e-03 -9.59736312e-01] [ 6.65607814e-02 -1.42387534e-02 9.97680771e-01 1.48781050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044860624 meters Centerline goodness : 0.805466 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.49 [[ 0.96538927 -0.25204264 -0.06706754 -5.55893101] [ 0.25220197 0.96765463 -0.00621982 -0.96229804] [ 0.06646588 -0.01091001 0.99772905 1.48817275] [ 0. 0. 0. 1. ]] SLAMing on 59.074860624 meters Centerline goodness : 0.805812 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.49 [[ 0.96521191 -0.25276926 -0.06688543 -5.55936007] [ 0.25293422 0.96746405 -0.00613067 -0.96441245] [ 0.0662589 -0.01100022 0.99774183 1.48836814] [ 0. 0. 0. 1. ]] SLAMing on 59.104860624 meters Centerline goodness : 0.804248 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.49 [[ 0.96504013 -0.25345405 -0.06677274 -5.55964739] [ 0.25362323 0.96728402 -0.00607223 -0.96643967] [ 0.06612723 -0.01107517 0.99774973 1.48861965] [ 0. 0. 0. 1. ]] SLAMing on 59.134860624 meters Centerline goodness : 0.806361 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.49 [[ 0.96407747 -0.25726351 -0.06610693 -5.55869707] [ 0.25721775 0.96630825 -0.00934871 -0.96845428] [ 0.06628475 -0.007991 0.99776875 1.48870934] [ 0. 0. 0. 1. ]] SLAMing on 59.164860624 meters Centerline goodness : 0.807580 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.49 [[ 0.9640092 -0.2575417 -0.06601917 -5.55896387] [ 0.25750217 0.96623341 -0.00925395 -0.96990045] [ 0.06617321 -0.00807919 0.99777544 1.48904487] [ 0. 0. 0. 1. ]] SLAMing on 59.194860624 meters Centerline goodness : 0.854279 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.49 [[ 0.96390178 -0.25798929 -0.06583988 -5.55956223] [ 0.25795752 0.96611312 -0.00913011 -0.9725623 ] [ 0.06596424 -0.00818336 0.99778843 1.48986627] [ 0. 0. 0. 1. ]] SLAMing on 59.224860624 meters Centerline goodness : 0.857876 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.49 [[ 0.96388623 -0.25807594 -0.0657278 -5.55988128] [ 0.25806014 0.96608807 -0.00887703 -0.97405393] [ 0.06578979 -0.00840528 0.9977981 1.49018958] [ 0. 0. 0. 1. ]] SLAMing on 59.254860624 meters Centerline goodness : 0.858200 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.49 [[ 0.96386366 -0.25817406 -0.06567339 -5.56016635] [ 0.25816088 0.96606155 -0.00883373 -0.97484916] [ 0.06572518 -0.00843979 0.99780207 1.49062184] [ 0. 0. 0. 1. ]] SLAMing on 59.284860624000004 meters Centerline goodness : 0.856856 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.49 [[ 0.96387488 -0.25810948 -0.0657625 -5.56008502] [ 0.25811017 0.96607692 -0.00863272 -0.97567891] [ 0.06575982 -0.0086531 0.99779796 1.49087389] [ 0. 0. 0. 1. ]] SLAMing on 59.314860624 meters Centerline goodness : 0.852255 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.49 [[ 0.96391834 -0.25793197 -0.06582202 -5.55986037] [ 0.25795305 0.96612159 -0.00832494 -0.9767046 ] [ 0.06573934 -0.00895443 0.99779665 1.49088069] [ 0. 0. 0. 1. ]] SLAMing on 59.344860624 meters Centerline goodness : 0.855621 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.49 [[ 0.96407326 -0.25728056 -0.06610187 -5.55846405] [ 0.25736688 0.96628579 -0.0073526 -0.97974578] [ 0.06576498 -0.00992399 0.99778579 1.49035554] [ 0. 0. 0. 1. ]] SLAMing on 59.374860624 meters Centerline goodness : 0.854303 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.49 [[ 0.96414709 -0.25695363 -0.06629646 -5.55775609] [ 0.2570755 0.96636717 -0.00683229 -0.98132453] [ 0.06582231 -0.01045587 0.99777658 1.49015797] [ 0. 0. 0. 1. ]] SLAMing on 59.404860624 meters Centerline goodness : 0.853619 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.49 [[ 0.96421464 -0.25665902 -0.06645504 -5.55707062] [ 0.25680526 0.96644146 -0.00647839 -0.98222355] [ 0.06588765 -0.01081944 0.99776839 1.48991073] [ 0. 0. 0. 1. ]] SLAMing on 59.434860624 meters Centerline goodness : 0.852282 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.49 [[ 0.96447992 -0.25554922 -0.06688112 -5.55546674] [ 0.25575337 0.96672563 -0.00563677 -0.98316555] [ 0.06609616 -0.01166852 0.99774503 1.48921159] [ 0. 0. 0. 1. ]] SLAMing on 59.464860624 meters Centerline goodness : 0.853695 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.49 [[ 9.64581940e-01 -2.55092353e-01 -6.71533494e-02 -5.55476045e+00] [ 2.55315269e-01 9.66842851e-01 -5.38648188e-03 -9.83618437e-01] [ 6.63007862e-02 -1.19495723e-02 9.97728126e-01 1.48925264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.494860624 meters Centerline goodness : 0.851680 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.49 [[ 9.64689140e-01 -2.54625682e-01 -6.73841579e-02 -5.55403043e+00] [ 2.54866733e-01 9.66962529e-01 -5.13953992e-03 -9.84100553e-01] [ 6.64666146e-02 -1.22159219e-02 9.97713867e-01 1.48918349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524860624 meters Centerline goodness : 0.852134 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.64903192e-01 -2.53721023e-01 -6.77308761e-02 -5.55274610e+00] [ 2.54010815e-01 9.67191176e-01 -4.44240728e-03 -9.85366353e-01] [ 6.66358378e-02 -1.29178821e-02 9.97693737e-01 1.48881107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554860624 meters Centerline goodness : 0.853823 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.65001492e-01 -2.53264041e-01 -6.80400364e-02 -5.55177693e+00] [ 2.53571642e-01 9.67307401e-01 -4.22057465e-03 -9.85593372e-01] [ 6.68845506e-02 -1.31801629e-02 9.97673664e-01 1.48859539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584860624 meters Centerline goodness : 0.849344 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.65071371e-01 -2.53030568e-01 -6.79174576e-02 -5.55139844e+00] [ 2.53318869e-01 9.67372479e-01 -4.47630634e-03 -9.85461110e-01] [ 6.68341217e-02 -1.28848185e-02 9.97680902e-01 1.48804171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614860624 meters Centerline goodness : 0.834922 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.65843968e-01 -2.46829622e-01 -7.88705711e-02 -5.55246672e+00] [ 2.47251340e-01 9.68940802e-01 -4.52738139e-03 -9.90740477e-01] [ 7.75384062e-02 -1.51281103e-02 9.96874584e-01 1.49201464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644860624 meters Centerline goodness : 0.851372 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.65947842e-01 -2.46253643e-01 -7.93971670e-02 -5.55110649e+00] [ 2.46758355e-01 9.69070559e-01 -3.54489857e-03 -9.91750797e-01] [ 7.78144012e-02 -1.61677272e-02 9.96836759e-01 1.49174934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.674860624 meters Centerline goodness : 0.848293 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.66042529e-01 -2.45848111e-01 -7.95018121e-02 -5.55082009e+00] [ 2.46392001e-01 9.69165460e-01 -3.04830567e-03 -9.92830673e-01] [ 7.77998305e-02 -1.66438177e-02 9.96830061e-01 1.49193524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704860624 meters Centerline goodness : 0.841963 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.66094194e-01 -2.45650210e-01 -7.94857416e-02 -5.55062224e+00] [ 2.46204771e-01 9.69213496e-01 -2.89987986e-03 -9.93572050e-01] [ 7.77510097e-02 -1.67682117e-02 9.96831785e-01 1.49196342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734860624 meters Centerline goodness : 0.847937 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.66082582e-01 -2.45762356e-01 -7.92799438e-02 -5.55066682e+00] [ 2.46296902e-01 9.69189414e-01 -3.11714107e-03 -9.93954898e-01] [ 7.76033582e-02 -1.65149889e-02 9.96847518e-01 1.49183746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764860624 meters Centerline goodness : 0.844855 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.99, Z:1.49 [[ 9.66109453e-01 -2.45647741e-01 -7.93077037e-02 -5.55030266e+00] [ 2.46198674e-01 9.69215021e-01 -2.90784256e-03 -9.94753300e-01] [ 7.75805227e-02 -1.67161573e-02 9.96845942e-01 1.49172985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794860624 meters Centerline goodness : 0.840832 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.49 [[ 9.66250436e-01 -2.44935010e-01 -7.97930861e-02 -5.54965022e+00] [ 2.45602650e-01 9.69369444e-01 -1.48943939e-03 -9.96402146e-01] [ 7.77137954e-02 -1.81582220e-02 9.96810336e-01 1.49222176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824860624 meters Centerline goodness : 0.837662 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.49 [[ 9.66273533e-01 -2.44810553e-01 -7.98952607e-02 -5.54967246e+00] [ 2.45496644e-01 9.69396606e-01 -1.27178539e-03 -9.97119403e-01] [ 7.77615411e-02 -1.83851258e-02 9.96802453e-01 1.49277587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.854860624 meters Centerline goodness : 0.837586 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.49 [[ 9.66347700e-01 -2.44380320e-01 -8.03142675e-02 -5.54800622e+00] [ 2.45166025e-01 9.69481105e-01 -8.06622439e-05 -9.99299246e-01] [ 7.78828771e-02 -1.96123820e-02 9.96769588e-01 1.49222829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884860624 meters Centerline goodness : 0.835557 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.49 [[ 9.66289336e-01 -2.44582705e-01 -8.04003742e-02 -5.54727015e+00] [ 2.45389675e-01 9.69424510e-01 1.61155619e-04 -1.00073597e+00] [ 7.79026775e-02 -1.98851447e-02 9.96762637e-01 1.49214183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914860624 meters Centerline goodness : 0.835808 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.01, Z:1.50 [[ 9.66745294e-01 -2.38695219e-01 -9.18048411e-02 -5.54755196e+00] [ 2.39980558e-01 9.70772861e-01 3.06339710e-03 -1.00788799e+00] [ 8.83904300e-02 -2.49929017e-02 9.95772307e-01 1.49559377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944860624 meters Centerline goodness : 0.834274 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.02, Z:1.50 [[ 0.96705406 -0.23310752 -0.10230999 -5.54696025] [ 0.23494444 0.97198955 0.00611773 -1.01549226] [ 0.09801815 -0.02995334 0.99473375 1.49809255] [ 0. 0. 0. 1. ]] SLAMing on 59.974860624 meters Centerline goodness : 0.835239 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.02, Z:1.50 [[ 0.96721746 -0.22724114 -0.11336598 -5.54677466] [ 0.22995686 0.97313512 0.01130811 -1.02174122] [ 0.10775075 -0.03700669 0.99348894 1.50115406] [ 0. 0. 0. 1. ]] SLAMing on 60.004860624 meters Centerline goodness : 0.832591 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.02, Z:1.50 [[ 0.96724849 -0.22686828 -0.11384701 -5.5455433 ] [ 0.22968088 0.97319135 0.01205328 -1.02269503] [ 0.10806042 -0.037807 0.99342517 1.50114184] [ 0. 0. 0. 1. ]] SLAMing on 60.034860624000004 meters Centerline goodness : 0.833249 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.02, Z:1.50 [[ 0.9672775 -0.22671195 -0.11391193 -5.54519864] [ 0.22955545 0.97321757 0.01232331 -1.02353223] [ 0.10806726 -0.03806916 0.99341442 1.50117695] [ 0. 0. 0. 1. ]] SLAMing on 60.064860624 meters Centerline goodness : 0.838765 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96749274 -0.22587716 -0.1137423 -5.54393681] [ 0.22876727 0.9733962 0.01285972 -1.02532987] [ 0.10781161 -0.0384622 0.99342706 1.499643 ] [ 0. 0. 0. 1. ]] SLAMing on 60.094860624 meters Centerline goodness : 0.833312 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96758456 -0.22536765 -0.11397162 -5.54286245] [ 0.22832321 0.97349306 0.01340829 -1.02609039] [ 0.10792879 -0.03899602 0.99339352 1.49908316] [ 0. 0. 0. 1. ]] SLAMing on 60.124860624 meters Centerline goodness : 0.833312 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96758456 -0.22536765 -0.11397162 -5.54286245] [ 0.22832321 0.97349306 0.01340829 -1.02609039] [ 0.10792879 -0.03899602 0.99339352 1.49908316] [ 0. 0. 0. 1. ]] SLAMing on 60.154860624 meters Centerline goodness : 0.833312 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96758456 -0.22536765 -0.11397162 -5.54286245] [ 0.22832321 0.97349306 0.01340829 -1.02609039] [ 0.10792879 -0.03899602 0.99339352 1.49908316] [ 0. 0. 0. 1. ]] SLAMing on 60.184860624 meters Centerline goodness : 0.833312 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96758456 -0.22536765 -0.11397162 -5.54286245] [ 0.22832321 0.97349306 0.01340829 -1.02609039] [ 0.10792879 -0.03899602 0.99339352 1.49908316] [ 0. 0. 0. 1. ]] SLAMing on 60.214860624 meters Centerline goodness : 0.836439 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96755683 -0.2254441 -0.11405582 -5.54230615] [ 0.22840386 0.97347408 0.01341206 -1.02670342] [ 0.10800671 -0.03902772 0.99338381 1.49899524] [ 0. 0. 0. 1. ]] SLAMing on 60.244860624 meters Centerline goodness : 0.842011 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96751697 -0.22535409 -0.11457074 -5.54075464] [ 0.22839453 0.97346843 0.01396946 -1.02751693] [ 0.10838293 -0.03968302 0.99331687 1.49866482] [ 0. 0. 0. 1. ]] SLAMing on 60.274860624 meters Centerline goodness : 0.840413 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96752472 -0.22526281 -0.1146847 -5.53992848] [ 0.22832572 0.97348214 0.01413838 -1.0281447 ] [ 0.10845866 -0.0398647 0.99330133 1.49821891] [ 0. 0. 0. 1. ]] SLAMing on 60.304860624 meters Centerline goodness : 0.841570 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96738135 -0.22581613 -0.11480594 -5.53906606] [ 0.22885051 0.97336374 0.01380144 -1.02850529] [ 0.10863135 -0.03962465 0.99329206 1.4979836 ] [ 0. 0. 0. 1. ]] SLAMing on 60.334860624 meters Centerline goodness : 0.847068 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.9673363 -0.22579961 -0.11521731 -5.53808 ] [ 0.22888226 0.97335212 0.01409151 -1.0286672 ] [ 0.10896515 -0.04000243 0.99324035 1.49788119] [ 0. 0. 0. 1. ]] SLAMing on 60.364860624 meters Centerline goodness : 0.843735 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96729857 -0.22583152 -0.11547125 -5.53752551] [ 0.22891238 0.97334664 0.01397977 -1.02813398] [ 0.10923648 -0.03995541 0.99321244 1.49777831] [ 0. 0. 0. 1. ]] SLAMing on 60.394860624 meters Centerline goodness : 0.826845 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96788516 -0.22268799 -0.11665493 -5.53674073] [ 0.22618029 0.97392937 0.01743752 -1.02832778] [ 0.10973054 -0.04326257 0.99301942 1.49799933] [ 0. 0. 0. 1. ]] SLAMing on 60.424860624 meters Centerline goodness : 0.822421 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96833912 -0.22008186 -0.11782756 -5.53571975] [ 0.22400806 0.9743606 0.02101948 -1.02937853] [ 0.11018052 -0.04674831 0.99281159 1.49821111] [ 0. 0. 0. 1. ]] SLAMing on 60.454860624 meters Centerline goodness : 0.829285 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96852393 -0.21935582 -0.11766233 -5.53571138] [ 0.22325156 0.97453772 0.02085595 -1.02905924] [ 0.1100915 -0.04646778 0.99283463 1.49768448] [ 0. 0. 0. 1. ]] SLAMing on 60.484860624 meters Centerline goodness : 0.839072 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.03, Z:1.50 [[ 0.96868072 -0.21872498 -0.11754595 -5.53532133] [ 0.22261753 0.97468155 0.02091192 -1.02905124] [ 0.10999591 -0.04642476 0.99284724 1.49680624] [ 0. 0. 0. 1. ]] SLAMing on 60.514860624 meters Centerline goodness : 0.829734 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.03, Z:1.50 [[ 0.96914944 -0.21611504 -0.11850592 -5.53411532] [ 0.22033189 0.97514039 0.02356024 -1.02954173] [ 0.11046819 -0.04894403 0.99267379 1.49646283] [ 0. 0. 0. 1. ]] SLAMing on 60.544860624 meters Centerline goodness : 0.834080 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.03, Z:1.50 [[ 0.96924117 -0.21568871 -0.11853241 -5.53427108] [ 0.21986423 0.97525455 0.02320095 -1.02807481] [ 0.11059509 -0.04854835 0.99267909 1.49632055] [ 0. 0. 0. 1. ]] SLAMing on 60.574860624 meters Centerline goodness : 0.827966 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.03, Z:1.50 [[ 0.97009227 -0.2113564 -0.11937111 -5.53395791] [ 0.21590235 0.97605854 0.02637977 -1.02642427] [ 0.11093766 -0.05136332 0.99249919 1.49558692] [ 0. 0. 0. 1. ]] SLAMing on 60.604860624 meters Centerline goodness : 0.837847 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.03, Z:1.49 [[ 0.97034282 -0.21032959 -0.11914816 -5.53407553] [ 0.21482894 0.97630228 0.02612259 -1.02533054] [ 0.11083027 -0.05094434 0.99253278 1.49465183] [ 0. 0. 0. 1. ]] SLAMing on 60.634860624 meters Centerline goodness : 0.840080 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.02, Z:1.49 [[ 0.97057581 -0.20937701 -0.11892802 -5.5341173 ] [ 0.21380696 0.976539 0.02565456 -1.02405259] [ 0.11076637 -0.05032734 0.99257139 1.4937235 ] [ 0. 0. 0. 1. ]] SLAMing on 60.664860624 meters Centerline goodness : 0.838895 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.02, Z:1.49 [[ 0.97132888 -0.20537643 -0.1197528 -5.53306505] [ 0.21015452 0.97724973 0.02860133 -1.02259036] [ 0.11115435 -0.05294789 0.99239167 1.4921793 ] [ 0. 0. 0. 1. ]] SLAMing on 60.694860624 meters Centerline goodness : 0.841368 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.02, Z:1.49 [[ 0.97134424 -0.20510916 -0.12008582 -5.5327947 ] [ 0.20989823 0.97730618 0.02855446 -1.02164102] [ 0.11150384 -0.05294201 0.99235278 1.49242176] [ 0. 0. 0. 1. ]] SLAMing on 60.724860624 meters Centerline goodness : 0.840137 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.02, Z:1.49 [[ 0.97088472 -0.20672165 -0.12103311 -5.5322195 ] [ 0.21154987 0.97695562 0.02836135 -1.02034139] [ 0.11238107 -0.05314014 0.99224323 1.49430304] [ 0. 0. 0. 1. ]] SLAMing on 60.754860624 meters Centerline goodness : 0.840137 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.02, Z:1.49 [[ 0.97088472 -0.20672165 -0.12103311 -5.5322195 ] [ 0.21154987 0.97695562 0.02836135 -1.02034139] [ 0.11238107 -0.05314014 0.99224323 1.49430304] [ 0. 0. 0. 1. ]] SLAMing on 60.784860624000004 meters Centerline goodness : 0.838762 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.02, Z:1.49 [[ 0.97023122 -0.20884818 -0.12261247 -5.52884663] [ 0.21379469 0.97646195 0.0285288 -1.02013586] [ 0.11376822 -0.05389342 0.9920445 1.49469294] [ 0. 0. 0. 1. ]] SLAMing on 60.814860624 meters Centerline goodness : 0.835499 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.02, Z:1.50 [[ 0.9698695 -0.21018282 -0.12319224 -5.52770363] [ 0.2151745 0.97615761 0.02857025 -1.02064742] [ 0.11425006 -0.05421724 0.99197148 1.49529201] [ 0. 0. 0. 1. ]] SLAMing on 60.844860624 meters Centerline goodness : 0.836836 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96920676 -0.2122429 -0.12486473 -5.52497981] [ 0.21743178 0.97563411 0.02935133 -1.02167556] [ 0.11559268 -0.05559707 0.99173953 1.4969431 ] [ 0. 0. 0. 1. ]] SLAMing on 60.874860624 meters Centerline goodness : 0.834991 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96894076 -0.21289579 -0.12581414 -5.52367325] [ 0.21819786 0.97544883 0.02982061 -1.02171835] [ 0.11637657 -0.05634678 0.99160553 1.49781221] [ 0. 0. 0. 1. ]] SLAMing on 60.904860624 meters Centerline goodness : 0.835349 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96867435 -0.21356287 -0.12673159 -5.52227188] [ 0.2189522 0.97527197 0.03007538 -1.02144261] [ 0.11717478 -0.05688141 0.991481 1.49850819] [ 0. 0. 0. 1. ]] SLAMing on 60.934860624 meters Centerline goodness : 0.837691 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96829259 -0.21497638 -0.12725809 -5.52128322] [ 0.22034501 0.97497391 0.02956259 -1.02146969] [ 0.11771806 -0.05666592 0.99142898 1.49906772] [ 0. 0. 0. 1. ]] SLAMing on 60.964860624 meters Centerline goodness : 0.837691 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96829259 -0.21497638 -0.12725809 -5.52128322] [ 0.22034501 0.97497391 0.02956259 -1.02146969] [ 0.11771806 -0.05666592 0.99142898 1.49906772] [ 0. 0. 0. 1. ]] SLAMing on 60.994860624 meters Centerline goodness : 0.836768 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.9679523 -0.21590201 -0.12827575 -5.51886064] [ 0.22132643 0.97475397 0.02948405 -1.02121362] [ 0.11867164 -0.05692997 0.99130017 1.49889161] [ 0. 0. 0. 1. ]] SLAMing on 61.024860624 meters Centerline goodness : 0.839163 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96775751 -0.21628506 -0.12909755 -5.51755091] [ 0.22176243 0.97465422 0.02950561 -1.02033841] [ 0.11944385 -0.05718326 0.99119284 1.49919856] [ 0. 0. 0. 1. ]] SLAMing on 61.054860624 meters Centerline goodness : 0.840180 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96748793 -0.2169282 -0.13003559 -5.51715053] [ 0.22245361 0.97449949 0.0294132 -1.01818628] [ 0.12033906 -0.05738381 0.99107296 1.5007031 ] [ 0. 0. 0. 1. ]] SLAMing on 61.084860624 meters Centerline goodness : 0.841966 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96784179 -0.21449898 -0.13142476 -5.51647828] [ 0.22052388 0.97482409 0.03297292 -1.01895873] [ 0.12104337 -0.06089486 0.99077763 1.50176208] [ 0. 0. 0. 1. ]] SLAMing on 61.114860624 meters Centerline goodness : 0.846596 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.9678826 -0.21429329 -0.1314597 -5.51678143] [ 0.22029873 0.97488055 0.03280816 -1.01811871] [ 0.12112694 -0.06071486 0.99077847 1.50201312] [ 0. 0. 0. 1. ]] SLAMing on 61.144860624 meters Centerline goodness : 0.849027 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96798763 -0.21368155 -0.13168197 -5.51626858] [ 0.21966782 0.9750307 0.03257595 -1.01658244] [ 0.12143308 -0.0604594 0.99075661 1.50166993] [ 0. 0. 0. 1. ]] SLAMing on 61.174860624 meters Centerline goodness : 0.854596 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.02, Z:1.50 [[ 0.96861145 -0.20999732 -0.13301495 -5.51522206] [ 0.21643945 0.97563882 0.03581701 -1.01531826] [ 0.12225307 -0.06348245 0.99046664 1.50143694] [ 0. 0. 0. 1. ]] SLAMing on 61.204860624 meters Centerline goodness : 0.849600 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.96869984 -0.20953675 -0.13309759 -5.51493722] [ 0.21590514 0.9757795 0.03520428 -1.01330887] [ 0.12249731 -0.06283883 0.99047751 1.50085148] [ 0. 0. 0. 1. ]] SLAMing on 61.234860624 meters Centerline goodness : 0.851919 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.96871755 -0.20925428 -0.13341274 -5.51423926] [ 0.21558622 0.97586577 0.03476478 -1.01123255] [ 0.12291824 -0.0624392 0.99045063 1.50082573] [ 0. 0. 0. 1. ]] SLAMing on 61.264860624 meters Centerline goodness : 0.852206 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.96929748 -0.20553685 -0.13497036 -5.51227092] [ 0.21247276 0.97638789 0.03901312 -1.01177523] [ 0.12376479 -0.06649284 0.9900813 1.50051641] [ 0. 0. 0. 1. ]] SLAMing on 61.294860624 meters Centerline goodness : 0.813182 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.96998231 -0.20179743 -0.13569122 -5.51268105] [ 0.20911372 0.97699448 0.04187179 -1.01073072] [ 0.12411995 -0.06898979 0.98986597 1.50075598] [ 0. 0. 0. 1. ]] SLAMing on 61.324860624 meters Centerline goodness : 0.857918 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.97009608 -0.20124131 -0.13570384 -5.51295667] [ 0.20848662 0.9771515 0.04133125 -1.00926163] [ 0.12428566 -0.06838772 0.98988696 1.50074286] [ 0. 0. 0. 1. ]] SLAMing on 61.354860624 meters Centerline goodness : 0.860217 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.9702586 -0.20042732 -0.13574658 -5.51295998] [ 0.20767345 0.97732338 0.04136125 -1.00842716] [ 0.12437838 -0.06832207 0.98987985 1.50050871] [ 0. 0. 0. 1. ]] SLAMing on 61.384860624 meters Centerline goodness : 0.857683 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.9703144 -0.2001147 -0.13580895 -5.51315382] [ 0.2073111 0.97741764 0.04094946 -1.00689321] [ 0.12454748 -0.06788855 0.98988841 1.50054946] [ 0. 0. 0. 1. ]] SLAMing on 61.414860624 meters Centerline goodness : 0.860649 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.01, Z:1.50 [[ 0.97065892 -0.19751183 -0.13715081 -5.51248161] [ 0.20515699 0.97774385 0.04390413 -1.00551783] [ 0.12542677 -0.07075338 0.98957672 1.50122603] [ 0. 0. 0. 1. ]] SLAMing on 61.444860624 meters Centerline goodness : 0.815139 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.00, Z:1.50 [[ 0.97061339 -0.19770054 -0.13720112 -5.51263036] [ 0.20527474 0.97774584 0.04330526 -1.00387518] [ 0.12558635 -0.07019659 0.98959613 1.50149662] [ 0. 0. 0. 1. ]] SLAMing on 61.474860624 meters Centerline goodness : 0.757078 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.00, Z:1.50 [[ 0.97025858 -0.19897359 -0.13786875 -5.51224806] [ 0.20648105 0.97753437 0.04233364 -1.00090721] [ 0.12634817 -0.06954186 0.98954539 1.50236983] [ 0. 0. 0. 1. ]] SLAMing on 61.504860624 meters Centerline goodness : 0.814739 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.00, Z:1.50 [[ 0.97016512 -0.19944594 -0.13784398 -5.51238008] [ 0.2068893 0.97747026 0.04181759 -1.00017483] [ 0.12639804 -0.06908841 0.98957078 1.50249491] [ 0. 0. 0. 1. ]] SLAMing on 61.534860624000004 meters Centerline goodness : 0.859950 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.00, Z:1.50 [[ 0.97006485 -0.19992336 -0.13785802 -5.51253812] [ 0.20731446 0.97739911 0.04137269 -0.99977302] [ 0.12647094 -0.06871415 0.98958752 1.502733 ] [ 0. 0. 0. 1. ]] SLAMing on 61.564860624 meters Centerline goodness : 0.865870 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.00, Z:1.50 [[ 0.96993993 -0.20059359 -0.13776333 -5.51305596] [ 0.20791515 0.97729389 0.0408404 -0.99948809] [ 0.12644294 -0.06825582 0.98962282 1.50311354] [ 0. 0. 0. 1. ]] SLAMing on 61.594860624 meters Centerline goodness : 0.865268 Centerline is valid? [False, False] Translation: X:-5.51, Y:-1.00, Z:1.50 [[ 0.96905207 -0.20536369 -0.13698116 -5.51359866] [ 0.21204355 0.97659909 0.03594106 -0.99662893] [ 0.12639469 -0.06387473 0.98992141 1.50391133] [ 0. 0. 0. 1. ]] SLAMing on 61.624860624 meters Centerline goodness : 0.812465 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.00, Z:1.51 [[ 0.96883192 -0.20659078 -0.13669292 -5.51534357] [ 0.21311361 0.97640814 0.03478123 -0.99514066] [ 0.1262826 -0.06282829 0.99000268 1.5050538 ] [ 0. 0. 0. 1. ]] SLAMing on 61.654860624 meters Centerline goodness : 0.815133 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96873062 -0.20710601 -0.1366312 -5.51590072] [ 0.21355027 0.9763345 0.03416457 -0.99436979] [ 0.12632206 -0.06227389 0.99003268 1.50560987] [ 0. 0. 0. 1. ]] SLAMing on 61.684860624 meters Centerline goodness : 0.815949 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96867671 -0.2073362 -0.13666433 -5.5160444 ] [ 0.21373884 0.97630566 0.03380789 -0.99389413] [ 0.12641656 -0.06195939 0.99004035 1.50594144] [ 0. 0. 0. 1. ]] SLAMing on 61.714860624 meters Centerline goodness : 0.864392 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96860125 -0.20765849 -0.13670983 -5.51608859] [ 0.21399787 0.97626738 0.03327045 -0.99305385] [ 0.12655645 -0.06148141 0.99005227 1.50623171] [ 0. 0. 0. 1. ]] SLAMing on 61.744860624 meters Centerline goodness : 0.811383 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.9685536 -0.20791748 -0.13665374 -5.51632725] [ 0.21420947 0.97623315 0.03291098 -0.99255524] [ 0.12656314 -0.06114857 0.99007203 1.50647424] [ 0. 0. 0. 1. ]] SLAMing on 61.774860624 meters Centerline goodness : 0.814455 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96847844 -0.20824878 -0.13668195 -5.51684704] [ 0.21446791 0.97619658 0.03230706 -0.99101649] [ 0.12670055 -0.06060258 0.99008803 1.50711026] [ 0. 0. 0. 1. ]] SLAMing on 61.804860624 meters Centerline goodness : 0.812351 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96845145 -0.20835702 -0.13670825 -5.51727117] [ 0.21452704 0.97619684 0.0319042 -0.98989241] [ 0.1268067 -0.06022528 0.99009746 1.50766276] [ 0. 0. 0. 1. ]] SLAMing on 61.834860624 meters Centerline goodness : 0.812144 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96840337 -0.20860232 -0.13667475 -5.51791455] [ 0.21471152 0.97617166 0.03143001 -0.98904592] [ 0.12686164 -0.05978257 0.99011725 1.50836941] [ 0. 0. 0. 1. ]] SLAMing on 61.864860624 meters Centerline goodness : 0.809432 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96838723 -0.20878648 -0.13650782 -5.51881394] [ 0.21483307 0.9761584 0.03100866 -0.98871875] [ 0.12677907 -0.05935479 0.99015356 1.50926937] [ 0. 0. 0. 1. ]] SLAMing on 61.894860624 meters Centerline goodness : 0.810404 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96837828 -0.20889819 -0.13640034 -5.51916574] [ 0.21490492 0.97615105 0.03074084 -0.98822587] [ 0.12672563 -0.05908186 0.99017673 1.50948718] [ 0. 0. 0. 1. ]] SLAMing on 61.924860624 meters Centerline goodness : 0.808531 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96836446 -0.20893099 -0.13644821 -5.51916203] [ 0.21489948 0.97616237 0.03041775 -0.9873744 ] [ 0.1268404 -0.05877811 0.99018011 1.50969838] [ 0. 0. 0. 1. ]] SLAMing on 61.954860624 meters Centerline goodness : 0.810069 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.96835664 -0.20899541 -0.13640503 -5.51922831] [ 0.21490873 0.97617316 0.03000319 -0.98596544] [ 0.1268844 -0.05836842 0.99019871 1.50976584] [ 0. 0. 0. 1. ]] SLAMing on 61.984860624 meters Centerline goodness : 0.808517 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.99, Z:1.51 [[ 0.9683169 -0.20913513 -0.13647296 -5.51908865] [ 0.2150119 0.97616039 0.02967785 -0.98506664] [ 0.12701282 -0.05808088 0.99019915 1.50982084] [ 0. 0. 0. 1. ]] SLAMing on 62.014860624 meters Centerline goodness : 0.806436 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.9683156 -0.20914081 -0.13647351 -5.51877773] [ 0.21499896 0.97616766 0.0295321 -0.98437885] [ 0.12704466 -0.05793805 0.99020343 1.5094795 ] [ 0. 0. 0. 1. ]] SLAMing on 62.044860624 meters Centerline goodness : 0.806436 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.9683156 -0.20914081 -0.13647351 -5.51877773] [ 0.21499896 0.97616766 0.0295321 -0.98437885] [ 0.12704466 -0.05793805 0.99020343 1.5094795 ] [ 0. 0. 0. 1. ]] SLAMing on 62.074860624 meters Centerline goodness : 0.849586 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.96833875 -0.20897052 -0.13657011 -5.51801183] [ 0.21481971 0.97621024 0.02942877 -0.98377538] [ 0.12717139 -0.05783497 0.99019319 1.50904653] [ 0. 0. 0. 1. ]] SLAMing on 62.104860624 meters Centerline goodness : 0.847730 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.96831406 -0.2091498 -0.13647063 -5.51836633] [ 0.2149526 0.9761908 0.02910162 -0.98293622] [ 0.12713478 -0.05751422 0.99021657 1.50917931] [ 0. 0. 0. 1. ]] SLAMing on 62.134860624 meters Centerline goodness : 0.803072 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.96823751 -0.20968214 -0.13619664 -5.51981426] [ 0.2153402 0.97613575 0.02806401 -0.98045295] [ 0.12706189 -0.05650124 0.99028425 1.51027298] [ 0. 0. 0. 1. ]] SLAMing on 62.164860624 meters Centerline goodness : 0.846157 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.96814609 -0.21017911 -0.13608048 -5.52071334] [ 0.21572905 0.97607319 0.0272416 -0.97861372] [ 0.12709889 -0.05573036 0.99032318 1.51097557] [ 0. 0. 0. 1. ]] SLAMing on 62.194860624 meters Centerline goodness : 0.845014 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.96808925 -0.2105423 -0.13592327 -5.52137162] [ 0.21600964 0.97602764 0.02664375 -0.97720315] [ 0.12705523 -0.05515426 0.99036103 1.51133274] [ 0. 0. 0. 1. ]] SLAMing on 62.224860624 meters Centerline goodness : 0.802824 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.98, Z:1.51 [[ 0.96801165 -0.21108764 -0.13562984 -5.52222135] [ 0.21644707 0.97595088 0.02589487 -0.97554517] [ 0.12690197 -0.05442322 0.99042112 1.51156996] [ 0. 0. 0. 1. ]] SLAMing on 62.254860624 meters Centerline goodness : 0.801750 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.51 [[ 0.96796672 -0.21143173 -0.13541438 -5.52284066] [ 0.21671908 0.97590345 0.02540277 -0.97467488] [ 0.12678041 -0.05393592 0.99046335 1.51180696] [ 0. 0. 0. 1. ]] SLAMing on 62.284860624000004 meters Centerline goodness : 0.804210 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.51 [[ 0.96792202 -0.21171747 -0.1352874 -5.52318038] [ 0.21694825 0.97586301 0.02499673 -0.97404189] [ 0.12672973 -0.05354525 0.99049103 1.51195099] [ 0. 0. 0. 1. ]] SLAMing on 62.314860624 meters Centerline goodness : 0.803020 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.51 [[ 0.96788962 -0.21200699 -0.13506563 -5.52360239] [ 0.21718419 0.97581927 0.02465334 -0.97346563] [ 0.12657296 -0.05319583 0.9905299 1.51193737] [ 0. 0. 0. 1. ]] SLAMing on 62.344860624 meters Centerline goodness : 0.841994 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.51 [[ 0.96785343 -0.21236449 -0.13476301 -5.52438122] [ 0.21745929 0.97577151 0.02411272 -0.97202709] [ 0.12637722 -0.05264305 0.99058443 1.51207487] [ 0. 0. 0. 1. ]] SLAMing on 62.374860624 meters Centerline goodness : 0.840792 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.51 [[ 0.96780476 -0.2126125 -0.13472145 -5.52474289] [ 0.2176554 0.97573771 0.02370745 -0.97111266] [ 0.1264123 -0.05226703 0.99059986 1.51235971] [ 0. 0. 0. 1. ]] SLAMing on 62.404860624 meters Centerline goodness : 0.844272 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.9677666 -0.21281192 -0.13468071 -5.52509245] [ 0.2178173 0.97570858 0.02341756 -0.97037961] [ 0.12642559 -0.05199853 0.9906123 1.51261702] [ 0. 0. 0. 1. ]] SLAMing on 62.434860624 meters Centerline goodness : 0.845759 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96773426 -0.21307946 -0.13448997 -5.52578709] [ 0.21804269 0.97566466 0.02314878 -0.97004391] [ 0.12628458 -0.05172642 0.99064453 1.51295129] [ 0. 0. 0. 1. ]] SLAMing on 62.464860624 meters Centerline goodness : 0.840354 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96768142 -0.21341965 -0.13433067 -5.52657449] [ 0.2183272 0.97561028 0.02275551 -0.96975409] [ 0.12619791 -0.05134812 0.99067525 1.51358442] [ 0. 0. 0. 1. ]] SLAMing on 62.494860624 meters Centerline goodness : 0.836527 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96763065 -0.21373926 -0.1341881 -5.52708097] [ 0.21861072 0.97555249 0.02250992 -0.9696871 ] [ 0.12609628 -0.05111625 0.99070019 1.51386059] [ 0. 0. 0. 1. ]] SLAMing on 62.524860624 meters Centerline goodness : 0.842368 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.9675426 -0.21426367 -0.13398654 -5.52773505] [ 0.21908904 0.97545237 0.02219609 -0.96977945] [ 0.12594167 -0.05083064 0.99073455 1.51417006] [ 0. 0. 0. 1. ]] SLAMing on 62.554860624 meters Centerline goodness : 0.842370 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96750627 -0.21454867 -0.13379273 -5.52815808] [ 0.21935101 0.97539624 0.02207526 -0.969845 ] [ 0.12576471 -0.05070553 0.99076344 1.51415348] [ 0. 0. 0. 1. ]] SLAMing on 62.584860624 meters Centerline goodness : 0.842465 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96745977 -0.21479416 -0.13373505 -5.52817099] [ 0.21958997 0.97534346 0.02203152 -0.97020619] [ 0.12570537 -0.05068149 0.9907722 1.51404239] [ 0. 0. 0. 1. ]] SLAMing on 62.614860624 meters Centerline goodness : 0.836632 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96670044 -0.21853626 -0.13316218 -5.52673331] [ 0.22286406 0.97467724 0.01832703 -0.96950881] [ 0.12578502 -0.04739382 0.9909248 1.51340797] [ 0. 0. 0. 1. ]] SLAMing on 62.644860624 meters Centerline goodness : 0.837050 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96664034 -0.21883788 -0.13310312 -5.52685394] [ 0.22314742 0.97461505 0.01818597 -0.96966232] [ 0.12574453 -0.04728091 0.99093533 1.51343075] [ 0. 0. 0. 1. ]] SLAMing on 62.674860624 meters Centerline goodness : 0.839153 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.9664419 -0.21995817 -0.13269687 -5.52843544] [ 0.22416121 0.97439627 0.01742597 -0.96909749] [ 0.12546635 -0.04658668 0.99100347 1.51414916] [ 0. 0. 0. 1. ]] SLAMing on 62.704860624 meters Centerline goodness : 0.840849 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.9663832 -0.22030923 -0.13254187 -5.52887951] [ 0.22446119 0.97433373 0.0170573 -0.96859248] [ 0.12538214 -0.0462344 0.99103063 1.51431296] [ 0. 0. 0. 1. ]] SLAMing on 62.734860624 meters Centerline goodness : 0.841006 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.51 [[ 0.96631011 -0.22076625 -0.13231415 -5.52974294] [ 0.22484157 0.97425553 0.01650572 -0.96748063] [ 0.12526389 -0.04569937 0.99107039 1.51466806] [ 0. 0. 0. 1. ]] SLAMing on 62.764860624 meters Centerline goodness : 0.843591 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.52 [[ 0.96627689 -0.22100377 -0.13216016 -5.53040653] [ 0.22501077 0.9742248 0.01600596 -0.96636502] [ 0.12521633 -0.04520365 0.99109914 1.51508764] [ 0. 0. 0. 1. ]] SLAMing on 62.794860624 meters Centerline goodness : 0.842548 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.52 [[ 0.9662445 -0.2211416 -0.1321664 -5.53070818] [ 0.22509268 0.97421323 0.01555232 -0.96512876] [ 0.12531899 -0.04477703 0.99110553 1.51545505] [ 0. 0. 0. 1. ]] SLAMing on 62.824860624 meters Centerline goodness : 0.845391 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96618709 -0.22153053 -0.13193459 -5.53159724] [ 0.22537537 0.97416005 0.01476934 -0.96303039] [ 0.12525355 -0.04400476 0.99114839 1.51590217] [ 0. 0. 0. 1. ]] SLAMing on 62.854860624 meters Centerline goodness : 0.843136 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96615502 -0.22165541 -0.13195968 -5.53166791] [ 0.22546687 0.9741431 0.01448824 -0.96216167] [ 0.12533622 -0.04375042 0.9911492 1.51601655] [ 0. 0. 0. 1. ]] SLAMing on 62.884860624 meters Centerline goodness : 0.841313 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96613219 -0.22175755 -0.13195522 -5.53165633] [ 0.22553163 0.97413254 0.01418759 -0.96115244] [ 0.12539567 -0.04346716 0.99115414 1.51596806] [ 0. 0. 0. 1. ]] SLAMing on 62.914860624 meters Centerline goodness : 0.794893 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.9660983 -0.22187942 -0.13199847 -5.53162181] [ 0.22562712 0.97411377 0.01395608 -0.96058065] [ 0.12548496 -0.04326538 0.99115167 1.51602879] [ 0. 0. 0. 1. ]] SLAMing on 62.944860624 meters Centerline goodness : 0.795125 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96605167 -0.22218903 -0.13181881 -5.53192584] [ 0.22590102 0.9740537 0.01371587 -0.96047753] [ 0.12535108 -0.04302824 0.99117893 1.51601222] [ 0. 0. 0. 1. ]] SLAMing on 62.974860624 meters Centerline goodness : 0.796539 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96598555 -0.22254364 -0.13170511 -5.5325082 ] [ 0.22619076 0.97399333 0.01321879 -0.95970203] [ 0.12533815 -0.04255964 0.9912008 1.51647286] [ 0. 0. 0. 1. ]] SLAMing on 63.004860624 meters Centerline goodness : 0.842297 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96591179 -0.22299904 -0.13147564 -5.53351891] [ 0.22657066 0.97391232 0.01266968 -0.95867812] [ 0.12522042 -0.04202632 0.99123844 1.51701578] [ 0. 0. 0. 1. ]] SLAMing on 63.034860624000004 meters Centerline goodness : 0.842867 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96585574 -0.2233077 -0.13136351 -5.53425368] [ 0.2267993 0.97386692 0.01205373 -0.95728613] [ 0.12523888 -0.04143532 0.99126098 1.51764362] [ 0. 0. 0. 1. ]] SLAMing on 63.064860624 meters Centerline goodness : 0.842543 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96586638 -0.2232606 -0.13136531 -5.53405448] [ 0.22674277 0.97388098 0.01198163 -0.95693557] [ 0.12525916 -0.04135879 0.99126162 1.51745712] [ 0. 0. 0. 1. ]] SLAMing on 63.094860624 meters Centerline goodness : 0.798451 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96594124 -0.22277834 -0.13163336 -5.53278245] [ 0.22629826 0.97398137 0.01222234 -0.9567508 ] [ 0.12548557 -0.04159446 0.99122312 1.5167343 ] [ 0. 0. 0. 1. ]] SLAMing on 63.124860624 meters Centerline goodness : 0.844882 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96596023 -0.22259201 -0.13180905 -5.53213898] [ 0.22611007 0.97402584 0.01216125 -0.95623108] [ 0.12567842 -0.04155063 0.99120052 1.51651634] [ 0. 0. 0. 1. ]] SLAMing on 63.154860624 meters Centerline goodness : 0.795807 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.52 [[ 0.96595169 -0.22258824 -0.131878 -5.53208583] [ 0.22607795 0.97403634 0.01191518 -0.95540032] [ 0.12580179 -0.04132419 0.99119434 1.51666297] [ 0. 0. 0. 1. ]] SLAMing on 63.184860624 meters Centerline goodness : 0.841066 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.52 [[ 0.96592226 -0.22270836 -0.13189073 -5.53239736] [ 0.22616295 0.9740201 0.01162632 -0.95452967] [ 0.12587494 -0.04105892 0.99119608 1.51700006] [ 0. 0. 0. 1. ]] SLAMing on 63.214860624 meters Centerline goodness : 0.840886 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.52 [[ 0.96590313 -0.22296048 -0.13160459 -5.53326609] [ 0.22634817 0.97398234 0.01117615 -0.953309 ] [ 0.12568871 -0.04058353 0.99123929 1.51728908] [ 0. 0. 0. 1. ]] SLAMing on 63.244860624 meters Centerline goodness : 0.796767 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.52 [[ 0.9658989 -0.22293642 -0.13167637 -5.53292867] [ 0.22632565 0.97398768 0.01116656 -0.95346044] [ 0.12576173 -0.04058751 0.99122986 1.51718794] [ 0. 0. 0. 1. ]] SLAMing on 63.274860624 meters Centerline goodness : 0.843269 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.52 [[ 0.96590004 -0.22300564 -0.1315507 -5.53287588] [ 0.22639572 0.97397091 0.01120956 -0.95384755] [ 0.12562676 -0.04060983 0.99124606 1.51690496] [ 0. 0. 0. 1. ]] SLAMing on 63.304860624 meters Centerline goodness : 0.848530 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.95, Z:1.52 [[ 0.96572923 -0.22408901 -0.13096251 -5.53479663] [ 0.22738568 0.97374719 0.01059042 -0.95368534] [ 0.12515118 -0.04000647 0.99133075 1.51749488] [ 0. 0. 0. 1. ]] SLAMing on 63.334860624 meters Centerline goodness : 0.847891 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96565915 -0.22458045 -0.13063701 -5.53573057] [ 0.22782224 0.97364903 0.0102275 -0.95324181] [ 0.1248977 -0.0396383 0.99137751 1.51770875] [ 0. 0. 0. 1. ]] SLAMing on 63.364860624 meters Centerline goodness : 0.846705 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96562472 -0.22474473 -0.13060897 -5.53579079] [ 0.22796885 0.97361619 0.01008543 -0.95293443] [ 0.12489636 -0.03951351 0.99138266 1.51766024] [ 0. 0. 0. 1. ]] SLAMing on 63.394860624 meters Centerline goodness : 0.850528 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96560319 -0.2248461 -0.1305937 -5.53564512] [ 0.22807655 0.97359046 0.01013395 -0.9533776 ] [ 0.1248662 -0.03957073 0.99138418 1.5175128 ] [ 0. 0. 0. 1. ]] SLAMing on 63.424860624 meters Centerline goodness : 0.850418 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96554087 -0.22523291 -0.13038771 -5.5356076 ] [ 0.22846275 0.97349954 0.01016954 -0.9537798 ] [ 0.12464186 -0.03960784 0.99141093 1.51685624] [ 0. 0. 0. 1. ]] SLAMing on 63.454860624 meters Centerline goodness : 0.795764 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96551952 -0.22533807 -0.13036419 -5.53525392] [ 0.22857469 0.97347269 0.01022424 -0.95419219] [ 0.12460206 -0.03966966 0.99141346 1.51648075] [ 0. 0. 0. 1. ]] SLAMing on 63.484860624 meters Centerline goodness : 0.795030 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96548978 -0.22547786 -0.13034267 -5.53519505] [ 0.22871583 0.97343945 0.01023271 -0.95460881] [ 0.12457345 -0.03969101 0.9914162 1.51641763] [ 0. 0. 0. 1. ]] SLAMing on 63.514860624 meters Centerline goodness : 0.793581 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96541109 -0.22599593 -0.13002795 -5.53600322] [ 0.22919452 0.97332942 0.00998589 -0.95474825] [ 0.12430326 -0.03944218 0.99146004 1.51656762] [ 0. 0. 0. 1. ]] SLAMing on 63.544860624 meters Centerline goodness : 0.792412 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.9653529 -0.22631519 -0.12990467 -5.53658049] [ 0.2294845 0.97326327 0.00977077 -0.95465374] [ 0.12422017 -0.03924335 0.99147835 1.51689373] [ 0. 0. 0. 1. ]] SLAMing on 63.574860624 meters Centerline goodness : 0.793402 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96531351 -0.22658729 -0.12972289 -5.53711609] [ 0.22972619 0.97320827 0.00956786 -0.95458225] [ 0.12407943 -0.03903673 0.99150412 1.51708826] [ 0. 0. 0. 1. ]] SLAMing on 63.604860624 meters Centerline goodness : 0.792527 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.9652537 -0.22706505 -0.129332 -5.53831796] [ 0.23015101 0.97311109 0.00923668 -0.954511 ] [ 0.12375707 -0.03868163 0.99155833 1.51749453] [ 0. 0. 0. 1. ]] SLAMing on 63.634860624 meters Centerline goodness : 0.791514 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.52 [[ 0.96521661 -0.22729727 -0.12920078 -5.53875688] [ 0.23036393 0.97306192 0.00910816 -0.954714 ] [ 0.1236501 -0.03855454 0.99157662 1.51769004] [ 0. 0. 0. 1. ]] SLAMing on 63.664860624 meters Centerline goodness : 0.792484 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96520131 -0.2273986 -0.12913681 -5.53897685] [ 0.23046299 0.97303851 0.00910347 -0.95521121] [ 0.12358497 -0.03854794 0.991585 1.51788365] [ 0. 0. 0. 1. ]] SLAMing on 63.694860624 meters Centerline goodness : 0.790287 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96517424 -0.22751903 -0.12912697 -5.5391325 ] [ 0.23057022 0.97301413 0.00899271 -0.95538612] [ 0.12359636 -0.03845236 0.99158729 1.51812951] [ 0. 0. 0. 1. ]] SLAMing on 63.724860624 meters Centerline goodness : 0.791577 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96514513 -0.2276799 -0.12906099 -5.53940516] [ 0.23072015 0.97297931 0.00891511 -0.95533069] [ 0.12354388 -0.03838135 0.99159658 1.51823448] [ 0. 0. 0. 1. ]] SLAMing on 63.754860624 meters Centerline goodness : 0.790923 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96514469 -0.22770858 -0.12901368 -5.53953725] [ 0.230739 0.97297544 0.00884915 -0.95511078] [ 0.12351211 -0.0383092 0.99160333 1.51827903] [ 0. 0. 0. 1. ]] SLAMing on 63.784860624000004 meters Centerline goodness : 0.846409 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96518006 -0.2275045 -0.12910907 -5.53908684] [ 0.23055606 0.9730174 0.00900224 -0.95512457] [ 0.12357732 -0.03845566 0.99158954 1.51801644] [ 0. 0. 0. 1. ]] SLAMing on 63.814860624 meters Centerline goodness : 0.846409 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96518006 -0.2275045 -0.12910907 -5.53908684] [ 0.23055606 0.9730174 0.00900224 -0.95512457] [ 0.12357732 -0.03845566 0.99158954 1.51801644] [ 0. 0. 0. 1. ]] SLAMing on 63.844860624 meters Centerline goodness : 0.790737 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96522427 -0.22734686 -0.12905623 -5.53922564] [ 0.23040593 0.97305215 0.00908945 -0.95536606] [ 0.12351198 -0.03850868 0.99159562 1.5181484 ] [ 0. 0. 0. 1. ]] SLAMing on 63.874860624 meters Centerline goodness : 0.792181 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96522395 -0.22738044 -0.12899945 -5.53932014] [ 0.23043333 0.97304598 0.00905548 -0.95537675] [ 0.12346335 -0.03846633 0.99160332 1.51815964] [ 0. 0. 0. 1. ]] SLAMing on 63.904860624 meters Centerline goodness : 0.788997 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96520762 -0.22746763 -0.12896795 -5.53940249] [ 0.2305065 0.97302965 0.00894703 -0.95536724] [ 0.12345448 -0.03836369 0.9916084 1.51825402] [ 0. 0. 0. 1. ]] SLAMing on 63.934860624 meters Centerline goodness : 0.789123 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96518129 -0.22756665 -0.12899028 -5.53900619] [ 0.23063573 0.9729969 0.00917621 -0.95638809] [ 0.12341894 -0.03860647 0.9916034 1.51789845] [ 0. 0. 0. 1. ]] SLAMing on 63.964860624 meters Centerline goodness : 0.789123 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96518129 -0.22756665 -0.12899028 -5.53900619] [ 0.23063573 0.9729969 0.00917621 -0.95638809] [ 0.12341894 -0.03860647 0.9916034 1.51789845] [ 0. 0. 0. 1. ]] SLAMing on 63.994860624 meters Centerline goodness : 0.789629 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96516148 -0.22765474 -0.12898307 -5.5386946 ] [ 0.23073551 0.97297238 0.00926669 -0.95705632] [ 0.12338736 -0.03870483 0.9916035 1.51768256] [ 0. 0. 0. 1. ]] SLAMing on 64.024860624 meters Centerline goodness : 0.788579 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96516891 -0.22760963 -0.12900707 -5.53819779] [ 0.23072181 0.97297324 0.00951445 -0.95796082] [ 0.12335485 -0.0389478 0.99159803 1.51733294] [ 0. 0. 0. 1. ]] SLAMing on 64.054860624 meters Centerline goodness : 0.787735 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96505044 -0.22820818 -0.12883581 -5.53873294] [ 0.2313182 0.97283164 0.00951283 -0.95940286] [ 0.12316465 -0.03898243 0.99162031 1.51751955] [ 0. 0. 0. 1. ]] SLAMing on 64.084860624 meters Centerline goodness : 0.787825 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96500646 -0.22850387 -0.12864099 -5.53921076] [ 0.23160136 0.97276483 0.00945479 -0.96010072] [ 0.12297697 -0.03891736 0.99164616 1.51768022] [ 0. 0. 0. 1. ]] SLAMing on 64.114860624 meters Centerline goodness : 0.786291 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96496133 -0.2287344 -0.12856984 -5.53951817] [ 0.23181779 0.9727143 0.00934885 -0.96055463] [ 0.12292332 -0.03882605 0.99165639 1.51796675] [ 0. 0. 0. 1. ]] SLAMing on 64.144860624 meters Centerline goodness : 0.786660 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96494633 -0.22881863 -0.12853258 -5.53960496] [ 0.23190778 0.97269234 0.00940175 -0.96112741] [ 0.12287136 -0.03887989 0.99166072 1.51805658] [ 0. 0. 0. 1. ]] SLAMing on 64.174860624 meters Centerline goodness : 0.787612 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96492151 -0.22901294 -0.12837274 -5.54003689] [ 0.23210326 0.97264525 0.00944965 -0.96192394] [ 0.12269704 -0.0389139 0.99168097 1.51825033] [ 0. 0. 0. 1. ]] SLAMing on 64.204860624 meters Centerline goodness : 0.787079 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.52 [[ 0.96487241 -0.22930033 -0.12822869 -5.54046475] [ 0.23241827 0.97256755 0.00970075 -0.96437544] [ 0.12248668 -0.03916268 0.99169718 1.51867566] [ 0. 0. 0. 1. ]] SLAMing on 64.234860624 meters Centerline goodness : 0.787283 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96486875 -0.22929483 -0.12826603 -5.54036484] [ 0.23244216 0.97255956 0.009927 -0.96569202] [ 0.12247014 -0.03939268 0.99169011 1.51881798] [ 0. 0. 0. 1. ]] SLAMing on 64.264860624 meters Centerline goodness : 0.788324 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96485149 -0.22939219 -0.12822175 -5.5404415 ] [ 0.23256302 0.97252862 0.01012547 -0.96681675] [ 0.12237662 -0.03958921 0.99169383 1.51887775] [ 0. 0. 0. 1. ]] SLAMing on 64.294860624 meters Centerline goodness : 0.788252 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96481762 -0.22951888 -0.12824994 -5.54045925] [ 0.23273987 0.97248218 0.01051463 -0.96882889] [ 0.12230748 -0.03999357 0.99168614 1.51906795] [ 0. 0. 0. 1. ]] SLAMing on 64.324860624 meters Centerline goodness : 0.791050 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96482832 -0.22938908 -0.12840158 -5.54003731] [ 0.23264703 0.97250157 0.0107725 -0.97001706] [ 0.12239965 -0.04026586 0.99166375 1.51914844] [ 0. 0. 0. 1. ]] SLAMing on 64.354860624 meters Centerline goodness : 0.789072 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96486787 -0.22914499 -0.12854013 -5.53940275] [ 0.23244592 0.97254609 0.01109014 -0.97091924] [ 0.12246996 -0.04057914 0.9916423 1.51892887] [ 0. 0. 0. 1. ]] SLAMing on 64.384860624 meters Centerline goodness : 0.789954 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96490297 -0.22883265 -0.12883277 -5.53863616] [ 0.23219259 0.97260197 0.01148962 -0.97239609] [ 0.12267381 -0.04100038 0.99159977 1.51899215] [ 0. 0. 0. 1. ]] SLAMing on 64.414860624 meters Centerline goodness : 0.793684 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96493465 -0.22860121 -0.12900623 -5.5381188 ] [ 0.23198881 0.97264845 0.01166944 -0.97274925] [ 0.12281006 -0.04118825 0.99157512 1.51891325] [ 0. 0. 0. 1. ]] SLAMing on 64.444860624 meters Centerline goodness : 0.790946 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96497535 -0.22832364 -0.12919326 -5.53767639] [ 0.23173029 0.97270877 0.01177782 -0.97287041] [ 0.12297826 -0.0413033 0.99154949 1.51897459] [ 0. 0. 0. 1. ]] SLAMing on 64.474860624 meters Centerline goodness : 0.792220 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96500242 -0.22810349 -0.12937977 -5.53741775] [ 0.23151994 0.9727585 0.01180778 -0.97272009] [ 0.12316187 -0.04134853 0.99152481 1.51919614] [ 0. 0. 0. 1. ]] SLAMing on 64.504860624 meters Centerline goodness : 0.792127 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96508706 -0.2276315 -0.12957959 -5.53714125] [ 0.23105393 0.97286915 0.01181898 -0.97245208] [ 0.12337362 -0.04134622 0.99149858 1.5196427 ] [ 0. 0. 0. 1. ]] SLAMing on 64.534860624 meters Centerline goodness : 0.792083 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96512809 -0.22735348 -0.12976197 -5.53672453] [ 0.23079003 0.97293094 0.01188877 -0.97249362] [ 0.12354648 -0.04142195 0.9914739 1.51972767] [ 0. 0. 0. 1. ]] SLAMing on 64.564860624 meters Centerline goodness : 0.791772 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96516238 -0.22713361 -0.12989186 -5.53630715] [ 0.23058677 0.97297787 0.01199228 -0.9728126 ] [ 0.12365806 -0.04152584 0.99145564 1.51972174] [ 0. 0. 0. 1. ]] SLAMing on 64.594860624 meters Centerline goodness : 0.792122 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96520678 -0.22686717 -0.13002751 -5.53596234] [ 0.23034364 0.97303349 0.0121504 -0.97309487] [ 0.12376459 -0.04167866 0.99143594 1.51974233] [ 0. 0. 0. 1. ]] SLAMing on 64.62486062400001 meters Centerline goodness : 0.792710 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96528991 -0.22639932 -0.13022572 -5.53531967] [ 0.22991438 0.97313157 0.01242233 -0.97344059] [ 0.12391435 -0.04193192 0.99140655 1.51965319] [ 0. 0. 0. 1. ]] SLAMing on 64.654860624 meters Centerline goodness : 0.789739 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96526958 -0.22650334 -0.13019548 -5.53558531] [ 0.23000776 0.97311055 0.01234068 -0.97346182] [ 0.12389939 -0.04185806 0.99141154 1.51990803] [ 0. 0. 0. 1. ]] SLAMing on 64.684860624 meters Centerline goodness : 0.791725 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.52 [[ 0.96526305 -0.22651031 -0.13023181 -5.53556477] [ 0.23001679 0.97310837 0.01234437 -0.97363223] [ 0.12393354 -0.04187107 0.99140672 1.52002343] [ 0. 0. 0. 1. ]] SLAMing on 64.714860624 meters Centerline goodness : 0.789360 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96523817 -0.22664192 -0.13018721 -5.53550222] [ 0.23017173 0.97306926 0.0125377 -0.9752993 ] [ 0.12383961 -0.04206728 0.99141016 1.52008487] [ 0. 0. 0. 1. ]] SLAMing on 64.744860624 meters Centerline goodness : 0.790085 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.9652167 -0.22676741 -0.13012787 -5.53555101] [ 0.23030829 0.97303564 0.01263867 -0.97653174] [ 0.12375302 -0.04216859 0.99141666 1.52022596] [ 0. 0. 0. 1. ]] SLAMing on 64.774860624 meters Centerline goodness : 0.792193 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96519195 -0.22692857 -0.13003047 -5.53563648] [ 0.23048575 0.97299161 0.01279235 -0.97773657] [ 0.1236156 -0.04231725 0.99142747 1.52019866] [ 0. 0. 0. 1. ]] SLAMing on 64.804860624 meters Centerline goodness : 0.790137 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96513045 -0.22729982 -0.12983837 -5.53616421] [ 0.23084485 0.9729072 0.01273704 -0.97865113] [ 0.12342556 -0.04226543 0.99145336 1.52043698] [ 0. 0. 0. 1. ]] SLAMing on 64.834860624 meters Centerline goodness : 0.790770 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96502326 -0.2277856 -0.12978379 -5.53628509] [ 0.23134181 0.97278814 0.01281442 -0.9801438 ] [ 0.12333319 -0.04239063 0.99145951 1.52056015] [ 0. 0. 0. 1. ]] SLAMing on 64.864860624 meters Centerline goodness : 0.791044 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96499825 -0.22798645 -0.129617 -5.53651805] [ 0.23154661 0.9727384 0.01289104 -0.98069284] [ 0.12314445 -0.04245221 0.99148033 1.52040171] [ 0. 0. 0. 1. ]] SLAMing on 64.894860624 meters Centerline goodness : 0.789904 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96496301 -0.22812084 -0.12964286 -5.53646629] [ 0.23168816 0.97270416 0.01293102 -0.981536 ] [ 0.12315431 -0.04251467 0.99147643 1.520559 ] [ 0. 0. 0. 1. ]] SLAMing on 64.924860624 meters Centerline goodness : 0.789422 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96495058 -0.22820312 -0.12959056 -5.53645298] [ 0.23179197 0.97267693 0.0131174 -0.98265402] [ 0.12305632 -0.04269569 0.99148082 1.52053485] [ 0. 0. 0. 1. ]] SLAMing on 64.954860624 meters Centerline goodness : 0.791631 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.52 [[ 0.96443987 -0.23069358 -0.12898143 -5.53697282] [ 0.23401593 0.97217035 0.01101579 -0.9846282 ] [ 0.12285065 -0.04080777 0.99158582 1.52138795] [ 0. 0. 0. 1. ]] SLAMing on 64.984860624 meters Centerline goodness : 0.790469 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96437355 -0.23105758 -0.12882562 -5.53744283] [ 0.23438508 0.97208062 0.01108613 -0.98629926] [ 0.12266736 -0.04088598 0.99160529 1.52175124] [ 0. 0. 0. 1. ]] SLAMing on 65.014860624 meters Centerline goodness : 0.791351 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96429256 -0.23149543 -0.12864577 -5.53812568] [ 0.23481333 0.97197778 0.0110407 -0.98769166] [ 0.12248495 -0.0408542 0.99162915 1.52231282] [ 0. 0. 0. 1. ]] SLAMing on 65.044860624 meters Centerline goodness : 0.790777 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96414774 -0.23221814 -0.12842845 -5.53922353] [ 0.23551397 0.97180997 0.01088825 -0.98924253] [ 0.12227959 -0.04074458 0.991659 1.52321253] [ 0. 0. 0. 1. ]] SLAMing on 65.074860624 meters Centerline goodness : 0.791805 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96411516 -0.23233543 -0.1284609 -5.53925686] [ 0.23563127 0.97178174 0.01086981 -0.98961362] [ 0.12231052 -0.04074915 0.991655 1.52340132] [ 0. 0. 0. 1. ]] SLAMing on 65.104860624 meters Centerline goodness : 0.792248 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96410695 -0.23229971 -0.1285871 -5.53894177] [ 0.23561684 0.97178375 0.01100227 -0.99048359] [ 0.12240303 -0.04090465 0.99163719 1.52352056] [ 0. 0. 0. 1. ]] SLAMing on 65.134860624 meters Centerline goodness : 0.790157 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96410289 -0.23227742 -0.12865774 -5.53857738] [ 0.23561739 0.97178176 0.01116493 -0.99142347] [ 0.12243388 -0.04107814 0.99162621 1.52344474] [ 0. 0. 0. 1. ]] SLAMing on 65.164860624 meters Centerline goodness : 0.791636 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96413884 -0.2319912 -0.12890452 -5.53807284] [ 0.23537066 0.97183859 0.01141927 -0.99241518] [ 0.12262522 -0.0413501 0.99159126 1.52368062] [ 0. 0. 0. 1. ]] SLAMing on 65.194860624 meters Centerline goodness : 0.792292 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96413688 -0.23188272 -0.12911426 -5.53781549] [ 0.23524648 0.97187088 0.01122843 -0.99167971] [ 0.12287871 -0.04119941 0.99156615 1.52394471] [ 0. 0. 0. 1. ]] SLAMing on 65.224860624 meters Centerline goodness : 0.790518 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.9641407 -0.23175124 -0.12932156 -5.53773531] [ 0.23508857 0.97191222 0.01095408 -0.99066601] [ 0.12315058 -0.04096329 0.9915422 1.52437703] [ 0. 0. 0. 1. ]] SLAMing on 65.254860624 meters Centerline goodness : 0.791181 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.52 [[ 0.96416675 -0.2315233 -0.12953551 -5.5375066 ] [ 0.23483735 0.97197567 0.01071021 -0.98938643] [ 0.1234257 -0.04074621 0.99151694 1.52461878] [ 0. 0. 0. 1. ]] SLAMing on 65.284860624 meters Centerline goodness : 0.792577 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.53 [[ 0.96502451 -0.22742171 -0.13041114 -5.53800083] [ 0.23116637 0.97281162 0.01413013 -0.98880804] [ 0.12365198 -0.04378259 0.99135931 1.52509271] [ 0. 0. 0. 1. ]] SLAMing on 65.314860624 meters Centerline goodness : 0.791677 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.53 [[ 0.96507342 -0.22712876 -0.13055964 -5.53779785] [ 0.23084206 0.97289273 0.0138451 -0.98751365] [ 0.12387591 -0.0435002 0.99134378 1.52528862] [ 0. 0. 0. 1. ]] SLAMing on 65.344860624 meters Centerline goodness : 0.791109 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.53 [[ 0.96514543 -0.22671855 -0.1307402 -5.53725351] [ 0.23042639 0.97299241 0.0137643 -0.98660676] [ 0.1240886 -0.04341054 0.99132111 1.52518378] [ 0. 0. 0. 1. ]] SLAMing on 65.37486062400001 meters Centerline goodness : 0.790422 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.53 [[ 0.96515618 -0.22659405 -0.13087657 -5.53707922] [ 0.23026367 0.97303574 0.0134195 -0.98547832] [ 0.1243068 -0.04308803 0.99130784 1.52541117] [ 0. 0. 0. 1. ]] SLAMing on 65.404860624 meters Centerline goodness : 0.790973 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96524856 -0.22610992 -0.13103254 -5.53681717] [ 0.22974564 0.97316218 0.01312667 -0.98342462] [ 0.12454785 -0.04277466 0.99129116 1.52550251] [ 0. 0. 0. 1. ]] SLAMing on 65.434860624 meters Centerline goodness : 0.789641 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96524686 -0.22608124 -0.13109449 -5.5368135 ] [ 0.22967762 0.97318266 0.01279427 -0.98234586] [ 0.12468634 -0.0424591 0.99128732 1.52567738] [ 0. 0. 0. 1. ]] SLAMing on 65.464860624 meters Centerline goodness : 0.790375 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.9652255 -0.22615022 -0.13113279 -5.53702943] [ 0.22969901 0.97318274 0.0123985 -0.98140435] [ 0.12481224 -0.04208842 0.99128728 1.52610124] [ 0. 0. 0. 1. ]] SLAMing on 65.494860624 meters Centerline goodness : 0.789112 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.9652119 -0.22622556 -0.13110298 -5.53727478] [ 0.22974373 0.97317519 0.01216053 -0.98067357] [ 0.12483514 -0.04185758 0.99129417 1.52627195] [ 0. 0. 0. 1. ]] SLAMing on 65.524860624 meters Centerline goodness : 0.791180 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96515189 -0.22655514 -0.13097554 -5.53782207] [ 0.23002932 0.97311177 0.01183239 -0.98007602] [ 0.12477315 -0.04154826 0.99131499 1.52649847] [ 0. 0. 0. 1. ]] SLAMing on 65.554860624 meters Centerline goodness : 0.787745 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96513007 -0.22660878 -0.13104357 -5.53761568] [ 0.2300885 0.97309756 0.01185009 -0.98056874] [ 0.12483285 -0.0415885 0.99130578 1.52652198] [ 0. 0. 0. 1. ]] SLAMing on 65.584860624 meters Centerline goodness : 0.786630 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96504826 -0.22701472 -0.13094337 -5.53751263] [ 0.23046666 0.97301064 0.01163641 -0.98093944] [ 0.12476766 -0.04140778 0.99132156 1.52628251] [ 0. 0. 0. 1. ]] SLAMing on 65.614860624 meters Centerline goodness : 0.786630 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96504826 -0.22701472 -0.13094337 -5.53751263] [ 0.23046666 0.97301064 0.01163641 -0.98093944] [ 0.12476766 -0.04140778 0.99132156 1.52628251] [ 0. 0. 0. 1. ]] SLAMing on 65.644860624 meters Centerline goodness : 0.790451 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96489978 -0.22785835 -0.1305718 -5.53896095] [ 0.23121922 0.97283971 0.01098034 -0.97973494] [ 0.12452347 -0.04078564 0.99137805 1.52680152] [ 0. 0. 0. 1. ]] SLAMing on 65.674860624 meters Centerline goodness : 0.788465 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96480817 -0.22833035 -0.1304241 -5.53965465] [ 0.23164176 0.97274336 0.0106041 -0.97902464] [ 0.12444794 -0.04044259 0.99140159 1.52710083] [ 0. 0. 0. 1. ]] SLAMing on 65.704860624 meters Centerline goodness : 0.788293 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96473595 -0.22869392 -0.1303213 -5.54007004] [ 0.23197932 0.97266505 0.01040669 -0.97903678] [ 0.12437903 -0.04027155 0.9914172 1.52731914] [ 0. 0. 0. 1. ]] SLAMing on 65.734860624 meters Centerline goodness : 0.788920 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96467613 -0.22903926 -0.13015754 -5.54037892] [ 0.23231467 0.97258553 0.01035778 -0.97975587] [ 0.124217 -0.04022941 0.99143922 1.52735037] [ 0. 0. 0. 1. ]] SLAMing on 65.764860624 meters Centerline goodness : 0.788477 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96377628 -0.23319661 -0.12943961 -5.53986068] [ 0.23598296 0.97173608 0.00640622 -0.97942551] [ 0.12428723 -0.03671971 0.99156661 1.52749496] [ 0. 0. 0. 1. ]] SLAMing on 65.794860624 meters Centerline goodness : 0.787671 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96367971 -0.23371459 -0.12922427 -5.54046184] [ 0.23647007 0.97161906 0.00618976 -0.97966721] [ 0.12411013 -0.03652262 0.99159607 1.5276362 ] [ 0. 0. 0. 1. ]] SLAMing on 65.824860624 meters Centerline goodness : 0.787671 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96367971 -0.23371459 -0.12922427 -5.54046184] [ 0.23647007 0.97161906 0.00618976 -0.97966721] [ 0.12411013 -0.03652262 0.99159607 1.5276362 ] [ 0. 0. 0. 1. ]] SLAMing on 65.854860624 meters Centerline goodness : 0.787353 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 0.96355187 -0.23436067 -0.12900725 -5.54148466] [ 0.23705195 0.97148026 0.00569805 -0.97930519] [ 0.1239926 -0.03607179 0.99162728 1.52825061] [ 0. 0. 0. 1. ]] SLAMing on 65.884860624 meters Centerline goodness : 0.788158 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 9.63353089e-01 -2.35424701e-01 -1.28553630e-01 -5.54316127e+00] [ 2.38007045e-01 9.71251130e-01 4.88757128e-03 -9.77643108e-01] [ 1.23707203e-01 -3.53051265e-02 9.91690514e-01 1.52871136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914860624 meters Centerline goodness : 0.787745 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 9.63294073e-01 -2.35707693e-01 -1.28477286e-01 -5.54333366e+00] [ 2.38259061e-01 9.71190541e-01 4.64252536e-03 -9.77182589e-01] [ 1.23681646e-01 -3.50829947e-02 9.91701585e-01 1.52870089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944860624 meters Centerline goodness : 0.786727 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 9.63272202e-01 -2.35803860e-01 -1.28464797e-01 -5.54312211e+00] [ 2.38338442e-01 9.71171710e-01 4.50518819e-03 -9.76750852e-01] [ 1.23699036e-01 -3.49578220e-02 9.91703836e-01 1.52847582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974860624 meters Centerline goodness : 0.787454 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.53 [[ 9.63365424e-01 -2.35408180e-01 -1.28491432e-01 -5.54266521e+00] [ 2.37916105e-01 9.71276145e-01 4.31001308e-03 -9.75203267e-01] [ 1.23786051e-01 -3.47222987e-02 9.91701253e-01 1.52811761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004860624 meters Centerline goodness : 0.785550 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.53 [[ 9.63386735e-01 -2.35338762e-01 -1.28458812e-01 -5.54291800e+00] [ 2.37792959e-01 9.71308061e-01 3.89342738e-03 -9.73507798e-01] [ 1.23856805e-01 -3.42974773e-02 9.91707202e-01 1.52831168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034860624 meters Centerline goodness : 0.786709 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.53 [[ 9.63423462e-01 -2.35176073e-01 -1.28481312e-01 -5.54310640e+00] [ 2.37577433e-01 9.71362387e-01 3.47506806e-03 -9.71711261e-01] [ 1.23984661e-01 -3.38722224e-02 9.91705842e-01 1.52864900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064860624 meters Centerline goodness : 0.787317 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.53 [[ 9.63419010e-01 -2.35184424e-01 -1.28499408e-01 -5.54346168e+00] [ 2.37508186e-01 9.71381358e-01 2.84932068e-03 -9.69456727e-01] [ 1.24151814e-01 -3.32647511e-02 9.91705492e-01 1.52912393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094860624 meters Centerline goodness : 0.786477 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.53 [[ 0.96421068 -0.23177663 -0.12875311 -5.54563449] [ 0.23446499 0.97210654 0.00591884 -0.96852497] [ 0.1237899 -0.03589511 0.99165902 1.52979836] [ 0. 0. 0. 1. ]] SLAMing on 66.12486062400001 meters Centerline goodness : 0.786254 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.53 [[ 0.96427992 -0.23142989 -0.12885823 -5.54526392] [ 0.23410276 0.97219463 0.00578693 -0.96769544] [ 0.12393601 -0.03574629 0.99164614 1.52977483] [ 0. 0. 0. 1. ]] SLAMing on 66.154860624 meters Centerline goodness : 0.784263 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.53 [[ 0.96436348 -0.23095207 -0.12908996 -5.54441164] [ 0.23362126 0.97231084 0.00572169 -0.96678044] [ 0.12419413 -0.03567594 0.99161638 1.52952095] [ 0. 0. 0. 1. ]] SLAMing on 66.184860624 meters Centerline goodness : 0.784482 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.53 [[ 0.96445036 -0.23049255 -0.12926213 -5.54358506] [ 0.23315587 0.97242293 0.00565541 -0.96549547] [ 0.12439393 -0.03559258 0.99159433 1.52902226] [ 0. 0. 0. 1. ]] SLAMing on 66.214860624 meters Centerline goodness : 0.783276 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96534349 -0.22641175 -0.12980625 -5.54410915] [ 0.22950684 0.97326354 0.00920322 -0.96434299] [ 0.12425197 -0.03867569 0.99149667 1.52856512] [ 0. 0. 0. 1. ]] SLAMing on 66.244860624 meters Centerline goodness : 0.781126 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96546541 -0.22578823 -0.12998548 -5.54350017] [ 0.22886585 0.97341592 0.00904871 -0.96255878] [ 0.12448684 -0.03848545 0.99147461 1.52844062] [ 0. 0. 0. 1. ]] SLAMing on 66.274860624 meters Centerline goodness : 0.780579 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96557707 -0.22518741 -0.13019813 -5.54286305] [ 0.22825435 0.97356052 0.00893711 -0.96100023] [ 0.12474323 -0.03834775 0.99144772 1.52833832] [ 0. 0. 0. 1. ]] SLAMing on 66.304860624 meters Centerline goodness : 0.833411 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96639256 -0.22145239 -0.13055369 -5.54433223] [ 0.22491702 0.97430115 0.01223114 -0.96016294] [ 0.12449 -0.04118383 0.99136579 1.52856906] [ 0. 0. 0. 1. ]] SLAMing on 66.334860624 meters Centerline goodness : 0.782699 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96642503 -0.22132746 -0.13052518 -5.54435778] [ 0.22476503 0.97433869 0.0120333 -0.95909214] [ 0.12451243 -0.04096678 0.99137197 1.52852607] [ 0. 0. 0. 1. ]] SLAMing on 66.364860624 meters Centerline goodness : 0.781083 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96643466 -0.22121791 -0.1306395 -5.54401333] [ 0.22464381 0.97436816 0.01190972 -0.95840826] [ 0.12465633 -0.04085732 0.9913584 1.52839645] [ 0. 0. 0. 1. ]] SLAMing on 66.394860624 meters Centerline goodness : 0.834157 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96643191 -0.22129444 -0.13053021 -5.54395421] [ 0.22470339 0.97435569 0.01180595 -0.95797992] [ 0.12457026 -0.04074023 0.99137404 1.52806765] [ 0. 0. 0. 1. ]] SLAMing on 66.424860624 meters Centerline goodness : 0.831708 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.53 [[ 0.96633225 -0.22198289 -0.13009832 -5.5449599 ] [ 0.22532302 0.97421795 0.01135439 -0.95717598] [ 0.12422364 -0.04028627 0.99143608 1.52797523] [ 0. 0. 0. 1. ]] SLAMing on 66.454860624 meters Centerline goodness : 0.829052 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.53 [[ 0.96628217 -0.22227437 -0.12997256 -5.54519064] [ 0.2255924 0.97415739 0.01120007 -0.95694292] [ 0.12412424 -0.04014325 0.99145433 1.52788098] [ 0. 0. 0. 1. ]] SLAMing on 66.484860624 meters Centerline goodness : 0.832420 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.53 [[ 0.96621218 -0.22274974 -0.12967878 -5.54564206] [ 0.22603208 0.97405798 0.01097929 -0.95673248] [ 0.12386902 -0.03991988 0.99149527 1.52759458] [ 0. 0. 0. 1. ]] SLAMing on 66.514860624 meters Centerline goodness : 0.830335 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.53 [[ 0.96613652 -0.22308418 -0.12966751 -5.54565094] [ 0.22634807 0.97398646 0.01081353 -0.95673744] [ 0.12388207 -0.03979734 0.99149856 1.52752442] [ 0. 0. 0. 1. ]] SLAMing on 66.544860624 meters Centerline goodness : 0.778920 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.53 [[ 0.96605621 -0.22351006 -0.12953245 -5.54581837] [ 0.22674679 0.97389593 0.01061203 -0.95665456] [ 0.12377923 -0.03962289 0.9915184 1.52733273] [ 0. 0. 0. 1. ]] SLAMing on 66.574860624 meters Centerline goodness : 0.777832 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.53 [[ 0.96589324 -0.22446444 -0.12909672 -5.54687866] [ 0.22761595 0.97369957 0.0100063 -0.9561601 ] [ 0.12345536 -0.03904949 0.99158152 1.52736678] [ 0. 0. 0. 1. ]] SLAMing on 66.604860624 meters Centerline goodness : 0.778741 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.53 [[ 0.96579019 -0.22496401 -0.12899809 -5.54747297] [ 0.2280601 0.97360012 0.00955994 -0.95535226] [ 0.12344192 -0.03865221 0.99159876 1.52768295] [ 0. 0. 0. 1. ]] SLAMing on 66.634860624 meters Centerline goodness : 0.779935 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96563706 -0.22581665 -0.12865423 -5.5488201 ] [ 0.22882052 0.97342821 0.00887091 -0.9539627 ] [ 0.12323246 -0.03800481 0.99164984 1.52813289] [ 0. 0. 0. 1. ]] SLAMing on 66.664860624 meters Centerline goodness : 0.779596 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96555639 -0.22625225 -0.1284943 -5.54945944] [ 0.22920018 0.9733427 0.00844174 -0.95336365] [ 0.12315902 -0.03760189 0.99167432 1.52843919] [ 0. 0. 0. 1. ]] SLAMing on 66.694860624 meters Centerline goodness : 0.780318 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96549285 -0.22663557 -0.12829602 -5.55025953] [ 0.22954394 0.9732641 0.008159 -0.95300692] [ 0.12301679 -0.03732703 0.99170236 1.52878995] [ 0. 0. 0. 1. ]] SLAMing on 66.724860624 meters Centerline goodness : 0.780436 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.9654347 -0.22699138 -0.12810449 -5.55090345] [ 0.22985307 0.97319394 0.00781778 -0.95263014] [ 0.12289594 -0.03699277 0.99172986 1.52912278] [ 0. 0. 0. 1. ]] SLAMing on 66.754860624 meters Centerline goodness : 0.781675 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96532544 -0.22768583 -0.12769477 -5.55215739] [ 0.23047561 0.97305061 0.00731534 -0.95211205] [ 0.12258788 -0.03649221 0.99178653 1.52948065] [ 0. 0. 0. 1. ]] SLAMing on 66.784860624 meters Centerline goodness : 0.782496 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96519119 -0.22841257 -0.12741141 -5.55313677] [ 0.23114016 0.97289635 0.00684933 -0.95202221] [ 0.12239362 -0.03606081 0.9918263 1.52990191] [ 0. 0. 0. 1. ]] SLAMing on 66.814860624 meters Centerline goodness : 0.784529 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96511468 -0.22883352 -0.12723553 -5.55365512] [ 0.23152382 0.97280704 0.00657193 -0.95180694] [ 0.12227174 -0.03580072 0.99185076 1.53007858] [ 0. 0. 0. 1. ]] SLAMing on 66.844860624 meters Centerline goodness : 0.782689 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96498107 -0.22956954 -0.12692262 -5.55460152] [ 0.23220053 0.97264859 0.00613465 -0.95108233] [ 0.12204278 -0.03539132 0.99189365 1.53020508] [ 0. 0. 0. 1. ]] SLAMing on 66.87486062400001 meters Centerline goodness : 0.782665 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 0.96493344 -0.22983182 -0.12681003 -5.55485329] [ 0.23243876 0.9725928 0.00595507 -0.95088699] [ 0.12196585 -0.03522181 0.99190915 1.5302345 ] [ 0. 0. 0. 1. ]] SLAMing on 66.904860624 meters Centerline goodness : 0.783563 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 0.96487352 -0.23014917 -0.12669039 -5.55515067] [ 0.23273341 0.97252337 0.00578465 -0.95090828] [ 0.12187803 -0.03506654 0.99192544 1.53028853] [ 0. 0. 0. 1. ]] SLAMing on 66.934860624 meters Centerline goodness : 0.782083 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 0.96481521 -0.23047308 -0.12654549 -5.55547778] [ 0.23303169 0.97245303 0.00559697 -0.95099118] [ 0.12176959 -0.03488915 0.99194502 1.53034977] [ 0. 0. 0. 1. ]] SLAMing on 66.964860624 meters Centerline goodness : 0.783742 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64691656e-01 -2.31128999e-01 -1.26290910e-01 -5.55600969e+00] [ 2.33655194e-01 9.72304726e-01 5.36379016e-03 -9.51632784e-01] [ 1.21553521e-01 -3.46829306e-02 9.91978748e-01 1.53037583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994860624 meters Centerline goodness : 0.784058 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64645288e-01 -2.31402603e-01 -1.26143979e-01 -5.55618048e+00] [ 2.33906546e-01 9.72245143e-01 5.20666958e-03 -9.51608370e-01] [ 1.21438034e-01 -3.45284916e-02 9.91998280e-01 1.53027993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024860624 meters Centerline goodness : 0.833219 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64608511e-01 -2.31568875e-01 -1.26120091e-01 -5.55621159e+00] [ 2.34064562e-01 9.72207493e-01 5.13537280e-03 -9.51587998e-01] [ 1.21425705e-01 -3.44738683e-02 9.92001689e-01 1.53025305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054860624 meters Centerline goodness : 0.785539 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64556997e-01 -2.31798382e-01 -1.26092468e-01 -5.55636932e+00] [ 2.34271835e-01 9.72158545e-01 4.94683760e-03 -9.51160495e-01] [ 1.21435201e-01 -3.43114205e-02 9.92006158e-01 1.53034480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084860624 meters Centerline goodness : 0.787348 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64532789e-01 -2.31932733e-01 -1.26030573e-01 -5.55660517e+00] [ 2.34363246e-01 9.72138191e-01 4.60497895e-03 -9.50183126e-01] [ 1.21451088e-01 -3.39785875e-02 9.92015670e-01 1.53053908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114860624 meters Centerline goodness : 0.835156 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64521615e-01 -2.31924442e-01 -1.26131312e-01 -5.55638264e+00] [ 2.34337142e-01 9.72145289e-01 4.43176835e-03 -9.49805210e-01] [ 1.21590125e-01 -3.38317875e-02 9.92003655e-01 1.53067254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144860624 meters Centerline goodness : 0.838566 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64505599e-01 -2.32074536e-01 -1.25977612e-01 -5.55672011e+00] [ 2.34448556e-01 9.72119673e-01 4.14933199e-03 -9.49052932e-01] [ 1.21502361e-01 -3.35373231e-02 9.92024407e-01 1.53074036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174860624 meters Centerline goodness : 0.836835 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64486258e-01 -2.32201506e-01 -1.25891691e-01 -5.55702756e+00] [ 2.34537024e-01 9.72099562e-01 3.85056515e-03 -9.48345281e-01] [ 1.21485150e-01 -3.32400796e-02 9.92036519e-01 1.53092979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204860624 meters Centerline goodness : 0.840263 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64460772e-01 -2.32363156e-01 -1.25788646e-01 -5.55735589e+00] [ 2.34649486e-01 9.72073866e-01 3.46670483e-03 -9.47322467e-01] [ 1.21470321e-01 -3.28597419e-02 9.92051006e-01 1.53110198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234860624 meters Centerline goodness : 0.841311 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64408140e-01 -2.32681203e-01 -1.25604125e-01 -5.55809423e+00] [ 2.34922352e-01 9.72009110e-01 3.12712074e-03 -9.46756984e-01] [ 1.21360732e-01 -3.25230373e-02 9.92075514e-01 1.53148814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264860624 meters Centerline goodness : 0.844159 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64336536e-01 -2.33071300e-01 -1.25430512e-01 -5.55838708e+00] [ 2.35301802e-01 9.71917531e-01 3.06178920e-03 -9.47344334e-01] [ 1.21194499e-01 -3.24666207e-02 9.92097683e-01 1.53141012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294860624 meters Centerline goodness : 0.841696 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64331035e-01 -2.33088294e-01 -1.25441232e-01 -5.55780698e+00] [ 2.35343977e-01 9.71906662e-01 3.26395452e-03 -9.48286535e-01] [ 1.21156380e-01 -3.26693711e-02 9.92095683e-01 1.53091427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324860624 meters Centerline goodness : 0.843940 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64341525e-01 -2.32990100e-01 -1.25542965e-01 -5.55717359e+00] [ 2.35283685e-01 9.71920246e-01 3.55282693e-03 -9.49234643e-01] [ 1.21189976e-01 -3.29643501e-02 9.92081822e-01 1.53055037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354860624 meters Centerline goodness : 0.843064 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64329695e-01 -2.33014157e-01 -1.25589179e-01 -5.55687979e+00] [ 2.35318317e-01 9.71911595e-01 3.62515814e-03 -9.49522672e-01] [ 1.21216866e-01 -3.30492818e-02 9.92075711e-01 1.53037429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384860624 meters Centerline goodness : 0.843302 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64306794e-01 -2.33099366e-01 -1.25606900e-01 -5.55712174e+00] [ 2.35391639e-01 9.71894234e-01 3.51753645e-03 -9.49299440e-01] [ 1.21256686e-01 -3.29587983e-02 9.92073855e-01 1.53070308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414860624 meters Centerline goodness : 0.794096 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64286226e-01 -2.33228795e-01 -1.25524515e-01 -5.55751738e+00] [ 2.35512511e-01 9.71865152e-01 3.46173122e-03 -9.49534744e-01] [ 1.21185526e-01 -3.29006934e-02 9.92084479e-01 1.53100772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444860624 meters Centerline goodness : 0.847323 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64285804e-01 -2.33190293e-01 -1.25599261e-01 -5.55741738e+00] [ 2.35491512e-01 9.71869786e-01 3.58697460e-03 -9.50273251e-01] [ 1.21229680e-01 -3.30364286e-02 9.92074573e-01 1.53119476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474860624 meters Centerline goodness : 0.798575 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64312201e-01 -2.33062885e-01 -1.25633081e-01 -5.55696715e+00] [ 2.35411868e-01 9.71887564e-01 3.97679098e-03 -9.51786980e-01] [ 1.21174386e-01 -3.34103862e-02 9.92068805e-01 1.53093462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504860624 meters Centerline goodness : 0.798575 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64312201e-01 -2.33062885e-01 -1.25633081e-01 -5.55696715e+00] [ 2.35411868e-01 9.71887564e-01 3.97679098e-03 -9.51786980e-01] [ 1.21174386e-01 -3.34103862e-02 9.92068805e-01 1.53093462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534860624 meters Centerline goodness : 0.849651 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64326040e-01 -2.32963409e-01 -1.25711333e-01 -5.55669126e+00] [ 2.35347077e-01 9.71902120e-01 4.24531083e-03 -9.52954540e-01] [ 1.21190109e-01 -3.36796584e-02 9.92057780e-01 1.53096928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564860624 meters Centerline goodness : 0.848892 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64303025e-01 -2.33055380e-01 -1.25717403e-01 -5.55686485e+00] [ 2.35428936e-01 9.71882685e-01 4.15492856e-03 -9.53210591e-01] [ 1.21214238e-01 -3.36041245e-02 9.92057393e-01 1.53131758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594860624 meters Centerline goodness : 0.848979 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64285021e-01 -2.33150262e-01 -1.25679563e-01 -5.55723830e+00] [ 2.35517118e-01 9.71861533e-01 4.10455192e-03 -9.53556869e-01] [ 1.21186156e-01 -3.35576465e-02 9.92062397e-01 1.53170442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62486062400001 meters Centerline goodness : 0.850818 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64338672e-01 -2.32889700e-01 -1.25750998e-01 -5.55712364e+00] [ 2.35249341e-01 9.71926647e-01 4.04237464e-03 -9.53462061e-01] [ 1.21279318e-01 -3.34810576e-02 9.92053600e-01 1.53202240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654860624 meters Centerline goodness : 0.802163 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64389888e-01 -2.32537278e-01 -1.26010155e-01 -5.55630633e+00] [ 2.34906684e-01 9.72009394e-01 4.07278222e-03 -9.53027844e-01] [ 1.21535981e-01 -3.35283776e-02 9.92020591e-01 1.53184747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684860624 meters Centerline goodness : 0.851176 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.64438140e-01 -2.32242360e-01 -1.26184627e-01 -5.55562134e+00] [ 2.34621558e-01 9.72078044e-01 4.12316414e-03 -9.52721169e-01] [ 1.21703732e-01 -3.35821705e-02 9.91998205e-01 1.53160079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714860624 meters Centerline goodness : 0.851646 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64456261e-01 -2.32009165e-01 -1.26474770e-01 -5.55492475e+00] [ 2.34385072e-01 9.72135479e-01 4.03091867e-03 -9.52343390e-01] [ 1.22015401e-01 -3.35314427e-02 9.91961635e-01 1.53168554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744860624 meters Centerline goodness : 0.851646 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64456261e-01 -2.32009165e-01 -1.26474770e-01 -5.55492475e+00] [ 2.34385072e-01 9.72135479e-01 4.03091867e-03 -9.52343390e-01] [ 1.22015401e-01 -3.35314427e-02 9.91961635e-01 1.53168554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774860624 meters Centerline goodness : 0.851204 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64453283e-01 -2.31989437e-01 -1.26533653e-01 -5.55485996e+00] [ 2.34343271e-01 9.72146343e-01 3.83656194e-03 -9.51707329e-01] [ 1.22119186e-01 -3.33524948e-02 9.91954896e-01 1.53180397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804860624 meters Centerline goodness : 0.848995 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64595632e-01 -2.31298506e-01 -1.26713327e-01 -5.55433439e+00] [ 2.33648701e-01 9.72313646e-01 3.80246613e-03 -9.50300040e-01] [ 1.22325592e-01 -3.32742465e-02 9.91932091e-01 1.53184657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834860624 meters Centerline goodness : 0.851248 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64626955e-01 -2.31127521e-01 -1.26786854e-01 -5.55415441e+00] [ 2.33464605e-01 9.72358310e-01 3.68717218e-03 -9.49774169e-01] [ 1.22430045e-01 -3.31569886e-02 9.91923131e-01 1.53193095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864860624 meters Centerline goodness : 0.852490 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64643217e-01 -2.31079581e-01 -1.26750507e-01 -5.55429589e+00] [ 2.33397901e-01 9.72374840e-01 3.54816246e-03 -9.49492676e-01] [ 1.22429096e-01 -3.30060132e-02 9.91928283e-01 1.53212636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894860624 meters Centerline goodness : 0.849147 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64657331e-01 -2.30946118e-01 -1.26886267e-01 -5.55418558e+00] [ 2.33229821e-01 9.72416245e-01 3.23990608e-03 -9.48676854e-01] [ 1.22638024e-01 -3.27190606e-02 9.91911981e-01 1.53252770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924860624 meters Centerline goodness : 0.851070 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64683368e-01 -2.30851033e-01 -1.26861339e-01 -5.55416293e+00] [ 2.33112656e-01 9.72444877e-01 3.07420675e-03 -9.47648145e-01] [ 1.22655976e-01 -3.25386199e-02 9.91915697e-01 1.53242640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954860624 meters Centerline goodness : 0.795899 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64666579e-01 -2.30910156e-01 -1.26881405e-01 -5.55438533e+00] [ 2.33123154e-01 9.72443549e-01 2.67197168e-03 -9.46517581e-01] [ 1.22768018e-01 -3.21565550e-02 9.91914296e-01 1.53282358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984860624 meters Centerline goodness : 0.852268 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.53 [[ 9.64711914e-01 -2.30804586e-01 -1.26728713e-01 -5.55486604e+00] [ 2.32956590e-01 9.72484587e-01 2.22597414e-03 -9.45003052e-01] [ 1.22727955e-01 -3.16697126e-02 9.91934916e-01 1.53318250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014860624 meters Centerline goodness : 0.854219 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.53 [[ 9.64740241e-01 -2.30684146e-01 -1.26732365e-01 -5.55471418e+00] [ 2.32831715e-01 9.72514558e-01 2.19702385e-03 -9.44861403e-01] [ 1.22742251e-01 -3.16268711e-02 9.91934514e-01 1.53309698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044860624 meters Centerline goodness : 0.851671 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.53 [[ 9.64752224e-01 -2.30583632e-01 -1.26824036e-01 -5.55446506e+00] [ 2.32720175e-01 9.72541489e-01 2.09075709e-03 -9.44605930e-01] [ 1.22859542e-01 -3.15315744e-02 9.91923028e-01 1.53318232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074860624 meters Centerline goodness : 0.794506 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.53 [[ 9.64713688e-01 -2.30758912e-01 -1.26798360e-01 -5.55471274e+00] [ 2.32867518e-01 9.72506688e-01 1.86040443e-03 -9.44174270e-01] [ 1.22882948e-01 -3.13219770e-02 9.91926769e-01 1.53343250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104860624 meters Centerline goodness : 0.852952 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.53 [[ 9.64677295e-01 -2.30937992e-01 -1.26749205e-01 -5.55499047e+00] [ 2.33024719e-01 9.72469353e-01 1.68470960e-03 -9.43578724e-01] [ 1.22870654e-01 -3.11608990e-02 9.91933365e-01 1.53353692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134860624 meters Centerline goodness : 0.791822 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.64623249e-01 -2.31266088e-01 -1.26562176e-01 -5.55535141e+00] [ 2.33342531e-01 9.72393240e-01 1.62805426e-03 -9.43212062e-01] [ 1.22691691e-01 -3.11027975e-02 9.91957340e-01 1.53328039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164860624 meters Centerline goodness : 0.850656 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.64586141e-01 -2.31417059e-01 -1.26569038e-01 -5.55520784e+00] [ 2.33509680e-01 9.72352907e-01 1.74727178e-03 -9.43868002e-01] [ 1.22665424e-01 -3.12404897e-02 9.91956262e-01 1.53310835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194860624 meters Centerline goodness : 0.848700 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.64502531e-01 -2.31905530e-01 -1.26311886e-01 -5.55561640e+00] [ 2.33988504e-01 9.72237871e-01 1.70344321e-03 -9.44700547e-01] [ 1.22410162e-01 -3.11985046e-02 9.91989116e-01 1.53300039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224860624 meters Centerline goodness : 0.847527 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.63550818e-01 -2.36272081e-01 -1.25480373e-01 -5.55520090e+00] [ 2.37883595e-01 9.71291179e-01 -2.19999120e-03 -9.44711308e-01] [ 1.22397776e-01 -2.77299189e-02 9.92093663e-01 1.53296178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254860624 meters Centerline goodness : 0.788892 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.63407150e-01 -2.36983304e-01 -1.25242073e-01 -5.55587674e+00] [ 2.38573228e-01 9.71121626e-01 -2.36707236e-03 -9.45546053e-01] [ 1.22186242e-01 -2.75989513e-02 9.92123390e-01 1.53313894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284860624 meters Centerline goodness : 0.843097 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.63308935e-01 -2.37525035e-01 -1.24971014e-01 -5.55654339e+00] [ 2.39097176e-01 9.70992464e-01 -2.48516263e-03 -9.46085392e-01] [ 1.21936201e-01 -2.74862370e-02 9.92157281e-01 1.53322420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314860624 meters Centerline goodness : 0.843147 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.63196899e-01 -2.38128092e-01 -1.24686592e-01 -5.55736531e+00] [ 2.39676595e-01 9.70849162e-01 -2.65229597e-03 -9.46339161e-01] [ 1.21683460e-01 -2.73297746e-02 9.92192632e-01 1.53334486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344860624 meters Centerline goodness : 0.789547 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.63101263e-01 -2.38682685e-01 -1.24364518e-01 -5.55825350e+00] [ 2.40210900e-01 9.70716740e-01 -2.78099429e-03 -9.46796992e-01] [ 1.21386494e-01 -2.71953336e-02 9.92232701e-01 1.53350370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37486062400001 meters Centerline goodness : 0.789226 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.62812508e-01 -2.40070446e-01 -1.23928425e-01 -5.55979639e+00] [ 2.41523715e-01 9.70389008e-01 -3.38637249e-03 -9.47995939e-01] [ 1.21071750e-01 -2.66712119e-02 9.92285381e-01 1.53423378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404860624 meters Centerline goodness : 0.788947 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.62712265e-01 -2.40593382e-01 -1.23692843e-01 -5.56041076e+00] [ 2.42030502e-01 9.70262327e-01 -3.50029870e-03 -9.48809189e-01] [ 1.20856654e-01 -2.65676604e-02 9.92314380e-01 1.53438988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434860624 meters Centerline goodness : 0.787759 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.62605770e-01 -2.41140415e-01 -1.23456192e-01 -5.56109348e+00] [ 2.42541451e-01 9.70133680e-01 -3.77978303e-03 -9.48998479e-01] [ 1.20680469e-01 -2.63048031e-02 9.92342825e-01 1.53461702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464860624 meters Centerline goodness : 0.786551 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.62560098e-01 -2.41359972e-01 -1.23383235e-01 -5.56123233e+00] [ 2.42743784e-01 9.70082518e-01 -3.91956122e-03 -9.48468319e-01] [ 1.20637944e-01 -2.61777001e-02 9.92351356e-01 1.53449073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494860624 meters Centerline goodness : 0.784400 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.53 [[ 9.62600299e-01 -2.41143557e-01 -1.23492712e-01 -5.56088332e+00] [ 2.42488114e-01 9.70145058e-01 -4.25206299e-03 -9.46010480e-01] [ 1.20831202e-01 -2.58524777e-02 9.92336369e-01 1.53425570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524860624 meters Centerline goodness : 0.784217 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.62594473e-01 -2.41180192e-01 -1.23466579e-01 -5.56100989e+00] [ 2.42479613e-01 9.70145504e-01 -4.61941707e-03 -9.44565590e-01] [ 1.20894658e-01 -2.54915030e-02 9.92337979e-01 1.53431830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554860624 meters Centerline goodness : 0.784384 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.62616230e-01 -2.41032868e-01 -1.23584584e-01 -5.56094378e+00] [ 2.42297845e-01 9.70189453e-01 -4.91734721e-03 -9.43373364e-01] [ 1.21085702e-01 -2.52107601e-02 9.92321858e-01 1.53461375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584860624 meters Centerline goodness : 0.834033 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.63493195e-01 -2.37229487e-01 -1.24108954e-01 -5.56212662e+00] [ 2.38873456e-01 9.71049251e-01 -1.68051365e-03 -9.42219806e-01] [ 1.20914575e-01 -2.80271714e-02 9.92267173e-01 1.53484410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614860624 meters Centerline goodness : 0.783769 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.63588198e-01 -2.36704701e-01 -1.24373108e-01 -5.56129157e+00] [ 2.38324008e-01 9.71183823e-01 -1.91018088e-03 -9.40059195e-01] [ 1.21241299e-01 -2.78004697e-02 9.92233683e-01 1.53457950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644860624 meters Centerline goodness : 0.784119 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.63737834e-01 -2.35906307e-01 -1.24730112e-01 -5.56022791e+00] [ 2.37526007e-01 9.71379247e-01 -1.93771099e-03 -9.38038664e-01] [ 1.21617361e-01 -2.77592001e-02 9.92188815e-01 1.53429704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674860624 meters Centerline goodness : 0.831615 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.64602343e-01 -2.31987111e-01 -1.25396574e-01 -5.56073319e+00] [ 2.34050659e-01 9.72222781e-01 1.77564571e-03 -9.37861245e-01] [ 1.21501479e-01 -3.10619428e-02 9.92105109e-01 1.53397504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704860624 meters Centerline goodness : 0.828326 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.53 [[ 9.65659510e-01 -2.27077426e-01 -1.26244025e-01 -5.56025710e+00] [ 2.29587572e-01 9.73272428e-01 5.50698592e-03 -9.35733377e-01] [ 1.21619317e-01 -3.43019325e-02 9.91983931e-01 1.53326619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734860624 meters Centerline goodness : 0.829671 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 9.65851970e-01 -2.26075179e-01 -1.26570078e-01 -5.55907569e+00] [ 2.28591362e-01 9.73506769e-01 5.52816955e-03 -9.33735397e-01] [ 1.21967046e-01 -3.42722200e-02 9.91942264e-01 1.53290648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764860624 meters Centerline goodness : 0.780985 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96603591 -0.2251393 -0.12683419 -5.5580344 ] [ 0.2276636 0.97372386 0.00557974 -0.93176521] [ 0.12224526 -0.03426576 0.99190824 1.53251935] [ 0. 0. 0. 1. ]] SLAMing on 68.794860624 meters Centerline goodness : 0.826652 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 9.66147831e-01 -2.24521348e-01 -1.27076878e-01 -5.55728309e+00] [ 2.27022908e-01 9.73874629e-01 5.36719286e-03 -9.29789471e-01] [ 1.22551898e-01 -3.40348641e-02 9.91878350e-01 1.53241272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824860624 meters Centerline goodness : 0.780817 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96704853 -0.22029126 -0.12762798 -5.55748009] [ 0.22325216 0.97471732 0.00919836 -0.92912954] [ 0.12237488 -0.03738849 0.99177946 1.53161256] [ 0. 0. 0. 1. ]] SLAMing on 68.854860624 meters Centerline goodness : 0.824451 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96705964 -0.22026321 -0.12759217 -5.55754621] [ 0.2231855 0.97473538 0.00889823 -0.92775453] [ 0.12240865 -0.03708185 0.9917868 1.53158477] [ 0. 0. 0. 1. ]] SLAMing on 68.884860624 meters Centerline goodness : 0.825650 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96704394 -0.22034277 -0.12757384 -5.55766001] [ 0.22323549 0.97472608 0.00865917 -0.92679265] [ 0.12244156 -0.0368528 0.99179128 1.53162591] [ 0. 0. 0. 1. ]] SLAMing on 68.914860624 meters Centerline goodness : 0.823151 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96700706 -0.22055679 -0.1274835 -5.55776793] [ 0.22342072 0.97468557 0.00843949 -0.92580663] [ 0.12239494 -0.0366435 0.99180479 1.53140813] [ 0. 0. 0. 1. ]] SLAMing on 68.944860624 meters Centerline goodness : 0.825547 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96696495 -0.22084464 -0.12730446 -5.5579337 ] [ 0.22368662 0.9746258 0.00829697 -0.9254473 ] [ 0.12224187 -0.03649918 0.99182898 1.53108627] [ 0. 0. 0. 1. ]] SLAMing on 68.974860624 meters Centerline goodness : 0.825164 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.966949 -0.22097414 -0.12720087 -5.55767896] [ 0.22382139 0.9745943 0.00836263 -0.92535632] [ 0.12212132 -0.03655651 0.99184172 1.53044684] [ 0. 0. 0. 1. ]] SLAMing on 69.004860624 meters Centerline goodness : 0.824716 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96689293 -0.2213272 -0.12701315 -5.55791238] [ 0.22415631 0.97451829 0.00824914 -0.92522953] [ 0.12195088 -0.03644683 0.99186673 1.53014501] [ 0. 0. 0. 1. ]] SLAMing on 69.034860624 meters Centerline goodness : 0.781734 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.966627 -0.22275484 -0.12654062 -5.55938641] [ 0.22549936 0.97421359 0.00761004 -0.9251825 ] [ 0.12158242 -0.0358909 0.99193223 1.53026628] [ 0. 0. 0. 1. ]] SLAMing on 69.064860624 meters Centerline goodness : 0.826881 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96651741 -0.22345172 -0.12614841 -5.56029121] [ 0.22615394 0.97406395 0.00733629 -0.92553151] [ 0.12123731 -0.03561961 0.99198425 1.53029247] [ 0. 0. 0. 1. ]] SLAMing on 69.094860624 meters Centerline goodness : 0.825696 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.9664227 -0.22404886 -0.12581446 -5.56099672] [ 0.22671387 0.97393559 0.00709198 -0.92590922] [ 0.12094623 -0.03537773 0.99202844 1.53026397] [ 0. 0. 0. 1. ]] SLAMing on 69.12486062400001 meters Centerline goodness : 0.826626 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.93, Z:1.53 [[ 0.96633525 -0.22456765 -0.12556097 -5.56164876] [ 0.22718872 0.9738272 0.00677269 -0.92597504] [ 0.12075376 -0.03507073 0.99206279 1.53044445] [ 0. 0. 0. 1. ]] SLAMing on 69.154860624 meters Centerline goodness : 0.828126 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 0.96621671 -0.22524249 -0.12526409 -5.56265909] [ 0.22778555 0.97369175 0.00617451 -0.92443768] [ 0.12057784 -0.03449926 0.99210422 1.53057941] [ 0. 0. 0. 1. ]] SLAMing on 69.184860624 meters Centerline goodness : 0.783686 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 0.96618348 -0.22540443 -0.12522911 -5.56296423] [ 0.22790466 0.97366605 0.00582199 -0.92338553] [ 0.12061903 -0.03416541 0.99211077 1.53082136] [ 0. 0. 0. 1. ]] SLAMing on 69.214860624 meters Centerline goodness : 0.826802 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 9.66156470e-01 -2.25577917e-01 -1.25125054e-01 -5.56338694e+00] [ 2.28032157e-01 9.73638280e-01 5.46212604e-03 -9.22511714e-01] [ 1.20594407e-01 -3.38098044e-02 9.92125943e-01 1.53108798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244860624 meters Centerline goodness : 0.830811 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 9.66273374e-01 -2.25011839e-01 -1.25241524e-01 -5.56294277e+00] [ 2.27440299e-01 9.73777855e-01 5.25352249e-03 -9.20861706e-01] [ 1.20775317e-01 -3.35613084e-02 9.92112373e-01 1.53113470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274860624 meters Centerline goodness : 0.830202 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 9.66314417e-01 -2.24781824e-01 -1.25337859e-01 -5.56257218e+00] [ 2.27194540e-01 9.73835976e-01 5.11204992e-03 -9.19809465e-01] [ 1.20909420e-01 -3.34159247e-02 9.92100947e-01 1.53100669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304860624 meters Centerline goodness : 0.784856 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 9.66371305e-01 -2.24429817e-01 -1.25529911e-01 -5.56207452e+00] [ 2.26826358e-01 9.73922643e-01 4.94864892e-03 -9.18470294e-01] [ 1.21145799e-01 -3.32557249e-02 9.92077493e-01 1.53099987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334860624 meters Centerline goodness : 0.784691 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 9.66449842e-01 -2.23968781e-01 -1.25748511e-01 -5.56138623e+00] [ 2.26346766e-01 9.74035125e-01 4.76614907e-03 -9.16751346e-01] [ 1.21415998e-01 -3.30690128e-02 9.92050702e-01 1.53089956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364860624 meters Centerline goodness : 0.785971 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.92, Z:1.53 [[ 9.66555812e-01 -2.23338298e-01 -1.26055018e-01 -5.56052478e+00] [ 2.25709135e-01 9.74183571e-01 4.66443184e-03 -9.15077225e-01] [ 1.21758982e-01 -3.29602028e-02 9.92012286e-01 1.53081505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394860624 meters Centerline goodness : 0.783544 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.53 [[ 0.96748197 -0.21891443 -0.12670879 -5.56081233] [ 0.22171994 0.97507504 0.00830289 -0.91340574] [ 0.12173296 -0.03612676 0.99190521 1.53040703] [ 0. 0. 0. 1. ]] SLAMing on 69.424860624 meters Centerline goodness : 0.785492 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.53 [[ 0.96766221 -0.21782387 -0.12721088 -5.55896758] [ 0.22065635 0.97531508 0.00844197 -0.9117476 ] [ 0.12223183 -0.03623887 0.99183977 1.52982892] [ 0. 0. 0. 1. ]] SLAMing on 69.454860624 meters Centerline goodness : 0.785921 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.53 [[ 0.96788476 -0.21659294 -0.12761891 -5.55697014] [ 0.21946947 0.97558008 0.00875574 -0.91012751] [ 0.12260603 -0.036483 0.99178463 1.52880718] [ 0. 0. 0. 1. ]] SLAMing on 69.484860624 meters Centerline goodness : 0.781729 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.53 [[ 0.96883336 -0.21180614 -0.12845265 -5.55610919] [ 0.21515073 0.97649976 0.0125849 -0.9085056 ] [ 0.12276842 -0.03982935 0.99163579 1.52774643] [ 0. 0. 0. 1. ]] SLAMing on 69.514860624 meters Centerline goodness : 0.784095 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.53 [[ 0.96965853 -0.20761845 -0.12906164 -5.55620245] [ 0.21144444 0.97725018 0.01653266 -0.90841574] [ 0.12269303 -0.0433204 0.99149875 1.52702822] [ 0. 0. 0. 1. ]] SLAMing on 69.544860624 meters Centerline goodness : 0.784727 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.91, Z:1.53 [[ 0.96977462 -0.20689444 -0.12935176 -5.55519827] [ 0.21069401 0.97741678 0.01626272 -0.90587138] [ 0.12306592 -0.04302482 0.9914654 1.52683029] [ 0. 0. 0. 1. ]] SLAMing on 69.574860624 meters Centerline goodness : 0.785653 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.90, Z:1.53 [[ 0.96988453 -0.20628427 -0.1295021 -5.55444508] [ 0.21005578 0.9775581 0.01602282 -0.90347421] [ 0.12329057 -0.04274295 0.99144968 1.52650281] [ 0. 0. 0. 1. ]] SLAMing on 69.604860624 meters Centerline goodness : 0.787057 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.90, Z:1.53 [[ 0.96996061 -0.20585371 -0.1296174 -5.55394191] [ 0.2095824 0.97766548 0.01566613 -0.90115988] [ 0.12349752 -0.04236106 0.99144032 1.52639257] [ 0. 0. 0. 1. ]] SLAMing on 69.634860624 meters Centerline goodness : 0.787057 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.90, Z:1.53 [[ 0.96996061 -0.20585371 -0.1296174 -5.55394191] [ 0.2095824 0.97766548 0.01566613 -0.90115988] [ 0.12349752 -0.04236106 0.99144032 1.52639257] [ 0. 0. 0. 1. ]] SLAMing on 69.664860624 meters Centerline goodness : 0.786091 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.90, Z:1.53 [[ 0.97018392 -0.2048368 -0.12955716 -5.55328651] [ 0.20853709 0.97789125 0.0155238 -0.89792556] [ 0.12351296 -0.04207842 0.99145043 1.52578073] [ 0. 0. 0. 1. ]] SLAMing on 69.694860624 meters Centerline goodness : 0.785466 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.90, Z:1.53 [[ 0.97018029 -0.20489119 -0.1294983 -5.55325367] [ 0.20854128 0.97789641 0.01513749 -0.89644038] [ 0.12353439 -0.04169184 0.99146409 1.52560811] [ 0. 0. 0. 1. ]] SLAMing on 69.724860624 meters Centerline goodness : 0.787769 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.90, Z:1.53 [[ 0.97014974 -0.20505603 -0.12946621 -5.55329454] [ 0.20866484 0.97787512 0.01480663 -0.89520399] [ 0.1235656 -0.04137969 0.99147328 1.52549691] [ 0. 0. 0. 1. ]] SLAMing on 69.754860624 meters Centerline goodness : 0.786457 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.53 [[ 0.97001618 -0.20589142 -0.12914078 -5.55449523] [ 0.2093715 0.97773839 0.01382829 -0.89231816] [ 0.12341877 -0.04045206 0.99152985 1.52568638] [ 0. 0. 0. 1. ]] SLAMing on 69.784860624 meters Centerline goodness : 0.789353 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.53 [[ 0.96994492 -0.20632392 -0.12898559 -5.55492342] [ 0.20974954 0.97766313 0.01341396 -0.89118196] [ 0.12333683 -0.04006547 0.99155574 1.52561036] [ 0. 0. 0. 1. ]] SLAMing on 69.814860624 meters Centerline goodness : 0.787772 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96988605 -0.20673542 -0.12876927 -5.55530599] [ 0.21011824 0.97758803 0.01311399 -0.89047878] [ 0.12317217 -0.03977585 0.99158787 1.52537545] [ 0. 0. 0. 1. ]] SLAMing on 69.844860624 meters Centerline goodness : 0.788669 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96982619 -0.20712328 -0.12859666 -5.55544514] [ 0.21047085 0.97751553 0.01286131 -0.89013131] [ 0.12304136 -0.03953909 0.99161358 1.52504193] [ 0. 0. 0. 1. ]] SLAMing on 69.874860624 meters Centerline goodness : 0.790458 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.89, Z:1.52 [[ 0.96901974 -0.21122669 -0.12800012 -5.55456894] [ 0.21405136 0.97678481 0.00857009 -0.88768176] [ 0.12321834 -0.03570318 0.99173712 1.52480044] [ 0. 0. 0. 1. ]] SLAMing on 69.904860624 meters Centerline goodness : 0.788743 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.52 [[ 0.96893044 -0.21186178 -0.12762597 -5.55545358] [ 0.21463681 0.97665919 0.00823796 -0.88728616] [ 0.12290177 -0.03537524 0.99178816 1.52466498] [ 0. 0. 0. 1. ]] SLAMing on 69.934860624 meters Centerline goodness : 0.792548 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96879847 -0.21267142 -0.12728074 -5.55665487] [ 0.21537116 0.97650209 0.00767726 -0.88673108] [ 0.12265717 -0.03485032 0.99183702 1.52502555] [ 0. 0. 0. 1. ]] SLAMing on 69.964860624 meters Centerline goodness : 0.791671 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96868497 -0.21336747 -0.12697932 -5.55773826] [ 0.21601053 0.97636405 0.00725965 -0.88635787] [ 0.12242907 -0.03446118 0.9918788 1.52529994] [ 0. 0. 0. 1. ]] SLAMing on 69.994860624 meters Centerline goodness : 0.791437 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96840364 -0.21506948 -0.1262518 -5.56039492] [ 0.21758625 0.97602058 0.00632926 -0.88591329] [ 0.12186313 -0.03359994 0.99197804 1.52604732] [ 0. 0. 0. 1. ]] SLAMing on 70.024860624 meters Centerline goodness : 0.792408 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96831016 -0.21563379 -0.12600598 -5.56099678] [ 0.21812785 0.97590066 0.00617639 -0.88663759] [ 0.12163748 -0.03346607 0.99201025 1.52610498] [ 0. 0. 0. 1. ]] SLAMing on 70.054860624 meters Centerline goodness : 0.790206 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96818991 -0.21635946 -0.12568561 -5.56187818] [ 0.21882701 0.97574521 0.00600223 -0.88753077] [ 0.12133849 -0.0333147 0.99205197 1.52618138] [ 0. 0. 0. 1. ]] SLAMing on 70.084860624 meters Centerline goodness : 0.789232 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 0.96807499 -0.21703081 -0.12541305 -5.56253671] [ 0.2194742 0.97560084 0.00583709 -0.88849036] [ 0.12108625 -0.03317567 0.99208744 1.52624543] [ 0. 0. 0. 1. ]] SLAMing on 70.114860624 meters Centerline goodness : 0.788111 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 9.67116278e-01 -2.21737007e-01 -1.24574491e-01 -5.56284206e+00] [ 2.23659462e-01 9.74666218e-01 1.48614709e-03 -8.87358381e-01] [ 1.21089015e-01 -2.92995408e-02 9.92209145e-01 1.52674817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144860624 meters Centerline goodness : 0.789555 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 9.66959385e-01 -2.22660651e-01 -1.24144197e-01 -5.56425887e+00] [ 2.24524161e-01 9.74467959e-01 1.04777059e-03 -8.87279845e-01] [ 1.20741245e-01 -2.88865234e-02 9.92263635e-01 1.52705354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174860624 meters Centerline goodness : 0.789335 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.66850000e-01 -2.23322964e-01 -1.23806026e-01 -5.56531597e+00] [ 2.25156942e-01 9.74322143e-01 8.43902793e-04 -8.87570118e-01] [ 1.20438489e-01 -2.86917136e-02 9.92306080e-01 1.52722074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204860624 meters Centerline goodness : 0.787168 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.66755504e-01 -2.23891336e-01 -1.23517066e-01 -5.56601662e+00] [ 2.25701868e-01 9.74196181e-01 6.83616860e-04 -8.88041724e-01] [ 1.20176798e-01 -2.85389229e-02 9.92342213e-01 1.52721309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234860624 meters Centerline goodness : 0.789682 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.89, Z:1.53 [[ 9.65848513e-01 -2.28035608e-01 -1.23030122e-01 -5.56480788e+00] [ 2.29386756e-01 9.73329899e-01 -3.25950621e-03 -8.87957613e-01] [ 1.20492180e-01 -2.50732914e-02 9.92397584e-01 1.52720535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264860624 meters Centerline goodness : 0.787076 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65747968e-01 -2.28530708e-01 -1.22900681e-01 -5.56507703e+00] [ 2.29868500e-01 9.73215849e-01 -3.37403091e-03 -8.88934674e-01] [ 1.20379961e-01 -2.49925317e-02 9.92413240e-01 1.52722462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294860624 meters Centerline goodness : 0.787329 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65652566e-01 -2.29081131e-01 -1.22625273e-01 -5.56571756e+00] [ 2.30403256e-01 9.73089011e-01 -3.48081005e-03 -8.89589066e-01] [ 1.20122694e-01 -2.48920091e-02 9.92446939e-01 1.52720057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324860624 meters Centerline goodness : 0.787004 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65558412e-01 -2.29594518e-01 -1.22406332e-01 -5.56644185e+00] [ 2.30885529e-01 9.72973790e-01 -3.72516705e-03 -8.89740630e-01] [ 1.19953430e-01 -2.46649842e-02 9.92473079e-01 1.52743628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354860624 meters Centerline goodness : 0.785787 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65469657e-01 -2.30023807e-01 -1.22300406e-01 -5.56702419e+00] [ 2.31281897e-01 9.72878543e-01 -4.00303042e-03 -8.89831565e-01] [ 1.19904234e-01 -2.44210656e-02 9.92485056e-01 1.52786319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384860624 meters Centerline goodness : 0.788228 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65433400e-01 -2.30226527e-01 -1.22205143e-01 -5.56738835e+00] [ 2.31469149e-01 9.72833502e-01 -4.12446816e-03 -8.90111948e-01] [ 1.19834819e-01 -2.43048211e-02 9.92496293e-01 1.52813423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414860624 meters Centerline goodness : 0.786839 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65388555e-01 -2.30433400e-01 -1.22169499e-01 -5.56765811e+00] [ 2.31655455e-01 9.72788391e-01 -4.30068287e-03 -8.90595602e-01] [ 1.19836091e-01 -2.41494008e-02 9.92499933e-01 1.52858878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444860624 meters Centerline goodness : 0.785419 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65351556e-01 -2.30633183e-01 -1.22084841e-01 -5.56803311e+00] [ 2.31842369e-01 9.72743405e-01 -4.40281237e-03 -8.91131519e-01] [ 1.19772659e-01 -2.40541770e-02 9.92509903e-01 1.52892122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474860624 meters Centerline goodness : 0.787062 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65284978e-01 -2.30967283e-01 -1.21979611e-01 -5.56874292e+00] [ 2.32147717e-01 9.72669470e-01 -4.64111096e-03 -8.91668524e-01] [ 1.19717789e-01 -2.38372936e-02 9.92521755e-01 1.52960431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504860624 meters Centerline goodness : 0.788751 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65255675e-01 -2.31069980e-01 -1.22016987e-01 -5.56889634e+00] [ 2.32236165e-01 9.72647716e-01 -4.77320465e-03 -8.91855612e-01] [ 1.19782489e-01 -2.37293944e-02 9.92516535e-01 1.53001541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534860624 meters Centerline goodness : 0.786756 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65220026e-01 -2.31253501e-01 -1.21951297e-01 -5.56915623e+00] [ 2.32404537e-01 9.72606882e-01 -4.89730664e-03 -8.92052534e-01] [ 1.19743190e-01 -2.36150564e-02 9.92524003e-01 1.53022478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564860624 meters Centerline goodness : 0.787270 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.89, Z:1.53 [[ 9.65204404e-01 -2.31295539e-01 -1.21995209e-01 -5.56906476e+00] [ 2.32458236e-01 9.72594475e-01 -4.81207699e-03 -8.92858458e-01] [ 1.19764878e-01 -2.37141532e-02 9.92519024e-01 1.53032579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594860624 meters Centerline goodness : 0.788938 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.53 [[ 9.65111734e-01 -2.31713535e-01 -1.21935143e-01 -5.56901714e+00] [ 2.32895824e-01 9.72490504e-01 -4.66412333e-03 -8.95605615e-01] [ 1.19661509e-01 -2.38967854e-02 9.92527111e-01 1.53048328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624860624 meters Centerline goodness : 0.786671 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.53 [[ 9.65042674e-01 -2.32093964e-01 -1.21758077e-01 -5.56939544e+00] [ 2.33283575e-01 9.72397907e-01 -4.59172633e-03 -8.97253328e-01] [ 1.19463011e-01 -2.39729476e-02 9.92549186e-01 1.53060507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654860624 meters Centerline goodness : 0.785155 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.53 [[ 9.64905114e-01 -2.32616276e-01 -1.21851507e-01 -5.56907626e+00] [ 2.33859348e-01 9.72261368e-01 -4.19968301e-03 -9.00231393e-01] [ 1.19448427e-01 -2.44438183e-02 9.92539457e-01 1.53049112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684860624 meters Centerline goodness : 0.787403 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.53 [[ 9.64848879e-01 -2.32795762e-01 -1.21953981e-01 -5.56888317e+00] [ 2.34063602e-01 9.72212948e-01 -4.02651416e-03 -9.01633067e-01] [ 1.19502595e-01 -2.46600104e-02 9.92527588e-01 1.53060875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714860624 meters Centerline goodness : 0.820850 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.90, Z:1.53 [[ 9.64836628e-01 -2.32841440e-01 -1.21963701e-01 -5.56881080e+00] [ 2.34139473e-01 9.72195667e-01 -3.78062906e-03 -9.03296759e-01] [ 1.19452869e-01 -2.49088273e-02 9.92527361e-01 1.53078293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744860624 meters Centerline goodness : 0.818803 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.53 [[ 9.64824564e-01 -2.32907156e-01 -1.21933664e-01 -5.56884201e+00] [ 2.34238679e-01 9.72172819e-01 -3.50006136e-03 -9.05052862e-01] [ 1.19355783e-01 -2.51846352e-02 9.92532081e-01 1.53092761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774860624 meters Centerline goodness : 0.786462 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.53 [[ 9.64806920e-01 -2.32972664e-01 -1.21948121e-01 -5.56879204e+00] [ 2.34327181e-01 9.72152136e-01 -3.31605782e-03 -9.06841141e-01] [ 1.19324678e-01 -2.53764040e-02 9.92530936e-01 1.53123161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804860624 meters Centerline goodness : 0.785536 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.53 [[ 9.64591570e-01 -2.33888721e-01 -1.21898191e-01 -5.56957948e+00] [ 2.35206692e-01 9.71938456e-01 -3.66740973e-03 -9.10288232e-01] [ 1.19335306e-01 -2.51337178e-02 9.92535834e-01 1.53273823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834860624 meters Centerline goodness : 0.787689 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.53 [[ 9.64519952e-01 -2.34215862e-01 -1.21836748e-01 -5.57006885e+00] [ 2.35535887e-01 9.71858768e-01 -3.65798346e-03 -9.11879245e-01] [ 1.19264869e-01 -2.51687284e-02 9.92543413e-01 1.53336258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864860624 meters Centerline goodness : 0.787102 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.91, Z:1.53 [[ 9.64468122e-01 -2.34471075e-01 -1.21756139e-01 -5.57050316e+00] [ 2.35806217e-01 9.71793681e-01 -3.53107258e-03 -9.13639831e-01] [ 1.19149781e-01 -2.53052476e-02 9.92553764e-01 1.53385050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894860624 meters Centerline goodness : 0.787656 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.53 [[ 9.64444155e-01 -2.34537231e-01 -1.21818551e-01 -5.57038220e+00] [ 2.35901533e-01 9.71771341e-01 -3.30577572e-03 -9.15522500e-01] [ 1.19155104e-01 -2.55489468e-02 9.92546882e-01 1.53414218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924860624 meters Centerline goodness : 0.786091 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.53 [[ 9.64441207e-01 -2.34510455e-01 -1.21893418e-01 -5.57000363e+00] [ 2.35919492e-01 9.71768133e-01 -2.94772335e-03 -9.17669070e-01] [ 1.19143411e-01 -2.59141274e-02 9.92538818e-01 1.53420780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954860624 meters Centerline goodness : 0.786127 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.53 [[ 9.64431958e-01 -2.34480847e-01 -1.22023485e-01 -5.56946568e+00] [ 2.35955210e-01 9.71760892e-01 -2.43044332e-03 -9.21753459e-01] [ 1.19147543e-01 -2.64480798e-02 9.92524238e-01 1.53465922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984860624 meters Centerline goodness : 0.786136 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.92, Z:1.54 [[ 9.64430851e-01 -2.34458440e-01 -1.22075276e-01 -5.56951409e+00] [ 2.35959394e-01 9.71760382e-01 -2.21915622e-03 -9.23395153e-01] [ 1.19148216e-01 -2.66645853e-02 9.92518364e-01 1.53512012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014860624 meters Centerline goodness : 0.828339 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.54 [[ 9.64429341e-01 -2.34411819e-01 -1.22176700e-01 -5.56944621e+00] [ 2.35943293e-01 9.71764798e-01 -1.98499247e-03 -9.25058881e-01] [ 1.19192322e-01 -2.69123879e-02 9.92506380e-01 1.53556321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044860624 meters Centerline goodness : 0.785804 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.54 [[ 9.64452772e-01 -2.34242083e-01 -1.22317202e-01 -5.56924005e+00] [ 2.35813497e-01 9.71796889e-01 -1.67389259e-03 -9.26889676e-01] [ 1.19259572e-01 -2.72296568e-02 9.92489647e-01 1.53600890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074860624 meters Centerline goodness : 0.785088 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.54 [[ 9.64472088e-01 -2.34018634e-01 -1.22592293e-01 -5.56858695e+00] [ 2.35678047e-01 9.71830682e-01 -9.91827704e-04 -9.30989076e-01] [ 1.19371057e-01 -2.79357220e-02 9.92456622e-01 1.53658970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104860624 meters Centerline goodness : 0.785335 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.93, Z:1.54 [[ 9.64479773e-01 -2.33969567e-01 -1.22625481e-01 -5.56842723e+00] [ 2.35669663e-01 9.71832998e-01 -6.58287968e-04 -9.33329761e-01] [ 1.19325508e-01 -2.82642003e-02 9.92452799e-01 1.53688424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134860624 meters Centerline goodness : 0.785287 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.54 [[ 9.64504126e-01 -2.33793609e-01 -1.22769455e-01 -5.56797238e+00] [ 2.35559587e-01 9.71859899e-01 -1.33903845e-04 -9.35794661e-01] [ 1.19346016e-01 -2.87903713e-02 9.92435208e-01 1.53703342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164860624 meters Centerline goodness : 0.786518 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.54 [[ 9.64472984e-01 -2.33797023e-01 -1.23007381e-01 -5.56719208e+00] [ 2.35645059e-01 9.71839064e-01 4.89508001e-04 -9.40481086e-01] [ 1.19428933e-01 -2.94581988e-02 9.92405635e-01 1.53749927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194860624 meters Centerline goodness : 0.787214 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:1.54 [[ 9.64473600e-01 -2.33715554e-01 -1.23157273e-01 -5.56687163e+00] [ 2.35611653e-01 9.71846909e-01 8.56473929e-04 -9.42716685e-01] [ 1.19489844e-01 -2.98433353e-02 9.92386796e-01 1.53783931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224860624 meters Centerline goodness : 0.786858 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.95, Z:1.54 [[ 9.64478316e-01 -2.33650463e-01 -1.23243818e-01 -5.56659456e+00] [ 2.35603035e-01 9.71848496e-01 1.30770464e-03 -9.45053634e-01] [ 1.19468773e-01 -3.02978703e-02 9.92375560e-01 1.53798727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254860624 meters Centerline goodness : 0.786522 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.95, Z:1.54 [[ 9.64493483e-01 -2.33527645e-01 -1.23357858e-01 -5.56621524e+00] [ 2.35529634e-01 9.71865687e-01 1.69662513e-03 -9.47274507e-01] [ 1.19491060e-01 -3.06908150e-02 9.92360802e-01 1.53821128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284860624 meters Centerline goodness : 0.790544 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.95, Z:1.54 [[ 9.64508888e-01 -2.33322678e-01 -1.23624970e-01 -5.56557779e+00] [ 2.35405160e-01 9.71894585e-01 2.30796847e-03 -9.51206714e-01] [ 1.19611937e-01 -3.13280120e-02 9.92326327e-01 1.53882718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314860624 meters Centerline goodness : 0.788287 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.95, Z:1.54 [[ 9.64538218e-01 -2.33100918e-01 -1.23814327e-01 -5.56502015e+00] [ 2.35238141e-01 9.71933942e-01 2.72572609e-03 -9.53073623e-01] [ 1.19703978e-01 -3.17549192e-02 9.92301659e-01 1.53893188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344860624 meters Centerline goodness : 0.786787 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.54 [[ 9.64560154e-01 -2.32892600e-01 -1.24035262e-01 -5.56462331e+00] [ 2.35065373e-01 9.71975012e-01 2.97419152e-03 -9.54537717e-01] [ 1.19866508e-01 -3.20251818e-02 9.92273353e-01 1.53932654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374860624 meters Centerline goodness : 0.789087 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.54 [[ 9.64616865e-01 -2.32549449e-01 -1.24237909e-01 -5.56412393e+00] [ 2.34774256e-01 9.72044073e-01 3.37170828e-03 -9.56030678e-01] [ 1.19980635e-01 -3.24202695e-02 9.92246730e-01 1.53952820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404860624 meters Centerline goodness : 0.789244 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.54 [[ 9.64684588e-01 -2.32124178e-01 -1.24507072e-01 -5.56358405e+00] [ 2.34447309e-01 9.72120024e-01 4.13747240e-03 -9.59987799e-01] [ 1.20075411e-01 -3.31817039e-02 9.92210094e-01 1.54023197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434860624 meters Centerline goodness : 0.789862 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.54 [[ 9.64709370e-01 -2.31921586e-01 -1.24692460e-01 -5.56328022e+00] [ 2.34289743e-01 9.72156537e-01 4.47040162e-03 -9.61837226e-01] [ 1.20183808e-01 -3.35268028e-02 9.92185369e-01 1.54067493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464860624 meters Centerline goodness : 0.789923 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.54 [[ 9.64742106e-01 -2.31687318e-01 -1.24874558e-01 -5.56291228e+00] [ 2.34103091e-01 9.72199797e-01 4.82680988e-03 -9.63449389e-01] [ 1.20284710e-01 -3.38901469e-02 9.92160797e-01 1.54096486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494860624 meters Centerline goodness : 0.791141 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.96, Z:1.54 [[ 9.64782094e-01 -2.31468919e-01 -1.24970600e-01 -5.56280592e+00] [ 2.33923106e-01 9.72241565e-01 5.13016579e-03 -9.64660918e-01] [ 1.20314138e-01 -3.41830031e-02 9.92147182e-01 1.54127915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524860624 meters Centerline goodness : 0.789183 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.54 [[ 0.96488792 -0.23085393 -0.12529072 -5.56184106] [ 0.23341109 0.97236009 0.00592535 -0.96732628] [ 0.1204598 -0.03496154 0.99210238 1.54143332] [ 0. 0. 0. 1. ]] SLAMing on 71.554860624 meters Centerline goodness : 0.789183 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.54 [[ 0.96488792 -0.23085393 -0.12529072 -5.56184106] [ 0.23341109 0.97236009 0.00592535 -0.96732628] [ 0.1204598 -0.03496154 0.99210238 1.54143332] [ 0. 0. 0. 1. ]] SLAMing on 71.584860624 meters Centerline goodness : 0.787452 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.54 [[ 0.96492493 -0.23065758 -0.12536733 -5.56140152] [ 0.23327475 0.97238974 0.00640957 -0.96929007] [ 0.12042749 -0.03542979 0.99208969 1.54136473] [ 0. 0. 0. 1. ]] SLAMing on 71.614860624 meters Centerline goodness : 0.788768 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.97, Z:1.54 [[ 0.96492022 -0.23059699 -0.1255149 -5.56096575] [ 0.23326446 0.97238967 0.00678377 -0.9714626 ] [ 0.12048507 -0.03582396 0.99206854 1.54154531] [ 0. 0. 0. 1. ]] SLAMing on 71.644860624 meters Centerline goodness : 0.789180 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96469217 -0.23184444 -0.12496872 -5.56024615] [ 0.23437894 0.97212819 0.00576955 -0.97543888] [ 0.12014797 -0.03485588 0.99214391 1.54160057] [ 0. 0. 0. 1. ]] SLAMing on 71.674860624 meters Centerline goodness : 0.788758 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96467041 -0.23192224 -0.12499228 -5.56036058] [ 0.23446853 0.97210608 0.00585509 -0.9767588 ] [ 0.12014782 -0.03495499 0.99214044 1.54205865] [ 0. 0. 0. 1. ]] SLAMing on 71.704860624 meters Centerline goodness : 0.787536 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96467405 -0.2318449 -0.1251076 -5.56012112] [ 0.23441233 0.97211874 0.00600059 -0.97754778] [ 0.12022824 -0.03511538 0.99212503 1.54223791] [ 0. 0. 0. 1. ]] SLAMing on 71.734860624 meters Centerline goodness : 0.788062 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.9647319 -0.23153145 -0.12524199 -5.55960364] [ 0.23414333 0.97218137 0.00634757 -0.97865516] [ 0.12028826 -0.03544828 0.99210592 1.54219234] [ 0. 0. 0. 1. ]] SLAMing on 71.764860624 meters Centerline goodness : 0.843021 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96479115 -0.23126262 -0.12528226 -5.55921609] [ 0.2339113 0.97223516 0.00665618 -0.97973927] [ 0.12026449 -0.03572676 0.99209881 1.54207052] [ 0. 0. 0. 1. ]] SLAMing on 71.794860624 meters Centerline goodness : 0.835504 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96488617 -0.23080946 -0.1253861 -5.55904148] [ 0.23351082 0.97232837 0.00708829 -0.9816296 ] [ 0.12028041 -0.03611841 0.9920827 1.54256466] [ 0. 0. 0. 1. ]] SLAMing on 71.824860624 meters Centerline goodness : 0.836186 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96492474 -0.23064624 -0.12538963 -5.55904844] [ 0.23337237 0.97236003 0.00730195 -0.98240925] [ 0.1202397 -0.0363083 0.9920807 1.5427196 ] [ 0. 0. 0. 1. ]] SLAMing on 71.854860624 meters Centerline goodness : 0.835896 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96493459 -0.23060191 -0.12539533 -5.55910631] [ 0.23333885 0.97236739 0.00739227 -0.98315254] [ 0.12022566 -0.03639266 0.99207931 1.54296902] [ 0. 0. 0. 1. ]] SLAMing on 71.884860624 meters Centerline goodness : 0.835616 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.98, Z:1.54 [[ 0.96494792 -0.230496 -0.12548743 -5.55893399] [ 0.23325818 0.9723853 0.00757905 -0.98418221] [ 0.1202752 -0.03658436 0.99206626 1.54319061] [ 0. 0. 0. 1. ]] SLAMing on 71.914860624 meters Centerline goodness : 0.831540 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.99, Z:1.54 [[ 0.96493481 -0.23056819 -0.12545564 -5.55877087] [ 0.23337602 0.97235398 0.00796099 -0.9863023 ] [ 0.12015174 -0.03696018 0.99206729 1.54323521] [ 0. 0. 0. 1. ]] SLAMing on 71.944860624 meters Centerline goodness : 0.832338 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.99, Z:1.54 [[ 0.96486711 -0.23090008 -0.12536592 -5.55913068] [ 0.23369209 0.97227907 0.00783707 -0.98712343] [ 0.12008108 -0.03685875 0.99207962 1.54363125] [ 0. 0. 0. 1. ]] SLAMing on 71.974860624 meters Centerline goodness : 0.830068 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.99, Z:1.54 [[ 0.96481942 -0.23117768 -0.12522126 -5.55948709] [ 0.23397642 0.97221001 0.00791988 -0.98854062] [ 0.11991046 -0.03694007 0.99209723 1.54387738] [ 0. 0. 0. 1. ]] SLAMing on 72.004860624 meters Centerline goodness : 0.831107 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.99, Z:1.54 [[ 0.96476951 -0.23113701 -0.12568005 -5.55843812] [ 0.23404619 0.97218663 0.0086912 -0.99042276] [ 0.1201756 -0.03779995 0.99203276 1.54411349] [ 0. 0. 0. 1. ]] SLAMing on 72.034860624 meters Centerline goodness : 0.829766 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.99, Z:1.54 [[ 0.9646819 -0.23138125 -0.12590294 -5.55776986] [ 0.23441323 0.97208947 0.00961788 -0.99367148] [ 0.12016353 -0.0387915 0.99199594 1.54464789] [ 0. 0. 0. 1. ]] SLAMing on 72.064860624 meters Centerline goodness : 0.831805 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.99, Z:1.54 [[ 0.96468301 -0.23131704 -0.12601239 -5.55741473] [ 0.23439965 0.97208884 0.01000417 -0.99458809] [ 0.12018111 -0.03918811 0.99197822 1.54470903] [ 0. 0. 0. 1. ]] SLAMing on 72.094860624 meters Centerline goodness : 0.829161 Centerline is valid? [False, False] Translation: X:-5.56, Y:-1.00, Z:1.55 [[ 0.96454872 -0.22561377 -0.13690942 -5.56002929] [ 0.22948111 0.97322703 0.01294503 -1.0005558 ] [ 0.13032337 -0.04390424 0.99049898 1.54895394] [ 0. 0. 0. 1. ]] SLAMing on 72.124860624 meters Centerline goodness : 0.830588 Centerline is valid? [False, False] Translation: X:-5.56, Y:-1.00, Z:1.55 [[ 0.96455591 -0.22528217 -0.13740395 -5.55807212] [ 0.22924814 0.97327374 0.01354707 -1.00165225] [ 0.13067974 -0.04456651 0.99042245 1.54810069] [ 0. 0. 0. 1. ]] SLAMing on 72.154860624 meters Centerline goodness : 0.828936 Centerline is valid? [False, False] Translation: X:-5.56, Y:-1.00, Z:1.55 [[ 0.96458445 -0.22503381 -0.13761041 -5.55686144] [ 0.22901801 0.97332674 0.01363118 -1.00175724] [ 0.13087242 -0.04466368 0.99039263 1.54728712] [ 0. 0. 0. 1. ]] SLAMing on 72.184860624 meters Centerline goodness : 0.829338 Centerline is valid? [False, False] Translation: X:-5.56, Y:-1.00, Z:1.55 [[ 0.96503461 -0.22195571 -0.13944126 -5.55511222] [ 0.22668785 0.97378561 0.01882041 -1.00415859] [ 0.13160859 -0.04977199 0.99005148 1.54808719] [ 0. 0. 0. 1. ]] SLAMing on 72.214860624 meters Centerline goodness : 0.824178 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.01, Z:1.55 [[ 0.96548204 -0.21917468 -0.14073694 -5.55372721] [ 0.2244496 0.97422423 0.02257246 -1.0055173 ] [ 0.13216202 -0.05338166 0.98978967 1.54818547] [ 0. 0. 0. 1. ]] SLAMing on 72.244860624 meters Centerline goodness : 0.824105 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96570676 -0.21848271 -0.14027029 -5.55497921] [ 0.22370697 0.97439834 0.02242913 -1.00497296] [ 0.13177876 -0.0530394 0.98985917 1.54826979] [ 0. 0. 0. 1. ]] SLAMing on 72.274860624 meters Centerline goodness : 0.827795 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96580605 -0.21794126 -0.14042889 -5.55467214] [ 0.22320782 0.97450609 0.02271876 -1.00482417] [ 0.13189745 -0.05328674 0.98983008 1.54814931] [ 0. 0. 0. 1. ]] SLAMing on 72.304860624 meters Centerline goodness : 0.821535 Centerline is valid? [False, False] Translation: X:-5.56, Y:-1.00, Z:1.55 [[ 0.96591685 -0.21758522 -0.14021881 -5.55514251] [ 0.22283056 0.97459358 0.02266908 -1.00470206] [ 0.1317239 -0.05314148 0.989861 1.54811963] [ 0. 0. 0. 1. ]] SLAMing on 72.334860624 meters Centerline goodness : 0.833921 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.01, Z:1.55 [[ 0.9662821 -0.21493856 -0.14177562 -5.55371218] [ 0.2207887 0.97495551 0.02672276 -1.00609805] [ 0.13248117 -0.05712418 0.98953806 1.54866117] [ 0. 0. 0. 1. ]] SLAMing on 72.364860624 meters Centerline goodness : 0.832519 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96640043 -0.21447201 -0.14167553 -5.55360167] [ 0.22027179 0.97508064 0.02642132 -1.00486856] [ 0.13247844 -0.0567407 0.98956049 1.54797351] [ 0. 0. 0. 1. ]] SLAMing on 72.394860624 meters Centerline goodness : 0.833748 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.9664011 -0.21422961 -0.14203727 -5.55248125] [ 0.22006488 0.97512397 0.02654591 -1.00455168] [ 0.13281703 -0.05691141 0.98950529 1.54747618] [ 0. 0. 0. 1. ]] SLAMing on 72.424860624 meters Centerline goodness : 0.835723 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96645981 -0.21394035 -0.14207383 -5.55181366] [ 0.21976851 0.97519215 0.02649668 -1.00413277] [ 0.13288057 -0.05683133 0.98950137 1.54671267] [ 0. 0. 0. 1. ]] SLAMing on 72.454860624 meters Centerline goodness : 0.832215 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96654698 -0.21361907 -0.1419642 -5.55171925] [ 0.21943877 0.97526624 0.02650261 -1.00408613] [ 0.13279143 -0.05676847 0.98951694 1.54628675] [ 0. 0. 0. 1. ]] SLAMing on 72.484860624 meters Centerline goodness : 0.831311 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96654978 -0.21336698 -0.14232376 -5.55098613] [ 0.21923164 0.97530747 0.02669888 -1.00362723] [ 0.13311277 -0.05700766 0.98946001 1.54610661] [ 0. 0. 0. 1. ]] SLAMing on 72.514860624 meters Centerline goodness : 0.833300 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96662838 -0.21290249 -0.14248544 -5.55085729] [ 0.2187885 0.97540368 0.02681885 -1.00310062] [ 0.13327103 -0.05709804 0.9894335 1.54610944] [ 0. 0. 0. 1. ]] SLAMing on 72.544860624 meters Centerline goodness : 0.834799 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96659506 -0.21276232 -0.14292017 -5.54996283] [ 0.21872927 0.9754053 0.02723994 -1.00327013] [ 0.13360946 -0.05759082 0.98935929 1.54606391] [ 0. 0. 0. 1. ]] SLAMing on 72.574860624 meters Centerline goodness : 0.786570 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96662122 -0.21251709 -0.14310804 -5.54943544] [ 0.21853124 0.97544171 0.02752393 -1.00350047] [ 0.13374425 -0.05787879 0.98932428 1.54596273] [ 0. 0. 0. 1. ]] SLAMing on 72.604860624 meters Centerline goodness : 0.832451 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.9666402 -0.2120651 -0.14364925 -5.54862561] [ 0.21818319 0.97550363 0.02808482 -1.00351598] [ 0.13417455 -0.05848976 0.98923007 1.54620852] [ 0. 0. 0. 1. ]] SLAMing on 72.634860624 meters Centerline goodness : 0.836659 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96668316 -0.21167998 -0.14392796 -5.54786989] [ 0.21787539 0.9755587 0.02855749 -1.00355317] [ 0.13436512 -0.05896441 0.98917603 1.54590097] [ 0. 0. 0. 1. ]] SLAMing on 72.664860624 meters Centerline goodness : 0.835552 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96656386 -0.21203835 -0.14420138 -5.54719144] [ 0.21822578 0.97548633 0.02835372 -1.00339342] [ 0.1346544 -0.05887414 0.98914207 1.5459755 ] [ 0. 0. 0. 1. ]] SLAMing on 72.694860624 meters Centerline goodness : 0.831367 Centerline is valid? [False, False] Translation: X:-5.55, Y:-1.00, Z:1.55 [[ 0.96653727 -0.21187303 -0.144622 -5.54603469] [ 0.21812762 0.97549899 0.0286716 -1.0036054 ] [ 0.13500388 -0.05925822 0.98907149 1.54573074] [ 0. 0. 0. 1. ]] SLAMing on 72.724860624 meters Centerline goodness : 0.833326 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.55 [[ 0.96649641 -0.21169816 -0.14515017 -5.54465611] [ 0.21806813 0.97549385 0.02929249 -1.00458068] [ 0.13539193 -0.05996371 0.98897592 1.5456201 ] [ 0. 0. 0. 1. ]] SLAMing on 72.754860624 meters Centerline goodness : 0.829189 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.01, Z:1.55 [[ 0.96654234 -0.21129193 -0.14543599 -5.54387016] [ 0.21775152 0.97554779 0.02984608 -1.00515827] [ 0.13557353 -0.0605164 0.98891738 1.54542122] [ 0. 0. 0. 1. ]] SLAMing on 72.784860624 meters Centerline goodness : 0.831742 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.01, Z:1.55 [[ 0.9665526 -0.21094959 -0.1458641 -5.54327478] [ 0.21750808 0.97558511 0.03039625 -1.00541151] [ 0.13589077 -0.06110619 0.98883757 1.54571358] [ 0. 0. 0. 1. ]] SLAMing on 72.814860624 meters Centerline goodness : 0.828793 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.01, Z:1.55 [[ 0.96661827 -0.21074162 -0.14572949 -5.54380159] [ 0.21727386 0.9756409 0.03028033 -1.00510509] [ 0.13579833 -0.06093273 0.98886097 1.54594221] [ 0. 0. 0. 1. ]] SLAMing on 72.844860624 meters Centerline goodness : 0.827225 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.55 [[ 0.96683136 -0.20967112 -0.14586004 -5.54364064] [ 0.21624557 0.97585933 0.03060109 -1.00417694] [ 0.13592271 -0.06112768 0.98883185 1.54562656] [ 0. 0. 0. 1. ]] SLAMing on 72.874860624 meters Centerline goodness : 0.836445 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.55 [[ 0.96691287 -0.20923559 -0.14594508 -5.543049 ] [ 0.21582363 0.97594991 0.03069096 -1.00416757] [ 0.13601345 -0.06117388 0.98881651 1.54517442] [ 0. 0. 0. 1. ]] SLAMing on 72.904860624 meters Centerline goodness : 0.836272 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96695264 -0.20891055 -0.1461471 -5.5422521 ] [ 0.21552692 0.97601119 0.0308271 -1.00390094] [ 0.1362011 -0.06130698 0.98878244 1.54466082] [ 0. 0. 0. 1. ]] SLAMing on 72.934860624 meters Centerline goodness : 0.829546 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96702968 -0.2084108 -0.14635072 -5.54132265] [ 0.21504805 0.97611387 0.03092011 -1.00364883] [ 0.13641088 -0.0613731 0.98874942 1.54402737] [ 0. 0. 0. 1. ]] SLAMing on 72.964860624 meters Centerline goodness : 0.835205 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96746283 -0.20556733 -0.14750508 -5.54049514] [ 0.21274709 0.97649807 0.03449912 -1.00467612] [ 0.13694653 -0.0647579 0.98845944 1.5445045 ] [ 0. 0. 0. 1. ]] SLAMing on 72.994860624 meters Centerline goodness : 0.834736 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.967526 -0.20525015 -0.14753243 -5.54009755] [ 0.21241995 0.97657153 0.03443561 -1.00430821] [ 0.13700806 -0.06465618 0.98845757 1.5440573 ] [ 0. 0. 0. 1. ]] SLAMing on 73.024860624 meters Centerline goodness : 0.833973 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96758966 -0.20473172 -0.14783498 -5.5396447 ] [ 0.21196165 0.97665963 0.03475967 -1.00405854] [ 0.13726805 -0.06496845 0.98840102 1.54410261] [ 0. 0. 0. 1. ]] SLAMing on 73.054860624 meters Centerline goodness : 0.833529 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96769456 -0.20421212 -0.147867 -5.53958922] [ 0.21145856 0.97676373 0.03489825 -1.00374285] [ 0.13730448 -0.06503859 0.98839135 1.54400116] [ 0. 0. 0. 1. ]] SLAMing on 73.084860624 meters Centerline goodness : 0.781519 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96782856 -0.20336439 -0.14815806 -5.53971572] [ 0.21063834 0.97693679 0.03501425 -1.00217848] [ 0.13762041 -0.06509556 0.98834366 1.5441965 ] [ 0. 0. 0. 1. ]] SLAMing on 73.114860624 meters Centerline goodness : 0.830954 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96785789 -0.20307774 -0.14835948 -5.53887687] [ 0.21036807 0.97699356 0.03505508 -1.00176329] [ 0.13782735 -0.06513843 0.988312 1.54365516] [ 0. 0. 0. 1. ]] SLAMing on 73.144860624 meters Centerline goodness : 0.830431 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96778857 -0.20349358 -0.14824183 -5.53880354] [ 0.2106795 0.97695206 0.03433406 -1.00127489] [ 0.1378384 -0.06445962 0.98835496 1.54346816] [ 0. 0. 0. 1. ]] SLAMing on 73.174860624 meters Centerline goodness : 0.829148 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96775629 -0.20336575 -0.14862748 -5.53736545] [ 0.21061499 0.97695609 0.03461383 -1.00165392] [ 0.13816325 -0.06480092 0.98828728 1.54289398] [ 0. 0. 0. 1. ]] SLAMing on 73.204860624 meters Centerline goodness : 0.827009 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96767822 -0.20334916 -0.1491576 -5.53583931] [ 0.21066732 0.97693621 0.03485589 -1.00174406] [ 0.13862954 -0.06515191 0.98819891 1.54255928] [ 0. 0. 0. 1. ]] SLAMing on 73.234860624 meters Centerline goodness : 0.837069 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.96751927 -0.20400413 -0.14929424 -5.53569614] [ 0.21123897 0.97683758 0.03415321 -0.99991344] [ 0.13886882 -0.06458065 0.98820281 1.54252528] [ 0. 0. 0. 1. ]] SLAMing on 73.264860624 meters Centerline goodness : 0.835352 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.54 [[ 0.967501 -0.20388186 -0.1495794 -5.53513506] [ 0.21112713 0.97686355 0.03410198 -0.9992592 ] [ 0.13916589 -0.06457397 0.98816145 1.54255118] [ 0. 0. 0. 1. ]] SLAMing on 73.294860624 meters Centerline goodness : 0.831513 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.54 [[ 0.96748005 -0.20375061 -0.14989344 -5.53462367] [ 0.21104335 0.9768747 0.03430046 -0.99910182] [ 0.13943837 -0.06481903 0.988107 1.54269318] [ 0. 0. 0. 1. ]] SLAMing on 73.324860624 meters Centerline goodness : 0.832978 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.54 [[ 0.96741447 -0.20412601 -0.14980591 -5.53490241] [ 0.21135628 0.97682196 0.03387291 -0.99852262] [ 0.13941936 -0.06443156 0.98813502 1.54288713] [ 0. 0. 0. 1. ]] SLAMing on 73.354860624 meters Centerline goodness : 0.776348 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.54 [[ 0.96736415 -0.20405362 -0.15022889 -5.53405577] [ 0.21133699 0.97681976 0.03405618 -0.99817471] [ 0.13979726 -0.06469365 0.9880645 1.54295303] [ 0. 0. 0. 1. ]] SLAMing on 73.384860624 meters Centerline goodness : 0.778106 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.54 [[ 0.96738455 -0.2038985 -0.15030811 -5.53407865] [ 0.21116849 0.97686041 0.03393545 -0.99706786] [ 0.13991066 -0.06456896 0.98805661 1.54294029] [ 0. 0. 0. 1. ]] SLAMing on 73.414860624 meters Centerline goodness : 0.778617 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.54 [[ 0.96743771 -0.20357198 -0.15040854 -5.53373564] [ 0.21085437 0.97692606 0.03399866 -0.99643463] [ 0.14001685 -0.06460589 0.98803915 1.54262411] [ 0. 0. 0. 1. ]] SLAMing on 73.444860624 meters Centerline goodness : 0.778617 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.54 [[ 0.96743771 -0.20357198 -0.15040854 -5.53373564] [ 0.21085437 0.97692606 0.03399866 -0.99643463] [ 0.14001685 -0.06460589 0.98803915 1.54262411] [ 0. 0. 0. 1. ]] SLAMing on 73.474860624 meters Centerline goodness : 0.776506 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.54 [[ 0.96745108 -0.20332117 -0.15066156 -5.53291918] [ 0.21062052 0.97697584 0.03401781 -0.9957228 ] [ 0.14027616 -0.06464299 0.98799994 1.54217153] [ 0. 0. 0. 1. ]] SLAMing on 73.504860624 meters Centerline goodness : 0.836240 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.96732991 -0.20391009 -0.1506437 -5.5331551 ] [ 0.21110812 0.97689628 0.0332718 -0.9942615 ] [ 0.14037881 -0.06398692 0.98802807 1.54226594] [ 0. 0. 0. 1. ]] SLAMing on 73.534860624 meters Centerline goodness : 0.778420 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.9672671 -0.20390666 -0.15105111 -5.53196527] [ 0.21111582 0.97689832 0.03316305 -0.99336155] [ 0.14079941 -0.06396681 0.98796952 1.54182486] [ 0. 0. 0. 1. ]] SLAMing on 73.564860624 meters Centerline goodness : 0.832711 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.96721569 -0.20392647 -0.15135323 -5.53062812] [ 0.21110313 0.97691346 0.03279574 -0.99228991] [ 0.14117109 -0.0636717 0.98793554 1.5409741 ] [ 0. 0. 0. 1. ]] SLAMing on 73.594860624 meters Centerline goodness : 0.776797 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.9671971 -0.20408764 -0.15125479 -5.53065061] [ 0.21118431 0.97691345 0.03226934 -0.99145045] [ 0.14117706 -0.06315345 0.98796795 1.54072579] [ 0. 0. 0. 1. ]] SLAMing on 73.624860624 meters Centerline goodness : 0.833945 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.96720978 -0.20406497 -0.15120429 -5.53095895] [ 0.2111037 0.97694338 0.03188826 -0.99110589] [ 0.14121075 -0.06276242 0.98798806 1.54097998] [ 0. 0. 0. 1. ]] SLAMing on 73.654860624 meters Centerline goodness : 0.835912 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.96746527 -0.20208696 -0.15222291 -5.53018868] [ 0.20957636 0.9771761 0.03470768 -0.99118882] [ 0.14173462 -0.0654808 0.98773659 1.54134552] [ 0. 0. 0. 1. ]] SLAMing on 73.684860624 meters Centerline goodness : 0.836977 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.9676358 -0.20128258 -0.15220476 -5.53080148] [ 0.2087113 0.97737388 0.03434969 -0.9889314 ] [ 0.14184696 -0.06500484 0.9877519 1.54137761] [ 0. 0. 0. 1. ]] SLAMing on 73.714860624 meters Centerline goodness : 0.837271 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.96772051 -0.20090233 -0.15216852 -5.53087955] [ 0.20826986 0.97748141 0.03396707 -0.9873827 ] [ 0.14191784 -0.06456275 0.98777071 1.5410174 ] [ 0. 0. 0. 1. ]] SLAMing on 73.744860624 meters Centerline goodness : 0.836713 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.54 [[ 0.96780577 -0.20057315 -0.15206052 -5.53091865] [ 0.2078707 0.97758069 0.03355256 -0.9857178 ] [ 0.14192169 -0.06408129 0.98780151 1.54039333] [ 0. 0. 0. 1. ]] SLAMing on 73.774860624 meters Centerline goodness : 0.839661 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.54 [[ 0.96785012 -0.20022838 -0.15223253 -5.53065492] [ 0.20752191 0.9776576 0.03347055 -0.98486827] [ 0.14212954 -0.06398606 0.9877778 1.54031814] [ 0. 0. 0. 1. ]] SLAMing on 73.804860624 meters Centerline goodness : 0.837761 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.54 [[ 0.96812523 -0.19937748 -0.1515987 -5.53165709] [ 0.20650176 0.9779017 0.0326387 -0.98297419] [ 0.1417412 -0.06290375 0.98790311 1.53950252] [ 0. 0. 0. 1. ]] SLAMing on 73.834860624 meters Centerline goodness : 0.838962 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.54 [[ 0.96819281 -0.19893515 -0.15174808 -5.53091056] [ 0.20602225 0.97801262 0.03234422 -0.98173035] [ 0.14197713 -0.06257892 0.98788986 1.53872946] [ 0. 0. 0. 1. ]] SLAMing on 73.864860624 meters Centerline goodness : 0.840465 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.54 [[ 0.9682327 -0.19900501 -0.15140162 -5.53162225] [ 0.20594765 0.97805631 0.03148675 -0.98031694] [ 0.14181329 -0.06166731 0.98797071 1.53856128] [ 0. 0. 0. 1. ]] SLAMing on 73.894860624 meters Centerline goodness : 0.841056 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.54 [[ 0.96853232 -0.19644623 -0.1528202 -5.53052294] [ 0.20390379 0.9783791 0.0346062 -0.97902414] [ 0.14271784 -0.06467784 0.98764791 1.53889911] [ 0. 0. 0. 1. ]] SLAMing on 73.924860624 meters Centerline goodness : 0.841851 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.54 [[ 0.96848703 -0.19681064 -0.15263828 -5.5310667 ] [ 0.20417519 0.97834307 0.03401959 -0.97712474] [ 0.14263718 -0.06411248 0.98769642 1.53888593] [ 0. 0. 0. 1. ]] SLAMing on 73.954860624 meters Centerline goodness : 0.840229 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.54 [[ 0.96843414 -0.19678319 -0.1530088 -5.53057908] [ 0.20416869 0.97834516 0.03399831 -0.9757232 ] [ 0.14300512 -0.06416473 0.98763982 1.53886792] [ 0. 0. 0. 1. ]] SLAMing on 73.984860624 meters Centerline goodness : 0.841130 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.54 [[ 0.96837643 -0.19719224 -0.15284736 -5.53063602] [ 0.20447568 0.9783038 0.03333722 -0.97389968] [ 0.14295731 -0.06353655 0.98768736 1.53845791] [ 0. 0. 0. 1. ]] SLAMing on 74.014860624 meters Centerline goodness : 0.839829 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.54 [[ 0.96823945 -0.19786787 -0.15284202 -5.53033248] [ 0.20503719 0.97821433 0.03250357 -0.97289102] [ 0.14308084 -0.06280953 0.98771597 1.53815817] [ 0. 0. 0. 1. ]] SLAMing on 74.044860624 meters Centerline goodness : 0.779272 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.54 [[ 0.96818026 -0.19821983 -0.15276085 -5.53048245] [ 0.20531862 0.978171 0.03202743 -0.97178908] [ 0.14307776 -0.06237297 0.98774408 1.53811302] [ 0. 0. 0. 1. ]] SLAMing on 74.074860624 meters Centerline goodness : 0.779826 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.54 [[ 0.96809825 -0.19873701 -0.15260859 -5.53121095] [ 0.20572916 0.97810761 0.03132104 -0.96999848] [ 0.14304297 -0.06171788 0.98779027 1.53837594] [ 0. 0. 0. 1. ]] SLAMing on 74.104860624 meters Centerline goodness : 0.780785 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.54 [[ 0.96800838 -0.19930737 -0.15243474 -5.53210291] [ 0.206173 0.97804067 0.03048172 -0.96772911] [ 0.14301215 -0.06093449 0.98784336 1.53874149] [ 0. 0. 0. 1. ]] SLAMing on 74.134860624 meters Centerline goodness : 0.839928 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.54 [[ 0.96792805 -0.19986204 -0.15221847 -5.53333885] [ 0.20655481 0.97799502 0.02934015 -0.96406102] [ 0.14300493 -0.05984061 0.98791128 1.53933796] [ 0. 0. 0. 1. ]] SLAMing on 74.164860624 meters Centerline goodness : 0.779204 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.54 [[ 0.96785965 -0.20030883 -0.15206597 -5.53399087] [ 0.20691243 0.97793678 0.02875604 -0.96307307] [ 0.14295082 -0.05929615 0.98795194 1.53971077] [ 0. 0. 0. 1. ]] SLAMing on 74.194860624 meters Centerline goodness : 0.777495 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.54 [[ 0.96779383 -0.20069025 -0.15198199 -5.5342693 ] [ 0.20721546 0.97788817 0.02822192 -0.96237715] [ 0.14295753 -0.05880602 0.98798026 1.53994386] [ 0. 0. 0. 1. ]] SLAMing on 74.224860624 meters Centerline goodness : 0.779369 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.54 [[ 0.9677369 -0.20100274 -0.15193156 -5.5343023 ] [ 0.20747447 0.9778439 0.02785064 -0.96176085] [ 0.14296729 -0.05847402 0.98799855 1.53986432] [ 0. 0. 0. 1. ]] SLAMing on 74.254860624 meters Centerline goodness : 0.779547 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.54 [[ 0.96764911 -0.20161522 -0.15167893 -5.5347301 ] [ 0.20800785 0.97774433 0.02736357 -0.96056924] [ 0.1427863 -0.05802874 0.98805098 1.53950316] [ 0. 0. 0. 1. ]] SLAMing on 74.284860624 meters Centerline goodness : 0.779281 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.9675708 -0.20215907 -0.15145445 -5.53539524] [ 0.20846916 0.97766046 0.02684467 -0.95966802] [ 0.14264414 -0.0575477 0.98809965 1.53962567] [ 0. 0. 0. 1. ]] SLAMing on 74.314860624 meters Centerline goodness : 0.836855 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96744494 -0.20293276 -0.15122364 -5.53649253] [ 0.20913643 0.97753691 0.02614483 -0.9587526 ] [ 0.14252104 -0.05692006 0.98815376 1.54016438] [ 0. 0. 0. 1. ]] SLAMing on 74.344860624 meters Centerline goodness : 0.837323 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96729311 -0.20393039 -0.15085237 -5.53787953] [ 0.21000203 0.97737341 0.02530541 -0.95774223] [ 0.14227855 -0.05615705 0.98823236 1.54067336] [ 0. 0. 0. 1. ]] SLAMing on 74.374860624 meters Centerline goodness : 0.836172 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96722069 -0.20444246 -0.15062343 -5.53860478] [ 0.21045179 0.97728641 0.02492626 -0.95765441] [ 0.14210625 -0.05580816 0.98827692 1.54095675] [ 0. 0. 0. 1. ]] SLAMing on 74.404860624 meters Centerline goodness : 0.835929 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96714939 -0.20480834 -0.15058418 -5.53877881] [ 0.21077919 0.97722291 0.02464779 -0.95760185] [ 0.14210624 -0.0555781 0.98828988 1.54111168] [ 0. 0. 0. 1. ]] SLAMing on 74.434860624 meters Centerline goodness : 0.836018 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96698118 -0.20585524 -0.15023653 -5.53992839] [ 0.21172863 0.97703302 0.02403034 -0.95737969] [ 0.14183928 -0.05504626 0.988358 1.54140254] [ 0. 0. 0. 1. ]] SLAMing on 74.464860624 meters Centerline goodness : 0.835290 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96688688 -0.20645332 -0.1500226 -5.54061397] [ 0.21225972 0.97692819 0.0236036 -0.95713895] [ 0.14168826 -0.05466577 0.98840077 1.54165428] [ 0. 0. 0. 1. ]] SLAMing on 74.494860624 meters Centerline goodness : 0.834350 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96678512 -0.20706664 -0.14983304 -5.54128048] [ 0.21280743 0.97681929 0.02317495 -0.95683523] [ 0.14156105 -0.05429078 0.98843967 1.54190436] [ 0. 0. 0. 1. ]] SLAMing on 74.524860624 meters Centerline goodness : 0.834104 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96669002 -0.20767143 -0.14960947 -5.54193542] [ 0.21334644 0.97671151 0.02275795 -0.95664907] [ 0.14139911 -0.05391853 0.98848322 1.54211755] [ 0. 0. 0. 1. ]] SLAMing on 74.554860624 meters Centerline goodness : 0.832674 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96659639 -0.20815177 -0.14954687 -5.54233249] [ 0.21378746 0.97662169 0.0224722 -0.9567771 ] [ 0.14137309 -0.05369279 0.98849923 1.54240858] [ 0. 0. 0. 1. ]] SLAMing on 74.584860624 meters Centerline goodness : 0.833204 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96583614 -0.21200822 -0.14904045 -5.54120265] [ 0.2171052 0.97597072 0.01861393 -0.95564386] [ 0.14151281 -0.05033546 0.98865589 1.54216015] [ 0. 0. 0. 1. ]] SLAMing on 74.614860624 meters Centerline goodness : 0.830641 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96579043 -0.21228599 -0.14894131 -5.54117318] [ 0.2173697 0.97591332 0.01853646 -0.95606873] [ 0.14141878 -0.05027766 0.98867228 1.54199847] [ 0. 0. 0. 1. ]] SLAMing on 74.644860624 meters Centerline goodness : 0.832993 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.54 [[ 0.96571107 -0.21271888 -0.1488382 -5.54157031] [ 0.21775605 0.97583322 0.01821631 -0.95575751] [ 0.14136631 -0.05000211 0.98869376 1.54213576] [ 0. 0. 0. 1. ]] SLAMing on 74.674860624 meters Centerline goodness : 0.831856 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96562057 -0.21319581 -0.1487429 -5.54212854] [ 0.21816822 0.97574952 0.01776229 -0.95489984] [ 0.14134897 -0.04960261 0.98871636 1.54243359] [ 0. 0. 0. 1. ]] SLAMing on 74.704860624 meters Centerline goodness : 0.830496 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96554039 -0.21367884 -0.14857019 -5.54333683] [ 0.21855892 0.97567318 0.0171417 -0.95351569] [ 0.14129313 -0.04902234 0.98875329 1.54321363] [ 0. 0. 0. 1. ]] SLAMing on 74.734860624 meters Centerline goodness : 0.782228 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96551619 -0.21379995 -0.14855325 -5.54353283] [ 0.21865162 0.97565594 0.01693994 -0.95321283] [ 0.14131511 -0.04883719 0.98875931 1.54344276] [ 0. 0. 0. 1. ]] SLAMing on 74.764860624 meters Centerline goodness : 0.781066 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96549684 -0.21397608 -0.14842535 -5.54375413] [ 0.21880684 0.97562312 0.01682525 -0.95323083] [ 0.141207 -0.04872121 0.98878047 1.54341397] [ 0. 0. 0. 1. ]] SLAMing on 74.794860624 meters Centerline goodness : 0.779498 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.9654623 -0.21419934 -0.14832799 -5.54381349] [ 0.21900672 0.97558078 0.01667911 -0.95338278] [ 0.14113329 -0.04858788 0.98879756 1.54335154] [ 0. 0. 0. 1. ]] SLAMing on 74.824860624 meters Centerline goodness : 0.780963 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96545794 -0.21418583 -0.14837583 -5.54359034] [ 0.21899821 0.97558236 0.0166984 -0.95349347] [ 0.14117628 -0.04861565 0.98879006 1.54325931] [ 0. 0. 0. 1. ]] SLAMing on 74.854860624 meters Centerline goodness : 0.780804 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96543572 -0.21423601 -0.148448 -5.54358242] [ 0.2190341 0.9755765 0.01656961 -0.95307331] [ 0.14127258 -0.04851206 0.98878139 1.54340274] [ 0. 0. 0. 1. ]] SLAMing on 74.884860624 meters Centerline goodness : 0.831306 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96539348 -0.21449325 -0.14835116 -5.54415999] [ 0.2192486 0.97553311 0.01628504 -0.95249495] [ 0.14122844 -0.04824726 0.98880065 1.543759 ] [ 0. 0. 0. 1. ]] SLAMing on 74.914860624 meters Centerline goodness : 0.831697 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96534905 -0.21473901 -0.14828474 -5.54483096] [ 0.21945316 0.97549181 0.01600131 -0.95216975] [ 0.14121444 -0.0479884 0.98881525 1.5443362 ] [ 0. 0. 0. 1. ]] SLAMing on 74.944860624 meters Centerline goodness : 0.831536 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96533738 -0.21479788 -0.14827545 -5.5446813 ] [ 0.21950314 0.9754816 0.01593793 -0.95243722] [ 0.14121654 -0.04793241 0.98881766 1.54432922] [ 0. 0. 0. 1. ]] SLAMing on 74.974860624 meters Centerline goodness : 0.831734 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96532509 -0.21483652 -0.14829946 -5.54452971] [ 0.21954214 0.97547297 0.01592936 -0.9526458 ] [ 0.14123991 -0.047935 0.9888142 1.54430588] [ 0. 0. 0. 1. ]] SLAMing on 75.004860624 meters Centerline goodness : 0.832815 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96533579 -0.21477392 -0.14832055 -5.54428808] [ 0.2194758 0.97548836 0.01590058 -0.95228297] [ 0.14126994 -0.04790216 0.9888115 1.54412784] [ 0. 0. 0. 1. ]] SLAMing on 75.034860624 meters Centerline goodness : 0.833157 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96533272 -0.21474577 -0.14838125 -5.54397794] [ 0.21944223 0.97549683 0.01584398 -0.95208858] [ 0.14134302 -0.04785583 0.9888033 1.54400156] [ 0. 0. 0. 1. ]] SLAMing on 75.064860624 meters Centerline goodness : 0.782203 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96530211 -0.21484015 -0.14844376 -5.54396003] [ 0.21952365 0.97548044 0.01572498 -0.95211969] [ 0.14142563 -0.04776627 0.98879582 1.54419885] [ 0. 0. 0. 1. ]] SLAMing on 75.094860624 meters Centerline goodness : 0.833811 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96526083 -0.21504742 -0.14841205 -5.54411945] [ 0.21971293 0.97543992 0.01559475 -0.95232036] [ 0.14141342 -0.04766105 0.98880264 1.54438549] [ 0. 0. 0. 1. ]] SLAMing on 75.124860624 meters Centerline goodness : 0.833689 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.54 [[ 0.96519779 -0.21545125 -0.14823626 -5.54472176] [ 0.22009457 0.97535587 0.01546954 -0.95337926] [ 0.14125017 -0.04755716 0.98883098 1.54480074] [ 0. 0. 0. 1. ]] SLAMing on 75.154860624 meters Centerline goodness : 0.831942 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.55 [[ 0.9651631 -0.21559737 -0.14824969 -5.54480977] [ 0.22023556 0.97532486 0.01541828 -0.95397766] [ 0.14126746 -0.04753101 0.98882977 1.5450598 ] [ 0. 0. 0. 1. ]] SLAMing on 75.184860624 meters Centerline goodness : 0.835036 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.55 [[ 0.96512287 -0.21582547 -0.14817968 -5.54511204] [ 0.22044847 0.97527832 0.01531894 -0.95443735] [ 0.14121021 -0.04745064 0.9888418 1.54530841] [ 0. 0. 0. 1. ]] SLAMing on 75.214860624 meters Centerline goodness : 0.784729 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96502957 -0.21637236 -0.14798965 -5.54582179] [ 0.2209713 0.97516225 0.01517457 -0.95567273] [ 0.14103057 -0.04734537 0.98887249 1.54580956] [ 0. 0. 0. 1. ]] SLAMing on 75.244860624 meters Centerline goodness : 0.837056 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96496089 -0.21677758 -0.14784441 -5.5463383 ] [ 0.2213553 0.97507716 0.01504515 -0.95650117] [ 0.14089826 -0.04724412 0.98889619 1.54616371] [ 0. 0. 0. 1. ]] SLAMing on 75.274860624 meters Centerline goodness : 0.782967 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96491026 -0.21707191 -0.14774294 -5.5466798 ] [ 0.2216454 0.97501152 0.01502821 -0.95748227] [ 0.14078887 -0.04724742 0.98891161 1.54641746] [ 0. 0. 0. 1. ]] SLAMing on 75.304860624 meters Centerline goodness : 0.781251 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.9648683 -0.21730725 -0.14767102 -5.54689704] [ 0.22187555 0.97495963 0.01499884 -0.95834185] [ 0.14071393 -0.04723649 0.9889228 1.54664571] [ 0. 0. 0. 1. ]] SLAMing on 75.334860624 meters Centerline goodness : 0.782823 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96478019 -0.21780203 -0.14751769 -5.5474665 ] [ 0.22236905 0.97484709 0.01500554 -0.96073169] [ 0.14053895 -0.04728041 0.98894558 1.5472366 ] [ 0. 0. 0. 1. ]] SLAMing on 75.364860624 meters Centerline goodness : 0.782823 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96478019 -0.21780203 -0.14751769 -5.5474665 ] [ 0.22236905 0.97484709 0.01500554 -0.96073169] [ 0.14053895 -0.04728041 0.98894558 1.5472366 ] [ 0. 0. 0. 1. ]] SLAMing on 75.394860624 meters Centerline goodness : 0.835829 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96474386 -0.21802008 -0.14743315 -5.54765306] [ 0.22259695 0.9747938 0.01508766 -0.96221759] [ 0.14042751 -0.0473739 0.98895694 1.54746729] [ 0. 0. 0. 1. ]] SLAMing on 75.424860624 meters Centerline goodness : 0.831883 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96473165 -0.21809984 -0.14739504 -5.5476698 ] [ 0.22269433 0.97476952 0.01521891 -0.96363741] [ 0.14035695 -0.0475062 0.98896061 1.54764798] [ 0. 0. 0. 1. ]] SLAMing on 75.454860624 meters Centerline goodness : 0.781689 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.55 [[ 0.96471792 -0.21814141 -0.14742337 -5.5474797 ] [ 0.22275671 0.97475317 0.01535279 -0.96445245] [ 0.14035231 -0.04765066 0.98895432 1.54763457] [ 0. 0. 0. 1. ]] SLAMing on 75.484860624 meters Centerline goodness : 0.826629 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96471627 -0.21811686 -0.14747052 -5.5477147 ] [ 0.22275213 0.97475222 0.01547909 -0.96543045] [ 0.14037096 -0.04778231 0.98894532 1.54817845] [ 0. 0. 0. 1. ]] SLAMing on 75.514860624 meters Centerline goodness : 0.829960 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96473166 -0.21797583 -0.14757834 -5.54755763] [ 0.2226377 0.9747758 0.01563967 -0.96614526] [ 0.14044673 -0.04794459 0.98892671 1.54842144] [ 0. 0. 0. 1. ]] SLAMing on 75.544860624 meters Centerline goodness : 0.781281 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96474986 -0.2178776 -0.1476044 -5.54761626] [ 0.22256119 0.97479083 0.01579073 -0.96714151] [ 0.14044297 -0.04808511 0.98892042 1.54874085] [ 0. 0. 0. 1. ]] SLAMing on 75.574860624 meters Centerline goodness : 0.780395 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96477347 -0.21772173 -0.14768003 -5.54733877] [ 0.22243245 0.97481735 0.01596696 -0.96822377] [ 0.1404847 -0.04825333 0.9889063 1.5489055 ] [ 0. 0. 0. 1. ]] SLAMing on 75.604860624 meters Centerline goodness : 0.781506 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96482536 -0.21739109 -0.14782805 -5.5467475 ] [ 0.22219307 0.97486167 0.01658186 -0.97084014] [ 0.14050715 -0.04884497 0.98887406 1.5489817 ] [ 0. 0. 0. 1. ]] SLAMing on 75.634860624 meters Centerline goodness : 0.779847 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96483401 -0.2173239 -0.14787042 -5.54664311] [ 0.22213917 0.97487253 0.01666548 -0.97151467] [ 0.140533 -0.04892724 0.98886632 1.54917341] [ 0. 0. 0. 1. ]] SLAMing on 75.664860624 meters Centerline goodness : 0.779580 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96482438 -0.21738754 -0.1478397 -5.54676642] [ 0.22220272 0.97485796 0.01667091 -0.9720282 ] [ 0.14049866 -0.04893488 0.98887082 1.54934467] [ 0. 0. 0. 1. ]] SLAMing on 75.694860624 meters Centerline goodness : 0.777938 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96482005 -0.21736879 -0.14789549 -5.54667302] [ 0.22218475 0.97486227 0.01665818 -0.97242809] [ 0.14055676 -0.04893227 0.9888627 1.54954446] [ 0. 0. 0. 1. ]] SLAMing on 75.724860624 meters Centerline goodness : 0.779550 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96485577 -0.21714596 -0.14798979 -5.54628464] [ 0.22199075 0.97490327 0.01684406 -0.97303517] [ 0.14061811 -0.04910445 0.98884544 1.54953782] [ 0. 0. 0. 1. ]] SLAMing on 75.754860624 meters Centerline goodness : 0.779441 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.55 [[ 0.96494163 -0.21657331 -0.14826883 -5.54526904] [ 0.22151261 0.97500134 0.01745121 -0.97475776] [ 0.14078285 -0.04968281 0.98879311 1.54934466] [ 0. 0. 0. 1. ]] SLAMing on 75.784860624 meters Centerline goodness : 0.779817 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.55 [[ 0.964947 -0.21647369 -0.14837937 -5.54508909] [ 0.22142333 0.9750209 0.01749173 -0.97525886] [ 0.14088649 -0.04973325 0.98877581 1.5495912 ] [ 0. 0. 0. 1. ]] SLAMing on 75.814860624 meters Centerline goodness : 0.779213 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96496765 -0.21633373 -0.14844913 -5.54492298] [ 0.22130611 0.9750449 0.0176366 -0.97588822] [ 0.14092918 -0.04987145 0.98876276 1.54971118] [ 0. 0. 0. 1. ]] SLAMing on 75.844860624 meters Centerline goodness : 0.780084 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96501979 -0.2159539 -0.1486631 -5.54478403] [ 0.22094922 0.9751238 0.01774874 -0.97598607] [ 0.14113202 -0.04997488 0.98872861 1.55018879] [ 0. 0. 0. 1. ]] SLAMing on 75.874860624 meters Centerline goodness : 0.778950 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96503006 -0.215868 -0.1487212 -5.54497292] [ 0.22085363 0.97514695 0.01766641 -0.97592004] [ 0.14121142 -0.04989423 0.98872135 1.5506275 ] [ 0. 0. 0. 1. ]] SLAMing on 75.904860624 meters Centerline goodness : 0.835932 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96505087 -0.21572919 -0.14878754 -5.54470517] [ 0.22072567 0.97517479 0.01772882 -0.97641058] [ 0.14126923 -0.04995044 0.98871025 1.55070966] [ 0. 0. 0. 1. ]] SLAMing on 75.934860624 meters Centerline goodness : 0.779208 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96507524 -0.21557487 -0.14885311 -5.54453984] [ 0.2206007 0.97519953 0.0179221 -0.97730534] [ 0.14129793 -0.05013328 0.98869689 1.55084606] [ 0. 0. 0. 1. ]] SLAMing on 75.964860624 meters Centerline goodness : 0.831365 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96510362 -0.21544263 -0.14886062 -5.54461803] [ 0.22049168 0.97522106 0.01809158 -0.97852805] [ 0.14127431 -0.05028277 0.98869268 1.55124781] [ 0. 0. 0. 1. ]] SLAMing on 75.994860624 meters Centerline goodness : 0.835190 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96509355 -0.21551592 -0.14881978 -5.54486187] [ 0.22056418 0.97520459 0.01809539 -0.97872574] [ 0.14122988 -0.05028806 0.98869876 1.55143701] [ 0. 0. 0. 1. ]] SLAMing on 76.024860624 meters Centerline goodness : 0.833586 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96509251 -0.21546432 -0.14890124 -5.54472997] [ 0.22052041 0.97521395 0.01812471 -0.97904746] [ 0.14130534 -0.05032778 0.98868595 1.5516063 ] [ 0. 0. 0. 1. ]] SLAMing on 76.054860624 meters Centerline goodness : 0.832554 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96508616 -0.2154965 -0.14889583 -5.54480316] [ 0.22055597 0.97520547 0.0181479 -0.97954636] [ 0.14129322 -0.05035415 0.98868634 1.55180871] [ 0. 0. 0. 1. ]] SLAMing on 76.084860624 meters Centerline goodness : 0.833068 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96522705 -0.21467457 -0.14916957 -5.54319323] [ 0.21993281 0.97532013 0.01949905 -0.98251938] [ 0.14130214 -0.05162829 0.98861935 1.55105101] [ 0. 0. 0. 1. ]] SLAMing on 76.114860624 meters Centerline goodness : 0.835624 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.55 [[ 0.96527245 -0.21428281 -0.14943886 -5.54181291] [ 0.21967261 0.97536143 0.02034766 -0.98457148] [ 0.14139675 -0.05246866 0.98856158 1.5505529 ] [ 0. 0. 0. 1. ]] SLAMing on 76.144860624 meters Centerline goodness : 0.836595 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.55 [[ 0.96517944 -0.2146764 -0.14947472 -5.54147443] [ 0.2200971 0.97526209 0.02052146 -0.98618999] [ 0.14137156 -0.05270584 0.98855257 1.5507709 ] [ 0. 0. 0. 1. ]] SLAMing on 76.174860624 meters Centerline goodness : 0.836290 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.55 [[ 0.96515134 -0.21453989 -0.14985171 -5.54047649] [ 0.22010117 0.97524293 0.02137065 -0.98814966] [ 0.14155696 -0.05360845 0.9884775 1.55090496] [ 0. 0. 0. 1. ]] SLAMing on 76.204860624 meters Centerline goodness : 0.832817 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.55 [[ 0.9651768 -0.21401377 -0.15043887 -5.5392292 ] [ 0.21979695 0.97528082 0.0227295 -0.99024921] [ 0.14185572 -0.05500399 0.98835799 1.55119753] [ 0. 0. 0. 1. ]] SLAMing on 76.234860624 meters Centerline goodness : 0.835505 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.55 [[ 0.96514086 -0.21404677 -0.15062241 -5.53899794] [ 0.21985129 0.97526683 0.02280373 -0.9904182 ] [ 0.14201598 -0.05512334 0.98832833 1.55150472] [ 0. 0. 0. 1. ]] SLAMing on 76.264860624 meters Centerline goodness : 0.831822 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.55 [[ 0.96516109 -0.21367946 -0.15101379 -5.53798073] [ 0.21961763 0.97530041 0.0236053 -0.99191693] [ 0.14223984 -0.05594821 0.98824978 1.55154215] [ 0. 0. 0. 1. ]] SLAMing on 76.294860624 meters Centerline goodness : 0.832477 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.55 [[ 0.96518139 -0.2133024 -0.15141652 -5.53652514] [ 0.21936877 0.97533781 0.02436167 -0.99330109] [ 0.14248585 -0.05672948 0.9881698 1.55108913] [ 0. 0. 0. 1. ]] SLAMing on 76.324860624 meters Centerline goodness : 0.833533 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96510504 -0.21327405 -0.1519422 -5.53489758] [ 0.21952779 0.97527429 0.02544831 -0.99555307] [ 0.14275786 -0.05791583 0.98806171 1.55098846] [ 0. 0. 0. 1. ]] SLAMing on 76.354860624 meters Centerline goodness : 0.835857 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96498098 -0.21372786 -0.15209242 -5.5347452 ] [ 0.21999418 0.97516939 0.02544069 -0.9960992 ] [ 0.14287849 -0.05800923 0.9880388 1.5515024 ] [ 0. 0. 0. 1. ]] SLAMing on 76.384860624 meters Centerline goodness : 0.831646 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96479795 -0.21399354 -0.15287802 -5.53320896] [ 0.220395 0.97506333 0.02602988 -0.99667356] [ 0.14349553 -0.05880712 0.9879022 1.55185035] [ 0. 0. 0. 1. ]] SLAMing on 76.414860624 meters Centerline goodness : 0.831285 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96459317 -0.21457943 -0.15334822 -5.53260495] [ 0.2210484 0.97490935 0.02625582 -0.99708547] [ 0.14386666 -0.05922357 0.98782334 1.55254348] [ 0. 0. 0. 1. ]] SLAMing on 76.444860624 meters Centerline goodness : 0.833230 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.9644132 -0.21489597 -0.1540354 -5.5309745 ] [ 0.22148535 0.97479617 0.02677063 -0.99776595] [ 0.14440022 -0.05993453 0.9877026 1.5526102 ] [ 0. 0. 0. 1. ]] SLAMing on 76.474860624 meters Centerline goodness : 0.831363 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96424147 -0.21538092 -0.15443269 -5.5297807 ] [ 0.2220231 0.97466948 0.0269287 -0.99854179] [ 0.1447209 -0.06025339 0.98763626 1.55261697] [ 0. 0. 0. 1. ]] SLAMing on 76.504860624 meters Centerline goodness : 0.833606 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96400322 -0.21580713 -0.15532248 -5.52750986] [ 0.22265799 0.97449615 0.02794056 -1.0005473 ] [ 0.14533138 -0.06151858 0.98746861 1.55267812] [ 0. 0. 0. 1. ]] SLAMing on 76.534860624 meters Centerline goodness : 0.831261 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96393201 -0.21596064 -0.15555092 -5.52674339] [ 0.22284839 0.97444856 0.02808189 -1.00096001] [ 0.14551179 -0.0617333 0.98742864 1.55255097] [ 0. 0. 0. 1. ]] SLAMing on 76.564860624 meters Centerline goodness : 0.833348 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.9639042 -0.21583499 -0.15589723 -5.52624642] [ 0.2228166 0.9744414 0.02857846 -1.00123731] [ 0.14574448 -0.06228338 0.98735978 1.55283483] [ 0. 0. 0. 1. ]] SLAMing on 76.594860624 meters Centerline goodness : 0.834133 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96386415 -0.21616967 -0.155681 -5.52766077] [ 0.2230792 0.97439354 0.02815832 -1.0001283 ] [ 0.14560759 -0.06186999 0.98740596 1.55372927] [ 0. 0. 0. 1. ]] SLAMing on 76.624860624 meters Centerline goodness : 0.838733 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96424485 -0.21347927 -0.15703018 -5.52653248] [ 0.22101534 0.9747452 0.03200026 -1.00155092] [ 0.14623302 -0.06556216 0.98707523 1.55429603] [ 0. 0. 0. 1. ]] SLAMing on 76.654860624 meters Centerline goodness : 0.837171 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.9646621 -0.21059839 -0.15835198 -5.52529257] [ 0.21878941 0.97510753 0.03600698 -1.00331553] [ 0.1468272 -0.06938031 0.98672597 1.5547612 ] [ 0. 0. 0. 1. ]] SLAMing on 76.684860624 meters Centerline goodness : 0.839459 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96469919 -0.21032891 -0.15848412 -5.52507748] [ 0.21856125 0.97515002 0.03624099 -1.00347432] [ 0.14692327 -0.06960014 0.98669619 1.55477941] [ 0. 0. 0. 1. ]] SLAMing on 76.714860624 meters Centerline goodness : 0.839736 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.00, Z:1.55 [[ 0.96479655 -0.2098388 -0.15854112 -5.52439194] [ 0.21812706 0.9752329 0.03662482 -1.00440222] [ 0.14692921 -0.06991761 0.98667286 1.55433496] [ 0. 0. 0. 1. ]] SLAMing on 76.744860624 meters Centerline goodness : 0.839114 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.00, Z:1.55 [[ 0.96489475 -0.2095521 -0.15832257 -5.52450397] [ 0.2177889 0.97531671 0.03640481 -1.00393098] [ 0.14678595 -0.06960771 0.9867161 1.55385217] [ 0. 0. 0. 1. ]] SLAMing on 76.774860624 meters Centerline goodness : 0.842070 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.00, Z:1.55 [[ 0.96543829 -0.20623455 -0.1593619 -5.5238247 ] [ 0.21506295 0.97577637 0.04010493 -1.00470859] [ 0.14723055 -0.07299168 0.98640528 1.55401569] [ 0. 0. 0. 1. ]] SLAMing on 76.804860624 meters Centerline goodness : 0.840399 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.01, Z:1.55 [[ 0.96600222 -0.2027404 -0.16042455 -5.52321698] [ 0.21217196 0.97624832 0.04384373 -1.00532592] [ 0.1477253 -0.07639073 0.98607388 1.55427279] [ 0. 0. 0. 1. ]] SLAMing on 76.834860624 meters Centerline goodness : 0.843702 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.00, Z:1.55 [[ 0.96615219 -0.20219032 -0.16021553 -5.52376666] [ 0.2115222 0.97641242 0.04332603 -1.00364062] [ 0.14767633 -0.07574868 0.98613074 1.55391561] [ 0. 0. 0. 1. ]] SLAMing on 76.864860624 meters Centerline goodness : 0.843997 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.00, Z:1.55 [[ 0.96708996 -0.19777713 -0.16006627 -5.52477258] [ 0.20739257 0.97719396 0.04561025 -1.00202844] [ 0.14739513 -0.07730577 0.98605197 1.55255182] [ 0. 0. 0. 1. ]] SLAMing on 76.894860624 meters Centerline goodness : 0.844679 Centerline is valid? [False, False] Translation: X:-5.52, Y:-1.00, Z:1.55 [[ 0.96740704 -0.19643069 -0.15980799 -5.52492961] [ 0.20595901 0.97751349 0.0452577 -1.0002777 ] [ 0.14732446 -0.07669651 0.98611011 1.55140255] [ 0. 0. 0. 1. ]] SLAMing on 76.924860624 meters Centerline goodness : 0.844020 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96777919 -0.19524965 -0.15900005 -5.5263576 ] [ 0.20457744 0.97784207 0.044418 -0.99835973] [ 0.14680434 -0.07551464 0.98627888 1.55041253] [ 0. 0. 0. 1. ]] SLAMing on 76.954860624 meters Centerline goodness : 0.843086 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.55 [[ 0.96797356 -0.19453219 -0.15869599 -5.52787832] [ 0.20375304 0.97803727 0.04390674 -0.99647621] [ 0.14666932 -0.07483535 0.98635074 1.55081566] [ 0. 0. 0. 1. ]] SLAMing on 76.984860624 meters Centerline goodness : 0.842314 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.55 [[ 0.9680944 -0.19388824 -0.15874692 -5.52928843] [ 0.20305529 0.97819769 0.04356411 -0.99333868] [ 0.1468393 -0.07440858 0.98635774 1.55171692] [ 0. 0. 0. 1. ]] SLAMing on 77.014860624 meters Centerline goodness : 0.842918 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.55 [[ 0.96804541 -0.19413582 -0.15874307 -5.52965841] [ 0.20319865 0.97819951 0.04284885 -0.99145516] [ 0.1469639 -0.07373601 0.98638969 1.5517937 ] [ 0. 0. 0. 1. ]] SLAMing on 77.044860624 meters Centerline goodness : 0.840773 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.55 [[ 0.96802963 -0.19399024 -0.15901707 -5.52888716] [ 0.20306406 0.97822986 0.04279404 -0.99050597] [ 0.14725362 -0.07371655 0.98634793 1.55138345] [ 0. 0. 0. 1. ]] SLAMing on 77.074860624 meters Centerline goodness : 0.840389 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.55 [[ 0.96788053 -0.19480668 -0.15892651 -5.52910572] [ 0.20372456 0.97813817 0.04173746 -0.98907907] [ 0.14732135 -0.07277411 0.9864078 1.55138332] [ 0. 0. 0. 1. ]] SLAMing on 77.104860624 meters Centerline goodness : 0.838785 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.55 [[ 0.96764064 -0.19556716 -0.15945244 -5.52800887] [ 0.20446893 0.97800083 0.0413139 -0.98722312] [ 0.14786498 -0.07258008 0.98634075 1.5511736 ] [ 0. 0. 0. 1. ]] SLAMing on 77.134860624 meters Centerline goodness : 0.784360 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.55 [[ 0.9675219 -0.1962359 -0.15935134 -5.5286161 ] [ 0.20500601 0.97792501 0.04043776 -0.98520077] [ 0.14789832 -0.0717924 0.9863934 1.55145605] [ 0. 0. 0. 1. ]] SLAMing on 77.164860624 meters Centerline goodness : 0.840548 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.55 [[ 0.96736954 -0.19717682 -0.15911465 -5.53006416] [ 0.20576401 0.97781359 0.03926513 -0.98264096] [ 0.14784229 -0.07072395 0.98647898 1.55221207] [ 0. 0. 0. 1. ]] SLAMing on 77.194860624 meters Centerline goodness : 0.837914 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.55 [[ 0.96722569 -0.19810944 -0.15883048 -5.53144853] [ 0.20652133 0.97769752 0.03816414 -0.98006879] [ 0.14772749 -0.06971522 0.98656798 1.55274621] [ 0. 0. 0. 1. ]] SLAMing on 77.224860624 meters Centerline goodness : 0.835661 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.55 [[ 0.96702859 -0.19939503 -0.15842135 -5.53338067] [ 0.20757129 0.9775316 0.03668968 -0.97685372] [ 0.14754614 -0.06836369 0.98668969 1.55352265] [ 0. 0. 0. 1. ]] SLAMing on 77.254860624 meters Centerline goodness : 0.835661 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.55 [[ 0.96702859 -0.19939503 -0.15842135 -5.53338067] [ 0.20757129 0.9775316 0.03668968 -0.97685372] [ 0.14754614 -0.06836369 0.98668969 1.55352265] [ 0. 0. 0. 1. ]] SLAMing on 77.284860624 meters Centerline goodness : 0.835435 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.55 [[ 0.96692086 -0.20007302 -0.158224 -5.53411663] [ 0.20812898 0.97744132 0.03592762 -0.9757537 ] [ 0.14746652 -0.06767017 0.9867494 1.5538971 ] [ 0. 0. 0. 1. ]] SLAMing on 77.314860624 meters Centerline goodness : 0.837006 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.55 [[ 0.96683348 -0.2007888 -0.15785082 -5.53505547] [ 0.20872704 0.97733812 0.03525949 -0.9749073 ] [ 0.14719391 -0.06703779 0.98683326 1.55401951] [ 0. 0. 0. 1. ]] SLAMing on 77.344860624 meters Centerline goodness : 0.837255 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.55 [[ 0.96672792 -0.20144313 -0.15766358 -5.53570136] [ 0.20927741 0.97724397 0.03460049 -0.97384647] [ 0.14710575 -0.06644469 0.98688652 1.55425384] [ 0. 0. 0. 1. ]] SLAMing on 77.374860624 meters Centerline goodness : 0.836273 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.55 [[ 0.96651179 -0.20291967 -0.15709415 -5.53778241] [ 0.21054519 0.97701516 0.03334819 -0.971715 ] [ 0.14671637 -0.06530684 0.98702043 1.55483052] [ 0. 0. 0. 1. ]] SLAMing on 77.404860624 meters Centerline goodness : 0.835317 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96640081 -0.20360198 -0.15689392 -5.53862912] [ 0.21112739 0.97691095 0.03271431 -0.97071543] [ 0.14661069 -0.06473974 0.98707349 1.55519284] [ 0. 0. 0. 1. ]] SLAMing on 77.434860624 meters Centerline goodness : 0.834432 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96627947 -0.20437084 -0.15664147 -5.53969538] [ 0.21177897 0.97679421 0.03198018 -0.96977449] [ 0.14647066 -0.06407516 0.98713764 1.55572688] [ 0. 0. 0. 1. ]] SLAMing on 77.464860624 meters Centerline goodness : 0.832248 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96619243 -0.20495476 -0.15641526 -5.54039021] [ 0.21227245 0.97670504 0.03142716 -0.96914894] [ 0.14633043 -0.06356733 0.98719127 1.55598983] [ 0. 0. 0. 1. ]] SLAMing on 77.494860624 meters Centerline goodness : 0.834282 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96614501 -0.20528553 -0.15627432 -5.54015564] [ 0.21257102 0.97664587 0.03124739 -0.96951089] [ 0.14621004 -0.0634089 0.98721929 1.55557179] [ 0. 0. 0. 1. ]] SLAMing on 77.524860624 meters Centerline goodness : 0.832506 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96608222 -0.20569365 -0.15612578 -5.54056349] [ 0.21292408 0.97657968 0.03091054 -0.96956044] [ 0.14611116 -0.06310506 0.9872534 1.55579511] [ 0. 0. 0. 1. ]] SLAMing on 77.554860624 meters Centerline goodness : 0.834072 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96601328 -0.20614344 -0.15595907 -5.54106984] [ 0.2133073 0.97650895 0.03050016 -0.96910594] [ 0.14600802 -0.06273077 0.98729251 1.55594533] [ 0. 0. 0. 1. ]] SLAMing on 77.584860624 meters Centerline goodness : 0.831687 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96593347 -0.20661386 -0.15583079 -5.54164314] [ 0.21369927 0.97643904 0.02999051 -0.9682925 ] [ 0.14596281 -0.06226977 0.98732838 1.55628751] [ 0. 0. 0. 1. ]] SLAMing on 77.614860624 meters Centerline goodness : 0.831524 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96588275 -0.20689193 -0.15577628 -5.54199239] [ 0.21391894 0.9764029 0.02959843 -0.96732546] [ 0.14597674 -0.06191211 0.98734882 1.55652753] [ 0. 0. 0. 1. ]] SLAMing on 77.644860624 meters Centerline goodness : 0.831948 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96584988 -0.20705378 -0.15576505 -5.54201457] [ 0.2140444 0.97638305 0.0293452 -0.96714282] [ 0.14601032 -0.06168369 0.98735815 1.55670147] [ 0. 0. 0. 1. ]] SLAMing on 77.674860624 meters Centerline goodness : 0.831584 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96583893 -0.20709844 -0.15577356 -5.54202399] [ 0.21406301 0.97638445 0.02916214 -0.96698973] [ 0.14605545 -0.06151129 0.98736223 1.55686342] [ 0. 0. 0. 1. ]] SLAMing on 77.704860624 meters Centerline goodness : 0.833059 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96581911 -0.20716086 -0.15581345 -5.5420182 ] [ 0.21409623 0.97638368 0.02894326 -0.9667398 ] [ 0.1461378 -0.06131303 0.98736237 1.5570942 ] [ 0. 0. 0. 1. ]] SLAMing on 77.734860624 meters Centerline goodness : 0.829734 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96585894 -0.20697827 -0.15580919 -5.54221164] [ 0.2138524 0.97644884 0.02854491 -0.96500246] [ 0.14623153 -0.06089053 0.98737464 1.5573476 ] [ 0. 0. 0. 1. ]] SLAMing on 77.764860624 meters Centerline goodness : 0.826877 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.9658634 -0.20684875 -0.15595345 -5.54205747] [ 0.21367832 0.97649716 0.02819337 -0.96363289] [ 0.14645634 -0.06055482 0.98736197 1.55761983] [ 0. 0. 0. 1. ]] SLAMing on 77.794860624 meters Centerline goodness : 0.827430 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96586744 -0.20674055 -0.15607187 -5.54202197] [ 0.21351488 0.97654476 0.02777992 -0.9621316 ] [ 0.14666793 -0.06015539 0.98735498 1.55791643] [ 0. 0. 0. 1. ]] SLAMing on 77.824860624 meters Centerline goodness : 0.826963 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96589783 -0.20646577 -0.15624747 -5.54173339] [ 0.21321099 0.97661818 0.027532 -0.96093367] [ 0.14690971 -0.05990677 0.98733415 1.55813091] [ 0. 0. 0. 1. ]] SLAMing on 77.854860624 meters Centerline goodness : 0.831357 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96594674 -0.20616665 -0.15634002 -5.54149217] [ 0.21288259 0.97669578 0.0273196 -0.95980758] [ 0.14706424 -0.05967134 0.9873254 1.55822038] [ 0. 0. 0. 1. ]] SLAMing on 77.884860624 meters Centerline goodness : 0.825977 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96604155 -0.20564048 -0.15644718 -5.54126296] [ 0.21230164 0.97683255 0.02694769 -0.9579505 ] [ 0.14728116 -0.05924658 0.98731864 1.55851252] [ 0. 0. 0. 1. ]] SLAMing on 77.914860624 meters Centerline goodness : 0.830255 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96606434 -0.20535773 -0.15667767 -5.54084181] [ 0.21199378 0.97690601 0.02670724 -0.95680841] [ 0.14757482 -0.0590156 0.98728863 1.55872265] [ 0. 0. 0. 1. ]] SLAMing on 77.944860624 meters Centerline goodness : 0.829737 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96609834 -0.20514768 -0.15674317 -5.54075698] [ 0.21175531 0.9769632 0.02650654 -0.95562848] [ 0.14769456 -0.05879912 0.98728364 1.55879421] [ 0. 0. 0. 1. ]] SLAMing on 77.974860624 meters Centerline goodness : 0.830713 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96612644 -0.20491449 -0.15687497 -5.54045019] [ 0.21149518 0.97702536 0.0262912 -0.95453648] [ 0.14788338 -0.05857893 0.98726846 1.55888512] [ 0. 0. 0. 1. ]] SLAMing on 78.004860624 meters Centerline goodness : 0.832496 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96616294 -0.20465672 -0.15698661 -5.54017746] [ 0.21122727 0.97708582 0.02619827 -0.95361058] [ 0.14802774 -0.05847165 0.98725319 1.55889295] [ 0. 0. 0. 1. ]] SLAMing on 78.034860624 meters Centerline goodness : 0.832754 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96627789 -0.20403313 -0.15709078 -5.53968545] [ 0.21062861 0.97721043 0.0263699 -0.95286547] [ 0.14813042 -0.05856846 0.98723205 1.55867849] [ 0. 0. 0. 1. ]] SLAMing on 78.064860624 meters Centerline goodness : 0.833686 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96626254 -0.20408878 -0.15711292 -5.53979299] [ 0.21065608 0.9772099 0.02616909 -0.95277922] [ 0.14819149 -0.058383 0.98723387 1.55900118] [ 0. 0. 0. 1. ]] SLAMing on 78.094860624 meters Centerline goodness : 0.832499 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96623917 -0.20418169 -0.15713595 -5.53983899] [ 0.21072792 0.97719859 0.02601253 -0.95281684] [ 0.14824174 -0.05824726 0.98723434 1.55924463] [ 0. 0. 0. 1. ]] SLAMing on 78.124860624 meters Centerline goodness : 0.831442 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96623829 -0.20421794 -0.15709424 -5.54002342] [ 0.21074349 0.97719853 0.02588864 -0.95294805] [ 0.14822533 -0.05812118 0.98724423 1.55950628] [ 0. 0. 0. 1. ]] SLAMing on 78.154860624 meters Centerline goodness : 0.831371 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96625427 -0.20416036 -0.15707078 -5.54016086] [ 0.21068756 0.97720993 0.0259133 -0.95349624] [ 0.14820066 -0.05813169 0.98724732 1.55977949] [ 0. 0. 0. 1. ]] SLAMing on 78.184860624 meters Centerline goodness : 0.831421 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.9662333 -0.20427675 -0.15704847 -5.5402021 ] [ 0.2107933 0.97718901 0.02584239 -0.95386157] [ 0.14818704 -0.05807454 0.98725273 1.55992176] [ 0. 0. 0. 1. ]] SLAMing on 78.214860624 meters Centerline goodness : 0.832347 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96621242 -0.20435892 -0.15707002 -5.54018315] [ 0.21087151 0.97717322 0.02580132 -0.95438394] [ 0.14821189 -0.05805115 0.98725037 1.56010327] [ 0. 0. 0. 1. ]] SLAMing on 78.244860624 meters Centerline goodness : 0.833458 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.56 [[ 0.96616455 -0.20456228 -0.15709979 -5.54029107] [ 0.21106061 0.97713561 0.02567913 -0.95491199] [ 0.14825482 -0.05796784 0.98724882 1.56044409] [ 0. 0. 0. 1. ]] SLAMing on 78.274860624 meters Centerline goodness : 0.834065 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.9661216 -0.20478003 -0.15708022 -5.5404509 ] [ 0.21128172 0.97708746 0.02569281 -0.95632323] [ 0.14821974 -0.05801056 0.98725158 1.56083267] [ 0. 0. 0. 1. ]] SLAMing on 78.304860624 meters Centerline goodness : 0.833209 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96609553 -0.20494384 -0.1570269 -5.54049273] [ 0.21144568 0.97705174 0.02570251 -0.95739338] [ 0.14815584 -0.05803374 0.98725981 1.56100287] [ 0. 0. 0. 1. ]] SLAMing on 78.334860624 meters Centerline goodness : 0.835559 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96605306 -0.20516228 -0.15700292 -5.54051599] [ 0.21165618 0.97700774 0.02564262 -0.95830296] [ 0.14813217 -0.05800277 0.98726518 1.56119954] [ 0. 0. 0. 1. ]] SLAMing on 78.364860624 meters Centerline goodness : 0.832266 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96597268 -0.20565854 -0.15684818 -5.5411411 ] [ 0.21212536 0.97691008 0.02548582 -0.95937443] [ 0.14798519 -0.05789008 0.98729384 1.56165591] [ 0. 0. 0. 1. ]] SLAMing on 78.394860624 meters Centerline goodness : 0.834054 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96577743 -0.20670839 -0.15667035 -5.54229414] [ 0.21311532 0.97670518 0.0250769 -0.96109232] [ 0.14783713 -0.05760755 0.98733254 1.56264376] [ 0. 0. 0. 1. ]] SLAMing on 78.424860624 meters Centerline goodness : 0.833422 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96569915 -0.20712051 -0.15660858 -5.54279938] [ 0.21349461 0.97662812 0.02485076 -0.96177164] [ 0.14780124 -0.05743344 0.98734806 1.56318305] [ 0. 0. 0. 1. ]] SLAMing on 78.454860624 meters Centerline goodness : 0.832297 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96563029 -0.20745661 -0.15658828 -5.5430406 ] [ 0.2138125 0.97656211 0.02471166 -0.9625556 ] [ 0.14779159 -0.05734286 0.98735477 1.56355122] [ 0. 0. 0. 1. ]] SLAMing on 78.484860624 meters Centerline goodness : 0.834184 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.56 [[ 0.96557034 -0.20777733 -0.15653273 -5.54337037] [ 0.21412752 0.97649411 0.02467112 -0.96377207] [ 0.14772719 -0.05733967 0.98736459 1.5639647 ] [ 0. 0. 0. 1. ]] SLAMing on 78.514860624 meters Centerline goodness : 0.835720 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96551123 -0.20806481 -0.15651548 -5.54343314] [ 0.21441891 0.97642988 0.02468232 -0.96513494] [ 0.14769087 -0.05739094 0.98736705 1.56420454] [ 0. 0. 0. 1. ]] SLAMing on 78.544860624 meters Centerline goodness : 0.836046 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.56 [[ 0.96547186 -0.20825206 -0.15650933 -5.54336396] [ 0.21461951 0.97638385 0.0247599 -0.96654805] [ 0.14765688 -0.05749494 0.98736608 1.56437245] [ 0. 0. 0. 1. ]] SLAMing on 78.574860624 meters Centerline goodness : 0.836725 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.57 [[ 0.96538644 -0.20867114 -0.15647801 -5.54385849] [ 0.21504963 0.97628782 0.02481437 -0.96865716] [ 0.14758953 -0.05760599 0.98736968 1.56511188] [ 0. 0. 0. 1. ]] SLAMing on 78.604860624 meters Centerline goodness : 0.837548 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.57 [[ 0.96531464 -0.20891549 -0.1565949 -5.54402843] [ 0.21528746 0.97623814 0.0247062 -0.96950039] [ 0.14771241 -0.05756217 0.98735386 1.56574913] [ 0. 0. 0. 1. ]] SLAMing on 78.634860624 meters Centerline goodness : 0.839052 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.57 [[ 0.96526381 -0.20913815 -0.15661104 -5.54420248] [ 0.21550853 0.97619022 0.02467238 -0.97045661] [ 0.14772223 -0.05756637 0.98735214 1.56617421] [ 0. 0. 0. 1. ]] SLAMing on 78.664860624 meters Centerline goodness : 0.835106 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.57 [[ 0.96523298 -0.20925371 -0.15664666 -5.54420306] [ 0.21564231 0.97615817 0.02477133 -0.97184791] [ 0.14772842 -0.05768975 0.98734402 1.56650257] [ 0. 0. 0. 1. ]] SLAMing on 78.694860624 meters Centerline goodness : 0.837272 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.57 [[ 0.96521111 -0.20921005 -0.15683961 -5.5438383 ] [ 0.21566713 0.97614286 0.02515571 -0.97470264] [ 0.14783504 -0.05810572 0.98730366 1.56707943] [ 0. 0. 0. 1. ]] SLAMing on 78.724860624 meters Centerline goodness : 0.834035 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96516907 -0.20936436 -0.15689242 -5.54390773] [ 0.21582695 0.97610743 0.02515987 -0.97590177] [ 0.14787628 -0.05814514 0.98729517 1.56756037] [ 0. 0. 0. 1. ]] SLAMing on 78.754860624 meters Centerline goodness : 0.837806 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96514807 -0.20937843 -0.15700277 -5.5438664 ] [ 0.21586551 0.97609584 0.02527834 -0.97725419] [ 0.14795701 -0.05828882 0.9872746 1.56805753] [ 0. 0. 0. 1. ]] SLAMing on 78.784860624 meters Centerline goodness : 0.840393 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96512159 -0.20947044 -0.15704285 -5.54398741] [ 0.21597665 0.97606854 0.02538302 -0.97855283] [ 0.1479676 -0.05841529 0.98726554 1.56852515] [ 0. 0. 0. 1. ]] SLAMing on 78.814860624 meters Centerline goodness : 0.840005 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96509355 -0.20955638 -0.15710046 -5.54400875] [ 0.21608981 0.97603953 0.02553504 -0.9799268 ] [ 0.14798523 -0.05859151 0.98725245 1.56889898] [ 0. 0. 0. 1. ]] SLAMing on 78.844860624 meters Centerline goodness : 0.841854 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96508465 -0.20952807 -0.15719288 -5.54380276] [ 0.21609865 0.97603198 0.02574792 -0.98133101] [ 0.14803036 -0.05881809 0.98723221 1.5691799 ] [ 0. 0. 0. 1. ]] SLAMing on 78.874860624 meters Centerline goodness : 0.841792 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96508932 -0.20928024 -0.15749408 -5.54283471] [ 0.21595406 0.97604836 0.02633318 -0.98393884] [ 0.14821083 -0.05942536 0.98716877 1.56928651] [ 0. 0. 0. 1. ]] SLAMing on 78.904860624 meters Centerline goodness : 0.838968 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96506803 -0.20930477 -0.15759189 -5.54256701] [ 0.21600945 0.97603167 0.02649712 -0.98520795] [ 0.14826871 -0.05961286 0.98714877 1.56947387] [ 0. 0. 0. 1. ]] SLAMing on 78.934860624 meters Centerline goodness : 0.844770 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96504189 -0.20936966 -0.15766576 -5.54248057] [ 0.21611186 0.97600314 0.02671192 -0.98774587] [ 0.14828961 -0.05985156 0.98713119 1.57008251] [ 0. 0. 0. 1. ]] SLAMing on 78.964860624 meters Centerline goodness : 0.846121 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96498928 -0.20956074 -0.15773393 -5.54262284] [ 0.21629058 0.97596695 0.02658744 -0.98853513] [ 0.14837142 -0.05977296 0.98712366 1.57064344] [ 0. 0. 0. 1. ]] SLAMing on 78.994860624 meters Centerline goodness : 0.845082 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96497595 -0.20957074 -0.15780217 -5.54249949] [ 0.21630458 0.9759639 0.02658546 -0.98903082] [ 0.14843769 -0.05978766 0.9871128 1.57086605] [ 0. 0. 0. 1. ]] SLAMing on 79.024860624 meters Centerline goodness : 0.846009 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96495287 -0.20961541 -0.15788396 -5.54252456] [ 0.2163258 0.97596443 0.02639288 -0.98908941] [ 0.14855677 -0.05962226 0.98710489 1.57129405] [ 0. 0. 0. 1. ]] SLAMing on 79.054860624 meters Centerline goodness : 0.851142 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96492734 -0.20965374 -0.15798905 -5.54244985] [ 0.21635706 0.97595999 0.02630041 -0.98928114] [ 0.14867701 -0.05956004 0.98709055 1.57161085] [ 0. 0. 0. 1. ]] SLAMing on 79.084860624 meters Centerline goodness : 0.850984 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96493673 -0.20959255 -0.15801289 -5.54237442] [ 0.21629814 0.97597278 0.02631045 -0.9896811 ] [ 0.14870181 -0.05956581 0.98708646 1.5717298 ] [ 0. 0. 0. 1. ]] SLAMing on 79.114860624 meters Centerline goodness : 0.852086 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96497253 -0.20948131 -0.15794175 -5.54252044] [ 0.216184 0.97599759 0.02632848 -0.99052213] [ 0.14863544 -0.05955074 0.98709737 1.5720751 ] [ 0. 0. 0. 1. ]] SLAMing on 79.144860624 meters Centerline goodness : 0.850364 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96495286 -0.20960316 -0.15790029 -5.54277364] [ 0.21627768 0.97598166 0.02614898 -0.99062297] [ 0.14862688 -0.05938285 0.98710877 1.57239276] [ 0. 0. 0. 1. ]] SLAMing on 79.174860624 meters Centerline goodness : 0.851674 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96496627 -0.20953897 -0.15790351 -5.5429904 ] [ 0.2162047 0.97599929 0.02609412 -0.99065321] [ 0.14864598 -0.05931943 0.98710971 1.57275453] [ 0. 0. 0. 1. ]] SLAMing on 79.204860624 meters Centerline goodness : 0.851674 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96496627 -0.20953897 -0.15790351 -5.5429904 ] [ 0.2162047 0.97599929 0.02609412 -0.99065321] [ 0.14864598 -0.05931943 0.98710971 1.57275453] [ 0. 0. 0. 1. ]] SLAMing on 79.234860624 meters Centerline goodness : 0.849127 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96496461 -0.20953477 -0.15791922 -5.5430228 ] [ 0.21618295 0.97600738 0.02597158 -0.99055956] [ 0.14868838 -0.0592011 0.98711043 1.57295562] [ 0. 0. 0. 1. ]] SLAMing on 79.264860624 meters Centerline goodness : 0.851025 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96514177 -0.20872974 -0.1579027 -5.54273069] [ 0.2154111 0.97617032 0.02625966 -0.99040164] [ 0.14865876 -0.05935829 0.98710545 1.57241386] [ 0. 0. 0. 1. ]] SLAMing on 79.294860624 meters Centerline goodness : 0.850874 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96516848 -0.20865031 -0.15784436 -5.54246333] [ 0.21528945 0.97620387 0.02600882 -0.99019989] [ 0.14866153 -0.05908512 0.98712142 1.57205592] [ 0. 0. 0. 1. ]] SLAMing on 79.324860624 meters Centerline goodness : 0.849619 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96523666 -0.20812272 -0.15812376 -5.54158713] [ 0.21482432 0.97629716 0.02635081 -0.99040996] [ 0.14889158 -0.05940359 0.98706763 1.57172197] [ 0. 0. 0. 1. ]] SLAMing on 79.354860624 meters Centerline goodness : 0.851311 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96526382 -0.20814106 -0.15793369 -5.54196204] [ 0.21477729 0.97631712 0.02599234 -0.99016682] [ 0.14878329 -0.05901004 0.98710757 1.57172862] [ 0. 0. 0. 1. ]] SLAMing on 79.384860624 meters Centerline goodness : 0.851055 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96529682 -0.20779732 -0.15818444 -5.54122507] [ 0.21448527 0.97637413 0.02626062 -0.99008396] [ 0.14899031 -0.05927753 0.98706031 1.57147133] [ 0. 0. 0. 1. ]] SLAMing on 79.414860624 meters Centerline goodness : 0.851774 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96537667 -0.20739854 -0.15822049 -5.54074471] [ 0.214103 0.97645466 0.02638581 -0.99008714] [ 0.14902276 -0.05934772 0.9870512 1.57100964] [ 0. 0. 0. 1. ]] SLAMing on 79.444860624 meters Centerline goodness : 0.851524 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96539685 -0.20750661 -0.15795548 -5.54131225] [ 0.21415922 0.97644893 0.02614045 -0.99009732] [ 0.14881114 -0.05906353 0.98710017 1.57112096] [ 0. 0. 0. 1. ]] SLAMing on 79.474860624 meters Centerline goodness : 0.851357 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96537588 -0.20733796 -0.1583047 -5.54047361] [ 0.21407894 0.97645417 0.02659829 -0.99039101] [ 0.14906245 -0.05956705 0.98703199 1.57104052] [ 0. 0. 0. 1. ]] SLAMing on 79.504860624 meters Centerline goodness : 0.851976 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96532357 -0.20724089 -0.15875015 -5.53960837] [ 0.21408574 0.97643855 0.02711188 -0.99082234] [ 0.14939107 -0.06015788 0.98694647 1.57117614] [ 0. 0. 0. 1. ]] SLAMing on 79.534860624 meters Centerline goodness : 0.850790 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96528723 -0.20746094 -0.15868369 -5.53959562] [ 0.21428978 0.97639644 0.02701646 -0.99134728] [ 0.14933333 -0.06008293 0.98695978 1.57125052] [ 0. 0. 0. 1. ]] SLAMing on 79.564860624 meters Centerline goodness : 0.854360 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96518692 -0.20810515 -0.15845017 -5.54055632] [ 0.21488389 0.97627371 0.026731 -0.99229937] [ 0.14912787 -0.0598488 0.98700507 1.57194381] [ 0. 0. 0. 1. ]] SLAMing on 79.594860624 meters Centerline goodness : 0.855402 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96509888 -0.20809115 -0.15900384 -5.5393704 ] [ 0.21500801 0.9762273 0.02741905 -0.99318578] [ 0.14951823 -0.06064919 0.98689714 1.57214775] [ 0. 0. 0. 1. ]] SLAMing on 79.624860624 meters Centerline goodness : 0.852204 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.9649991 -0.20866082 -0.15886283 -5.53993046] [ 0.21552965 0.97612073 0.02711625 -0.99390184] [ 0.1494112 -0.0604068 0.98692822 1.57260588] [ 0. 0. 0. 1. ]] SLAMing on 79.654860624 meters Centerline goodness : 0.852152 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96490489 -0.20925435 -0.15865426 -5.54043892] [ 0.2160863 0.97600329 0.02691261 -0.99474318] [ 0.1492155 -0.06025112 0.98696734 1.57280082] [ 0. 0. 0. 1. ]] SLAMing on 79.684860624 meters Centerline goodness : 0.853433 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96480992 -0.20976797 -0.15855348 -5.54070892] [ 0.21658219 0.97589654 0.02679729 -0.99560153] [ 0.14911058 -0.06019416 0.98698668 1.57295761] [ 0. 0. 0. 1. ]] SLAMing on 79.714860624 meters Centerline goodness : 0.849456 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96444759 -0.21094041 -0.15920113 -5.53934886] [ 0.21789688 0.9755876 0.0273822 -0.99740761] [ 0.14953864 -0.06109812 0.98686636 1.573581 ] [ 0. 0. 0. 1. ]] SLAMing on 79.744860624 meters Centerline goodness : 0.849432 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96369354 -0.21466836 -0.15878367 -5.53815472] [ 0.22108471 0.97496656 0.02370162 -0.99665439] [ 0.14972078 -0.05794574 0.98702886 1.57345288] [ 0. 0. 0. 1. ]] SLAMing on 79.774860624 meters Centerline goodness : 0.845107 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96353395 -0.2149573 -0.15936026 -5.53661555] [ 0.22151322 0.97485278 0.02437114 -0.99811978] [ 0.15011404 -0.05878283 0.98691963 1.57348735] [ 0. 0. 0. 1. ]] SLAMing on 79.804860624 meters Centerline goodness : 0.843839 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96343897 -0.21542049 -0.15930903 -5.53678716] [ 0.2219642 0.97475259 0.02427533 -0.99924499] [ 0.15005748 -0.0587487 0.98693026 1.57373193] [ 0. 0. 0. 1. ]] SLAMing on 79.834860624 meters Centerline goodness : 0.841506 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96263288 -0.21946687 -0.15865762 -5.53642219] [ 0.22544145 0.97404168 0.02046844 -0.99880194] [ 0.15004699 -0.0554716 0.98712147 1.57403419] [ 0. 0. 0. 1. ]] SLAMing on 79.864860624 meters Centerline goodness : 0.839139 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96257801 -0.2197572 -0.15858862 -5.53671982] [ 0.22570612 0.97398385 0.02030272 -0.99918988] [ 0.15000109 -0.05533737 0.98713598 1.57434273] [ 0. 0. 0. 1. ]] SLAMing on 79.894860624 meters Centerline goodness : 0.838001 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96250642 -0.22009698 -0.15855192 -5.5370128 ] [ 0.22601005 0.97391852 0.02005404 -0.99935808] [ 0.15000281 -0.05513647 0.98714696 1.57472249] [ 0. 0. 0. 1. ]] SLAMing on 79.924860624 meters Centerline goodness : 0.840528 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96245093 -0.22039021 -0.15848141 -5.53722178] [ 0.22628727 0.97385625 0.01995194 -1.00026058] [ 0.1499409 -0.05506509 0.98716035 1.57501304] [ 0. 0. 0. 1. ]] SLAMing on 79.954860624 meters Centerline goodness : 0.839691 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96243312 -0.22048668 -0.15845538 -5.53715738] [ 0.2263642 0.97384095 0.01982545 -1.00052211] [ 0.14993909 -0.05494929 0.98716708 1.57508804] [ 0. 0. 0. 1. ]] SLAMing on 79.984860624 meters Centerline goodness : 0.839143 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96244493 -0.22041969 -0.15847689 -5.53715594] [ 0.22628831 0.97385984 0.01976408 -1.00043167] [ 0.14997788 -0.0548833 0.98716486 1.57519491] [ 0. 0. 0. 1. ]] SLAMing on 80.014860624 meters Centerline goodness : 0.833322 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96246764 -0.22027939 -0.15853399 -5.53703709] [ 0.2261332 0.97389804 0.01965649 -1.00009165] [ 0.15006602 -0.05476853 0.98715784 1.57530836] [ 0. 0. 0. 1. ]] SLAMing on 80.044860624 meters Centerline goodness : 0.834077 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96246829 -0.2202293 -0.15859965 -5.53698627] [ 0.22606265 0.97391753 0.01950165 -0.999617 ] [ 0.15016815 -0.05462318 0.98715036 1.57547514] [ 0. 0. 0. 1. ]] SLAMing on 80.074860624 meters Centerline goodness : 0.836709 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96249772 -0.22004584 -0.15867566 -5.53693171] [ 0.2258759 0.97396157 0.01946641 -0.99922259] [ 0.15026049 -0.05457738 0.98713884 1.57561271] [ 0. 0. 0. 1. ]] SLAMing on 80.104860624 meters Centerline goodness : 0.836586 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96339231 -0.21572846 -0.1591744 -5.53722676] [ 0.22209871 0.974749 0.0231638 -1.00070182] [ 0.150158 -0.05766825 0.9869787 1.57550546] [ 0. 0. 0. 1. ]] SLAMing on 80.134860624 meters Centerline goodness : 0.830541 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.58 [[ 0.96404094 -0.21194248 -0.16032921 -5.53615977] [ 0.21894817 0.97535831 0.02716372 -1.00201844] [ 0.15062128 -0.06129072 0.98668976 1.57543287] [ 0. 0. 0. 1. ]] SLAMing on 80.164860624 meters Centerline goodness : 0.836248 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96427155 -0.21106172 -0.16010414 -5.53613057] [ 0.21803947 0.97556249 0.02714086 -1.00131069] [ 0.1504632 -0.06108018 0.98672693 1.57457713] [ 0. 0. 0. 1. ]] SLAMing on 80.194860624 meters Centerline goodness : 0.836619 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96446905 -0.21016463 -0.16009461 -5.53571298] [ 0.21714142 0.97576092 0.0272073 -1.000886 ] [ 0.15049605 -0.06100377 0.98672665 1.57385866] [ 0. 0. 0. 1. ]] SLAMing on 80.224860624 meters Centerline goodness : 0.834837 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96538587 -0.20544507 -0.16069365 -5.53539366] [ 0.21298724 0.97656239 0.03102141 -1.00148295] [ 0.15055418 -0.06417333 0.98651671 1.57310276] [ 0. 0. 0. 1. ]] SLAMing on 80.254860624 meters Centerline goodness : 0.832751 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96555614 -0.20490194 -0.16036378 -5.53624111] [ 0.21236414 0.97670887 0.03067996 -1.00035951] [ 0.15034234 -0.06367874 0.98658107 1.57292021] [ 0. 0. 0. 1. ]] SLAMing on 80.284860624 meters Centerline goodness : 0.829459 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96562286 -0.20482678 -0.16005775 -5.53695431] [ 0.21214824 0.97678022 0.02989194 -0.9988082 ] [ 0.15021857 -0.06282031 0.98665495 1.5727433 ] [ 0. 0. 0. 1. ]] SLAMing on 80.314860624 meters Centerline goodness : 0.827178 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96608682 -0.2016588 -0.16127614 -5.53523461] [ 0.20959689 0.97720889 0.03364425 -0.99954297] [ 0.15081582 -0.06630625 0.98633568 1.57224586] [ 0. 0. 0. 1. ]] SLAMing on 80.344860624 meters Centerline goodness : 0.832355 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96626563 -0.20128227 -0.16067416 -5.53566565] [ 0.20898816 0.97738071 0.0324176 -0.99790995] [ 0.15051473 -0.06490301 0.98647499 1.57110447] [ 0. 0. 0. 1. ]] SLAMing on 80.374860624 meters Centerline goodness : 0.832247 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96627265 -0.20120511 -0.16072855 -5.53511984] [ 0.20886058 0.97741946 0.03206947 -0.99714149] [ 0.15064667 -0.06455771 0.98647751 1.57050777] [ 0. 0. 0. 1. ]] SLAMing on 80.404860624 meters Centerline goodness : 0.831673 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96630949 -0.20087698 -0.16091741 -5.53438953] [ 0.20855876 0.97748013 0.03218455 -0.99672524] [ 0.15082843 -0.06466097 0.98644298 1.57001085] [ 0. 0. 0. 1. ]] SLAMing on 80.434860624 meters Centerline goodness : 0.834457 Centerline is valid? [False, False] Translation: X:-5.54, Y:-1.00, Z:1.57 [[ 0.96622498 -0.20136962 -0.16080911 -5.5350366 ] [ 0.20893631 0.97742369 0.03144128 -0.9953893 ] [ 0.15084732 -0.06397821 0.9864846 1.57036661] [ 0. 0. 0. 1. ]] SLAMing on 80.464860624 meters Centerline goodness : 0.823799 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96625809 -0.2011788 -0.16084897 -5.53502666] [ 0.20873452 0.97746919 0.03136696 -0.99486718] [ 0.15091455 -0.06388331 0.98648047 1.57034257] [ 0. 0. 0. 1. ]] SLAMing on 80.494860624 meters Centerline goodness : 0.827995 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96614055 -0.20149636 -0.16115724 -5.53466405] [ 0.209066 0.97740043 0.03130181 -0.9940546 ] [ 0.15120795 -0.06393445 0.98643223 1.57051921] [ 0. 0. 0. 1. ]] SLAMing on 80.524860624 meters Centerline goodness : 0.833047 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.9659259 -0.20227269 -0.16147108 -5.53360116] [ 0.20983756 0.97724224 0.03107751 -0.99420755] [ 0.15151023 -0.06390127 0.986388 1.57039515] [ 0. 0. 0. 1. ]] SLAMing on 80.554860624 meters Centerline goodness : 0.834293 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96576716 -0.20300744 -0.16149854 -5.53359381] [ 0.2105342 0.97710239 0.03076162 -0.99452834] [ 0.15155577 -0.06370953 0.9863934 1.57075677] [ 0. 0. 0. 1. ]] SLAMing on 80.584860624 meters Centerline goodness : 0.828835 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96560233 -0.20346242 -0.16191101 -5.5325864 ] [ 0.21106197 0.97698021 0.03102431 -0.99504368] [ 0.15187158 -0.06413041 0.98631755 1.57093044] [ 0. 0. 0. 1. ]] SLAMing on 80.614860624 meters Centerline goodness : 0.828241 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96541675 -0.20423685 -0.16204258 -5.53259889] [ 0.21181838 0.97682385 0.03079182 -0.99514942] [ 0.15199823 -0.06405054 0.98630323 1.57154635] [ 0. 0. 0. 1. ]] SLAMing on 80.644860624 meters Centerline goodness : 0.831103 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96511129 -0.20534142 -0.1624657 -5.5318477 ] [ 0.21296856 0.97657278 0.03082202 -0.99587621] [ 0.15233054 -0.06434677 0.98623268 1.57226052] [ 0. 0. 0. 1. ]] SLAMing on 80.674860624 meters Centerline goodness : 0.829324 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96488471 -0.20594584 -0.16304543 -5.53101613] [ 0.21367311 0.97640769 0.03117419 -0.99638072] [ 0.15277862 -0.06491792 0.98612593 1.57301514] [ 0. 0. 0. 1. ]] SLAMing on 80.704860624 meters Centerline goodness : 0.826846 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96461573 -0.20687538 -0.16345966 -5.53056492] [ 0.21459859 0.97621347 0.03089841 -0.99611701] [ 0.1531794 -0.06488331 0.98606604 1.57376399] [ 0. 0. 0. 1. ]] SLAMing on 80.734860624 meters Centerline goodness : 0.827255 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96442135 -0.20724789 -0.16413337 -5.52936496] [ 0.21505634 0.97610544 0.03112793 -0.99580087] [ 0.15376028 -0.06531836 0.9859469 1.57400742] [ 0. 0. 0. 1. ]] SLAMing on 80.764860624 meters Centerline goodness : 0.828653 Centerline is valid? [False, False] Translation: X:-5.53, Y:-1.00, Z:1.57 [[ 0.96426401 -0.20741888 -0.16484031 -5.52785615] [ 0.2152935 0.97604976 0.03123406 -0.99510243] [ 0.15441381 -0.06560692 0.9858256 1.5739573 ] [ 0. 0. 0. 1. ]] SLAMing on 80.794860624 meters Centerline goodness : 0.826788 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96425294 -0.20755035 -0.16473956 -5.52824205] [ 0.21532755 0.97606093 0.03064497 -0.99403193] [ 0.15443548 -0.06502246 0.98586092 1.57401817] [ 0. 0. 0. 1. ]] SLAMing on 80.824860624 meters Centerline goodness : 0.825951 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96471368 -0.2045861 -0.1657469 -5.52750233] [ 0.21293397 0.97647227 0.03407403 -0.99473744] [ 0.15487618 -0.06816483 0.98557949 1.57421942] [ 0. 0. 0. 1. ]] SLAMing on 80.854860624 meters Centerline goodness : 0.828082 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96487177 -0.20402828 -0.16551414 -5.52817917] [ 0.21226427 0.97663764 0.03350831 -0.99324528] [ 0.1548107 -0.06746396 0.985638 1.57411807] [ 0. 0. 0. 1. ]] SLAMing on 80.884860624 meters Centerline goodness : 0.828367 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96546725 -0.20043919 -0.1664245 -5.52737509] [ 0.20921583 0.9771763 0.03681316 -0.99315341] [ 0.15524728 -0.07036054 0.98536677 1.57370837] [ 0. 0. 0. 1. ]] SLAMing on 80.914860624 meters Centerline goodness : 0.831288 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96573303 -0.19962128 -0.1658646 -5.5285401 ] [ 0.20821643 0.97742084 0.03597802 -0.99056546] [ 0.15493753 -0.0692809 0.98549202 1.57296465] [ 0. 0. 0. 1. ]] SLAMing on 80.944860624 meters Centerline goodness : 0.839374 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96697406 -0.19378144 -0.1655594 -5.53019305] [ 0.20288118 0.97839498 0.0397806 -0.98691397] [ 0.15427374 -0.07205569 0.98539717 1.57241852] [ 0. 0. 0. 1. ]] SLAMing on 80.974860624 meters Centerline goodness : 0.842613 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.99, Z:1.57 [[ 0.96767951 -0.18971976 -0.16614083 -5.53088724] [ 0.19930133 0.9789996 0.04288078 -0.98522664] [ 0.15451647 -0.07460694 0.98516926 1.57267106] [ 0. 0. 0. 1. ]] SLAMing on 81.004860624 meters Centerline goodness : 0.841832 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96839416 -0.18557681 -0.16665531 -5.53136744] [ 0.19565148 0.97959057 0.04607392 -0.98348765] [ 0.15470372 -0.07722407 0.98493817 1.57252132] [ 0. 0. 0. 1. ]] SLAMing on 81.034860624 meters Centerline goodness : 0.841739 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96909814 -0.18120762 -0.16736965 -5.53144247] [ 0.1918169 0.98018538 0.04942561 -0.98201275] [ 0.15509699 -0.08000259 0.98465451 1.57249673] [ 0. 0. 0. 1. ]] SLAMing on 81.064860624 meters Centerline goodness : 0.841943 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.97160538 -0.17302962 -0.16138073 -5.53835453] [ 0.18294066 0.9819215 0.04860943 -0.97809894] [ 0.15005234 -0.07675228 0.98569437 1.56680768] [ 0. 0. 0. 1. ]] SLAMing on 81.094860624 meters Centerline goodness : 0.841943 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.97160538 -0.17302962 -0.16138073 -5.53835453] [ 0.18294066 0.9819215 0.04860943 -0.97809894] [ 0.15005234 -0.07675228 0.98569437 1.56680768] [ 0. 0. 0. 1. ]] SLAMing on 81.124860624 meters Centerline goodness : 0.840938 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.97224771 -0.16911155 -0.16166533 -5.53928557] [ 0.17948648 0.98239691 0.05177764 -0.97626506] [ 0.15006332 -0.07935743 0.98548638 1.56665391] [ 0. 0. 0. 1. ]] SLAMing on 81.154860624 meters Centerline goodness : 0.840387 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.57 [[ 0.97239754 -0.16829741 -0.16161375 -5.53924155] [ 0.17860904 0.98257426 0.05144545 -0.97252041] [ 0.15013937 -0.0788911 0.98551223 1.56641436] [ 0. 0. 0. 1. ]] SLAMing on 81.184860624 meters Centerline goodness : 0.839095 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.57 [[ 0.97241276 -0.1682426 -0.16157922 -5.53953699] [ 0.17842365 0.9826513 0.05061061 -0.96895835] [ 0.15026117 -0.07804395 0.98556112 1.5665356 ] [ 0. 0. 0. 1. ]] SLAMing on 81.214860624 meters Centerline goodness : 0.837809 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.57 [[ 0.97252305 -0.16780746 -0.1613678 -5.53973633] [ 0.17784182 0.98279874 0.0497888 -0.96382132] [ 0.15023714 -0.0771187 0.98563761 1.56604931] [ 0. 0. 0. 1. ]] SLAMing on 81.244860624 meters Centerline goodness : 0.837443 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.57 [[ 0.9724724 -0.16820978 -0.16125416 -5.53998568] [ 0.17812528 0.98278507 0.04903972 -0.96152469] [ 0.15022922 -0.07641321 0.98569377 1.5659067 ] [ 0. 0. 0. 1. ]] SLAMing on 81.274860624 meters Centerline goodness : 0.837652 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.57 [[ 0.97238055 -0.16881346 -0.1611772 -5.54036115] [ 0.17859414 0.98274385 0.04815247 -0.959474 ] [ 0.15026712 -0.07560783 0.9857501 1.56605099] [ 0. 0. 0. 1. ]] SLAMing on 81.304860624 meters Centerline goodness : 0.836430 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.57 [[ 0.97229539 -0.16948334 -0.16098779 -5.54078912] [ 0.17914028 0.98268154 0.04738945 -0.95790697] [ 0.15016801 -0.07491594 0.98581802 1.56597042] [ 0. 0. 0. 1. ]] SLAMing on 81.334860624 meters Centerline goodness : 0.835653 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.57 [[ 0.97219812 -0.17027183 -0.16074305 -5.54144012] [ 0.179816 0.98259035 0.04671633 -0.95676494] [ 0.14999009 -0.0743217 0.98589008 1.56593165] [ 0. 0. 0. 1. ]] SLAMing on 81.364860624 meters Centerline goodness : 0.834991 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.57 [[ 0.97141561 -0.17553471 -0.15981014 -5.54267574] [ 0.18427042 0.98200014 0.04147458 -0.95204484] [ 0.14965335 -0.06973734 0.98627612 1.56634124] [ 0. 0. 0. 1. ]] SLAMing on 81.394860624 meters Centerline goodness : 0.834921 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.57 [[ 0.97127323 -0.17661408 -0.15948596 -5.54404354] [ 0.18521791 0.98185515 0.04067921 -0.95108997] [ 0.14940759 -0.06905028 0.98636171 1.56677713] [ 0. 0. 0. 1. ]] SLAMing on 81.424860624 meters Centerline goodness : 0.835626 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.97114623 -0.17754855 -0.1592216 -5.54501815] [ 0.18605772 0.98171979 0.0401097 -0.9508845 ] [ 0.14918958 -0.0685768 0.98642774 1.56709165] [ 0. 0. 0. 1. ]] SLAMing on 81.454860624 meters Centerline goodness : 0.833696 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.57 [[ 0.97042522 -0.18192274 -0.15867893 -5.54470407] [ 0.18978554 0.98117402 0.03576288 -0.94839447] [ 0.14918556 -0.06482016 0.98668233 1.56710872] [ 0. 0. 0. 1. ]] SLAMing on 81.484860624 meters Centerline goodness : 0.832855 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96954579 -0.18736046 -0.15772447 -5.54574606] [ 0.19446936 0.98042571 0.03077481 -0.94554106] [ 0.14887115 -0.06051017 0.9870035 1.56756514] [ 0. 0. 0. 1. ]] SLAMing on 81.514860624 meters Centerline goodness : 0.833162 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96939254 -0.18844499 -0.15737404 -5.54694761] [ 0.19544427 0.98025248 0.03011007 -0.94512165] [ 0.1485922 -0.05994633 0.98707993 1.56786291] [ 0. 0. 0. 1. ]] SLAMing on 81.544860624 meters Centerline goodness : 0.832549 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96864589 -0.19259976 -0.15694098 -5.54616392] [ 0.19898446 0.97966062 0.02588917 -0.94293623] [ 0.14876265 -0.05630625 0.9872686 1.56791041] [ 0. 0. 0. 1. ]] SLAMing on 81.574860624 meters Centerline goodness : 0.831547 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96776978 -0.1976053 -0.15612109 -5.5463211 ] [ 0.20330486 0.97888459 0.02126247 -0.94079793] [ 0.14862295 -0.05231735 0.98750904 1.56792582] [ 0. 0. 0. 1. ]] SLAMing on 81.604860624 meters Centerline goodness : 0.828558 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96763581 -0.19851903 -0.15579195 -5.54738491] [ 0.20413398 0.97872309 0.02074679 -0.94067438] [ 0.14835855 -0.05187777 0.98757199 1.56811835] [ 0. 0. 0. 1. ]] SLAMing on 81.634860624 meters Centerline goodness : 0.831229 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96751402 -0.19935381 -0.15548211 -5.54831408] [ 0.20488444 0.97857707 0.02023064 -0.94045106] [ 0.14811818 -0.05142929 0.98763153 1.56828966] [ 0. 0. 0. 1. ]] SLAMing on 81.664860624 meters Centerline goodness : 0.832834 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96739227 -0.20018972 -0.15516528 -5.54938163] [ 0.20561678 0.97843656 0.0195865 -0.93975767] [ 0.14789836 -0.05085241 0.98769434 1.56862212] [ 0. 0. 0. 1. ]] SLAMing on 81.694860624 meters Centerline goodness : 0.833501 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96727596 -0.20096582 -0.15488691 -5.55044778] [ 0.20628788 0.97830837 0.01892194 -0.93876847] [ 0.1477245 -0.05025404 0.98775098 1.56899449] [ 0. 0. 0. 1. ]] SLAMing on 81.724860624 meters Centerline goodness : 0.831023 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96708727 -0.20224084 -0.15440485 -5.5522929 ] [ 0.20739879 0.97809287 0.01789067 -0.93721661] [ 0.14740406 -0.04932522 0.98784567 1.56955969] [ 0. 0. 0. 1. ]] SLAMing on 81.754860624 meters Centerline goodness : 0.829899 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96700953 -0.20274306 -0.154233 -5.55295072] [ 0.20783763 0.97800705 0.01748537 -0.93704333] [ 0.14729593 -0.04896394 0.98787977 1.56988584] [ 0. 0. 0. 1. ]] SLAMing on 81.784860624 meters Centerline goodness : 0.832160 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96692642 -0.20325999 -0.1540736 -5.55345945] [ 0.20828775 0.97791895 0.01705114 -0.9369012 ] [ 0.14720567 -0.04857884 0.98791224 1.57014397] [ 0. 0. 0. 1. ]] SLAMing on 81.814860624 meters Centerline goodness : 0.830577 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.9668716 -0.20371469 -0.15381691 -5.55406135] [ 0.20869006 0.97783838 0.01675012 -0.93705893] [ 0.14699583 -0.04829528 0.98795738 1.57029173] [ 0. 0. 0. 1. ]] SLAMing on 81.844860624 meters Centerline goodness : 0.831056 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.57 [[ 0.96677942 -0.2042746 -0.15365363 -5.55466152] [ 0.20919448 0.97773672 0.01638841 -0.93720253] [ 0.14688506 -0.04798746 0.98798886 1.5706113 ] [ 0. 0. 0. 1. ]] SLAMing on 81.874860624 meters Centerline goodness : 0.828370 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96656637 -0.20553959 -0.15330666 -5.55610891] [ 0.21035641 0.97749849 0.01571226 -0.93756767] [ 0.14662754 -0.04743599 0.98805374 1.5712861 ] [ 0. 0. 0. 1. ]] SLAMing on 81.904860624 meters Centerline goodness : 0.829323 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96647026 -0.20617076 -0.15306487 -5.55681605] [ 0.21094544 0.97737559 0.01545895 -0.9378309 ] [ 0.14641468 -0.04722895 0.98809522 1.57141055] [ 0. 0. 0. 1. ]] SLAMing on 81.934860624 meters Centerline goodness : 0.828964 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96638173 -0.20668074 -0.15293598 -5.55722781] [ 0.21143467 0.97727203 0.0153221 -0.93854148] [ 0.14629328 -0.04714296 0.98811731 1.57157633] [ 0. 0. 0. 1. ]] SLAMing on 81.964860624 meters Centerline goodness : 0.827154 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96630802 -0.20713555 -0.1527864 -5.5574664 ] [ 0.21189022 0.97717305 0.01534131 -0.93982388] [ 0.14612103 -0.04719838 0.98814015 1.57153773] [ 0. 0. 0. 1. ]] SLAMing on 81.994860624 meters Centerline goodness : 0.828051 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96551491 -0.21113319 -0.15232775 -5.55624722] [ 0.21536134 0.97646527 0.01162206 -0.94027219] [ 0.14628896 -0.04402678 0.9882617 1.57158855] [ 0. 0. 0. 1. ]] SLAMing on 82.024860624 meters Centerline goodness : 0.829811 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.9654295 -0.21160064 -0.15222043 -5.55673778] [ 0.21580795 0.97636837 0.01147803 -0.94106387] [ 0.14619445 -0.04393161 0.98827992 1.57192323] [ 0. 0. 0. 1. ]] SLAMing on 82.054860624 meters Centerline goodness : 0.828463 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96536694 -0.21190997 -0.15218686 -5.55702363] [ 0.21610152 0.97630483 0.01135798 -0.94160759] [ 0.1461739 -0.04385243 0.98828647 1.5722561 ] [ 0. 0. 0. 1. ]] SLAMing on 82.084860624 meters Centerline goodness : 0.831171 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96532306 -0.21217326 -0.15209832 -5.55743843] [ 0.21635584 0.97624913 0.011304 -0.94223764] [ 0.14608745 -0.04381937 0.98830072 1.57256472] [ 0. 0. 0. 1. ]] SLAMing on 82.114860624 meters Centerline goodness : 0.829229 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96531745 -0.21217721 -0.1521284 -5.55728821] [ 0.21638135 0.97624189 0.01144035 -0.9430525 ] [ 0.14608674 -0.04396132 0.98829452 1.57259319] [ 0. 0. 0. 1. ]] SLAMing on 82.144860624 meters Centerline goodness : 0.829163 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.94, Z:1.57 [[ 0.96528378 -0.21230336 -0.15216603 -5.55729936] [ 0.21651373 0.97621229 0.0114615 -0.94391546] [ 0.14611304 -0.04400964 0.98828849 1.57283597] [ 0. 0. 0. 1. ]] SLAMing on 82.174860624 meters Centerline goodness : 0.787667 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96526895 -0.21236643 -0.15217209 -5.55724187] [ 0.21660487 0.9761899 0.01164465 -0.94596141] [ 0.14607593 -0.04420144 0.98828541 1.57315128] [ 0. 0. 0. 1. ]] SLAMing on 82.204860624 meters Centerline goodness : 0.787237 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96528147 -0.21228758 -0.15220272 -5.55705686] [ 0.21656043 0.976197 0.01187411 -0.94712931] [ 0.14605911 -0.04442294 0.98827797 1.57320578] [ 0. 0. 0. 1. ]] SLAMing on 82.234860624 meters Centerline goodness : 0.830441 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96524638 -0.21253253 -0.15208337 -5.55745495] [ 0.21678747 0.97614786 0.01177079 -0.9476853 ] [ 0.14595418 -0.04433148 0.98829757 1.57348247] [ 0. 0. 0. 1. ]] SLAMing on 82.264860624 meters Centerline goodness : 0.787790 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96526429 -0.21235755 -0.15221403 -5.55737943] [ 0.21664418 0.97617739 0.01195847 -0.94867371] [ 0.14604842 -0.04451937 0.98827521 1.57393447] [ 0. 0. 0. 1. ]] SLAMing on 82.294860624 meters Centerline goodness : 0.828920 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96527471 -0.21230183 -0.15222569 -5.55735329] [ 0.2165942 0.976188 0.01199799 -0.94900721] [ 0.1460537 -0.04455256 0.98827293 1.57406017] [ 0. 0. 0. 1. ]] SLAMing on 82.324860624 meters Centerline goodness : 0.830813 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96529852 -0.21212136 -0.15232629 -5.55711097] [ 0.21643583 0.97622148 0.01213027 -0.94959976] [ 0.14613111 -0.0446782 0.98825582 1.57420646] [ 0. 0. 0. 1. ]] SLAMing on 82.354860624 meters Centerline goodness : 0.832049 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96533234 -0.21184857 -0.15249147 -5.55644099] [ 0.21619655 0.97627205 0.01232647 -0.95009034] [ 0.14626181 -0.04486727 0.98822791 1.57402787] [ 0. 0. 0. 1. ]] SLAMing on 82.384860624 meters Centerline goodness : 0.832031 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.95, Z:1.57 [[ 0.96536249 -0.2115934 -0.15265481 -5.55582664] [ 0.21596133 0.97632279 0.01243006 -0.95042891] [ 0.14641025 -0.04496705 0.9882014 1.57397299] [ 0. 0. 0. 1. ]] SLAMing on 82.414860624 meters Centerline goodness : 0.832863 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96547239 -0.21083806 -0.15300452 -5.55463679] [ 0.21528954 0.9764645 0.0129423 -0.95118159] [ 0.14667476 -0.04543571 0.98814074 1.57373589] [ 0. 0. 0. 1. ]] SLAMing on 82.444860624 meters Centerline goodness : 0.833601 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96549473 -0.2106623 -0.15310562 -5.55425407] [ 0.21512526 0.97649992 0.01300136 -0.95152017] [ 0.14676873 -0.04548963 0.9881243 1.57378012] [ 0. 0. 0. 1. ]] SLAMing on 82.474860624 meters Centerline goodness : 0.837260 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96551359 -0.21045067 -0.15327761 -5.55379451] [ 0.2149385 0.97653931 0.013131 -0.95188975] [ 0.14691819 -0.04562342 0.98809592 1.57382435] [ 0. 0. 0. 1. ]] SLAMing on 82.504860624 meters Centerline goodness : 0.835897 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96552039 -0.2102523 -0.15350683 -5.5532524 ] [ 0.21476666 0.97657547 0.01325256 -0.95230888] [ 0.14712462 -0.04576377 0.98805871 1.57391046] [ 0. 0. 0. 1. ]] SLAMing on 82.534860624 meters Centerline goodness : 0.834264 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96557508 -0.20991844 -0.1536197 -5.55284508] [ 0.21447962 0.97663438 0.0135569 -0.95335726] [ 0.14718444 -0.0460385 0.98803704 1.57398658] [ 0. 0. 0. 1. ]] SLAMing on 82.564860624 meters Centerline goodness : 0.833627 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.57 [[ 0.96556993 -0.20989602 -0.15368271 -5.552836 ] [ 0.21446797 0.97663618 0.01361095 -0.9539814 ] [ 0.14723521 -0.04610235 0.9880265 1.57427092] [ 0. 0. 0. 1. ]] SLAMing on 82.594860624 meters Centerline goodness : 0.834637 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.57 [[ 0.96558324 -0.2098732 -0.15363023 -5.55293564] [ 0.21447557 0.97663138 0.0138336 -0.95502882] [ 0.1471368 -0.04630742 0.98803157 1.57435774] [ 0. 0. 0. 1. ]] SLAMing on 82.624860624 meters Centerline goodness : 0.834703 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.57 [[ 0.9655509 -0.21017014 -0.1534274 -5.55362683] [ 0.21474928 0.97657285 0.01371925 -0.95585346] [ 0.14694966 -0.04619506 0.98806468 1.57479954] [ 0. 0. 0. 1. ]] SLAMing on 82.654860624 meters Centerline goodness : 0.836254 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.58 [[ 0.96549032 -0.21060529 -0.1532118 -5.55457429] [ 0.21518412 0.97647666 0.01375247 -0.95889124] [ 0.1467114 -0.04624662 0.98809767 1.57583922] [ 0. 0. 0. 1. ]] SLAMing on 82.684860624 meters Centerline goodness : 0.835640 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.58 [[ 0.96545923 -0.21075968 -0.1531954 -5.55474024] [ 0.21535068 0.97643888 0.0138278 -0.9603402 ] [ 0.1466716 -0.04634091 0.98809917 1.57622516] [ 0. 0. 0. 1. ]] SLAMing on 82.714860624 meters Centerline goodness : 0.835488 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.58 [[ 0.96546179 -0.21077162 -0.15316285 -5.55470484] [ 0.21539723 0.97642514 0.01407056 -0.96185735] [ 0.14658638 -0.04657544 0.98810078 1.57633442] [ 0. 0. 0. 1. ]] SLAMing on 82.744860624 meters Centerline goodness : 0.835832 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.58 [[ 0.96544706 -0.21085125 -0.15314611 -5.55464722] [ 0.21550557 0.97639843 0.01426345 -0.96339755] [ 0.14652415 -0.04677444 0.98810061 1.5764551 ] [ 0. 0. 0. 1. ]] SLAMing on 82.774860624 meters Centerline goodness : 0.838638 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.58 [[ 0.96546568 -0.21068392 -0.15325893 -5.55403609] [ 0.21541443 0.97641126 0.01475343 -0.96528117] [ 0.14653544 -0.04725812 0.98807593 1.57627045] [ 0. 0. 0. 1. ]] SLAMing on 82.804860624 meters Centerline goodness : 0.839866 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.58 [[ 0.96548298 -0.21039651 -0.15354455 -5.5529702 ] [ 0.21527165 0.9764287 0.01565618 -0.96877074] [ 0.1466313 -0.04816956 0.98801769 1.5761159 ] [ 0. 0. 0. 1. ]] SLAMing on 82.834860624 meters Centerline goodness : 0.837578 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.58 [[ 0.96544691 -0.21050638 -0.15362073 -5.55291887] [ 0.21539895 0.97639928 0.01573982 -0.96996386] [ 0.14668184 -0.04828571 0.98800452 1.57646268] [ 0. 0. 0. 1. ]] SLAMing on 82.864860624 meters Centerline goodness : 0.837422 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.58 [[ 0.96543038 -0.21055517 -0.15365772 -5.55287959] [ 0.2154821 0.97637743 0.01595527 -0.9715065 ] [ 0.14666847 -0.04851419 0.98799531 1.57672316] [ 0. 0. 0. 1. ]] SLAMing on 82.894860624 meters Centerline goodness : 0.839384 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.97, Z:1.58 [[ 0.96542915 -0.21051039 -0.15372681 -5.55267995] [ 0.21548603 0.97637148 0.01626366 -0.97338882] [ 0.1466708 -0.04882739 0.98797953 1.57695801] [ 0. 0. 0. 1. ]] SLAMing on 82.924860624 meters Centerline goodness : 0.840266 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.96538537 -0.21003165 -0.15465377 -5.55061486] [ 0.21535914 0.97636254 0.01834764 -0.9772565 ] [ 0.14714456 -0.05101865 0.98779835 1.57738332] [ 0. 0. 0. 1. ]] SLAMing on 82.954860624 meters Centerline goodness : 0.835062 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.96536777 -0.21014509 -0.15460956 -5.55064481] [ 0.21547783 0.97633556 0.01838969 -0.9783679 ] [ 0.14708631 -0.05106774 0.98780449 1.57766812] [ 0. 0. 0. 1. ]] SLAMing on 82.984860624 meters Centerline goodness : 0.835345 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.9653896 -0.20967219 -0.15511448 -5.54927105] [ 0.21517547 0.97638287 0.01939101 -0.97957018] [ 0.14738536 -0.05209671 0.98770617 1.57741615] [ 0. 0. 0. 1. ]] SLAMing on 83.014860624 meters Centerline goodness : 0.835345 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.9653896 -0.20967219 -0.15511448 -5.54927105] [ 0.21517547 0.97638287 0.01939101 -0.97957018] [ 0.14738536 -0.05209671 0.98770617 1.57741615] [ 0. 0. 0. 1. ]] SLAMing on 83.044860624 meters Centerline goodness : 0.839622 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.9654674 -0.20932526 -0.15509879 -5.54887298] [ 0.21486411 0.97644603 0.01966149 -0.98039992] [ 0.14732995 -0.05230769 0.98770329 1.57715561] [ 0. 0. 0. 1. ]] SLAMing on 83.074860624 meters Centerline goodness : 0.837802 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.96575734 -0.2080435 -0.15501827 -5.54864282] [ 0.21362211 0.9767105 0.02005468 -0.98046599] [ 0.14723572 -0.05248328 0.98770803 1.57649967] [ 0. 0. 0. 1. ]] SLAMing on 83.104860624 meters Centerline goodness : 0.836254 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.96594206 -0.20713192 -0.15508806 -5.54806825] [ 0.21276652 0.97688853 0.02047439 -0.98068239] [ 0.14726285 -0.05277462 0.98768846 1.57588604] [ 0. 0. 0. 1. ]] SLAMing on 83.134860624 meters Centerline goodness : 0.841780 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.96639286 -0.20409421 -0.15630224 -5.54647874] [ 0.21033636 0.9773266 0.02431732 -0.98258969] [ 0.14779531 -0.05637613 0.98740988 1.57584564] [ 0. 0. 0. 1. ]] SLAMing on 83.164860624 meters Centerline goodness : 0.842523 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.58 [[ 0.96657726 -0.2034605 -0.15598789 -5.54666137] [ 0.20970681 0.97745695 0.02451442 -0.98315168] [ 0.14748373 -0.05640681 0.98745472 1.57525165] [ 0. 0. 0. 1. ]] SLAMing on 83.194860624 meters Centerline goodness : 0.836022 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.57 [[ 0.96680663 -0.20231702 -0.1560537 -5.54602204] [ 0.20868046 0.97765504 0.02535921 -0.98410045] [ 0.14743609 -0.05708281 0.98742299 1.5746821 ] [ 0. 0. 0. 1. ]] SLAMing on 83.224860624 meters Centerline goodness : 0.838019 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.57 [[ 0.96694434 -0.20162238 -0.15609953 -5.54584173] [ 0.20804151 0.97778056 0.02576641 -0.98441335] [ 0.147436 -0.05738987 0.9874052 1.57448402] [ 0. 0. 0. 1. ]] SLAMing on 83.254860624 meters Centerline goodness : 0.837621 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.98, Z:1.57 [[ 0.96697752 -0.20142758 -0.15614549 -5.54568805] [ 0.20786917 0.97781333 0.02591328 -0.98453812] [ 0.14746149 -0.05751539 0.98739409 1.57442048] [ 0. 0. 0. 1. ]] SLAMing on 83.284860624 meters Centerline goodness : 0.837216 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96705048 -0.20092792 -0.15633729 -5.54477386] [ 0.20740852 0.97790522 0.02613609 -0.98454275] [ 0.14763158 -0.0577006 0.98735787 1.57382036] [ 0. 0. 0. 1. ]] SLAMing on 83.314860624 meters Centerline goodness : 0.837376 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.98, Z:1.57 [[ 0.96701411 -0.20099998 -0.15646956 -5.54446278] [ 0.20747936 0.97789194 0.02607028 -0.98458917] [ 0.14777019 -0.05767453 0.98733865 1.57389892] [ 0. 0. 0. 1. ]] SLAMing on 83.344860624 meters Centerline goodness : 0.838363 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96709311 -0.20038352 -0.15677171 -5.54301649] [ 0.20697565 0.97798034 0.02674962 -0.98555609] [ 0.14795946 -0.0583173 0.98727255 1.57312857] [ 0. 0. 0. 1. ]] SLAMing on 83.374860624 meters Centerline goodness : 0.838824 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96709427 -0.20011519 -0.15710695 -5.54176468] [ 0.20678909 0.97800791 0.02718087 -0.98613647] [ 0.14821253 -0.05877446 0.98720748 1.57259836] [ 0. 0. 0. 1. ]] SLAMing on 83.404860624 meters Centerline goodness : 0.841703 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96708393 -0.20022379 -0.15703219 -5.54155332] [ 0.20686751 0.97799629 0.02700156 -0.98624093] [ 0.14817055 -0.05859763 0.98722429 1.5723317 ] [ 0. 0. 0. 1. ]] SLAMing on 83.434860624 meters Centerline goodness : 0.841150 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.967084 -0.20009945 -0.15719014 -5.54090936] [ 0.20678373 0.97800801 0.02721783 -0.9863874 ] [ 0.14828694 -0.05882629 0.98719322 1.57211689] [ 0. 0. 0. 1. ]] SLAMing on 83.464860624 meters Centerline goodness : 0.839330 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96701593 -0.20046975 -0.15713712 -5.54137107] [ 0.20709762 0.97795216 0.02683561 -0.98588834] [ 0.14829286 -0.05849318 0.98721212 1.57260728] [ 0. 0. 0. 1. ]] SLAMing on 83.494860624 meters Centerline goodness : 0.837253 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96700119 -0.20021167 -0.15755628 -5.54032494] [ 0.20692951 0.9779753 0.02728555 -0.98616137] [ 0.14862326 -0.0589882 0.98713298 1.5724973 ] [ 0. 0. 0. 1. ]] SLAMing on 83.524860624 meters Centerline goodness : 0.838751 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96690546 -0.20058376 -0.15767051 -5.54025626] [ 0.20729749 0.97790018 0.02718445 -0.98614162] [ 0.14873326 -0.0589695 0.98711753 1.57289129] [ 0. 0. 0. 1. ]] SLAMing on 83.554860624 meters Centerline goodness : 0.836702 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96681864 -0.20089724 -0.15780374 -5.5399229 ] [ 0.20762012 0.97783219 0.02716796 -0.98622235] [ 0.14884761 -0.05902973 0.98709669 1.57298879] [ 0. 0. 0. 1. ]] SLAMing on 83.584860624 meters Centerline goodness : 0.835236 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96672122 -0.2012269 -0.15798041 -5.53928688] [ 0.20795719 0.97776185 0.02712131 -0.98647209] [ 0.14900968 -0.0590719 0.98706972 1.57294981] [ 0. 0. 0. 1. ]] SLAMing on 83.614860624 meters Centerline goodness : 0.837157 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96663719 -0.20131546 -0.15838128 -5.5380925 ] [ 0.20811948 0.97771839 0.02744136 -0.98688728] [ 0.14932792 -0.05948807 0.98699663 1.57275303] [ 0. 0. 0. 1. ]] SLAMing on 83.644860624 meters Centerline goodness : 0.837042 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96633518 -0.20248504 -0.15873289 -5.53743495] [ 0.20926772 0.97748362 0.02707033 -0.98649171] [ 0.14967746 -0.05937668 0.98695039 1.57312168] [ 0. 0. 0. 1. ]] SLAMing on 83.674860624 meters Centerline goodness : 0.835694 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96619742 -0.20274102 -0.1592439 -5.53631744] [ 0.20960263 0.97740365 0.027365 -0.98640488] [ 0.15009756 -0.05981793 0.98685994 1.57318586] [ 0. 0. 0. 1. ]] SLAMing on 83.704860624 meters Centerline goodness : 0.835295 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.99, Z:1.57 [[ 0.96602071 -0.20340387 -0.15947055 -5.53609894] [ 0.2102291 0.97727968 0.02698427 -0.98564244] [ 0.15035862 -0.05959271 0.98683382 1.57356301] [ 0. 0. 0. 1. ]] SLAMing on 83.734860624 meters Centerline goodness : 0.836947 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96568214 -0.20429273 -0.16038228 -5.53456049] [ 0.21119652 0.97706886 0.02706434 -0.9845901 ] [ 0.15117548 -0.06000773 0.98668386 1.57407335] [ 0. 0. 0. 1. ]] SLAMing on 83.764860624 meters Centerline goodness : 0.837220 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96555286 -0.20489974 -0.1603863 -5.53485376] [ 0.21176368 0.97695458 0.02675599 -0.98428227] [ 0.15120784 -0.05979832 0.98669162 1.57455578] [ 0. 0. 0. 1. ]] SLAMing on 83.794860624 meters Centerline goodness : 0.835493 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96541129 -0.20519485 -0.16086057 -5.53385549] [ 0.21210206 0.97687928 0.02682524 -0.98398762] [ 0.15163695 -0.06001625 0.98661253 1.57462032] [ 0. 0. 0. 1. ]] SLAMing on 83.824860624 meters Centerline goodness : 0.835613 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96528029 -0.20536791 -0.16142483 -5.53296005] [ 0.21235355 0.9768172 0.02709489 -0.98350445] [ 0.15211813 -0.0604333 0.986513 1.57490557] [ 0. 0. 0. 1. ]] SLAMing on 83.854860624 meters Centerline goodness : 0.835951 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.58 [[ 0.96516747 -0.20580443 -0.16154346 -5.53311928] [ 0.21275446 0.97673857 0.0267826 -0.98279142] [ 0.15227375 -0.06021879 0.98650211 1.57537599] [ 0. 0. 0. 1. ]] SLAMing on 83.884860624 meters Centerline goodness : 0.833799 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.58 [[ 0.9651035 -0.2058251 -0.16189892 -5.53249307] [ 0.21278947 0.97673234 0.02673167 -0.98171902] [ 0.15262987 -0.06024922 0.98644521 1.57537207] [ 0. 0. 0. 1. ]] SLAMing on 83.914860624 meters Centerline goodness : 0.843726 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.58 [[ 0.96506826 -0.20578305 -0.16216225 -5.53189342] [ 0.21275578 0.97674098 0.02668389 -0.9805883 ] [ 0.15289942 -0.06025273 0.98640325 1.5750974 ] [ 0. 0. 0. 1. ]] SLAMing on 83.944860624 meters Centerline goodness : 0.843837 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.58 [[ 0.96505972 -0.20576462 -0.16223642 -5.53183428] [ 0.21272735 0.9767497 0.02659122 -0.97972514] [ 0.15299284 -0.06017424 0.98639356 1.57502984] [ 0. 0. 0. 1. ]] SLAMing on 83.974860624 meters Centerline goodness : 0.844166 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.58 [[ 0.96500399 -0.20579371 -0.16253073 -5.53134963] [ 0.2127714 0.97674073 0.02656822 -0.97877676] [ 0.15328281 -0.06022033 0.98634573 1.57502694] [ 0. 0. 0. 1. ]] SLAMing on 84.004860624 meters Centerline goodness : 0.842407 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.9650208 -0.20562552 -0.16264379 -5.53108162] [ 0.21260184 0.97677876 0.02652767 -0.97749856] [ 0.15341223 -0.06017812 0.98632818 1.57461438] [ 0. 0. 0. 1. ]] SLAMing on 84.034860624 meters Centerline goodness : 0.836151 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96496775 -0.20571318 -0.16284758 -5.53055795] [ 0.21269769 0.97675884 0.02649256 -0.97722203] [ 0.15361294 -0.06020177 0.9862955 1.57450947] [ 0. 0. 0. 1. ]] SLAMing on 84.064860624 meters Centerline goodness : 0.842280 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96495182 -0.20553848 -0.16316225 -5.52942261] [ 0.21256072 0.9767851 0.02662335 -0.97726696] [ 0.15390233 -0.06037213 0.98623997 1.57409963] [ 0. 0. 0. 1. ]] SLAMing on 84.094860624 meters Centerline goodness : 0.842766 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.96489781 -0.20571297 -0.16326173 -5.529225 ] [ 0.21274772 0.97674366 0.02665029 -0.97696336] [ 0.15398255 -0.06044837 0.98622278 1.57403448] [ 0. 0. 0. 1. ]] SLAMing on 84.124860624 meters Centerline goodness : 0.842654 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.98, Z:1.57 [[ 0.9648238 -0.20594383 -0.16340798 -5.52918321] [ 0.21295627 0.97670416 0.02643129 -0.97608672] [ 0.15415789 -0.06030029 0.98620445 1.57425193] [ 0. 0. 0. 1. ]] SLAMing on 84.154860624 meters Centerline goodness : 0.841868 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.57 [[ 0.96470489 -0.20625491 -0.16371742 -5.52916267] [ 0.21324859 0.97664756 0.02616464 -0.97434254] [ 0.15449764 -0.06015367 0.98616024 1.57467874] [ 0. 0. 0. 1. ]] SLAMing on 84.184860624 meters Centerline goodness : 0.844092 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.57 [[ 0.96459351 -0.20666615 -0.16385503 -5.52862779] [ 0.21362314 0.97657424 0.02584392 -0.9739315 ] [ 0.15467553 -0.0599321 0.98614584 1.57447818] [ 0. 0. 0. 1. ]] SLAMing on 84.214860624 meters Centerline goodness : 0.842528 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.57 [[ 0.96450966 -0.20681308 -0.16416291 -5.52744674] [ 0.21381327 0.97652885 0.02598652 -0.97435864] [ 0.15493546 -0.06016446 0.98609089 1.57417819] [ 0. 0. 0. 1. ]] SLAMing on 84.244860624 meters Centerline goodness : 0.842253 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.57 [[ 0.96441463 -0.20694494 -0.1645546 -5.526193 ] [ 0.21398789 0.97648774 0.0260938 -0.97444753] [ 0.15528557 -0.06037793 0.98602277 1.57383802] [ 0. 0. 0. 1. ]] SLAMing on 84.274860624 meters Centerline goodness : 0.841929 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.57 [[ 0.96426917 -0.20795747 -0.16413002 -5.5278935 ] [ 0.21482797 0.97632974 0.02508331 -0.972612 ] [ 0.15502876 -0.05944678 0.98611975 1.57448428] [ 0. 0. 0. 1. ]] SLAMing on 84.304860624 meters Centerline goodness : 0.842862 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96416807 -0.20856232 -0.16395639 -5.52892117] [ 0.21531647 0.97624039 0.02436202 -0.97127484] [ 0.15497985 -0.0587916 0.98616672 1.57509295] [ 0. 0. 0. 1. ]] SLAMing on 84.334860624 meters Centerline goodness : 0.843988 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96409762 -0.20897471 -0.16384553 -5.52947914] [ 0.21564784 0.97617975 0.02385596 -0.97032689] [ 0.1549574 -0.05833241 0.98619751 1.5754219 ] [ 0. 0. 0. 1. ]] SLAMing on 84.364860624 meters Centerline goodness : 0.844843 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96403682 -0.2092949 -0.16379454 -5.52974886] [ 0.21590571 0.97613251 0.02345315 -0.96955296] [ 0.15497655 -0.05797387 0.98621565 1.57556662] [ 0. 0. 0. 1. ]] SLAMing on 84.394860624 meters Centerline goodness : 0.842250 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96399796 -0.2096247 -0.16360138 -5.53003456] [ 0.21613849 0.97609455 0.02288206 -0.96778221] [ 0.15489377 -0.05741882 0.98626112 1.57535684] [ 0. 0. 0. 1. ]] SLAMing on 84.424860624 meters Centerline goodness : 0.844030 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96394717 -0.20998137 -0.16344317 -5.53057631] [ 0.21641057 0.97604604 0.02237398 -0.96668029] [ 0.15482994 -0.05693816 0.98629901 1.57553619] [ 0. 0. 0. 1. ]] SLAMing on 84.454860624 meters Centerline goodness : 0.844292 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.9639032 -0.21026887 -0.16333287 -5.53077421] [ 0.21663073 0.97600654 0.02196285 -0.96557265] [ 0.15479585 -0.05655298 0.98632652 1.57543836] [ 0. 0. 0. 1. ]] SLAMing on 84.48486062399999 meters Centerline goodness : 0.841262 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96386137 -0.21044957 -0.16334697 -5.53062725] [ 0.21675911 0.97598591 0.02160994 -0.96463118] [ 0.15487654 -0.05623593 0.98633198 1.57531986] [ 0. 0. 0. 1. ]] SLAMing on 84.514860624 meters Centerline goodness : 0.846079 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96382793 -0.21060539 -0.16334347 -5.53065848] [ 0.21686176 0.97597079 0.02126016 -0.96360845] [ 0.15494095 -0.05591409 0.98634016 1.57531774] [ 0. 0. 0. 1. ]] SLAMing on 84.544860624 meters Centerline goodness : 0.845575 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96379632 -0.21073324 -0.16336512 -5.53077695] [ 0.21693679 0.97596177 0.02090589 -0.96261714] [ 0.15503255 -0.05558893 0.98634415 1.57548787] [ 0. 0. 0. 1. ]] SLAMing on 84.574860624 meters Centerline goodness : 0.846404 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.9637879 -0.21088473 -0.1632192 -5.53148861] [ 0.21699019 0.97596222 0.02032231 -0.96064474] [ 0.15501011 -0.05500336 0.9863805 1.57581582] [ 0. 0. 0. 1. ]] SLAMing on 84.604860624 meters Centerline goodness : 0.846061 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.9637527 -0.21111754 -0.16312606 -5.53207459] [ 0.2171578 0.9759332 0.01992201 -0.95965579] [ 0.15499426 -0.05462399 0.98640408 1.57617834] [ 0. 0. 0. 1. ]] SLAMing on 84.634860624 meters Centerline goodness : 0.845542 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96372098 -0.21140234 -0.16294453 -5.53279133] [ 0.21738103 0.97589059 0.01957171 -0.95894127] [ 0.15487853 -0.05428272 0.98644109 1.5764655 ] [ 0. 0. 0. 1. ]] SLAMing on 84.664860624 meters Centerline goodness : 0.795291 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96365839 -0.21182681 -0.16276337 -5.53357792] [ 0.21772721 0.9758227 0.01910284 -0.95834197] [ 0.1547817 -0.05384662 0.98648019 1.57688006] [ 0. 0. 0. 1. ]] SLAMing on 84.694860624 meters Centerline goodness : 0.846861 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96358935 -0.21226106 -0.16260628 -5.5340753 ] [ 0.21810317 0.97574556 0.01875147 -0.95837814] [ 0.15468215 -0.05353366 0.98651284 1.57717467] [ 0. 0. 0. 1. ]] SLAMing on 84.724860624 meters Centerline goodness : 0.845231 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96353205 -0.2125795 -0.16252985 -5.53433384] [ 0.21839292 0.97568423 0.01856953 -0.95858707] [ 0.15463031 -0.05338771 0.98652887 1.57735214] [ 0. 0. 0. 1. ]] SLAMing on 84.754860624 meters Centerline goodness : 0.845075 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96345549 -0.21297959 -0.16245985 -5.53464255] [ 0.21873608 0.97561434 0.01819855 -0.95840565] [ 0.15462224 -0.05306933 0.98654732 1.57760153] [ 0. 0. 0. 1. ]] SLAMing on 84.784860624 meters Centerline goodness : 0.847296 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.96, Z:1.58 [[ 0.96339791 -0.21331009 -0.16236769 -5.53493059] [ 0.21903479 0.97555098 0.01800103 -0.95836459] [ 0.15455815 -0.05290633 0.98656611 1.57768048] [ 0. 0. 0. 1. ]] SLAMing on 84.814860624 meters Centerline goodness : 0.851535 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.58 [[ 0.96328464 -0.21397709 -0.162162 -5.53565962] [ 0.21962926 0.97542545 0.01755527 -0.95826421] [ 0.15442051 -0.05252624 0.98660798 1.57797269] [ 0. 0. 0. 1. ]] SLAMing on 84.844860624 meters Centerline goodness : 0.848940 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.58 [[ 0.96320826 -0.21443809 -0.16200668 -5.5361498 ] [ 0.22002128 0.97534465 0.01713059 -0.95781351] [ 0.15433889 -0.05214524 0.98664096 1.57819301] [ 0. 0. 0. 1. ]] SLAMing on 84.874860624 meters Centerline goodness : 0.848940 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.58 [[ 0.96320826 -0.21443809 -0.16200668 -5.5361498 ] [ 0.22002128 0.97534465 0.01713059 -0.95781351] [ 0.15433889 -0.05214524 0.98664096 1.57819301] [ 0. 0. 0. 1. ]] SLAMing on 84.904860624 meters Centerline goodness : 0.851705 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.58 [[ 0.96312872 -0.2148752 -0.16190031 -5.53650133] [ 0.22039305 0.97526794 0.01671392 -0.95729963] [ 0.15430478 -0.05177936 0.98666556 1.57834728] [ 0. 0. 0. 1. ]] SLAMing on 84.934860624 meters Centerline goodness : 0.848560 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.58 [[ 0.96306462 -0.21517548 -0.16188282 -5.53663544] [ 0.22064999 0.97521486 0.01641852 -0.95709257] [ 0.15433767 -0.05153154 0.98667339 1.57851464] [ 0. 0. 0. 1. ]] SLAMing on 84.964860624 meters Centerline goodness : 0.850220 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.58 [[ 0.96298666 -0.21560776 -0.16177139 -5.53709417] [ 0.22100313 0.97514323 0.01591515 -0.95650082] [ 0.15431885 -0.05107806 0.98669992 1.57884704] [ 0. 0. 0. 1. ]] SLAMing on 84.994860624 meters Centerline goodness : 0.850438 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.58 [[ 0.96290499 -0.21612514 -0.16156704 -5.53796405] [ 0.22140918 0.97506207 0.01522944 -0.95480408] [ 0.15424643 -0.05043693 0.98674422 1.57921069] [ 0. 0. 0. 1. ]] SLAMing on 85.024860624 meters Centerline goodness : 0.852916 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.58 [[ 0.96285407 -0.21638687 -0.16152017 -5.53835794] [ 0.22159667 0.97502687 0.01474885 -0.9536223 ] [ 0.15429504 -0.04999332 0.98675919 1.57953694] [ 0. 0. 0. 1. ]] SLAMing on 85.054860624 meters Centerline goodness : 0.849327 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.58 [[ 0.96280647 -0.21655718 -0.16157564 -5.53848175] [ 0.22170437 0.97500882 0.0143168 -0.9523341 ] [ 0.15443727 -0.04960633 0.98675648 1.5797597 ] [ 0. 0. 0. 1. ]] SLAMing on 85.084860624 meters Centerline goodness : 0.846592 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.58 [[ 0.96282722 -0.21653528 -0.16148131 -5.53871519] [ 0.22159701 0.97504064 0.01380304 -0.95038465] [ 0.15446199 -0.04907372 0.98677924 1.57985571] [ 0. 0. 0. 1. ]] SLAMing on 85.114860624 meters Centerline goodness : 0.849244 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.58 [[ 0.96279782 -0.21672507 -0.16140198 -5.53910637] [ 0.22171602 0.97501974 0.01336095 -0.9490908 ] [ 0.15447446 -0.04864929 0.9867983 1.58005033] [ 0. 0. 0. 1. ]] SLAMing on 85.144860624 meters Centerline goodness : 0.848964 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.58 [[ 0.96279565 -0.21673581 -0.16140052 -5.53912316] [ 0.22167398 0.97503386 0.01302345 -0.94771511] [ 0.15454832 -0.04831721 0.98680305 1.58005272] [ 0. 0. 0. 1. ]] SLAMing on 85.174860624 meters Centerline goodness : 0.847038 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.95, Z:1.58 [[ 0.96278242 -0.21676878 -0.16143518 -5.53927896] [ 0.221641 0.97504707 0.01258892 -0.94606167] [ 0.15467801 -0.04790105 0.98680302 1.58025651] [ 0. 0. 0. 1. ]] SLAMing on 85.204860624 meters Centerline goodness : 0.845233 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96286606 -0.2164525 -0.16136068 -5.53949035] [ 0.22123605 0.97514557 0.01207224 -0.94329364] [ 0.15473709 -0.04732275 0.98682166 1.5803796 ] [ 0. 0. 0. 1. ]] SLAMing on 85.23486062399999 meters Centerline goodness : 0.845056 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96286396 -0.21643321 -0.16139907 -5.53947654] [ 0.22116623 0.97516546 0.01173986 -0.94197788] [ 0.1548499 -0.04699992 0.98681939 1.58047899] [ 0. 0. 0. 1. ]] SLAMing on 85.264860624 meters Centerline goodness : 0.848001 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96288447 -0.21629971 -0.16145566 -5.53921267] [ 0.22101035 0.97520258 0.01159078 -0.94116613] [ 0.15494489 -0.04684396 0.9868119 1.58040326] [ 0. 0. 0. 1. ]] SLAMing on 85.294860624 meters Centerline goodness : 0.850124 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96288971 -0.21629445 -0.16143148 -5.53899495] [ 0.22097989 0.97521129 0.01143812 -0.9404804 ] [ 0.1549558 -0.04668676 0.98681764 1.58012499] [ 0. 0. 0. 1. ]] SLAMing on 85.324860624 meters Centerline goodness : 0.849406 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96288897 -0.21632007 -0.16140156 -5.53895067] [ 0.22099231 0.97520938 0.0113611 -0.94021257] [ 0.15494268 -0.04660798 0.98682342 1.58004256] [ 0. 0. 0. 1. ]] SLAMing on 85.354860624 meters Centerline goodness : 0.848950 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96287054 -0.21646327 -0.16131951 -5.53914301] [ 0.22110283 0.97518657 0.01116621 -0.93978112] [ 0.15489955 -0.04641981 0.98683906 1.58008795] [ 0. 0. 0. 1. ]] SLAMing on 85.384860624 meters Centerline goodness : 0.849716 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96281291 -0.2168028 -0.16120749 -5.53992264] [ 0.22135759 0.97513474 0.01063229 -0.93831858] [ 0.15489391 -0.04592141 0.98686326 1.58055137] [ 0. 0. 0. 1. ]] SLAMing on 85.414860624 meters Centerline goodness : 0.849775 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96278464 -0.21698724 -0.16112811 -5.54024476] [ 0.2214959 0.97510641 0.01034707 -0.93749001] [ 0.15487187 -0.04565122 0.98687926 1.58065949] [ 0. 0. 0. 1. ]] SLAMing on 85.444860624 meters Centerline goodness : 0.847863 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96276763 -0.21713143 -0.1610355 -5.54048192] [ 0.22161084 0.97508209 0.01017648 -0.93700998] [ 0.1548132 -0.04548479 0.98689615 1.58064274] [ 0. 0. 0. 1. ]] SLAMing on 85.474860624 meters Centerline goodness : 0.849484 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96273053 -0.21735236 -0.16095924 -5.54063715] [ 0.22178829 0.97504455 0.00990391 -0.9367387 ] [ 0.1547898 -0.04523367 0.98691136 1.58074896] [ 0. 0. 0. 1. ]] SLAMing on 85.504860624 meters Centerline goodness : 0.849003 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96269892 -0.21761104 -0.16079869 -5.54088167] [ 0.22200452 0.97499779 0.00965943 -0.93620277] [ 0.15467637 -0.04499716 0.98693996 1.58061868] [ 0. 0. 0. 1. ]] SLAMing on 85.534860624 meters Centerline goodness : 0.847126 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.94, Z:1.58 [[ 0.96263173 -0.21805478 -0.16059972 -5.54149183] [ 0.22237549 0.97491753 0.00921717 -0.9354218 ] [ 0.15456163 -0.04458618 0.98697658 1.58076003] [ 0. 0. 0. 1. ]] SLAMing on 85.564860624 meters Centerline goodness : 0.848522 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.93, Z:1.58 [[ 0.9625388 -0.21869155 -0.16029058 -5.54238087] [ 0.22291921 0.97479845 0.00866049 -0.93403894] [ 0.15435703 -0.04406791 0.98703188 1.58075044] [ 0. 0. 0. 1. ]] SLAMing on 85.594860624 meters Centerline goodness : 0.845933 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.93, Z:1.58 [[ 0.96246029 -0.21914331 -0.16014492 -5.54271134] [ 0.22331002 0.97471234 0.00827588 -0.93352079] [ 0.15428163 -0.04372717 0.98705882 1.58075376] [ 0. 0. 0. 1. ]] SLAMing on 85.624860624 meters Centerline goodness : 0.846301 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.93, Z:1.58 [[ 0.96238133 -0.21970119 -0.15985483 -5.54316718] [ 0.22381997 0.97459762 0.00800667 -0.93333465] [ 0.15403506 -0.04348417 0.98710806 1.58049021] [ 0. 0. 0. 1. ]] SLAMing on 85.654860624 meters Centerline goodness : 0.845757 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.93, Z:1.58 [[ 0.96228919 -0.22025276 -0.15965035 -5.54359872] [ 0.22432634 0.97448342 0.00773038 -0.93347951] [ 0.15387398 -0.04325264 0.98714336 1.58045403] [ 0. 0. 0. 1. ]] SLAMing on 85.684860624 meters Centerline goodness : 0.846450 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.93, Z:1.58 [[ 0.96217435 -0.22100338 -0.15930484 -5.54440102] [ 0.22500538 0.97433012 0.00730771 -0.93332374] [ 0.15360047 -0.04287574 0.98720239 1.58045979] [ 0. 0. 0. 1. ]] SLAMing on 85.714860624 meters Centerline goodness : 0.845873 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 0.96205971 -0.22163858 -0.15911459 -5.54501823] [ 0.22556948 0.97420298 0.00685252 -0.93275435] [ 0.15349112 -0.04248393 0.98723634 1.58057373] [ 0. 0. 0. 1. ]] SLAMing on 85.744860624 meters Centerline goodness : 0.842586 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 0.96186397 -0.22284198 -0.15861639 -5.54665205] [ 0.22663646 0.97396085 0.006015 -0.93151095] [ 0.15314576 -0.04173386 0.98732196 1.58086782] [ 0. 0. 0. 1. ]] SLAMing on 85.774860624 meters Centerline goodness : 0.841706 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61783986e-01 -2.23338117e-01 -1.58403441e-01 -5.54737290e+00] [ 2.27047403e-01 9.73868269e-01 5.48378762e-03 -9.30783020e-01] [ 1.53039346e-01 -4.12393091e-02 9.87359245e-01 1.58121922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804860624 meters Centerline goodness : 0.842037 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61706924e-01 -2.23850321e-01 -1.58148112e-01 -5.54829751e+00] [ 2.27480050e-01 9.73769915e-01 4.99804113e-03 -9.30194649e-01] [ 1.52881061e-01 -4.07821913e-02 9.87402752e-01 1.58158944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834860624 meters Centerline goodness : 0.839505 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61635639e-01 -2.24363608e-01 -1.57853948e-01 -5.54939258e+00] [ 2.27914772e-01 9.73670558e-01 4.52777954e-03 -9.29628813e-01] [ 1.52681873e-01 -4.03313208e-02 9.87452090e-01 1.58203073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864860624 meters Centerline goodness : 0.841833 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61595267e-01 -2.24633863e-01 -1.57715470e-01 -5.54978310e+00] [ 2.28133514e-01 9.73620757e-01 4.20958105e-03 -9.29164160e-01] [ 1.52609441e-01 -4.00280976e-02 9.87475625e-01 1.58218658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894860624 meters Centerline goodness : 0.842319 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61575784e-01 -2.24750905e-01 -1.57667507e-01 -5.54986066e+00] [ 2.28208335e-01 9.73604353e-01 3.93961285e-03 -9.28317043e-01] [ 1.52620340e-01 -3.97692756e-02 9.87484398e-01 1.58219302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924860624 meters Centerline goodness : 0.842243 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61569442e-01 -2.24709299e-01 -1.57765459e-01 -5.54968231e+00] [ 2.28146422e-01 9.73619473e-01 3.78586354e-03 -9.27732629e-01] [ 1.52752804e-01 -3.96339956e-02 9.87469355e-01 1.58226853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954860624 meters Centerline goodness : 0.841147 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61558510e-01 -2.24761712e-01 -1.57757423e-01 -5.54979150e+00] [ 2.28166775e-01 9.73615495e-01 3.57649697e-03 -9.27090816e-01] [ 1.52791212e-01 -3.94340137e-02 9.87471419e-01 1.58239196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98486062399999 meters Centerline goodness : 0.843796 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61543227e-01 -2.24811923e-01 -1.57779031e-01 -5.54978401e+00] [ 2.28190270e-01 9.73610641e-01 3.39416096e-03 -9.26613513e-01] [ 1.52852296e-01 -3.92672721e-02 9.87468611e-01 1.58245584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014860624 meters Centerline goodness : 0.839030 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61588134e-01 -2.24674104e-01 -1.57701641e-01 -5.54947076e+00] [ 2.28086597e-01 9.73634022e-01 3.64621625e-03 -9.27287908e-01] [ 1.52724472e-01 -3.94757889e-02 9.87480075e-01 1.58205306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044860624 meters Centerline goodness : 0.836948 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61587657e-01 -2.24638728e-01 -1.57754933e-01 -5.54918212e+00] [ 2.28059579e-01 9.73640189e-01 3.68916099e-03 -9.27734932e-01] [ 1.52767815e-01 -3.95249754e-02 9.87471403e-01 1.58202139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074860624 meters Centerline goodness : 0.790867 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61592630e-01 -2.24603257e-01 -1.57775128e-01 -5.54893200e+00] [ 2.28033772e-01 9.73646005e-01 3.74920259e-03 -9.28021838e-01] [ 1.52775040e-01 -3.95832631e-02 9.87467950e-01 1.58191188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104860624 meters Centerline goodness : 0.792055 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61574234e-01 -2.24684313e-01 -1.57771837e-01 -5.54903298e+00] [ 2.28093633e-01 9.73632522e-01 3.60650794e-03 -9.27850157e-01] [ 1.52801466e-01 -3.94546766e-02 9.87469007e-01 1.58208033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134860624 meters Centerline goodness : 0.839190 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61567071e-01 -2.24734872e-01 -1.57743480e-01 -5.54901706e+00] [ 2.28140922e-01 9.73621508e-01 3.58868854e-03 -9.27978620e-01] [ 1.52775942e-01 -3.94385077e-02 9.87473603e-01 1.58209231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164860624 meters Centerline goodness : 0.790289 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61576190e-01 -2.24771022e-01 -1.57636347e-01 -5.54892424e+00] [ 2.28188366e-01 9.73610023e-01 3.68683863e-03 -9.28456774e-01] [ 1.52647633e-01 -3.95159566e-02 9.87490349e-01 1.58181467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194860624 meters Centerline goodness : 0.839569 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61589625e-01 -2.24677193e-01 -1.57688148e-01 -5.54816963e+00] [ 2.28128854e-01 9.73623127e-01 3.90281234e-03 -9.29632474e-01] [ 1.52651955e-01 -3.97261204e-02 9.87481248e-01 1.58142238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224860624 meters Centerline goodness : 0.837326 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61576161e-01 -2.24796829e-01 -1.57599725e-01 -5.54821105e+00] [ 2.28230482e-01 9.73599716e-01 3.79989439e-03 -9.29541621e-01] [ 1.52584844e-01 -3.96229491e-02 9.87495766e-01 1.58133572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254860624 meters Centerline goodness : 0.839741 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61561499e-01 -2.24904301e-01 -1.57535832e-01 -5.54826825e+00] [ 2.28318724e-01 9.73579474e-01 3.68350289e-03 -9.29260196e-01] [ 1.52545217e-01 -3.95102948e-02 9.87506402e-01 1.58127866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284860624 meters Centerline goodness : 0.840792 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61509608e-01 -2.25157780e-01 -1.57490472e-01 -5.54851781e+00] [ 2.28533369e-01 9.73530061e-01 3.42345816e-03 -9.29102338e-01] [ 1.52550890e-01 -3.92835159e-02 9.87514573e-01 1.58154175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314860624 meters Centerline goodness : 0.788629 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61473309e-01 -2.25364753e-01 -1.57416019e-01 -5.54878515e+00] [ 2.28707167e-01 9.73489969e-01 3.21130046e-03 -9.29075606e-01] [ 1.52519202e-01 -3.90897515e-02 9.87527156e-01 1.58175554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344860624 meters Centerline goodness : 0.840291 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61441815e-01 -2.25575149e-01 -1.57306989e-01 -5.54909919e+00] [ 2.28895810e-01 9.73446050e-01 3.08164572e-03 -9.29538872e-01] [ 1.52434725e-01 -3.89697337e-02 9.87544943e-01 1.58199587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374860624 meters Centerline goodness : 0.841664 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61343034e-01 -2.26191245e-01 -1.57025766e-01 -5.54977970e+00] [ 2.29473763e-01 9.73310654e-01 2.85720890e-03 -9.30514770e-01] [ 1.52188575e-01 -3.87800513e-02 9.87590373e-01 1.58219912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404860624 meters Centerline goodness : 0.840698 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61296578e-01 -2.26477758e-01 -1.56897144e-01 -5.55012253e+00] [ 2.29733208e-01 9.73249921e-01 2.69149304e-03 -9.30797994e-01] [ 1.52090569e-01 -3.86318073e-02 9.87611281e-01 1.58238886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434860624 meters Centerline goodness : 0.841173 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61245282e-01 -2.26729582e-01 -1.56847709e-01 -5.55043443e+00] [ 2.29959969e-01 9.73196823e-01 2.52108384e-03 -9.30756046e-01] [ 1.52072088e-01 -3.84920743e-02 9.87619583e-01 1.58262371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464860624 meters Centerline goodness : 0.837438 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61197583e-01 -2.27062488e-01 -1.56658329e-01 -5.55103379e+00] [ 2.30244186e-01 9.73130340e-01 2.22623837e-03 -9.30476192e-01] [ 1.51943478e-01 -3.82095244e-02 9.87650349e-01 1.58291566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494860624 meters Centerline goodness : 0.838134 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61197127e-01 -2.27035917e-01 -1.56699634e-01 -5.55092152e+00] [ 2.30215545e-01 9.73137166e-01 2.20442067e-03 -9.30573463e-01] [ 1.51989755e-01 -3.81935745e-02 9.87643845e-01 1.58298827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524860624 meters Centerline goodness : 0.788923 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61195611e-01 -2.27103274e-01 -1.56611304e-01 -5.55109768e+00] [ 2.30260316e-01 9.73126858e-01 2.07462724e-03 -9.30576215e-01] [ 1.51931511e-01 -3.80554909e-02 9.87658137e-01 1.58311530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554860624 meters Centerline goodness : 0.787860 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61208124e-01 -2.27016902e-01 -1.56659719e-01 -5.55104710e+00] [ 2.30167686e-01 9.73148869e-01 2.02865460e-03 -9.30881348e-01] [ 1.51992689e-01 -3.80079643e-02 9.87650554e-01 1.58341072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584860624 meters Centerline goodness : 0.838793 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61212991e-01 -2.27048722e-01 -1.56583731e-01 -5.55122388e+00] [ 2.30191928e-01 9.73143202e-01 1.99606677e-03 -9.31187809e-01] [ 1.51925189e-01 -3.79629562e-02 9.87662671e-01 1.58355614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614860624 meters Centerline goodness : 0.834802 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61226753e-01 -2.27036633e-01 -1.56516763e-01 -5.55142715e+00] [ 2.30193138e-01 9.73142696e-01 2.10048544e-03 -9.31956380e-01] [ 1.51836258e-01 -3.80481276e-02 9.87673069e-01 1.58376511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644860624 meters Centerline goodness : 0.837632 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61223692e-01 -2.27063783e-01 -1.56496176e-01 -5.55148997e+00] [ 2.30227546e-01 9.73134447e-01 2.15073636e-03 -9.32281468e-01] [ 1.51803465e-01 -3.80970691e-02 9.87676223e-01 1.58381044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674860624 meters Centerline goodness : 0.788505 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61234139e-01 -2.26927417e-01 -1.56629747e-01 -5.55106297e+00] [ 2.30107033e-01 9.73162770e-01 2.23087742e-03 -9.32730530e-01] [ 1.51919991e-01 -3.81860019e-02 9.87654872e-01 1.58385877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704860624 meters Centerline goodness : 0.837221 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61265971e-01 -2.26771896e-01 -1.56659630e-01 -5.55049165e+00] [ 2.29991083e-01 9.73189543e-01 2.49307410e-03 -9.33574228e-01] [ 1.51894155e-01 -3.84268253e-02 9.87649505e-01 1.58351204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73486062399999 meters Centerline goodness : 0.834839 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.93, Z:1.58 [[ 9.61267632e-01 -2.26784859e-01 -1.56630673e-01 -5.55026152e+00] [ 2.30011634e-01 9.73184542e-01 2.54879413e-03 -9.34410625e-01] [ 1.51852522e-01 -3.84769504e-02 9.87653956e-01 1.58344945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764860624 meters Centerline goodness : 0.838076 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61292817e-01 -2.26642934e-01 -1.56681528e-01 -5.54960774e+00] [ 2.29912466e-01 9.73207211e-01 2.82525158e-03 -9.35506073e-01] [ 1.51843270e-01 -3.87389306e-02 9.87645137e-01 1.58306537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794860624 meters Centerline goodness : 0.838076 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61292817e-01 -2.26642934e-01 -1.56681528e-01 -5.54960774e+00] [ 2.29912466e-01 9.73207211e-01 2.82525158e-03 -9.35506073e-01] [ 1.51843270e-01 -3.87389306e-02 9.87645137e-01 1.58306537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824860624 meters Centerline goodness : 0.838174 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61288022e-01 -2.26636384e-01 -1.56720414e-01 -5.54936895e+00] [ 2.29939218e-01 9.73200268e-01 3.03232030e-03 -9.37267189e-01] [ 1.51833115e-01 -3.89511027e-02 9.87638353e-01 1.58324491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854860624 meters Centerline goodness : 0.836860 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61258606e-01 -2.26838427e-01 -1.56608493e-01 -5.54962007e+00] [ 2.30141101e-01 9.73152510e-01 3.04408795e-03 -9.37953719e-01] [ 1.51713432e-01 -3.89682067e-02 9.87656070e-01 1.58335716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884860624 meters Centerline goodness : 0.837799 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61227320e-01 -2.27003366e-01 -1.56561522e-01 -5.54969361e+00] [ 2.30306190e-01 9.73113453e-01 3.04399276e-03 -9.38443038e-01] [ 1.51661127e-01 -3.89830567e-02 9.87663518e-01 1.58341404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914860624 meters Centerline goodness : 0.838385 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61202744e-01 -2.27114586e-01 -1.56551111e-01 -5.54969442e+00] [ 2.30411472e-01 9.73088670e-01 2.99907820e-03 -9.38796763e-01] [ 1.51656978e-01 -3.89538941e-02 9.87665305e-01 1.58351090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944860624 meters Centerline goodness : 0.837239 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61197422e-01 -2.27179480e-01 -1.56489614e-01 -5.54970583e+00] [ 2.30474582e-01 9.73073727e-01 2.99822711e-03 -9.39210318e-01] [ 1.51594796e-01 -3.89487666e-02 9.87675054e-01 1.58351361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974860624 meters Centerline goodness : 0.836459 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61173612e-01 -2.27266770e-01 -1.56509117e-01 -5.54961524e+00] [ 2.30560972e-01 9.73053316e-01 2.98025842e-03 -9.39726755e-01] [ 1.51614402e-01 -3.89494399e-02 9.87672018e-01 1.58360978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004860624 meters Centerline goodness : 0.786357 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61180196e-01 -2.27279855e-01 -1.56449669e-01 -5.54937921e+00] [ 2.30576929e-01 9.73049433e-01 3.01339199e-03 -9.40136029e-01] [ 1.51548379e-01 -3.89700970e-02 9.87681335e-01 1.58336460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034860624 meters Centerline goodness : 0.786458 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61158494e-01 -2.27427907e-01 -1.56367822e-01 -5.54959934e+00] [ 2.30696470e-01 9.73021629e-01 2.83689300e-03 -9.39991214e-01] [ 1.51504085e-01 -3.88002084e-02 9.87694819e-01 1.58348727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064860624 meters Centerline goodness : 0.785719 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61142657e-01 -2.27533779e-01 -1.56311139e-01 -5.54976816e+00] [ 2.30783715e-01 9.73001269e-01 2.72160981e-03 -9.39837118e-01] [ 1.51471679e-01 -3.86899208e-02 9.87704116e-01 1.58356319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094860624 meters Centerline goodness : 0.785448 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61104396e-01 -2.27729417e-01 -1.56261491e-01 -5.54995549e+00] [ 2.30944571e-01 9.72963718e-01 2.49186268e-03 -9.39567824e-01] [ 1.51469291e-01 -3.84826832e-02 9.87712578e-01 1.58372616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124860624 meters Centerline goodness : 0.785416 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61075695e-01 -2.27914526e-01 -1.56168106e-01 -5.55012184e+00] [ 2.31098417e-01 9.72927667e-01 2.29703729e-03 -9.39293373e-01] [ 1.51416743e-01 -3.82978288e-02 9.87727820e-01 1.58374421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154860624 meters Centerline goodness : 0.836562 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61060779e-01 -2.27951618e-01 -1.56205756e-01 -5.54985056e+00] [ 2.31133610e-01 9.72919366e-01 2.27202677e-03 -9.39338502e-01] [ 1.51457692e-01 -3.82879559e-02 9.87721924e-01 1.58359960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184860624 meters Centerline goodness : 0.786024 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61044940e-01 -2.28064378e-01 -1.56138598e-01 -5.54957400e+00] [ 2.31243540e-01 9.72893267e-01 2.26168377e-03 -9.40085489e-01] [ 1.51390381e-01 -3.82796220e-02 9.87732567e-01 1.58338454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214860624 meters Centerline goodness : 0.784101 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61030882e-01 -2.28119976e-01 -1.56143909e-01 -5.54951326e+00] [ 2.31291151e-01 9.72882083e-01 2.20374902e-03 -9.40220218e-01] [ 1.51406892e-01 -3.82325753e-02 9.87731858e-01 1.58344166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244860624 meters Centerline goodness : 0.786893 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61007702e-01 -2.28220895e-01 -1.56139104e-01 -5.54954791e+00] [ 2.31376921e-01 9.72861922e-01 2.09802808e-03 -9.40139371e-01] [ 1.51422974e-01 -3.81432062e-02 9.87732848e-01 1.58351066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274860624 meters Centerline goodness : 0.783902 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.61003467e-01 -2.28235064e-01 -1.56144457e-01 -5.54961570e+00] [ 2.31394278e-01 9.72857754e-01 2.11632066e-03 -9.40309720e-01] [ 1.51423327e-01 -3.81647254e-02 9.87731963e-01 1.58364222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304860624 meters Centerline goodness : 0.840506 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.60926089e-01 -2.28674421e-01 -1.55977754e-01 -5.55016343e+00] [ 2.31829036e-01 9.72754293e-01 2.09352825e-03 -9.41924065e-01] [ 1.51249294e-01 -3.81718983e-02 9.87758350e-01 1.58405440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334860624 meters Centerline goodness : 0.837538 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.60851358e-01 -2.29078516e-01 -1.55845118e-01 -5.55048408e+00] [ 2.32226919e-01 9.72659466e-01 2.05437223e-03 -9.43280769e-01] [ 1.51113617e-01 -3.81653781e-02 9.87779367e-01 1.58431143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364860624 meters Centerline goodness : 0.838605 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:1.58 [[ 9.60827926e-01 -2.29288578e-01 -1.55680585e-01 -5.55055545e+00] [ 2.32461270e-01 9.72603078e-01 2.23857289e-03 -9.44969454e-01] [ 1.50902137e-01 -3.83405898e-02 9.87804912e-01 1.58425436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394860624 meters Centerline goodness : 0.839571 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.58 [[ 9.60767337e-01 -2.29684635e-01 -1.55470553e-01 -5.55089685e+00] [ 2.32860763e-01 9.72507404e-01 2.28343563e-03 -9.46406401e-01] [ 1.50671794e-01 -3.83968421e-02 9.87837888e-01 1.58431026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424860624 meters Centerline goodness : 0.842416 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.58 [[ 9.60709691e-01 -2.29999914e-01 -1.55360641e-01 -5.55104068e+00] [ 2.33190587e-01 9.72428134e-01 2.38200060e-03 -9.48034981e-01] [ 1.50529198e-01 -3.85170501e-02 9.87854948e-01 1.58444038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454860624 meters Centerline goodness : 0.841942 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.58 [[ 9.60673480e-01 -2.30230575e-01 -1.55242863e-01 -5.55106208e+00] [ 2.33442570e-01 9.72367289e-01 2.53413404e-03 -9.49538560e-01] [ 1.50369647e-01 -3.86747684e-02 9.87873085e-01 1.58441670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48486062399999 meters Centerline goodness : 0.840391 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.58 [[ 9.59892337e-01 -2.33731932e-01 -1.54842128e-01 -5.54943256e+00] [ 2.36498801e-01 9.71631615e-01 -5.67982874e-04 -9.50770286e-01] [ 1.50582262e-01 -3.60747752e-02 9.87939063e-01 1.58423262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514860624 meters Centerline goodness : 0.837474 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.58 [[ 9.59831600e-01 -2.33997570e-01 -1.54817431e-01 -5.54956535e+00] [ 2.36783928e-01 9.71562229e-01 -4.55401320e-04 -9.52273811e-01] [ 1.50521331e-01 -3.62211709e-02 9.87942992e-01 1.58449893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544860624 meters Centerline goodness : 0.837081 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.95, Z:1.58 [[ 9.59785270e-01 -2.34214250e-01 -1.54777002e-01 -5.54955266e+00] [ 2.37028963e-01 9.71502545e-01 -2.76734237e-04 -9.53973578e-01] [ 1.50431066e-01 -3.64210268e-02 9.87949393e-01 1.58459911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574860624 meters Centerline goodness : 0.841049 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.58 [[ 9.59749035e-01 -2.34445859e-01 -1.54650993e-01 -5.54972275e+00] [ 2.37280633e-01 9.71441138e-01 -1.32517966e-04 -9.55657900e-01] [ 1.50265405e-01 -3.65685015e-02 9.87969156e-01 1.58474414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604860624 meters Centerline goodness : 0.837231 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.58 [[ 9.59723812e-01 -2.34569267e-01 -1.54620384e-01 -5.54971831e+00] [ 2.37431109e-01 9.71404378e-01 4.31795860e-05 -9.57251378e-01] [ 1.50188790e-01 -3.67531299e-02 9.87973955e-01 1.58491765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634860624 meters Centerline goodness : 0.782643 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59712969e-01 -2.34625343e-01 -1.54602606e-01 -5.54972176e+00] [ 2.37503697e-01 9.71386623e-01 1.51736275e-04 -9.58483986e-01] [ 1.50143302e-01 -3.68643138e-02 9.87976726e-01 1.58516768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664860624 meters Centerline goodness : 0.837104 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59669116e-01 -2.34860525e-01 -1.54517708e-01 -5.55017323e+00] [ 2.37754483e-01 9.71325249e-01 2.56774125e-04 -9.60212339e-01] [ 1.50026645e-01 -3.69836958e-02 9.87989986e-01 1.58570292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694860624 meters Centerline goodness : 0.782895 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59662373e-01 -2.34896588e-01 -1.54504765e-01 -5.55010240e+00] [ 2.37805541e-01 9.71312719e-01 3.55888549e-04 -9.60994647e-01] [ 1.49988846e-01 -3.70836220e-02 9.87991979e-01 1.58575128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724860624 meters Centerline goodness : 0.784767 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59652957e-01 -2.34937413e-01 -1.54501178e-01 -5.55001416e+00] [ 2.37857032e-01 9.71300084e-01 4.23782863e-04 -9.61619394e-01] [ 1.49967445e-01 -3.71558762e-02 9.87992513e-01 1.58579014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754860624 meters Centerline goodness : 0.783980 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59659803e-01 -2.34855287e-01 -1.54583494e-01 -5.54966577e+00] [ 2.37792555e-01 9.71315821e-01 5.25932511e-04 -9.62166863e-01] [ 1.50025876e-01 -3.72635203e-02 9.87979588e-01 1.58576151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784860624 meters Centerline goodness : 0.781285 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59683229e-01 -2.34679487e-01 -1.54705006e-01 -5.54908837e+00] [ 2.37646994e-01 9.71351329e-01 7.08464302e-04 -9.62932251e-01] [ 1.50106651e-01 -3.74450809e-02 9.87960454e-01 1.58563540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814860624 meters Centerline goodness : 0.781544 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59758302e-01 -2.34261581e-01 -1.54872573e-01 -5.54818821e+00] [ 2.37286091e-01 9.71439219e-01 1.07448966e-03 -9.64309107e-01] [ 1.50197580e-01 -3.77803579e-02 9.87933870e-01 1.58541408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844860624 meters Centerline goodness : 0.835977 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59819826e-01 -2.33919296e-01 -1.55008597e-01 -5.54770595e+00] [ 2.36975053e-01 9.71514902e-01 1.27265729e-03 -9.64527843e-01] [ 1.50295463e-01 -3.79546924e-02 9.87912301e-01 1.58533044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874860624 meters Centerline goodness : 0.838007 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59860532e-01 -2.33651021e-01 -1.55161077e-01 -5.54742706e+00] [ 2.36699130e-01 9.71582251e-01 1.20499298e-03 -9.63988521e-01] [ 1.50470200e-01 -3.78831171e-02 9.87888449e-01 1.58548133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904860624 meters Centerline goodness : 0.832655 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59899089e-01 -2.33367832e-01 -1.55348623e-01 -5.54729147e+00] [ 2.36404164e-01 9.71654185e-01 1.10275221e-03 -9.63518332e-01] [ 1.50687792e-01 -3.77835921e-02 9.87859094e-01 1.58592071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934860624 meters Centerline goodness : 0.839047 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.59965219e-01 -2.32930767e-01 -1.55595742e-01 -5.54695498e+00] [ 2.35981384e-01 9.71756873e-01 1.16871151e-03 -9.63136206e-01] [ 1.50929003e-01 -3.78396210e-02 9.87820125e-01 1.58622687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964860624 meters Centerline goodness : 0.838882 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.60082184e-01 -2.32235629e-01 -1.55912837e-01 -5.54620104e+00] [ 2.35332753e-01 9.71913781e-01 1.44808600e-03 -9.63158096e-01] [ 1.51197538e-01 -3.80816787e-02 9.87769756e-01 1.58631061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994860624 meters Centerline goodness : 0.840586 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 9.61014038e-01 -2.27701456e-01 -1.56856829e-01 -5.54599159e+00] [ 2.31390898e-01 9.72845713e-01 5.42862305e-03 -9.64726607e-01] [ 1.51361389e-01 -4.15122256e-02 9.87606432e-01 1.58650606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024860624 meters Centerline goodness : 0.839927 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.96, Z:1.59 [[ 0.96112764 -0.22699881 -0.15717885 -5.54508143] [ 0.23073228 0.97300068 0.00568254 -0.9647458 ] [ 0.1516452 -0.04172788 0.98755381 1.5865172 ] [ 0. 0. 0. 1. ]] SLAMing on 88.054860624 meters Centerline goodness : 0.839373 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.59 [[ 0.96123445 -0.22630783 -0.15752175 -5.54408542] [ 0.23009625 0.97314938 0.00599987 -0.96464517] [ 0.15193438 -0.04201244 0.98749729 1.58636831] [ 0. 0. 0. 1. ]] SLAMing on 88.084860624 meters Centerline goodness : 0.839826 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.96, Z:1.59 [[ 0.96131056 -0.22585109 -0.15771268 -5.54362226] [ 0.2296491 0.97325472 0.00604557 -0.96425885] [ 0.15212921 -0.04203025 0.98746654 1.58649986] [ 0. 0. 0. 1. ]] SLAMing on 88.114860624 meters Centerline goodness : 0.838351 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.59 [[ 0.9622735 -0.22102344 -0.15867691 -5.5428857 ] [ 0.22554843 0.97417133 0.01086849 -0.9664236 ] [ 0.1521763 -0.04624778 0.98727074 1.58609776] [ 0. 0. 0. 1. ]] SLAMing on 88.144860624 meters Centerline goodness : 0.839830 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.59 [[ 0.96248183 -0.22008251 -0.15872121 -5.54215225] [ 0.22465756 0.97437278 0.01125501 -0.96651196] [ 0.1521766 -0.04649066 0.98725929 1.58524876] [ 0. 0. 0. 1. ]] SLAMing on 88.174860624 meters Centerline goodness : 0.838817 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.58 [[ 0.96262071 -0.21938983 -0.15883787 -5.54135449] [ 0.22401609 0.97451633 0.01160648 -0.96688153] [ 0.15224375 -0.04675488 0.98723646 1.58465322] [ 0. 0. 0. 1. ]] SLAMing on 88.204860624 meters Centerline goodness : 0.838167 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.58 [[ 0.96277454 -0.21868858 -0.15887254 -5.54023312] [ 0.22333501 0.97467053 0.01178269 -0.96709013] [ 0.15227164 -0.04682587 0.98722879 1.58354037] [ 0. 0. 0. 1. ]] SLAMing on 88.23486062399999 meters Centerline goodness : 0.839324 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.58 [[ 0.96293661 -0.21795049 -0.15890458 -5.53912949] [ 0.22263714 0.97482638 0.01209257 -0.96759229] [ 0.1522688 -0.04702244 0.98721989 1.58242607] [ 0. 0. 0. 1. ]] SLAMing on 88.264860624 meters Centerline goodness : 0.840739 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.58 [[ 0.96287073 -0.21783138 -0.15946615 -5.53767928] [ 0.22262269 0.97482321 0.01260321 -0.96773719] [ 0.15270593 -0.04763605 0.98712294 1.58219652] [ 0. 0. 0. 1. ]] SLAMing on 88.294860624 meters Centerline goodness : 0.840290 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.97, Z:1.58 [[ 0.96278886 -0.21780124 -0.1600007 -5.53627539] [ 0.22269882 0.97479898 0.0131219 -0.96811581] [ 0.15311055 -0.04826559 0.98702968 1.58198796] [ 0. 0. 0. 1. ]] SLAMing on 88.324860624 meters Centerline goodness : 0.838112 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96273251 -0.2177242 -0.16044404 -5.53484955] [ 0.22270811 0.97479111 0.0135419 -0.96849366] [ 0.15345103 -0.04876942 0.98695204 1.58163304] [ 0. 0. 0. 1. ]] SLAMing on 88.354860624 meters Centerline goodness : 0.837845 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96266574 -0.21770657 -0.16086802 -5.53348696] [ 0.22275379 0.97477687 0.01381328 -0.96876697] [ 0.15380319 -0.04913153 0.98687926 1.58121446] [ 0. 0. 0. 1. ]] SLAMing on 88.384860624 meters Centerline goodness : 0.836385 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96251651 -0.21794438 -0.16143798 -5.53180664] [ 0.2230302 0.97471305 0.01385679 -0.96855813] [ 0.15433569 -0.04934294 0.98678557 1.58083558] [ 0. 0. 0. 1. ]] SLAMing on 88.414860624 meters Centerline goodness : 0.835545 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96244542 -0.21786869 -0.16196313 -5.53067224] [ 0.22302419 0.97471039 0.0141374 -0.9684365 ] [ 0.15478705 -0.04972817 0.98669553 1.58079425] [ 0. 0. 0. 1. ]] SLAMing on 88.444860624 meters Centerline goodness : 0.841634 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96239446 -0.21785113 -0.16228921 -5.53025717] [ 0.22306726 0.97469642 0.01441858 -0.96817361] [ 0.15504161 -0.05007777 0.98663788 1.58106116] [ 0. 0. 0. 1. ]] SLAMing on 88.474860624 meters Centerline goodness : 0.839372 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96206948 -0.21857988 -0.16323341 -5.52899678] [ 0.22389223 0.97450365 0.01465996 -0.96778691] [ 0.15586718 -0.0506506 0.98647856 1.58197865] [ 0. 0. 0. 1. ]] SLAMing on 88.504860624 meters Centerline goodness : 0.838167 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96198756 -0.21893908 -0.16323481 -5.52895714] [ 0.2242129 0.97443399 0.01438625 -0.96811004] [ 0.15591184 -0.05043874 0.98648235 1.58215935] [ 0. 0. 0. 1. ]] SLAMing on 88.534860624 meters Centerline goodness : 0.840968 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.96184446 -0.21910522 -0.16385399 -5.52738908] [ 0.22451177 0.97435582 0.01500702 -0.96867355] [ 0.15636397 -0.05122157 0.98637045 1.58199654] [ 0. 0. 0. 1. ]] SLAMing on 88.564860624 meters Centerline goodness : 0.836683 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.97, Z:1.58 [[ 0.9616909 -0.21923581 -0.1645791 -5.52535709] [ 0.2247546 0.97429273 0.01546125 -0.96915206] [ 0.15695856 -0.05185885 0.9862427 1.58171588] [ 0. 0. 0. 1. ]] SLAMing on 88.594860624 meters Centerline goodness : 0.838468 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96157225 -0.21933315 -0.16514167 -5.5241406 ] [ 0.22494442 0.97424276 0.01584445 -0.96937744] [ 0.15741286 -0.05238328 0.98614258 1.5817923 ] [ 0. 0. 0. 1. ]] SLAMing on 88.624860624 meters Centerline goodness : 0.836874 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96149031 -0.21937633 -0.16556092 -5.52313872] [ 0.225069 0.974208 0.01620845 -0.96919059] [ 0.15773502 -0.0528469 0.98606636 1.58167066] [ 0. 0. 0. 1. ]] SLAMing on 88.654860624 meters Centerline goodness : 0.841027 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.9614581 -0.21920397 -0.16597571 -5.52216625] [ 0.22495859 0.97422914 0.01646845 -0.96890242] [ 0.15808843 -0.05317139 0.98599232 1.58152627] [ 0. 0. 0. 1. ]] SLAMing on 88.684860624 meters Centerline goodness : 0.841027 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.9614581 -0.21920397 -0.16597571 -5.52216625] [ 0.22495859 0.97422914 0.01646845 -0.96890242] [ 0.15808843 -0.05317139 0.98599232 1.58152627] [ 0. 0. 0. 1. ]] SLAMing on 88.714860624 meters Centerline goodness : 0.834737 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96151525 -0.21883723 -0.16612853 -5.52174327] [ 0.2246266 0.97430243 0.01666335 -0.96839549] [ 0.15821287 -0.05333895 0.98596331 1.58127566] [ 0. 0. 0. 1. ]] SLAMing on 88.744860624 meters Centerline goodness : 0.838202 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96191021 -0.21607516 -0.16745232 -5.52023923] [ 0.22247806 0.97472755 0.02024158 -0.96971258] [ 0.15884668 -0.05672505 0.98567236 1.58143385] [ 0. 0. 0. 1. ]] SLAMing on 88.774860624 meters Centerline goodness : 0.835525 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96196467 -0.21559884 -0.16775315 -5.5195269 ] [ 0.22206168 0.97481617 0.02054361 -0.96923852] [ 0.15909931 -0.05701378 0.98561495 1.58116101] [ 0. 0. 0. 1. ]] SLAMing on 88.804860624 meters Centerline goodness : 0.836221 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96212945 -0.2147887 -0.16784735 -5.51946692] [ 0.22124497 0.97500202 0.02053586 -0.96771263] [ 0.15924064 -0.05689354 0.98559908 1.58079375] [ 0. 0. 0. 1. ]] SLAMing on 88.834860624 meters Centerline goodness : 0.836139 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96222703 -0.21416053 -0.16809048 -5.51862819] [ 0.22063458 0.97513877 0.02060986 -0.96677593] [ 0.15949773 -0.05691794 0.9855561 1.58016705] [ 0. 0. 0. 1. ]] SLAMing on 88.864860624 meters Centerline goodness : 0.839061 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96232417 -0.21362128 -0.16822052 -5.51816489] [ 0.22009521 0.97526071 0.02060687 -0.9658861 ] [ 0.1596568 -0.05685502 0.98553397 1.57970613] [ 0. 0. 0. 1. ]] SLAMing on 88.894860624 meters Centerline goodness : 0.833468 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.97, Z:1.58 [[ 0.96286176 -0.21035431 -0.16925808 -5.51673883] [ 0.21744089 0.97577173 0.02426903 -0.96690418] [ 0.16005215 -0.06017135 0.98527291 1.57922873] [ 0. 0. 0. 1. ]] SLAMing on 88.924860624 meters Centerline goodness : 0.836852 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.96, Z:1.58 [[ 0.96294746 -0.2102091 -0.16895067 -5.51726394] [ 0.217093 0.9758764 0.02314911 -0.9640801 ] [ 0.16000882 -0.05896938 0.98535262 1.5785902 ] [ 0. 0. 0. 1. ]] SLAMing on 88.954860624 meters Centerline goodness : 0.840607 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.96, Z:1.58 [[ 0.9629689 -0.20997688 -0.16911711 -5.51673952] [ 0.21684781 0.97593382 0.02302638 -0.96279669] [ 0.1602121 -0.05884636 0.98532695 1.57813428] [ 0. 0. 0. 1. ]] SLAMing on 88.98486062399999 meters Centerline goodness : 0.840509 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.96, Z:1.58 [[ 0.96291951 -0.21008299 -0.16926652 -5.51636137] [ 0.21689318 0.97593396 0.02258892 -0.96108283] [ 0.16044739 -0.05846407 0.98531142 1.57780234] [ 0. 0. 0. 1. ]] SLAMing on 89.014860624 meters Centerline goodness : 0.837856 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.96, Z:1.58 [[ 0.96290894 -0.21006129 -0.16935355 -5.51609816] [ 0.21682307 0.97595706 0.02226151 -0.9598909 ] [ 0.16060551 -0.05815557 0.98530391 1.57751965] [ 0. 0. 0. 1. ]] SLAMing on 89.044860624 meters Centerline goodness : 0.837256 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.96, Z:1.58 [[ 0.96270829 -0.21044698 -0.17001419 -5.51449586] [ 0.21713683 0.97590331 0.02154833 -0.95659663] [ 0.16138263 -0.0576611 0.98520599 1.57674272] [ 0. 0. 0. 1. ]] SLAMing on 89.074860624 meters Centerline goodness : 0.839032 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.96, Z:1.58 [[ 0.96259451 -0.21051525 -0.17057295 -5.51350211] [ 0.21724686 0.97587779 0.02159475 -0.95549746] [ 0.16191233 -0.05784342 0.98510839 1.57676455] [ 0. 0. 0. 1. ]] SLAMing on 89.104860624 meters Centerline goodness : 0.837925 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.58 [[ 0.96241479 -0.21093583 -0.17106679 -5.51281572] [ 0.2176706 0.97578766 0.02140001 -0.95390653] [ 0.16241083 -0.0578319 0.985027 1.5769432 ] [ 0. 0. 0. 1. ]] SLAMing on 89.134860624 meters Centerline goodness : 0.836997 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.95, Z:1.58 [[ 0.96228652 -0.21167513 -0.17087509 -5.51351297] [ 0.21826589 0.97567331 0.0205328 -0.95187789] [ 0.16237198 -0.05705464 0.98507873 1.57708729] [ 0. 0. 0. 1. ]] SLAMing on 89.164860624 meters Centerline goodness : 0.836684 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.58 [[ 0.96207445 -0.21306543 -0.17034048 -5.51551341] [ 0.21938273 0.97545496 0.01894318 -0.94820468] [ 0.16212333 -0.05559451 0.98520316 1.57763169] [ 0. 0. 0. 1. ]] SLAMing on 89.194860624 meters Centerline goodness : 0.835743 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.95, Z:1.58 [[ 0.96196967 -0.21377654 -0.17004099 -5.51660073] [ 0.21994418 0.97534496 0.01807657 -0.94626223] [ 0.16198427 -0.05478863 0.98527118 1.57798729] [ 0. 0. 0. 1. ]] SLAMing on 89.224860624 meters Centerline goodness : 0.828208 Centerline is valid? [False, False] Translation: X:-5.98, Y:-1.09, Z:1.56 [[ 0.92771047 -0.11802367 -0.35415208 -5.98159247] [ 0.24731549 0.90494923 0.34626859 -1.0902137 ] [ 0.27962176 -0.40882429 0.86871996 1.56069009] [ 0. 0. 0. 1. ]] SLAMing on 89.254860624 meters Centerline goodness : 0.836883 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.89, Z:1.66 [[ 0.90752045 -0.28136487 -0.311834 -5.66668495] [ 0.33994723 0.9280912 0.15192957 -0.8890293 ] [ 0.24666275 -0.2438863 0.93791096 1.65786345] [ 0. 0. 0. 1. ]] SLAMing on 89.284860624 meters Centerline goodness : 0.831709 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.88, Z:1.66 [[ 0.90705185 -0.2862514 -0.30873463 -5.67974408] [ 0.33997691 0.93053816 0.13606777 -0.88416165] [ 0.24833976 -0.22838317 0.94136523 1.6579636 ] [ 0. 0. 0. 1. ]] SLAMing on 89.314860624 meters Centerline goodness : 0.835282 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.88, Z:1.65 [[ 0.90847452 -0.28888456 -0.30202609 -5.69623917] [ 0.33696291 0.93378723 0.12040517 -0.88334897] [ 0.24724491 -0.21115662 0.94566529 1.65453312] [ 0. 0. 0. 1. ]] SLAMing on 89.344860624 meters Centerline goodness : 0.833732 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.88, Z:1.65 [[ 0.90954339 -0.29081257 -0.29691558 -5.70649552] [ 0.33486701 0.93592672 0.10911122 -0.88241406] [ 0.24616031 -0.19866862 0.9486495 1.65249849] [ 0. 0. 0. 1. ]] SLAMing on 89.374860624 meters Centerline goodness : 0.835303 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.88, Z:1.65 [[ 0.90964438 -0.29340326 -0.29404359 -5.71766705] [ 0.33363859 0.93775724 0.09641916 -0.88100972] [ 0.24745181 -0.18581143 0.95091625 1.65157973] [ 0. 0. 0. 1. ]] SLAMing on 89.404860624 meters Centerline goodness : 0.834450 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.88, Z:1.65 [[ 0.91020015 -0.2961648 -0.28952046 -5.73086949] [ 0.33246135 0.93934183 0.08429934 -0.88029441] [ 0.24699218 -0.17298363 0.95345243 1.65022424] [ 0. 0. 0. 1. ]] SLAMing on 89.434860624 meters Centerline goodness : 0.835250 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.88, Z:1.65 [[ 0.9122979 -0.29716664 -0.28178808 -5.73963444] [ 0.33043866 0.94061037 0.07786162 -0.88126185] [ 0.24191492 -0.16414667 0.95631221 1.64563373] [ 0. 0. 0. 1. ]] SLAMing on 89.464860624 meters Centerline goodness : 0.835217 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.88, Z:1.64 [[ 0.91197013 -0.30008267 -0.27975146 -5.7497338 ] [ 0.32985269 0.94178762 0.06506367 -0.88023502] [ 0.24394198 -0.1516129 0.95786525 1.64455393] [ 0. 0. 0. 1. ]] SLAMing on 89.494860624 meters Centerline goodness : 0.836124 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.88, Z:1.64 [[ 0.91393063 -0.30063723 -0.27266842 -5.75826143] [ 0.32747998 0.94308705 0.05782447 -0.88190053] [ 0.23976587 -0.14214101 0.96036882 1.63979634] [ 0. 0. 0. 1. ]] SLAMing on 89.524860624 meters Centerline goodness : 0.832039 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.88, Z:1.63 [[ 0.91565264 -0.30149888 -0.26585459 -5.76441075] [ 0.32637074 0.94370682 0.05384777 -0.88329761] [ 0.23465375 -0.13607301 0.96250805 1.63487409] [ 0. 0. 0. 1. ]] SLAMing on 89.554860624 meters Centerline goodness : 0.834088 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.88, Z:1.63 [[ 0.91753633 -0.30181274 -0.25891339 -5.77118356] [ 0.32478786 0.94446265 0.0500314 -0.88489072] [ 0.22943392 -0.12999755 0.96460392 1.62999281] [ 0. 0. 0. 1. ]] SLAMing on 89.584860624 meters Centerline goodness : 0.833439 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.88, Z:1.63 [[ 0.91801946 -0.30375859 -0.25489408 -5.77545469] [ 0.32567222 0.94428247 0.04762576 -0.88422638] [ 0.22622528 -0.1267333 0.96579542 1.627919 ] [ 0. 0. 0. 1. ]] SLAMing on 89.614860624 meters Centerline goodness : 0.831059 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.88, Z:1.63 [[ 0.91839736 -0.30528284 -0.25169165 -5.77839694] [ 0.32641392 0.94411103 0.04591644 -0.88417886] [ 0.22360736 -0.12432519 0.96671764 1.62613378] [ 0. 0. 0. 1. ]] SLAMing on 89.644860624 meters Centerline goodness : 0.830501 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.89, Z:1.62 [[ 0.92035596 -0.30442714 -0.24549749 -5.79079064] [ 0.32315736 0.94554182 0.03898698 -0.88697451] [ 0.22025945 -0.11521622 0.96861293 1.62311261] [ 0. 0. 0. 1. ]] SLAMing on 89.674860624 meters Centerline goodness : 0.830625 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.89, Z:1.62 [[ 0.9221939 -0.30436422 -0.23858087 -5.79748137] [ 0.32149846 0.94624253 0.03555002 -0.88870242] [ 0.21493521 -0.1094874 0.97047172 1.61829016] [ 0. 0. 0. 1. ]] SLAMing on 89.704860624 meters Centerline goodness : 0.777924 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.89, Z:1.61 [[ 0.92447398 -0.30304899 -0.23132048 -5.8061871 ] [ 0.31873694 0.94727462 0.03282626 -0.89059621] [ 0.20917606 -0.10407741 0.97232364 1.61361905] [ 0. 0. 0. 1. ]] SLAMing on 89.73486062399999 meters Centerline goodness : 0.776303 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.89, Z:1.61 [[ 0.92448627 -0.30340979 -0.23079785 -5.80762548] [ 0.31897704 0.94720541 0.03248949 -0.88990316] [ 0.20875534 -0.1036553 0.97245914 1.61383437] [ 0. 0. 0. 1. ]] SLAMing on 89.764860624 meters Centerline goodness : 0.829576 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.89, Z:1.61 [[ 0.92688001 -0.30125624 -0.22391543 -5.81547727] [ 0.31567074 0.94837025 0.03075467 -0.89178935] [ 0.2030897 -0.09918944 0.97412321 1.60902788] [ 0. 0. 0. 1. ]] SLAMing on 89.794860624 meters Centerline goodness : 0.828666 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.89, Z:1.61 [[ 0.92695539 -0.30129729 -0.22354787 -5.81652664] [ 0.31562297 0.94839414 0.03050724 -0.89072217] [ 0.20281974 -0.0988357 0.97421541 1.60913827] [ 0. 0. 0. 1. ]] SLAMing on 89.824860624 meters Centerline goodness : 0.829143 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.89, Z:1.61 [[ 0.92827106 -0.29981958 -0.22004787 -5.82061748] [ 0.3138614 0.94896114 0.03104471 -0.89164219] [ 0.19950906 -0.09788244 0.97499496 1.60648344] [ 0. 0. 0. 1. ]] SLAMing on 89.854860624 meters Centerline goodness : 0.825213 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.60 [[ 0.93108804 -0.29590873 -0.21333796 -5.82751164] [ 0.30894589 0.95061206 0.02981847 -0.89323079] [ 0.19397809 -0.09367351 0.97652331 1.60083203] [ 0. 0. 0. 1. ]] SLAMing on 89.884860624 meters Centerline goodness : 0.824274 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.60 [[ 0.93261714 -0.2941552 -0.20904065 -5.83167305] [ 0.30675099 0.9513208 0.02987584 -0.89443935] [ 0.19007659 -0.09198614 0.97745048 1.59719681] [ 0. 0. 0. 1. ]] SLAMing on 89.914860624 meters Centerline goodness : 0.824370 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.59 [[ 0.93485086 -0.291076 -0.20329443 -5.83714562] [ 0.30302009 0.95252371 0.0296211 -0.89672367] [ 0.18502078 -0.08929361 0.97866949 1.59221813] [ 0. 0. 0. 1. ]] SLAMing on 89.944860624 meters Centerline goodness : 0.824242 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.59 [[ 0.9375949 -0.28628513 -0.19737434 -5.84379512] [ 0.29760155 0.95423033 0.02962768 -0.89794287] [ 0.17985862 -0.08651767 0.97988039 1.58735276] [ 0. 0. 0. 1. ]] SLAMing on 89.974860624 meters Centerline goodness : 0.824837 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.59 [[ 0.93770392 -0.28575797 -0.19762022 -5.84322371] [ 0.29705933 0.95440394 0.02947657 -0.89652845] [ 0.18018635 -0.08634522 0.97983539 1.58743089] [ 0. 0. 0. 1. ]] SLAMing on 90.004860624 meters Centerline goodness : 0.825529 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.59 [[ 0.93810612 -0.28483495 -0.19704305 -5.84418089] [ 0.29616074 0.95466746 0.02998097 -0.89599329] [ 0.17957096 -0.08648175 0.97993631 1.58714308] [ 0. 0. 0. 1. ]] SLAMing on 90.034860624 meters Centerline goodness : 0.827541 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.59 [[ 0.93830731 -0.2842124 -0.19698403 -5.84421618] [ 0.29554967 0.95485205 0.03013247 -0.89524176] [ 0.17952658 -0.08649208 0.97994353 1.58708187] [ 0. 0. 0. 1. ]] SLAMing on 90.064860624 meters Centerline goodness : 0.823947 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93868373 -0.28337276 -0.19639944 -5.84500176] [ 0.29473592 0.95508733 0.030642 -0.8951699 ] [ 0.17889551 -0.08664911 0.98004506 1.58675242] [ 0. 0. 0. 1. ]] SLAMing on 90.094860624 meters Centerline goodness : 0.828792 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.59 [[ 0.93879283 -0.28293381 -0.19651077 -5.84466997] [ 0.29430732 0.95521808 0.03068589 -0.89457619] [ 0.17902856 -0.08664225 0.98002137 1.58677612] [ 0. 0. 0. 1. ]] SLAMing on 90.124860624 meters Centerline goodness : 0.827703 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.93908036 -0.28214453 -0.1962716 -5.84542099] [ 0.29353769 0.95544515 0.03098694 -0.89410602] [ 0.17878395 -0.08671234 0.98005983 1.58709547] [ 0. 0. 0. 1. ]] SLAMing on 90.154860624 meters Centerline goodness : 0.829125 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.93915957 -0.28210259 -0.19595264 -5.84625 ] [ 0.29347102 0.95546479 0.0310127 -0.89414785] [ 0.17847708 -0.0866323 0.98012284 1.58723883] [ 0. 0. 0. 1. ]] SLAMing on 90.184860624 meters Centerline goodness : 0.830510 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.93916766 -0.28206239 -0.19597175 -5.84618821] [ 0.29342306 0.95548109 0.03096451 -0.89421979] [ 0.17851338 -0.08658349 0.98012054 1.58736525] [ 0. 0. 0. 1. ]] SLAMing on 90.214860624 meters Centerline goodness : 0.830557 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.93914619 -0.28216788 -0.19592274 -5.84624424] [ 0.29350037 0.95546189 0.03082391 -0.89440932] [ 0.17849919 -0.08645156 0.98013477 1.58754472] [ 0. 0. 0. 1. ]] SLAMing on 90.244860624 meters Centerline goodness : 0.833111 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93903006 -0.283103 -0.19512877 -5.84720031] [ 0.29426436 0.95524732 0.03018362 -0.89539758] [ 0.17785116 -0.08576277 0.98031307 1.58766929] [ 0. 0. 0. 1. ]] SLAMing on 90.274860624 meters Centerline goodness : 0.832657 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93894922 -0.28345183 -0.19501133 -5.84747776] [ 0.29458492 0.95515265 0.0300522 -0.89599778] [ 0.17774724 -0.08566489 0.98034047 1.58787682] [ 0. 0. 0. 1. ]] SLAMing on 90.304860624 meters Centerline goodness : 0.831886 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93885823 -0.28385582 -0.19486172 -5.8477492 ] [ 0.29495334 0.95504401 0.02989081 -0.8965483 ] [ 0.17761683 -0.08553835 0.98037516 1.58800471] [ 0. 0. 0. 1. ]] SLAMing on 90.334860624 meters Centerline goodness : 0.829651 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93875627 -0.2842643 -0.19475747 -5.848082 ] [ 0.2953303 0.95493257 0.02972891 -0.89729393] [ 0.17752938 -0.08542598 0.9804008 1.58834468] [ 0. 0. 0. 1. ]] SLAMing on 90.364860624 meters Centerline goodness : 0.833357 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93843191 -0.28555556 -0.19443142 -5.84887286] [ 0.29645665 0.95461034 0.02885383 -0.89848439] [ 0.17736687 -0.08471784 0.98049165 1.58911737] [ 0. 0. 0. 1. ]] SLAMing on 90.394860624 meters Centerline goodness : 0.835654 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93831756 -0.28597849 -0.19436164 -5.84909317] [ 0.29684965 0.95449339 0.02868187 -0.89912081] [ 0.1773145 -0.08460889 0.98051053 1.58938463] [ 0. 0. 0. 1. ]] SLAMing on 90.424860624 meters Centerline goodness : 0.834763 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93821109 -0.28642824 -0.19421333 -5.84949837] [ 0.29726701 0.95436799 0.02853184 -0.89991684] [ 0.17717866 -0.0845021 0.9805443 1.58966886] [ 0. 0. 0. 1. ]] SLAMing on 90.454860624 meters Centerline goodness : 0.832744 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93808497 -0.28695672 -0.19404235 -5.84996388] [ 0.29775072 0.9542236 0.0283165 -0.90065813] [ 0.17703418 -0.08433953 0.98058439 1.58998077] [ 0. 0. 0. 1. ]] SLAMing on 90.48486062399999 meters Centerline goodness : 0.832773 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.9376381 -0.28930431 -0.19271174 -5.85088192] [ 0.29965267 0.95368698 0.02625686 -0.90181078] [ 0.17619046 -0.08236602 0.98090405 1.59025101] [ 0. 0. 0. 1. ]] SLAMing on 90.514860624 meters Centerline goodness : 0.832559 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93765351 -0.28991564 -0.19171545 -5.85233461] [ 0.30011911 0.95355105 0.0258632 -0.90252025] [ 0.17531233 -0.08178819 0.98110972 1.59023127] [ 0. 0. 0. 1. ]] SLAMing on 90.544860624 meters Centerline goodness : 0.831993 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93758982 -0.29049965 -0.19114204 -5.85356702] [ 0.30062599 0.9533972 0.02564752 -0.90331906] [ 0.17478369 -0.08150912 0.98122726 1.59048318] [ 0. 0. 0. 1. ]] SLAMing on 90.574860624 meters Centerline goodness : 0.832982 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93748442 -0.29094858 -0.19097615 -5.85393729] [ 0.30101793 0.95328112 0.02536352 -0.90379445] [ 0.17467448 -0.08126515 0.98126694 1.59075628] [ 0. 0. 0. 1. ]] SLAMing on 90.604860624 meters Centerline goodness : 0.832982 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93748442 -0.29094858 -0.19097615 -5.85393729] [ 0.30101793 0.95328112 0.02536352 -0.90379445] [ 0.17467448 -0.08126515 0.98126694 1.59075628] [ 0. 0. 0. 1. ]] SLAMing on 90.634860624 meters Centerline goodness : 0.830689 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.93744191 -0.29107898 -0.19098611 -5.85376463] [ 0.30115175 0.9532388 0.02536566 -0.90472449] [ 0.17467196 -0.08129463 0.98126494 1.59094014] [ 0. 0. 0. 1. ]] SLAMing on 90.664860624 meters Centerline goodness : 0.831046 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.91, Z:1.59 [[ 0.93744126 -0.29107389 -0.19099705 -5.85358539] [ 0.30118326 0.95322348 0.02556659 -0.90643484] [ 0.17462111 -0.08149229 0.9812576 1.59125906] [ 0. 0. 0. 1. ]] SLAMing on 90.694860624 meters Centerline goodness : 0.832116 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.91, Z:1.59 [[ 0.93750537 -0.29118437 -0.19051337 -5.85460808] [ 0.30127195 0.95319285 0.02566338 -0.90737143] [ 0.1741232 -0.08145589 0.9813491 1.59149945] [ 0. 0. 0. 1. ]] SLAMing on 90.724860624 meters Centerline goodness : 0.830867 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.91, Z:1.59 [[ 0.93879249 -0.28971817 -0.18636537 -5.85918863] [ 0.29944221 0.95376817 0.02570291 -0.91008444] [ 0.17030276 -0.07993535 0.98214424 1.58886475] [ 0. 0. 0. 1. ]] SLAMing on 90.754860624 meters Centerline goodness : 0.831364 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.91, Z:1.59 [[ 0.938841 -0.28950007 -0.18645985 -5.85890908] [ 0.29926677 0.95381726 0.0259238 -0.9109186 ] [ 0.17034368 -0.08013956 0.9821205 1.58900208] [ 0. 0. 0. 1. ]] SLAMing on 90.784860624 meters Centerline goodness : 0.772515 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.91, Z:1.59 [[ 0.939546 -0.28862848 -0.18424687 -5.86015455] [ 0.29827696 0.95411478 0.0263789 -0.91402739] [ 0.16817896 -0.07974079 0.98252595 1.58730812] [ 0. 0. 0. 1. ]] SLAMing on 90.814860624 meters Centerline goodness : 0.832334 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.91, Z:1.59 [[ 0.93956075 -0.28850599 -0.18436346 -5.85959694] [ 0.29818094 0.95414175 0.02648846 -0.91494233] [ 0.16826679 -0.07986119 0.98250113 1.58739929] [ 0. 0. 0. 1. ]] SLAMing on 90.844860624 meters Centerline goodness : 0.771117 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.59 [[ 0.93959588 -0.28831967 -0.18447586 -5.85898498] [ 0.29804785 0.95417571 0.02676182 -0.91612436] [ 0.16830643 -0.08012793 0.98247263 1.58737941] [ 0. 0. 0. 1. ]] SLAMing on 90.874860624 meters Centerline goodness : 0.773805 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.59 [[ 0.93962739 -0.28810261 -0.18465443 -5.85839268] [ 0.29787266 0.95422542 0.02693939 -0.91685915] [ 0.16844064 -0.0803165 0.98243423 1.58744481] [ 0. 0. 0. 1. ]] SLAMing on 90.904860624 meters Centerline goodness : 0.833028 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.94132494 -0.28568367 -0.17970027 -5.86235004] [ 0.29499338 0.95512247 0.0268321 -0.92076577] [ 0.16397028 -0.07826812 0.9833554 1.58321854] [ 0. 0. 0. 1. ]] SLAMing on 90.934860624 meters Centerline goodness : 0.828901 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.9413359 -0.28556086 -0.17983805 -5.86192296] [ 0.29489438 0.95515061 0.02691887 -0.92116378] [ 0.16408545 -0.07837293 0.98332784 1.58327109] [ 0. 0. 0. 1. ]] SLAMing on 90.964860624 meters Centerline goodness : 0.834183 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.94134395 -0.28551231 -0.179873 -5.86169148] [ 0.29485932 0.95515951 0.02698704 -0.92165403] [ 0.16410227 -0.07844132 0.98331958 1.58330068] [ 0. 0. 0. 1. ]] SLAMing on 90.994860624 meters Centerline goodness : 0.835443 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.94140187 -0.28516001 -0.18012854 -5.86084268] [ 0.29457078 0.95524033 0.02727574 -0.92268783] [ 0.16428809 -0.07873804 0.98326484 1.58338599] [ 0. 0. 0. 1. ]] SLAMing on 91.024860624 meters Centerline goodness : 0.835206 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.94134055 -0.28534552 -0.18015522 -5.8608538 ] [ 0.2947317 0.95519572 0.02709927 -0.92299481] [ 0.16435084 -0.0786071 0.98326483 1.58367449] [ 0. 0. 0. 1. ]] SLAMing on 91.054860624 meters Centerline goodness : 0.834090 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.94127492 -0.28559811 -0.18009786 -5.8611388 ] [ 0.29495138 0.95513331 0.02690795 -0.92352858] [ 0.1643326 -0.0784479 0.98328059 1.5841205 ] [ 0. 0. 0. 1. ]] SLAMing on 91.084860624 meters Centerline goodness : 0.834719 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.94119332 -0.28596034 -0.17994946 -5.86155146] [ 0.29527398 0.95503917 0.02671069 -0.92392594] [ 0.16422058 -0.07827432 0.98331314 1.58440141] [ 0. 0. 0. 1. ]] SLAMing on 91.114860624 meters Centerline goodness : 0.832990 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.92, Z:1.58 [[ 0.94106353 -0.28653099 -0.17972043 -5.86232384] [ 0.29577133 0.95489578 0.02633187 -0.92421059] [ 0.16406938 -0.07793611 0.98336524 1.58487022] [ 0. 0. 0. 1. ]] SLAMing on 91.144860624 meters Centerline goodness : 0.831459 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.93, Z:1.59 [[ 0.94090036 -0.28714245 -0.17959877 -5.86257454] [ 0.2963324 0.95472997 0.0260345 -0.92514279] [ 0.16399272 -0.0777168 0.98339539 1.58522953] [ 0. 0. 0. 1. ]] SLAMing on 91.174860624 meters Centerline goodness : 0.833225 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.93, Z:1.59 [[ 0.94083485 -0.28736625 -0.179584 -5.86259626] [ 0.29653537 0.95467069 0.02589694 -0.92555724] [ 0.16400167 -0.07761776 0.98340172 1.5854455 ] [ 0. 0. 0. 1. ]] SLAMing on 91.204860624 meters Centerline goodness : 0.832399 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.93, Z:1.59 [[ 0.94073781 -0.28776519 -0.17945352 -5.86305921] [ 0.29688551 0.95456902 0.0256317 -0.92569452] [ 0.16392486 -0.07738986 0.98343248 1.58573116] [ 0. 0. 0. 1. ]] SLAMing on 91.23486062399999 meters Centerline goodness : 0.833126 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.93, Z:1.59 [[ 0.94064691 -0.28812614 -0.17935081 -5.86363036] [ 0.29718368 0.95448582 0.02527224 -0.92567203] [ 0.16390621 -0.07707239 0.98346052 1.58625213] [ 0. 0. 0. 1. ]] SLAMing on 91.264860624 meters Centerline goodness : 0.829998 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.93, Z:1.59 [[ 0.94058189 -0.28848939 -0.17910775 -5.86445936] [ 0.29750723 0.9543891 0.02511771 -0.92627074] [ 0.16369229 -0.07691111 0.98350878 1.58672206] [ 0. 0. 0. 1. ]] SLAMing on 91.294860624 meters Centerline goodness : 0.833015 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.93, Z:1.59 [[ 0.94051816 -0.28872519 -0.17906242 -5.86480366] [ 0.29771447 0.95432895 0.02494694 -0.92641003] [ 0.16368164 -0.07677252 0.98352138 1.58706566] [ 0. 0. 0. 1. ]] SLAMing on 91.324860624 meters Centerline goodness : 0.834526 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.93, Z:1.59 [[ 0.94049881 -0.28880895 -0.17902898 -5.86490511] [ 0.29778398 0.95430928 0.02486984 -0.92664246] [ 0.16366639 -0.07670202 0.98352942 1.58725816] [ 0. 0. 0. 1. ]] SLAMing on 91.354860624 meters Centerline goodness : 0.831294 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.59 [[ 0.94042444 -0.28909998 -0.17894993 -5.86524599] [ 0.2980275 0.95424035 0.02459615 -0.92674432] [ 0.1636505 -0.07646282 0.98355069 1.58765974] [ 0. 0. 0. 1. ]] SLAMing on 91.384860624 meters Centerline goodness : 0.831511 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.9426827 -0.28587972 -0.17211076 -5.87301617] [ 0.29390638 0.95556792 0.02256088 -0.93050561] [ 0.15801382 -0.0718522 0.98481922 1.58302359] [ 0. 0. 0. 1. ]] SLAMing on 91.414860624 meters Centerline goodness : 0.835102 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.9427096 -0.28577497 -0.17213737 -5.87280539] [ 0.29380746 0.95559756 0.02259385 -0.93075866] [ 0.15803729 -0.07187469 0.98481381 1.58304396] [ 0. 0. 0. 1. ]] SLAMing on 91.444860624 meters Centerline goodness : 0.833314 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94274894 -0.28559598 -0.17221894 -5.87242616] [ 0.29364496 0.9556456 0.02267425 -0.9309713 ] [ 0.1581046 -0.07194735 0.9847977 1.5829839 ] [ 0. 0. 0. 1. ]] SLAMing on 91.474860624 meters Centerline goodness : 0.836431 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94279964 -0.28532284 -0.17239406 -5.8718207 ] [ 0.29341012 0.95571342 0.02285517 -0.93104911] [ 0.15823821 -0.07213001 0.98476288 1.5827766 ] [ 0. 0. 0. 1. ]] SLAMing on 91.504860624 meters Centerline goodness : 0.835002 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94292433 -0.28478388 -0.17260314 -5.87121857] [ 0.29292891 0.9558536 0.0231635 -0.93137886] [ 0.15838674 -0.07240188 0.98471905 1.58276226] [ 0. 0. 0. 1. ]] SLAMing on 91.534860624 meters Centerline goodness : 0.835474 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94292431 -0.28475528 -0.17265043 -5.87115431] [ 0.29289278 0.95586628 0.02309727 -0.93139024] [ 0.15845366 -0.07234704 0.98471232 1.58292896] [ 0. 0. 0. 1. ]] SLAMing on 91.564860624 meters Centerline goodness : 0.834358 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94291917 -0.28476104 -0.17266901 -5.87115522] [ 0.29288051 0.95587295 0.02297619 -0.9313243 ] [ 0.15850691 -0.07223608 0.98471189 1.58310482] [ 0. 0. 0. 1. ]] SLAMing on 91.594860624 meters Centerline goodness : 0.835972 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94294207 -0.28457071 -0.17285766 -5.87072699] [ 0.29270634 0.9559256 0.02300557 -0.93135935] [ 0.15869235 -0.07228945 0.98467811 1.58320433] [ 0. 0. 0. 1. ]] SLAMing on 91.624860624 meters Centerline goodness : 0.836454 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.9429343 -0.28460994 -0.17283544 -5.87073127] [ 0.29273407 0.95591865 0.02294113 -0.9314643 ] [ 0.15868735 -0.0722268 0.98468351 1.58329947] [ 0. 0. 0. 1. ]] SLAMing on 91.654860624 meters Centerline goodness : 0.836911 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94289414 -0.2848017 -0.17273865 -5.871045 ] [ 0.29292106 0.9558614 0.02293987 -0.93249104] [ 0.15858089 -0.07222866 0.98470052 1.58369316] [ 0. 0. 0. 1. ]] SLAMing on 91.684860624 meters Centerline goodness : 0.835861 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94283684 -0.28504717 -0.17264646 -5.87131872] [ 0.2931426 0.95579652 0.02281282 -0.93301415] [ 0.15851216 -0.0721188 0.98471964 1.58399383] [ 0. 0. 0. 1. ]] SLAMing on 91.714860624 meters Centerline goodness : 0.835571 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94274365 -0.28542038 -0.17253872 -5.87163815] [ 0.29348242 0.95569674 0.02262311 -0.93345109] [ 0.1584376 -0.07196487 0.9847429 1.58426177] [ 0. 0. 0. 1. ]] SLAMing on 91.744860624 meters Centerline goodness : 0.834932 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.58 [[ 0.94253636 -0.28617059 -0.17242857 -5.87195149] [ 0.29418625 0.95548742 0.02232136 -0.93435486] [ 0.15836561 -0.07176481 0.98476908 1.58455201] [ 0. 0. 0. 1. ]] SLAMing on 91.774860624 meters Centerline goodness : 0.835155 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.58 [[ 0.94240186 -0.28666014 -0.17235051 -5.87219666] [ 0.29464843 0.9553491 0.02214513 -0.93506402] [ 0.15830678 -0.07165242 0.98478673 1.58479995] [ 0. 0. 0. 1. ]] SLAMing on 91.804860624 meters Centerline goodness : 0.833973 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.58 [[ 0.94226588 -0.28718217 -0.17222489 -5.87236087] [ 0.29514749 0.95519804 0.02201518 -0.93615392] [ 0.15818651 -0.07157589 0.98481162 1.58498966] [ 0. 0. 0. 1. ]] SLAMing on 91.834860624 meters Centerline goodness : 0.833908 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.94212571 -0.28776017 -0.17202685 -5.87278351] [ 0.29569656 0.9550314 0.0218764 -0.93744186] [ 0.15799588 -0.07147806 0.98484932 1.58529434] [ 0. 0. 0. 1. ]] SLAMing on 91.864860624 meters Centerline goodness : 0.835873 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.94096628 -0.29220316 -0.17087939 -5.87294863] [ 0.29948226 0.95393378 0.01790877 -0.93754586] [ 0.15777462 -0.0680269 0.98512918 1.58585272] [ 0. 0. 0. 1. ]] SLAMing on 91.894860624 meters Centerline goodness : 0.833314 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.94082839 -0.29275288 -0.17069767 -5.87363926] [ 0.29999596 0.95377596 0.01771583 -0.93846532] [ 0.15762098 -0.06787617 0.98516418 1.58638597] [ 0. 0. 0. 1. ]] SLAMing on 91.924860624 meters Centerline goodness : 0.832565 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.94070426 -0.29319384 -0.17062496 -5.87398583] [ 0.30040786 0.95364977 0.01752804 -0.93929025] [ 0.15757735 -0.06774578 0.98518013 1.58683123] [ 0. 0. 0. 1. ]] SLAMing on 91.954860624 meters Centerline goodness : 0.830786 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.94056763 -0.29369865 -0.17050994 -5.87443795] [ 0.30087913 0.9535049 0.01732493 -0.94009375] [ 0.15749376 -0.06759815 0.98520364 1.58727841] [ 0. 0. 0. 1. ]] SLAMing on 91.98486062399999 meters Centerline goodness : 0.831173 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.94004617 -0.2957561 -0.16982791 -5.87454499] [ 0.30264463 0.95297558 0.01561338 -0.9422291 ] [ 0.1572241 -0.0660748 0.98535004 1.58793813] [ 0. 0. 0. 1. ]] SLAMing on 92.014860624 meters Centerline goodness : 0.828627 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.93998014 -0.29599367 -0.16977954 -5.87463486] [ 0.30288699 0.95289808 0.01564355 -0.94352727] [ 0.1571522 -0.06612864 0.9853579 1.5882785 ] [ 0. 0. 0. 1. ]] SLAMing on 92.044860624 meters Centerline goodness : 0.830606 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.59 [[ 0.93994422 -0.29617232 -0.16966677 -5.87473481] [ 0.3030764 0.9528362 0.01574382 -0.94477021] [ 0.15700176 -0.0662203 0.98537573 1.58841201] [ 0. 0. 0. 1. ]] SLAMing on 92.074860624 meters Centerline goodness : 0.829579 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.95, Z:1.59 [[ 0.94131416 -0.2944484 -0.16500845 -5.87932476] [ 0.30096664 0.95350997 0.0154215 -0.94858535] [ 0.15279637 -0.06417851 0.98617158 1.58536494] [ 0. 0. 0. 1. ]] SLAMing on 92.104860624 meters Centerline goodness : 0.830412 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.95, Z:1.59 [[ 0.94132547 -0.29431766 -0.16517713 -5.87919938] [ 0.30084096 0.95355008 0.01539336 -0.94866624] [ 0.15297412 -0.06418221 0.98614378 1.58573391] [ 0. 0. 0. 1. ]] SLAMing on 92.134860624 meters Centerline goodness : 0.831903 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.95, Z:1.59 [[ 0.94140306 -0.29402363 -0.16525853 -5.87895764] [ 0.30057071 0.95363298 0.01553658 -0.94864283] [ 0.15302786 -0.06429806 0.9861279 1.58570027] [ 0. 0. 0. 1. ]] SLAMing on 92.164860624 meters Centerline goodness : 0.829566 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.95, Z:1.59 [[ 0.94148962 -0.29368877 -0.16536081 -5.8787607 ] [ 0.30024554 0.95373464 0.01558352 -0.9483261 ] [ 0.15313363 -0.06432057 0.98611001 1.58578405] [ 0. 0. 0. 1. ]] SLAMing on 92.194860624 meters Centerline goodness : 0.831486 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.95, Z:1.59 [[ 0.94304035 -0.28680454 -0.16857652 -5.88526837] [ 0.29311247 0.95598597 0.01326263 -0.95297698] [ 0.15735301 -0.06191908 0.98559934 1.58845397] [ 0. 0. 0. 1. ]] SLAMing on 92.224860624 meters Centerline goodness : 0.828427 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.95, Z:1.59 [[ 0.94324425 -0.28649335 -0.16796384 -5.88612843] [ 0.29264875 0.95613731 0.01257574 -0.95198749] [ 0.15699363 -0.0610164 0.98571294 1.5878468 ] [ 0. 0. 0. 1. ]] SLAMing on 92.254860624 meters Centerline goodness : 0.831503 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.96, Z:1.59 [[ 0.94494668 -0.27876765 -0.17136036 -5.89306087] [ 0.28452815 0.9586204 0.00952134 -0.95611348] [ 0.1616153 -0.057754 0.98516241 1.59023193] [ 0. 0. 0. 1. ]] SLAMing on 92.284860624 meters Centerline goodness : 0.831579 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.96, Z:1.59 [[ 0.94531455 -0.27823948 -0.17018578 -5.89569282] [ 0.2837519 0.9588603 0.00847314 -0.95654728] [ 0.16082682 -0.05630032 0.98537557 1.59057657] [ 0. 0. 0. 1. ]] SLAMing on 92.314860624 meters Centerline goodness : 0.839547 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.96, Z:1.59 [[ 0.94552194 -0.27787815 -0.16962311 -5.89641397] [ 0.28327645 0.9590049 0.0080036 -0.95602231] [ 0.16044536 -0.05561782 0.98547651 1.58997673] [ 0. 0. 0. 1. ]] SLAMing on 92.344860624 meters Centerline goodness : 0.840373 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.96, Z:1.59 [[ 0.94629632 -0.26773966 -0.18121466 -5.89855375] [ 0.27481592 0.96138511 0.0146587 -0.96373342] [ 0.17029236 -0.06367215 0.98333431 1.5920258 ] [ 0. 0. 0. 1. ]] SLAMing on 92.374860624 meters Centerline goodness : 0.836264 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.96, Z:1.59 [[ 0.94650793 -0.26699533 -0.1812077 -5.8980682 ] [ 0.2740965 0.96158717 0.01487373 -0.96405866] [ 0.17027578 -0.0637465 0.98333237 1.59146718] [ 0. 0. 0. 1. ]] SLAMing on 92.404860624 meters Centerline goodness : 0.840537 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.96, Z:1.59 [[ 0.9465853 -0.26646413 -0.18158507 -5.89719068] [ 0.2736755 0.96169856 0.01541444 -0.96438654] [ 0.1705227 -0.06428647 0.98325442 1.59125268] [ 0. 0. 0. 1. ]] SLAMing on 92.434860624 meters Centerline goodness : 0.840529 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.96, Z:1.59 [[ 0.94659676 -0.26621973 -0.18188357 -5.89630219] [ 0.27347245 0.96175396 0.0155608 -0.96410402] [ 0.17078465 -0.06446995 0.98319694 1.590923 ] [ 0. 0. 0. 1. ]] SLAMing on 92.464860624 meters Centerline goodness : 0.842598 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.96, Z:1.59 [[ 0.94653126 -0.26614301 -0.18233616 -5.89492196] [ 0.27346424 0.96175259 0.015788 -0.96394542] [ 0.17116041 -0.06480625 0.98310949 1.5904672 ] [ 0. 0. 0. 1. ]] SLAMing on 92.494860624 meters Centerline goodness : 0.842598 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.96, Z:1.59 [[ 0.94653126 -0.26614301 -0.18233616 -5.89492196] [ 0.27346424 0.96175259 0.015788 -0.96394542] [ 0.17116041 -0.06480625 0.98310949 1.5904672 ] [ 0. 0. 0. 1. ]] SLAMing on 92.524860624 meters Centerline goodness : 0.839660 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.96, Z:1.59 [[ 0.94641415 -0.26622706 -0.1828207 -5.89251566] [ 0.27359628 0.9617137 0.01586899 -0.9642857 ] [ 0.17159642 -0.0650377 0.98301819 1.58933312] [ 0. 0. 0. 1. ]] SLAMing on 92.554860624 meters Centerline goodness : 0.839198 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.96, Z:1.59 [[ 0.94627593 -0.2662487 -0.18350336 -5.89074535] [ 0.27374925 0.96166205 0.01635421 -0.96447238] [ 0.17211393 -0.06570951 0.98288303 1.58909943] [ 0. 0. 0. 1. ]] SLAMing on 92.584860624 meters Centerline goodness : 0.836044 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.96, Z:1.59 [[ 0.94614642 -0.26636257 -0.18400526 -5.88945509] [ 0.27393992 0.96160377 0.0165866 -0.96476376] [ 0.1725221 -0.06609974 0.9827853 1.58911167] [ 0. 0. 0. 1. ]] SLAMing on 92.614860624 meters Centerline goodness : 0.833211 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.97, Z:1.59 [[ 0.94601418 -0.26652972 -0.18444261 -5.88796122] [ 0.27419319 0.96152629 0.01689039 -0.96533793] [ 0.17284463 -0.06655145 0.98269814 1.5888623 ] [ 0. 0. 0. 1. ]] SLAMing on 92.644860624 meters Centerline goodness : 0.836169 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.97, Z:1.59 [[ 0.94587607 -0.26666776 -0.18495072 -5.88679555] [ 0.27440857 0.96146083 0.01711747 -0.965518 ] [ 0.1732582 -0.06694307 0.98259871 1.58894832] [ 0. 0. 0. 1. ]] SLAMing on 92.674860624 meters Centerline goodness : 0.837287 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.97, Z:1.59 [[ 0.94581549 -0.26652413 -0.18546682 -5.88547046] [ 0.27437833 0.9614613 0.01756997 -0.9659498 ] [ 0.17363635 -0.06750602 0.98249344 1.58882344] [ 0. 0. 0. 1. ]] SLAMing on 92.704860624 meters Centerline goodness : 0.838784 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.97, Z:1.59 [[ 0.94573268 -0.26646381 -0.18597508 -5.8843282 ] [ 0.27440665 0.96144759 0.01787525 -0.96607938] [ 0.17404219 -0.067938 0.98239185 1.58879787] [ 0. 0. 0. 1. ]] SLAMing on 92.73486062399999 meters Centerline goodness : 0.832553 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.97, Z:1.59 [[ 0.9456837 -0.26637298 -0.18635392 -5.88370827] [ 0.27439432 0.96144547 0.01817584 -0.96599896] [ 0.17432758 -0.06832305 0.98231454 1.58890694] [ 0. 0. 0. 1. ]] SLAMing on 92.764860624 meters Centerline goodness : 0.832776 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.97, Z:1.59 [[ 0.94562932 -0.26616841 -0.18692132 -5.88279809] [ 0.27431467 0.96145871 0.01867131 -0.96607389] [ 0.17474741 -0.0689314 0.98219744 1.5891656 ] [ 0. 0. 0. 1. ]] SLAMing on 92.794860624 meters Centerline goodness : 0.834986 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.97, Z:1.59 [[ 0.94565303 -0.26588243 -0.1872081 -5.88232425] [ 0.27408402 0.96152014 0.01889381 -0.96597981] [ 0.17498083 -0.06917774 0.98213856 1.58930455] [ 0. 0. 0. 1. ]] SLAMing on 92.824860624 meters Centerline goodness : 0.831599 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.97, Z:1.59 [[ 0.94566505 -0.26553961 -0.18763351 -5.88166093] [ 0.27383691 0.96158265 0.01929137 -0.96576801] [ 0.17530251 -0.06962416 0.98204965 1.58941821] [ 0. 0. 0. 1. ]] SLAMing on 92.854860624 meters Centerline goodness : 0.834900 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.97, Z:1.59 [[ 0.9457071 -0.26518521 -0.18792255 -5.88116135] [ 0.27355386 0.96165682 0.01960737 -0.96552481] [ 0.17551741 -0.06994976 0.98198812 1.58939241] [ 0. 0. 0. 1. ]] SLAMing on 92.884860624 meters Centerline goodness : 0.834758 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.96, Z:1.59 [[ 0.94567701 -0.26512345 -0.18816099 -5.88043084] [ 0.27348684 0.96167832 0.01948728 -0.96465966] [ 0.17578381 -0.06988822 0.98194485 1.58900487] [ 0. 0. 0. 1. ]] SLAMing on 92.914860624 meters Centerline goodness : 0.831123 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.96, Z:1.59 [[ 0.94565697 -0.26489332 -0.18858532 -5.87909143] [ 0.27334842 0.96171028 0.0198489 -0.96473433] [ 0.1761066 -0.07031975 0.9818562 1.58851861] [ 0. 0. 0. 1. ]] SLAMing on 92.944860624 meters Centerline goodness : 0.832081 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.96, Z:1.59 [[ 0.94559456 -0.26486389 -0.18893925 -5.8780535 ] [ 0.2733623 0.96170426 0.01994915 -0.96444319] [ 0.17641988 -0.07051268 0.98178612 1.58821245] [ 0. 0. 0. 1. ]] SLAMing on 92.974860624 meters Centerline goodness : 0.836450 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.96, Z:1.59 [[ 0.94550608 -0.2648988 -0.18933273 -5.87707515] [ 0.2734299 0.96168466 0.01996759 -0.96365274] [ 0.17678899 -0.07064871 0.98170994 1.58793425] [ 0. 0. 0. 1. ]] SLAMing on 93.004860624 meters Centerline goodness : 0.835941 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.96, Z:1.59 [[ 0.94589682 -0.26207718 -0.19129758 -5.87504395] [ 0.27137448 0.96218299 0.02365976 -0.96387298] [ 0.1778626 -0.07429297 0.98124689 1.58830563] [ 0. 0. 0. 1. ]] SLAMing on 93.034860624 meters Centerline goodness : 0.831756 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94577948 -0.26235277 -0.19149985 -5.87484994] [ 0.27163007 0.96211631 0.02343745 -0.96311242] [ 0.17809625 -0.07418378 0.98121277 1.58851642] [ 0. 0. 0. 1. ]] SLAMing on 93.064860624 meters Centerline goodness : 0.831441 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94560666 -0.26250105 -0.19214901 -5.87334576] [ 0.27186727 0.96204443 0.02363701 -0.96240526] [ 0.17865115 -0.07459034 0.98108106 1.58826249] [ 0. 0. 0. 1. ]] SLAMing on 93.094860624 meters Centerline goodness : 0.830012 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.9453877 -0.26285851 -0.19273686 -5.87143028] [ 0.2722275 0.96194911 0.02336877 -0.96143103] [ 0.17926037 -0.07456082 0.98097217 1.58760637] [ 0. 0. 0. 1. ]] SLAMing on 93.124860624 meters Centerline goodness : 0.832104 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.9452368 -0.26297143 -0.19332204 -5.87014248] [ 0.27239994 0.96189867 0.02343537 -0.96102026] [ 0.17979338 -0.07481289 0.98085543 1.58765507] [ 0. 0. 0. 1. ]] SLAMing on 93.154860624 meters Centerline goodness : 0.832366 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94514882 -0.26334437 -0.19324456 -5.87027222] [ 0.27271295 0.96181796 0.02310532 -0.960656 ] [ 0.17978144 -0.07453826 0.98087853 1.58768847] [ 0. 0. 0. 1. ]] SLAMing on 93.184860624 meters Centerline goodness : 0.833516 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94498046 -0.26353555 -0.19380644 -5.86888279] [ 0.27296482 0.96174471 0.02318033 -0.96057129] [ 0.18028347 -0.0748073 0.98076589 1.58763076] [ 0. 0. 0. 1. ]] SLAMing on 93.214860624 meters Centerline goodness : 0.833005 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94484403 -0.26375847 -0.19416803 -5.86801023] [ 0.27322377 0.96167065 0.02320193 -0.96072718] [ 0.18060599 -0.07497352 0.98069386 1.58777369] [ 0. 0. 0. 1. ]] SLAMing on 93.244860624 meters Centerline goodness : 0.833554 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94470453 -0.26438773 -0.19399093 -5.8686136 ] [ 0.27376462 0.96152797 0.02273549 -0.96053907] [ 0.18051672 -0.07458618 0.98073983 1.58808989] [ 0. 0. 0. 1. ]] SLAMing on 93.274860624 meters Centerline goodness : 0.828696 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94462959 -0.26478737 -0.19381069 -5.86930217] [ 0.27410027 0.96143964 0.02242475 -0.96050713] [ 0.18039949 -0.07430664 0.98078262 1.58849453] [ 0. 0. 0. 1. ]] SLAMing on 93.304860624 meters Centerline goodness : 0.832278 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94457147 -0.26506455 -0.19371503 -5.86974104] [ 0.27433758 0.96137667 0.02222119 -0.96075663] [ 0.18034306 -0.07413281 0.98080615 1.58886978] [ 0. 0. 0. 1. ]] SLAMing on 93.334860624 meters Centerline goodness : 0.833636 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94450733 -0.26539035 -0.19358169 -5.87018432] [ 0.27460892 0.96130545 0.02194915 -0.9610236 ] [ 0.18026604 -0.07389039 0.9808386 1.58926584] [ 0. 0. 0. 1. ]] SLAMing on 93.364860624 meters Centerline goodness : 0.833143 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94447356 -0.26558548 -0.1934788 -5.87070827] [ 0.2747791 0.96125937 0.02183737 -0.96156002] [ 0.18018362 -0.07378875 0.9808614 1.58976904] [ 0. 0. 0. 1. ]] SLAMing on 93.394860624 meters Centerline goodness : 0.837167 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94441471 -0.265793 -0.1934811 -5.87084699] [ 0.27496193 0.96121061 0.02168193 -0.96179019] [ 0.18021318 -0.07367667 0.98086439 1.59004003] [ 0. 0. 0. 1. ]] SLAMing on 93.424860624 meters Centerline goodness : 0.835672 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94436185 -0.26594408 -0.19353151 -5.87087283] [ 0.2751037 0.96117198 0.02159564 -0.96225798] [ 0.18027384 -0.07363534 0.98085635 1.59036221] [ 0. 0. 0. 1. ]] SLAMing on 93.454860624 meters Centerline goodness : 0.835036 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94421682 -0.26587152 -0.19433717 -5.86886328] [ 0.2752328 0.96111751 0.02236145 -0.96350687] [ 0.18083559 -0.07460202 0.98067988 1.59035354] [ 0. 0. 0. 1. ]] SLAMing on 93.48486062399999 meters Centerline goodness : 0.831307 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94417091 -0.26559213 -0.19494133 -5.86733846] [ 0.27511465 0.9611361 0.02300725 -0.96389268] [ 0.1812546 -0.07535399 0.98054502 1.5900781 ] [ 0. 0. 0. 1. ]] SLAMing on 93.514860624 meters Centerline goodness : 0.830503 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94420681 -0.26528417 -0.1951866 -5.86622008] [ 0.27485736 0.9612049 0.02320728 -0.96416498] [ 0.18145779 -0.07556095 0.98049152 1.58961865] [ 0. 0. 0. 1. ]] SLAMing on 93.544860624 meters Centerline goodness : 0.830535 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94429859 -0.26476727 -0.19544426 -5.86545525] [ 0.27440411 0.96132747 0.02349195 -0.96429198] [ 0.18166604 -0.07581412 0.98043341 1.58941637] [ 0. 0. 0. 1. ]] SLAMing on 93.574860624 meters Centerline goodness : 0.829150 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.97, Z:1.59 [[ 0.94489638 -0.26151539 -0.19692772 -5.8641854 ] [ 0.27194728 0.96192067 0.02744628 -0.96601679] [ 0.18225122 -0.07948785 0.98003376 1.58983321] [ 0. 0. 0. 1. ]] SLAMing on 93.604860624 meters Centerline goodness : 0.833546 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.97, Z:1.59 [[ 0.94537103 -0.25999373 -0.19666439 -5.86519639] [ 0.27044409 0.96233393 0.02780992 -0.96532519] [ 0.18202641 -0.07947741 0.98007639 1.5896635 ] [ 0. 0. 0. 1. ]] SLAMing on 93.634860624 meters Centerline goodness : 0.838477 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94555279 -0.25934888 -0.19664199 -5.86533348] [ 0.26981016 0.96250807 0.02794089 -0.96464803] [ 0.18202306 -0.07947559 0.98007716 1.58940981] [ 0. 0. 0. 1. ]] SLAMing on 93.664860624 meters Centerline goodness : 0.829342 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.96, Z:1.59 [[ 0.94576406 -0.2586007 -0.19661136 -5.86503335] [ 0.26903598 0.96272632 0.02788683 -0.96394045] [ 0.18207137 -0.07926989 0.98008484 1.58881366] [ 0. 0. 0. 1. ]] SLAMing on 93.694860624 meters Centerline goodness : 0.833874 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.97, Z:1.59 [[ 0.94642547 -0.25523697 -0.19782043 -5.86367651] [ 0.26640893 0.96334116 0.03162426 -0.96518612] [ 0.18249688 -0.08263114 0.97972801 1.58843987] [ 0. 0. 0. 1. ]] SLAMing on 93.724860624 meters Centerline goodness : 0.838000 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.9468355 -0.25403331 -0.19740723 -5.86344417] [ 0.26514482 0.96369048 0.03160496 -0.96483401] [ 0.18221076 -0.08226621 0.97981198 1.58695902] [ 0. 0. 0. 1. ]] SLAMing on 93.754860624 meters Centerline goodness : 0.832322 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.94685272 -0.2541647 -0.19715534 -5.86379603] [ 0.26517349 0.96369724 0.03115524 -0.96436976] [ 0.18207949 -0.08177979 0.9798771 1.58680787] [ 0. 0. 0. 1. ]] SLAMing on 93.784860624 meters Centerline goodness : 0.833665 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.94684037 -0.25392578 -0.19752219 -5.86303942] [ 0.26500861 0.96373438 0.03140839 -0.9639415 ] [ 0.18238352 -0.08208381 0.97979513 1.58674209] [ 0. 0. 0. 1. ]] SLAMing on 93.814860624 meters Centerline goodness : 0.832198 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.94684016 -0.25382936 -0.19764706 -5.86263144] [ 0.26493395 0.96375266 0.03147725 -0.96345097] [ 0.18249303 -0.08216735 0.97976774 1.58644521] [ 0. 0. 0. 1. ]] SLAMing on 93.844860624 meters Centerline goodness : 0.837947 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.94678631 -0.25380677 -0.19793385 -5.86186771] [ 0.26493738 0.96375138 0.03148759 -0.96338474] [ 0.18276726 -0.08225209 0.97970951 1.58637058] [ 0. 0. 0. 1. ]] SLAMing on 93.874860624 meters Centerline goodness : 0.836210 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.94658124 -0.25444966 -0.1980892 -5.86063015] [ 0.26551906 0.96360623 0.03102685 -0.96332959] [ 0.18298522 -0.08196589 0.97969281 1.58587394] [ 0. 0. 0. 1. ]] SLAMing on 93.904860624 meters Centerline goodness : 0.835946 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.9464627 -0.2547335 -0.19829069 -5.86004166] [ 0.26585171 0.96350993 0.03116872 -0.9642155 ] [ 0.18311533 -0.08221595 0.97964755 1.58608727] [ 0. 0. 0. 1. ]] SLAMing on 93.934860624 meters Centerline goodness : 0.833184 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.59 [[ 0.94626044 -0.25530888 -0.19851589 -5.8597439 ] [ 0.26645663 0.96334283 0.03116819 -0.96463083] [ 0.18328134 -0.0823891 0.97960195 1.58661857] [ 0. 0. 0. 1. ]] SLAMing on 93.964860624 meters Centerline goodness : 0.840968 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.97, Z:1.59 [[ 0.94598374 -0.25590544 -0.19906573 -5.85904748] [ 0.26722167 0.96311164 0.03175762 -0.96577697] [ 0.18359558 -0.08323687 0.97947143 1.58762522] [ 0. 0. 0. 1. ]] SLAMing on 93.994860624 meters Centerline goodness : 0.842809 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.97, Z:1.59 [[ 0.94582181 -0.25626648 -0.19937048 -5.85842817] [ 0.26762234 0.96299921 0.03179324 -0.96618176] [ 0.18384608 -0.08342673 0.97940829 1.58799897] [ 0. 0. 0. 1. ]] SLAMing on 94.024860624 meters Centerline goodness : 0.841202 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.97, Z:1.59 [[ 0.94563886 -0.25664051 -0.19975686 -5.85757139] [ 0.26806689 0.96287024 0.03195364 -0.9668038 ] [ 0.18413934 -0.0837648 0.97932434 1.58836959] [ 0. 0. 0. 1. ]] SLAMing on 94.054860624 meters Centerline goodness : 0.841195 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.97, Z:1.59 [[ 0.94548371 -0.25684904 -0.20022268 -5.85638052] [ 0.26839661 0.96276478 0.03236106 -0.96767556] [ 0.18445544 -0.08433594 0.97921583 1.58856783] [ 0. 0. 0. 1. ]] SLAMing on 94.084860624 meters Centerline goodness : 0.842098 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.97, Z:1.59 [[ 0.94537979 -0.25724578 -0.20020407 -5.85612378] [ 0.26880444 0.96265002 0.0323901 -0.96882945] [ 0.18439423 -0.08443669 0.97921867 1.58880803] [ 0. 0. 0. 1. ]] SLAMing on 94.114860624 meters Centerline goodness : 0.836560 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.97, Z:1.59 [[ 0.94513822 -0.25739741 -0.20114752 -5.85408392] [ 0.26932517 0.96245286 0.03388875 -0.97138343] [ 0.18487213 -0.08620364 0.97897458 1.58936702] [ 0. 0. 0. 1. ]] SLAMing on 94.144860624 meters Centerline goodness : 0.838967 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.97, Z:1.59 [[ 0.94490795 -0.25788562 -0.20160348 -5.8531428 ] [ 0.26992781 0.96227195 0.03422974 -0.97250142] [ 0.18517002 -0.08676234 0.97886892 1.58996087] [ 0. 0. 0. 1. ]] SLAMing on 94.174860624 meters Centerline goodness : 0.834667 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.97, Z:1.59 [[ 0.94479375 -0.2580054 -0.20198511 -5.8521603 ] [ 0.27020352 0.96217197 0.03485916 -0.97368291] [ 0.18535056 -0.0875118 0.97876803 1.59014612] [ 0. 0. 0. 1. ]] SLAMing on 94.204860624 meters Centerline goodness : 0.840567 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.97, Z:1.59 [[ 0.94414302 -0.26108316 -0.201071 -5.85262588] [ 0.27273341 0.96155409 0.03209694 -0.97432182] [ 0.18496067 -0.08514288 0.97905068 1.59074681] [ 0. 0. 0. 1. ]] SLAMing on 94.23486062399999 meters Centerline goodness : 0.836466 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94408079 -0.26086911 -0.2016402 -5.8510678 ] [ 0.27270909 0.96153545 0.03285315 -0.97533997] [ 0.18531383 -0.08600514 0.97890853 1.59067716] [ 0. 0. 0. 1. ]] SLAMing on 94.264860624 meters Centerline goodness : 0.836338 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94404561 -0.26091996 -0.20173909 -5.85050208] [ 0.27277527 0.96151568 0.03288238 -0.97600375] [ 0.18539563 -0.0860719 0.97888717 1.59067014] [ 0. 0. 0. 1. ]] SLAMing on 94.294860624 meters Centerline goodness : 0.840146 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94412824 -0.26046495 -0.20194026 -5.84991282] [ 0.27242103 0.96159953 0.03336341 -0.97682492] [ 0.18549566 -0.08651211 0.97882941 1.59062506] [ 0. 0. 0. 1. ]] SLAMing on 94.324860624 meters Centerline goodness : 0.840929 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94413086 -0.26007969 -0.20242401 -5.84875833] [ 0.27219754 0.9616397 0.03402332 -0.97725196] [ 0.18581019 -0.08722178 0.97870677 1.59049073] [ 0. 0. 0. 1. ]] SLAMing on 94.354860624 meters Centerline goodness : 0.842524 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94430641 -0.25966642 -0.20213548 -5.84906001] [ 0.27174023 0.96177093 0.03396942 -0.97758204] [ 0.18558731 -0.08700589 0.97876827 1.59024665] [ 0. 0. 0. 1. ]] SLAMing on 94.384860624 meters Centerline goodness : 0.841586 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94479603 -0.25678983 -0.20351768 -5.84712219] [ 0.26959455 0.96224638 0.03742567 -0.97895824] [ 0.18622362 -0.09022688 0.9783557 1.59010543] [ 0. 0. 0. 1. ]] SLAMing on 94.414860624 meters Centerline goodness : 0.841586 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94479603 -0.25678983 -0.20351768 -5.84712219] [ 0.26959455 0.96224638 0.03742567 -0.97895824] [ 0.18622362 -0.09022688 0.9783557 1.59010543] [ 0. 0. 0. 1. ]] SLAMing on 94.444860624 meters Centerline goodness : 0.840592 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94485609 -0.25668134 -0.20337568 -5.84725206] [ 0.26941165 0.96230964 0.03711509 -0.97862897] [ 0.18618363 -0.0898602 0.97839706 1.58994544] [ 0. 0. 0. 1. ]] SLAMing on 94.474860624 meters Centerline goodness : 0.839486 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94509033 -0.25609567 -0.20302533 -5.84729186] [ 0.26875632 0.96249815 0.03697759 -0.97870178] [ 0.1859417 -0.0895115 0.97847502 1.58922262] [ 0. 0. 0. 1. ]] SLAMing on 94.504860624 meters Centerline goodness : 0.842766 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94609712 -0.25223863 -0.20316473 -5.84729482] [ 0.26535773 0.96333256 0.0396944 -0.98013053] [ 0.18570274 -0.09146609 0.97833964 1.58830143] [ 0. 0. 0. 1. ]] SLAMing on 94.534860624 meters Centerline goodness : 0.837132 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94632434 -0.2517111 -0.20276038 -5.84779781] [ 0.26474103 0.96351115 0.03947726 -0.97991017] [ 0.18542502 -0.09103728 0.97843231 1.58786975] [ 0. 0. 0. 1. ]] SLAMing on 94.564860624 meters Centerline goodness : 0.838150 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94657034 -0.25116021 -0.2022947 -5.84861193] [ 0.2640796 0.96370483 0.03917851 -0.97971675] [ 0.18511229 -0.09050712 0.9785407 1.58749786] [ 0. 0. 0. 1. ]] SLAMing on 94.594860624 meters Centerline goodness : 0.836262 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94706106 -0.24946261 -0.20209839 -5.84883577] [ 0.26242026 0.9641391 0.03964083 -0.97960382] [ 0.18496206 -0.090577 0.97856264 1.5867922 ] [ 0. 0. 0. 1. ]] SLAMing on 94.624860624 meters Centerline goodness : 0.836826 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94715449 -0.24940597 -0.20173012 -5.84942378] [ 0.26223822 0.96420806 0.03916551 -0.97924445] [ 0.1847417 -0.08999713 0.97865776 1.58662066] [ 0. 0. 0. 1. ]] SLAMing on 94.654860624 meters Centerline goodness : 0.835872 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94720004 -0.24941828 -0.20150086 -5.84982202] [ 0.26216103 0.96424369 0.03880348 -0.97911872] [ 0.18461763 -0.08958033 0.97871942 1.58654545] [ 0. 0. 0. 1. ]] SLAMing on 94.684860624 meters Centerline goodness : 0.834586 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.9472635 -0.24928184 -0.20137137 -5.84967661] [ 0.26197374 0.96430232 0.03861076 -0.97929399] [ 0.18455792 -0.08932858 0.97875369 1.58625307] [ 0. 0. 0. 1. ]] SLAMing on 94.714860624 meters Centerline goodness : 0.837068 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94723634 -0.24938628 -0.20136983 -5.84935152] [ 0.26212339 0.96425239 0.03884139 -0.98021223] [ 0.18448483 -0.08957572 0.97874488 1.58623215] [ 0. 0. 0. 1. ]] SLAMing on 94.744860624 meters Centerline goodness : 0.838126 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94705929 -0.25002159 -0.20141478 -5.84935857] [ 0.2627534 0.96408537 0.03873044 -0.98052296] [ 0.18449759 -0.08960244 0.97874003 1.58674522] [ 0. 0. 0. 1. ]] SLAMing on 94.774860624 meters Centerline goodness : 0.835132 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94696095 -0.25024817 -0.20159564 -5.84868482] [ 0.26308253 0.96397813 0.03916313 -0.98153676] [ 0.18453329 -0.09012225 0.97868557 1.5868408 ] [ 0. 0. 0. 1. ]] SLAMing on 94.804860624 meters Centerline goodness : 0.840524 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94623024 -0.25374529 -0.20065309 -5.8496788 ] [ 0.26591255 0.96333409 0.03574831 -0.98063506] [ 0.184225 -0.08718231 0.97900991 1.58750112] [ 0. 0. 0. 1. ]] SLAMing on 94.834860624 meters Centerline goodness : 0.836613 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94537846 -0.2575337 -0.19983985 -5.85001649] [ 0.26917351 0.96252739 0.03296438 -0.98161621] [ 0.18386189 -0.08495541 0.97927391 1.58840016] [ 0. 0. 0. 1. ]] SLAMing on 94.864860624 meters Centerline goodness : 0.833363 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94471828 -0.26076942 -0.19876288 -5.85041016] [ 0.27176374 0.96190538 0.02970709 -0.98154732] [ 0.18344438 -0.08208138 0.97959727 1.58837301] [ 0. 0. 0. 1. ]] SLAMing on 94.894860624 meters Centerline goodness : 0.838996 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.9444832 -0.26100971 -0.19956307 -5.84831044] [ 0.27226042 0.96173424 0.03068412 -0.98319189] [ 0.18391779 -0.08331376 0.97940444 1.58852323] [ 0. 0. 0. 1. ]] SLAMing on 94.924860624 meters Centerline goodness : 0.838570 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.98, Z:1.59 [[ 0.94408649 -0.26207776 -0.20003989 -5.84724364] [ 0.2734172 0.96140129 0.03083182 -0.98406265] [ 0.18423827 -0.08380225 0.97930253 1.58912682] [ 0. 0. 0. 1. ]] SLAMing on 94.954860624 meters Centerline goodness : 0.836673 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.99, Z:1.59 [[ 0.94376813 -0.26272494 -0.20069211 -5.84553466] [ 0.27420252 0.96116575 0.03119894 -0.9850693 ] [ 0.18470164 -0.08447485 0.97915745 1.58945911] [ 0. 0. 0. 1. ]] SLAMing on 94.98486062399999 meters Centerline goodness : 0.836750 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94323677 -0.26370949 -0.20189527 -5.84277831] [ 0.27546199 0.96077945 0.03199293 -0.98619627] [ 0.18553999 -0.08579138 0.97888444 1.58991229] [ 0. 0. 0. 1. ]] SLAMing on 95.014860624 meters Centerline goodness : 0.835900 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94302417 -0.26407059 -0.20241573 -5.84155453] [ 0.2759491 0.96062683 0.03237584 -0.98687121] [ 0.18589648 -0.08638764 0.97876436 1.59015959] [ 0. 0. 0. 1. ]] SLAMing on 95.044860624 meters Centerline goodness : 0.835279 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94274617 -0.26485697 -0.20268311 -5.84077116] [ 0.27672481 0.96041239 0.03211584 -0.98709341] [ 0.18615326 -0.08636453 0.9787176 1.590397 ] [ 0. 0. 0. 1. ]] SLAMing on 95.074860624 meters Centerline goodness : 0.839176 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94250687 -0.2655326 -0.20291189 -5.84010865] [ 0.27740228 0.96022243 0.03195082 -0.98757883] [ 0.18635656 -0.08640209 0.97867559 1.59078342] [ 0. 0. 0. 1. ]] SLAMing on 95.104860624 meters Centerline goodness : 0.840663 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94238478 -0.2656859 -0.20327795 -5.83947487] [ 0.27760268 0.96016255 0.03200982 -0.98710211] [ 0.18667532 -0.08659607 0.97859769 1.59088443] [ 0. 0. 0. 1. ]] SLAMing on 95.134860624 meters Centerline goodness : 0.833910 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94236206 -0.26556589 -0.20353993 -5.83905262] [ 0.27752207 0.9601827 0.03210426 -0.98684609] [ 0.18690972 -0.08674066 0.97854014 1.59100431] [ 0. 0. 0. 1. ]] SLAMing on 95.164860624 meters Centerline goodness : 0.838732 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94237988 -0.26518884 -0.20394863 -5.83813099] [ 0.2772375 0.9602539 0.03243181 -0.98656979] [ 0.18724191 -0.0871053 0.97844424 1.59082755] [ 0. 0. 0. 1. ]] SLAMing on 95.194860624 meters Centerline goodness : 0.832322 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94241004 -0.26479967 -0.20431459 -5.83755032] [ 0.27692726 0.96033402 0.03270884 -0.9862367 ] [ 0.18754896 -0.08740542 0.97835867 1.5908415 ] [ 0. 0. 0. 1. ]] SLAMing on 95.224860624 meters Centerline goodness : 0.839771 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.99, Z:1.59 [[ 0.94265655 -0.26376871 -0.2045109 -5.83726459] [ 0.27597737 0.96059263 0.03314051 -0.98557892] [ 0.18771023 -0.0876805 0.97830312 1.59045061] [ 0. 0. 0. 1. ]] SLAMing on 95.254860624 meters Centerline goodness : 0.839210 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.98, Z:1.59 [[ 0.94271915 -0.26333212 -0.20478475 -5.83654767] [ 0.27559003 0.96069797 0.03330992 -0.98481341] [ 0.18796472 -0.08783854 0.97824008 1.59003085] [ 0. 0. 0. 1. ]] SLAMing on 95.284860624 meters Centerline goodness : 0.840308 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.98, Z:1.59 [[ 0.9427524 -0.2634776 -0.2044443 -5.83714536] [ 0.27555193 0.9607366 0.03250112 -0.98372585] [ 0.1878538 -0.08697553 0.97833849 1.58981045] [ 0. 0. 0. 1. ]] SLAMing on 95.314860624 meters Centerline goodness : 0.838631 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.98, Z:1.59 [[ 0.94301282 -0.2625979 -0.20437505 -5.8366404 ] [ 0.2746287 0.96100451 0.03239447 -0.98283864] [ 0.18789863 -0.08667566 0.9783565 1.58875799] [ 0. 0. 0. 1. ]] SLAMing on 95.344860624 meters Centerline goodness : 0.839550 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.98, Z:1.59 [[ 0.94313198 -0.26189642 -0.204725 -5.83593491] [ 0.27404166 0.96115509 0.03289475 -0.9826878 ] [ 0.18815745 -0.08712727 0.97826664 1.58859981] [ 0. 0. 0. 1. ]] SLAMing on 95.374860624 meters Centerline goodness : 0.838328 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.98, Z:1.59 [[ 0.94326728 -0.26125331 -0.20492327 -5.83545949] [ 0.27347477 0.96130393 0.03326109 -0.98242251] [ 0.18830397 -0.08741544 0.97821274 1.58826219] [ 0. 0. 0. 1. ]] SLAMing on 95.404860624 meters Centerline goodness : 0.836979 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.98, Z:1.59 [[ 0.94328081 -0.2613154 -0.20478175 -5.83573052] [ 0.27343811 0.96132991 0.03280864 -0.98173574] [ 0.18828942 -0.0869429 0.97825765 1.58817404] [ 0. 0. 0. 1. ]] SLAMing on 95.434860624 meters Centerline goodness : 0.839147 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.98, Z:1.59 [[ 0.94331266 -0.260878 -0.20519232 -5.83488719] [ 0.27310992 0.96140888 0.03322553 -0.98126829] [ 0.18860591 -0.08738212 0.97815754 1.58796504] [ 0. 0. 0. 1. ]] SLAMing on 95.464860624 meters Centerline goodness : 0.833914 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.98, Z:1.59 [[ 0.94349864 -0.26051273 -0.20480097 -5.83531625] [ 0.27265801 0.96154503 0.03299659 -0.98076842] [ 0.18832932 -0.08697287 0.9782473 1.58738344] [ 0. 0. 0. 1. ]] SLAMing on 95.494860624 meters Centerline goodness : 0.834703 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.98, Z:1.59 [[ 0.94351999 -0.26035498 -0.20490319 -5.83486997] [ 0.27249208 0.96159462 0.03292179 -0.98044958] [ 0.18846246 -0.08689686 0.97822842 1.58711183] [ 0. 0. 0. 1. ]] SLAMing on 95.524860624 meters Centerline goodness : 0.835664 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.98, Z:1.59 [[ 0.94350913 -0.26039795 -0.20489859 -5.83462449] [ 0.27249964 0.96159883 0.03273588 -0.98001256] [ 0.18850588 -0.0867214 0.97823562 1.58681381] [ 0. 0. 0. 1. ]] SLAMing on 95.554860624 meters Centerline goodness : 0.839372 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.98, Z:1.59 [[ 0.94339888 -0.26078957 -0.20490817 -5.83494952] [ 0.27281661 0.96152352 0.03230508 -0.97901387] [ 0.18859919 -0.08637893 0.97824794 1.58717091] [ 0. 0. 0. 1. ]] SLAMing on 95.584860624 meters Centerline goodness : 0.835699 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.98, Z:1.59 [[ 0.94372467 -0.25831099 -0.206541 -5.83395112] [ 0.27108711 0.96189431 0.03565259 -0.97834546] [ 0.18946116 -0.08963683 0.97778817 1.58789923] [ 0. 0. 0. 1. ]] SLAMing on 95.614860624 meters Centerline goodness : 0.838060 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.98, Z:1.59 [[ 0.94359606 -0.258741 -0.20659035 -5.8343306 ] [ 0.27142331 0.96181975 0.03510213 -0.97706984] [ 0.18962032 -0.08919567 0.97779766 1.58825247] [ 0. 0. 0. 1. ]] SLAMing on 95.644860624 meters Centerline goodness : 0.833759 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.98, Z:1.59 [[ 0.9435076 -0.25886531 -0.20683846 -5.83379849] [ 0.27149516 0.96181403 0.03470079 -0.97558196] [ 0.18995731 -0.0888961 0.97775953 1.58798349] [ 0. 0. 0. 1. ]] SLAMing on 95.674860624 meters Centerline goodness : 0.835444 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.59 [[ 0.9434594 -0.25913855 -0.20671615 -5.83408589] [ 0.27160833 0.96181036 0.03390783 -0.97381278] [ 0.19003491 -0.08813649 0.97781322 1.58776532] [ 0. 0. 0. 1. ]] SLAMing on 95.704860624 meters Centerline goodness : 0.838013 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.59 [[ 0.94342713 -0.25926882 -0.2067001 -5.83449837] [ 0.27153299 0.96186852 0.032845 -0.97053298] [ 0.19030263 -0.08711276 0.97785289 1.58747051] [ 0. 0. 0. 1. ]] SLAMing on 95.73486062399999 meters Centerline goodness : 0.837009 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.97, Z:1.59 [[ 0.94335585 -0.25969294 -0.2064929 -5.83538908] [ 0.27174344 0.96184418 0.0318007 -0.96834085] [ 0.19035558 -0.08611247 0.97793118 1.58756865] [ 0. 0. 0. 1. ]] SLAMing on 95.764860624 meters Centerline goodness : 0.838317 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.97, Z:1.59 [[ 0.94335368 -0.25943292 -0.20682936 -5.83503836] [ 0.27148628 0.96192056 0.03168658 -0.96675083] [ 0.19073287 -0.08604299 0.97786378 1.58747497] [ 0. 0. 0. 1. ]] SLAMing on 95.794860624 meters Centerline goodness : 0.845133 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.96, Z:1.59 [[ 0.94328503 -0.25949854 -0.20706005 -5.83489511] [ 0.27150055 0.96192883 0.03131111 -0.96490653] [ 0.19105185 -0.08575222 0.97782705 1.58743255] [ 0. 0. 0. 1. ]] SLAMing on 95.824860624 meters Centerline goodness : 0.836157 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.96, Z:1.59 [[ 0.94313848 -0.26011174 -0.20695816 -5.83550043] [ 0.27190659 0.96184855 0.03023541 -0.96268076] [ 0.19119782 -0.08478947 0.97788248 1.58758546] [ 0. 0. 0. 1. ]] SLAMing on 95.854860624 meters Centerline goodness : 0.837128 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.96, Z:1.59 [[ 0.94313009 -0.26005567 -0.20706683 -5.83512283] [ 0.27178983 0.96189259 0.02988188 -0.96116505] [ 0.1914051 -0.08446116 0.97787034 1.58707129] [ 0. 0. 0. 1. ]] SLAMing on 95.884860624 meters Centerline goodness : 0.839535 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.96, Z:1.59 [[ 0.94295983 -0.26018414 -0.20767999 -5.83410024] [ 0.27184045 0.96189932 0.02919719 -0.95800866] [ 0.1921706 -0.0839876 0.97776099 1.58673427] [ 0. 0. 0. 1. ]] SLAMing on 95.914860624 meters Centerline goodness : 0.836304 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.96, Z:1.59 [[ 0.94286146 -0.26058998 -0.20761774 -5.83453004] [ 0.27213155 0.96183495 0.02859966 -0.95646475] [ 0.19224122 -0.08346485 0.97779187 1.58679908] [ 0. 0. 0. 1. ]] SLAMing on 95.944860624 meters Centerline goodness : 0.838758 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.95, Z:1.59 [[ 0.94279024 -0.26082738 -0.20764308 -5.8344107 ] [ 0.2722424 0.96182353 0.02792082 -0.95481575] [ 0.19243349 -0.08285273 0.9778061 1.58659643] [ 0. 0. 0. 1. ]] SLAMing on 95.974860624 meters Centerline goodness : 0.841939 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.95, Z:1.59 [[ 0.94269906 -0.26001635 -0.2090693 -5.83382573] [ 0.27185301 0.96188625 0.02950896 -0.95217297] [ 0.19342808 -0.08465419 0.9774555 1.58747658] [ 0. 0. 0. 1. ]] SLAMing on 96.004860624 meters Centerline goodness : 0.838457 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.95, Z:1.59 [[ 0.94249493 -0.26073615 -0.20909318 -5.83441477] [ 0.27240029 0.96176027 0.02855293 -0.9499495 ] [ 0.19365273 -0.08386804 0.97747878 1.58784985] [ 0. 0. 0. 1. ]] SLAMing on 96.034860624 meters Centerline goodness : 0.839518 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.95, Z:1.59 [[ 0.94236644 -0.26090633 -0.20945971 -5.83370543] [ 0.2725844 0.96171134 0.02844373 -0.94858556] [ 0.19401863 -0.08389987 0.97740349 1.58764683] [ 0. 0. 0. 1. ]] SLAMing on 96.064860624 meters Centerline goodness : 0.840630 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.95, Z:1.59 [[ 0.94233461 -0.26090344 -0.20960648 -5.83311636] [ 0.27255245 0.9617266 0.02823306 -0.9477773 ] [ 0.19421802 -0.08373375 0.97737814 1.58730903] [ 0. 0. 0. 1. ]] SLAMing on 96.094860624 meters Centerline goodness : 0.839607 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.95, Z:1.59 [[ 0.94217526 -0.26175536 -0.20926038 -5.83403238] [ 0.27318962 0.96157515 0.02721512 -0.94539707] [ 0.19409588 -0.08280918 0.97748117 1.58726803] [ 0. 0. 0. 1. ]] SLAMing on 96.124860624 meters Centerline goodness : 0.837828 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.94, Z:1.59 [[ 0.94209744 -0.26215054 -0.20911601 -5.83455619] [ 0.27345725 0.96151644 0.0265944 -0.94346565] [ 0.19409674 -0.08223881 0.97752915 1.58726899] [ 0. 0. 0. 1. ]] SLAMing on 96.154860624 meters Centerline goodness : 0.840801 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.94, Z:1.59 [[ 0.94201681 -0.26248106 -0.20906464 -5.83488731] [ 0.27367615 0.96146987 0.02602017 -0.94154805] [ 0.19417955 -0.08172744 0.97755559 1.58726896] [ 0. 0. 0. 1. ]] SLAMing on 96.184860624 meters Centerline goodness : 0.842181 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.94, Z:1.59 [[ 0.94197736 -0.26287582 -0.20874617 -5.83625086] [ 0.27383493 0.96145363 0.02492689 -0.93735374] [ 0.19414709 -0.08064255 0.97765213 1.58747566] [ 0. 0. 0. 1. ]] SLAMing on 96.214860624 meters Centerline goodness : 0.841622 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.94, Z:1.59 [[ 0.94189632 -0.26337197 -0.20848628 -5.83715706] [ 0.27415443 0.96138378 0.02409518 -0.9350473 ] [ 0.19408934 -0.0798526 0.97772843 1.5876467 ] [ 0. 0. 0. 1. ]] SLAMing on 96.244860624 meters Centerline goodness : 0.838786 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.93, Z:1.59 [[ 0.94182985 -0.26371093 -0.20835806 -5.83775626] [ 0.27435554 0.96134312 0.02341904 -0.9330596 ] [ 0.19412773 -0.07922094 0.9777722 1.58783646] [ 0. 0. 0. 1. ]] SLAMing on 96.274860624 meters Centerline goodness : 0.843587 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.93, Z:1.59 [[ 0.94176638 -0.26407394 -0.20818513 -5.83835236] [ 0.27458348 0.96129357 0.0227726 -0.93123435] [ 0.19411338 -0.07861067 0.9778243 1.58793232] [ 0. 0. 0. 1. ]] SLAMing on 96.304860624 meters Centerline goodness : 0.843587 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.93, Z:1.59 [[ 0.94176638 -0.26407394 -0.20818513 -5.83835236] [ 0.27458348 0.96129357 0.0227726 -0.93123435] [ 0.19411338 -0.07861067 0.9778243 1.58793232] [ 0. 0. 0. 1. ]] SLAMing on 96.334860624 meters Centerline goodness : 0.840451 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.93, Z:1.59 [[ 0.94169031 -0.26447573 -0.20801909 -5.83889326] [ 0.27484471 0.96123482 0.02209084 -0.92922693] [ 0.1941127 -0.07797568 0.97787527 1.58792984] [ 0. 0. 0. 1. ]] SLAMing on 96.364860624 meters Centerline goodness : 0.840658 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.59 [[ 0.94161863 -0.26504934 -0.2076131 -5.84019828] [ 0.27514427 0.96117759 0.02081512 -0.92472558] [ 0.19403602 -0.07672346 0.97798954 1.58790434] [ 0. 0. 0. 1. ]] SLAMing on 96.394860624 meters Centerline goodness : 0.840815 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.59 [[ 0.9415287 -0.26544581 -0.2075144 -5.84079416] [ 0.2753675 0.96113221 0.01994026 -0.92179455] [ 0.19415571 -0.07591705 0.97802871 1.58803231] [ 0. 0. 0. 1. ]] SLAMing on 96.424860624 meters Centerline goodness : 0.840461 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.59 [[ 0.94145627 -0.26573147 -0.20747742 -5.84129142] [ 0.27549673 0.9611115 0.01913728 -0.91884117] [ 0.19432356 -0.07517626 0.9780526 1.58817103] [ 0. 0. 0. 1. ]] SLAMing on 96.454860624 meters Centerline goodness : 0.842441 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.59 [[ 0.94140466 -0.26594653 -0.20743602 -5.84162008] [ 0.27557559 0.96110241 0.01844565 -0.91638787] [ 0.1944617 -0.07452913 0.97807467 1.58824657] [ 0. 0. 0. 1. ]] SLAMing on 96.48486062399999 meters Centerline goodness : 0.840577 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.59 [[ 0.94136305 -0.26615421 -0.20735851 -5.84195025] [ 0.27566214 0.96108894 0.01784488 -0.91411132] [ 0.19454048 -0.0739594 0.97810225 1.58819819] [ 0. 0. 0. 1. ]] SLAMing on 96.514860624 meters Centerline goodness : 0.841611 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.59 [[ 0.9413282 -0.26648595 -0.20709046 -5.84283482] [ 0.27576595 0.96107856 0.01676722 -0.90994633] [ 0.19456198 -0.07289195 0.9781781 1.58813295] [ 0. 0. 0. 1. ]] SLAMing on 96.544860624 meters Centerline goodness : 0.838453 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.59 [[ 0.94125786 -0.26685079 -0.20694031 -5.84359057] [ 0.27598435 0.96102812 0.01604968 -0.90762885] [ 0.19459259 -0.07221917 0.97822192 1.58834185] [ 0. 0. 0. 1. ]] SLAMing on 96.574860624 meters Centerline goodness : 0.839911 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.59 [[ 0.94113799 -0.26736333 -0.20682392 -5.84452171] [ 0.27632385 0.96094485 0.01516968 -0.9050146 ] [ 0.19469057 -0.07142714 0.97826057 1.58876205] [ 0. 0. 0. 1. ]] SLAMing on 96.604860624 meters Centerline goodness : 0.838134 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.94103643 -0.2679186 -0.20656734 -5.84578979] [ 0.27669867 0.96085033 0.01429968 -0.9025904 ] [ 0.19464915 -0.07061343 0.97832789 1.58922632] [ 0. 0. 0. 1. ]] SLAMing on 96.634860624 meters Centerline goodness : 0.838785 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.94092617 -0.26857079 -0.20622237 -5.84721062] [ 0.27712951 0.96074128 0.01324473 -0.89903606] [ 0.19456919 -0.06961262 0.97841551 1.58943021] [ 0. 0. 0. 1. ]] SLAMing on 96.664860624 meters Centerline goodness : 0.836290 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.94083075 -0.2689513 -0.20616183 -5.84745146] [ 0.27740587 0.96066884 0.01270279 -0.89765478] [ 0.19463681 -0.06914168 0.97843545 1.58949506] [ 0. 0. 0. 1. ]] SLAMing on 96.694860624 meters Centerline goodness : 0.836723 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.94075431 -0.26930481 -0.20604912 -5.84758414] [ 0.27767396 0.96059693 0.0122767 -0.89644828] [ 0.19462398 -0.06876383 0.97846464 1.58929159] [ 0. 0. 0. 1. ]] SLAMing on 96.724860624 meters Centerline goodness : 0.836881 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.90, Z:1.59 [[ 0.94065954 -0.26970773 -0.20595479 -5.84790332] [ 0.2779742 0.96051665 0.01175171 -0.89507612] [ 0.19465348 -0.06830448 0.97849094 1.58933177] [ 0. 0. 0. 1. ]] SLAMing on 96.754860624 meters Centerline goodness : 0.836145 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.94051362 -0.27047094 -0.20562004 -5.84910124] [ 0.27854858 0.96036096 0.01084038 -0.89226849] [ 0.19453745 -0.06747069 0.97857186 1.58937175] [ 0. 0. 0. 1. ]] SLAMing on 96.784860624 meters Centerline goodness : 0.838260 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.94042773 -0.2708285 -0.20554225 -5.84955572] [ 0.27881015 0.9602905 0.01034708 -0.89081262] [ 0.19457798 -0.06703795 0.97859354 1.58951444] [ 0. 0. 0. 1. ]] SLAMing on 96.814860624 meters Centerline goodness : 0.835982 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.94031193 -0.27140182 -0.20531567 -5.85057291] [ 0.27925372 0.96016823 0.00971285 -0.88934759] [ 0.1945015 -0.06646827 0.97864761 1.58985096] [ 0. 0. 0. 1. ]] SLAMing on 96.844860624 meters Centerline goodness : 0.839148 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.94018698 -0.27194859 -0.20516434 -5.85126577] [ 0.27967537 0.96005171 0.00907778 -0.88797257] [ 0.19449969 -0.06591422 0.97868544 1.59013046] [ 0. 0. 0. 1. ]] SLAMing on 96.874860624 meters Centerline goodness : 0.836628 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.59 [[ 0.94003572 -0.27268543 -0.20487925 -5.85247605] [ 0.28023116 0.95989764 0.00818626 -0.88566494] [ 0.19443084 -0.06510893 0.97875302 1.59044134] [ 0. 0. 0. 1. ]] SLAMing on 96.904860624 meters Centerline goodness : 0.839716 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.59 [[ 0.93994251 -0.27312927 -0.2047156 -5.85309081] [ 0.28055793 0.95980696 0.00760542 -0.88427881] [ 0.1944102 -0.06458324 0.97879195 1.59063801] [ 0. 0. 0. 1. ]] SLAMing on 96.934860624 meters Centerline goodness : 0.839582 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.59 [[ 0.93983458 -0.27361923 -0.20455678 -5.85383658] [ 0.28091998 0.95970594 0.0069629 -0.88269194] [ 0.19440917 -0.06400806 0.97882994 1.59091945] [ 0. 0. 0. 1. ]] SLAMing on 96.964860624 meters Centerline goodness : 0.841452 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.59 [[ 0.93974171 -0.27404586 -0.2044123 -5.8546133 ] [ 0.28122098 0.95962214 0.00633333 -0.88129864] [ 0.19442294 -0.06343673 0.97886439 1.59133265] [ 0. 0. 0. 1. ]] SLAMing on 96.994860624 meters Centerline goodness : 0.844370 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.39618511e-01 -2.74706472e-01 -2.04091668e-01 -5.85579316e+00] [ 2.81707899e-01 9.59484482e-01 5.49439242e-03 -8.79029949e-01] [ 1.94313443e-01 -6.26568677e-02 9.78936363e-01 1.59154813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024860624 meters Centerline goodness : 0.844496 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.39544437e-01 -2.75061992e-01 -2.03953797e-01 -5.85624079e+00] [ 2.81969231e-01 9.59410277e-01 5.02721517e-03 -8.78070605e-01] [ 1.94292573e-01 -6.22319874e-02 9.78967607e-01 1.59172448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054860624 meters Centerline goodness : 0.848124 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.39478121e-01 -2.75403803e-01 -2.03797952e-01 -5.85669017e+00] [ 2.82221447e-01 9.59338306e-01 4.59012114e-03 -8.77144093e-01] [ 1.94247045e-01 -6.18284712e-02 9.79002209e-01 1.59185329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084860624 meters Centerline goodness : 0.847268 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.39392741e-01 -2.75780220e-01 -2.03682470e-01 -5.85736301e+00] [ 2.82513308e-01 9.59254354e-01 4.16125180e-03 -8.76222769e-01] [ 1.94235705e-01 -6.14520581e-02 9.79028159e-01 1.59216625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114860624 meters Centerline goodness : 0.845953 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.39307192e-01 -2.76200191e-01 -2.03507873e-01 -5.85808796e+00] [ 2.82853737e-01 9.59155638e-01 3.77174501e-03 -8.75491398e-01] [ 1.94153967e-01 -6.11057898e-02 9.79066044e-01 1.59239782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144860624 meters Centerline goodness : 0.847161 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.39211725e-01 -2.76596918e-01 -2.03409638e-01 -5.85870617e+00] [ 2.83168996e-01 9.59064177e-01 3.35011491e-03 -8.75001068e-01] [ 1.94156265e-01 -6.07457701e-02 9.79087992e-01 1.59285238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174860624 meters Centerline goodness : 0.847065 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.87, Z:1.59 [[ 9.39091683e-01 -2.77198366e-01 -2.03144964e-01 -5.85956495e+00] [ 2.83685500e-01 9.58912865e-01 2.94181115e-03 -8.74936640e-01] [ 1.93982854e-01 -6.03919109e-02 9.79144254e-01 1.59316471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204860624 meters Centerline goodness : 0.844282 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.87, Z:1.59 [[ 9.39014532e-01 -2.77598122e-01 -2.02955639e-01 -5.86010198e+00] [ 2.84030211e-01 9.58811582e-01 2.68138197e-03 -8.74989645e-01] [ 1.93851870e-01 -6.01633896e-02 9.79184262e-01 1.59334809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23486062399999 meters Centerline goodness : 0.846221 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.38969544e-01 -2.77813915e-01 -2.02868491e-01 -5.86017790e+00] [ 2.84224049e-01 9.58754431e-01 2.57508411e-03 -8.75150214e-01] [ 1.93785670e-01 -6.00780294e-02 9.79202606e-01 1.59332947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264860624 meters Centerline goodness : 0.846030 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.38932426e-01 -2.78011496e-01 -2.02769593e-01 -5.86047518e+00] [ 2.84412303e-01 9.58698701e-01 2.53821680e-03 -8.75521590e-01] [ 1.93689292e-01 -6.00533810e-02 9.79223187e-01 1.59344982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294860624 meters Centerline goodness : 0.846884 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.38843205e-01 -2.78416313e-01 -2.02627226e-01 -5.86077554e+00] [ 2.84807591e-01 9.58581465e-01 2.49203562e-03 -8.76382856e-01] [ 1.93540879e-01 -6.00494028e-02 9.79252775e-01 1.59354520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324860624 meters Centerline goodness : 0.846689 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.38781480e-01 -2.78609704e-01 -2.02647391e-01 -5.86074247e+00] [ 2.84996447e-01 9.58525462e-01 2.44213016e-03 -8.76990751e-01] [ 1.93562283e-01 -6.00464130e-02 9.79248728e-01 1.59372366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354860624 meters Centerline goodness : 0.848747 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.38667010e-01 -2.79074305e-01 -2.02538334e-01 -5.86131047e+00] [ 2.85405735e-01 9.58404380e-01 2.14730665e-03 -8.77480776e-01] [ 1.93514369e-01 -5.98212081e-02 9.79271981e-01 1.59425403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384860624 meters Centerline goodness : 0.852624 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.59 [[ 9.38509394e-01 -2.79747871e-01 -2.02339435e-01 -5.86208793e+00] [ 2.86049564e-01 9.58212761e-01 1.98786592e-03 -8.79401315e-01] [ 1.93328127e-01 -5.97447380e-02 9.79313434e-01 1.59496286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414860624 meters Centerline goodness : 0.850565 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.60 [[ 9.38421805e-01 -2.80141795e-01 -2.02200619e-01 -5.86250760e+00] [ 2.86414044e-01 9.58104174e-01 1.84055329e-03 -8.80151896e-01] [ 1.93213641e-01 -5.96403123e-02 9.79342393e-01 1.59526094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444860624 meters Centerline goodness : 0.849306 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.60 [[ 9.38356295e-01 -2.80388629e-01 -2.02162511e-01 -5.86263832e+00] [ 2.86658728e-01 9.58031042e-01 1.81542616e-03 -8.81147454e-01] [ 1.93168937e-01 -5.96551649e-02 9.79350307e-01 1.59557193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474860624 meters Centerline goodness : 0.848911 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.60 [[ 9.38292620e-01 -2.80634230e-01 -2.02117263e-01 -5.86274002e+00] [ 2.86912786e-01 9.57954928e-01 1.84648550e-03 -8.82189832e-01] [ 1.93101041e-01 -5.97225710e-02 9.79359588e-01 1.59573915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504860624 meters Centerline goodness : 0.849715 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.60 [[ 9.38319974e-01 -2.81002311e-01 -2.01477861e-01 -5.86394793e+00] [ 2.87242173e-01 9.57856277e-01 1.81280565e-03 -8.83212633e-01] [ 1.92477431e-01 -5.95739302e-02 9.79491391e-01 1.59579807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534860624 meters Centerline goodness : 0.849331 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.88, Z:1.60 [[ 9.38432890e-01 -2.81116228e-01 -2.00791875e-01 -5.86512551e+00] [ 2.87339707e-01 9.57826786e-01 1.93423083e-03 -8.84680837e-01] [ 1.91780093e-01 -5.95106243e-02 9.79632013e-01 1.59595095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564860624 meters Centerline goodness : 0.849678 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.89, Z:1.60 [[ 9.38411818e-01 -2.81167033e-01 -2.00819220e-01 -5.86521705e+00] [ 2.87384989e-01 9.57813285e-01 1.89200165e-03 -8.85043069e-01] [ 1.91815349e-01 -5.94879062e-02 9.79626491e-01 1.59625503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594860624 meters Centerline goodness : 0.847690 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.89, Z:1.60 [[ 9.38419704e-01 -2.81102365e-01 -2.00872894e-01 -5.86511258e+00] [ 2.87324529e-01 9.57831401e-01 1.90333256e-03 -8.85273046e-01] [ 1.91867334e-01 -5.95018344e-02 9.79615464e-01 1.59643426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624860624 meters Centerline goodness : 0.847613 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.89, Z:1.60 [[ 9.38412844e-01 -2.81061376e-01 -2.00962280e-01 -5.86500440e+00] [ 2.87268086e-01 9.57848529e-01 1.80051623e-03 -8.85174657e-01] [ 1.91985369e-01 -5.94196772e-02 9.79597325e-01 1.59667231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654860624 meters Centerline goodness : 0.848202 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.89, Z:1.60 [[ 9.38444720e-01 -2.80865404e-01 -2.01087377e-01 -5.86501666e+00] [ 2.87085162e-01 9.57903280e-01 1.84826624e-03 -8.86059650e-01] [ 1.92103144e-01 -5.94636980e-02 9.79571565e-01 1.59734767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684860624 meters Centerline goodness : 0.848841 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38459368e-01 -2.80799602e-01 -2.01110909e-01 -5.86488454e+00] [ 2.87031985e-01 9.57919090e-01 1.91215872e-03 -8.86600074e-01] [ 1.92111046e-01 -5.95197468e-02 9.79566611e-01 1.59747205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714860624 meters Centerline goodness : 0.845584 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38457800e-01 -2.80770361e-01 -2.01159046e-01 -5.86481850e+00] [ 2.86997740e-01 9.57929425e-01 1.87451900e-03 -8.86964725e-01] [ 1.92169860e-01 -5.94913485e-02 9.79556800e-01 1.59777157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744860624 meters Centerline goodness : 0.845596 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38484240e-01 -2.80555941e-01 -2.01334786e-01 -5.86434916e+00] [ 2.86813030e-01 9.57984506e-01 1.99301941e-03 -8.87516014e-01] [ 1.92316452e-01 -5.96158573e-02 9.79520460e-01 1.59793256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774860624 meters Centerline goodness : 0.846650 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38539812e-01 -2.80328212e-01 -2.01392935e-01 -5.86406298e+00] [ 2.86635212e-01 9.58037150e-01 2.25289350e-03 -8.88914198e-01] [ 1.92310364e-01 -5.98407369e-02 9.79507943e-01 1.59814833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804860624 meters Centerline goodness : 0.846556 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38551358e-01 -2.80210695e-01 -2.01502642e-01 -5.86388350e+00] [ 2.86533635e-01 9.58067394e-01 2.31164187e-03 -8.89569464e-01] [ 1.92405364e-01 -5.99068790e-02 9.79485243e-01 1.59844219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834860624 meters Centerline goodness : 0.845823 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38550330e-01 -2.80144756e-01 -2.01599092e-01 -5.86377694e+00] [ 2.86481659e-01 9.58082822e-01 2.35902490e-03 -8.90152962e-01] [ 1.92487759e-01 -5.99685060e-02 9.79465283e-01 1.59873082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864860624 meters Centerline goodness : 0.845568 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38586059e-01 -2.79944064e-01 -2.01711505e-01 -5.86348183e+00] [ 2.86313522e-01 9.58132698e-01 2.51011278e-03 -8.90830773e-01] [ 1.92563697e-01 -6.01086883e-02 9.79441763e-01 1.59891127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894860624 meters Centerline goodness : 0.842211 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38784019e-01 -2.79205804e-01 -2.01813490e-01 -5.86298096e+00] [ 2.85690799e-01 9.58316694e-01 3.14336314e-03 -8.92298828e-01] [ 1.92523592e-01 -6.06071964e-02 9.79418927e-01 1.59896702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924860624 meters Centerline goodness : 0.839792 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38813635e-01 -2.78976612e-01 -2.01992593e-01 -5.86257823e+00] [ 2.85486804e-01 9.58377170e-01 3.23817745e-03 -8.92793973e-01] [ 1.92681714e-01 -6.07062649e-02 9.79381696e-01 1.59923661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954860624 meters Centerline goodness : 0.841569 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38825624e-01 -2.78872370e-01 -2.02080796e-01 -5.86256798e+00] [ 2.85394856e-01 9.58404401e-01 3.28332557e-03 -8.93353698e-01] [ 1.92759495e-01 -6.07552899e-02 9.79363350e-01 1.59961581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98486062399999 meters Centerline goodness : 0.841952 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.89, Z:1.60 [[ 9.38850007e-01 -2.78740364e-01 -2.02149633e-01 -5.86248464e+00] [ 2.85278284e-01 9.58438863e-01 3.35356309e-03 -8.94122080e-01] [ 1.92813291e-01 -6.08173930e-02 9.79348906e-01 1.60000172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014860624 meters Centerline goodness : 0.841222 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.90, Z:1.60 [[ 9.38854316e-01 -2.78634064e-01 -2.02276129e-01 -5.86217562e+00] [ 2.85201235e-01 9.58461370e-01 3.47259550e-03 -8.95032630e-01] [ 1.92906272e-01 -6.09496629e-02 9.79322372e-01 1.60023359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044860624 meters Centerline goodness : 0.837474 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.90, Z:1.60 [[ 9.41266983e-01 -2.75383847e-01 -1.95397555e-01 -5.86932383e+00] [ 2.81173075e-01 9.59655048e-01 1.97255739e-03 -9.00389155e-01] [ 1.86971040e-01 -5.67972345e-02 9.80722134e-01 1.59512756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074860624 meters Centerline goodness : 0.840216 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.90, Z:1.60 [[ 9.41289473e-01 -2.75212146e-01 -1.95531079e-01 -5.86875344e+00] [ 2.81052037e-01 9.59689975e-01 2.21441482e-03 -9.01408398e-01] [ 1.87039782e-01 -5.70388133e-02 9.80695005e-01 1.59512745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104860624 meters Centerline goodness : 0.839883 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.90, Z:1.60 [[ 9.41305458e-01 -2.74973149e-01 -1.95790198e-01 -5.86801356e+00] [ 2.80866288e-01 9.59743814e-01 2.43725885e-03 -9.02502710e-01] [ 1.87238251e-01 -5.72850712e-02 9.80642778e-01 1.59529904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134860624 meters Centerline goodness : 0.841068 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41454503e-01 -2.74984976e-01 -1.95055585e-01 -5.86870414e+00] [ 2.80907859e-01 9.59730593e-01 2.82214469e-03 -9.05088385e-01] [ 1.86424765e-01 -5.74495677e-02 9.80788129e-01 1.59509173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164860624 meters Centerline goodness : 0.840515 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41429757e-01 -2.75031921e-01 -1.95108827e-01 -5.86851959e+00] [ 2.80980158e-01 9.59709093e-01 2.93398478e-03 -9.06334812e-01] [ 1.86440776e-01 -5.75838496e-02 9.80777211e-01 1.59533577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194860624 meters Centerline goodness : 0.843540 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41421934e-01 -2.75030702e-01 -1.95148289e-01 -5.86828521e+00] [ 2.81009310e-01 9.59700095e-01 3.08143607e-03 -9.07569597e-01] [ 1.86436342e-01 -5.77394174e-02 9.80768908e-01 1.59550010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224860624 meters Centerline goodness : 0.843540 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41421934e-01 -2.75030702e-01 -1.95148289e-01 -5.86828521e+00] [ 2.81009310e-01 9.59700095e-01 3.08143607e-03 -9.07569597e-01] [ 1.86436342e-01 -5.77394174e-02 9.80768908e-01 1.59550010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254860624 meters Centerline goodness : 0.842705 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41411450e-01 -2.75036033e-01 -1.95191348e-01 -5.86801898e+00] [ 2.81046302e-01 9.59688761e-01 3.23383657e-03 -9.08676263e-01] [ 1.86433522e-01 -5.79021774e-02 9.80759848e-01 1.59558680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284860624 meters Centerline goodness : 0.843021 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41408764e-01 -2.75049396e-01 -1.95185473e-01 -5.86810268e+00] [ 2.81067774e-01 9.59682327e-01 3.27699407e-03 -9.09534002e-01] [ 1.86414714e-01 -5.79453373e-02 9.80760874e-01 1.59592150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314860624 meters Centerline goodness : 0.843821 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41438805e-01 -2.74946186e-01 -1.95185993e-01 -5.86821655e+00] [ 2.80994768e-01 9.59703112e-01 3.44629195e-03 -9.10600766e-01] [ 1.86373060e-01 -5.80907158e-02 9.80760190e-01 1.59628399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344860624 meters Centerline goodness : 0.847893 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41408663e-01 -2.75009911e-01 -1.95241592e-01 -5.86832242e+00] [ 2.81055590e-01 9.59685443e-01 3.40685409e-03 -9.11250124e-01] [ 1.86433595e-01 -5.80809829e-02 9.80749262e-01 1.59672079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374860624 meters Centerline goodness : 0.847688 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41373376e-01 -2.75123101e-01 -1.95252265e-01 -5.86841698e+00] [ 2.81165066e-01 9.59653496e-01 3.37236647e-03 -9.12239135e-01] [ 1.86446702e-01 -5.80727719e-02 9.80747256e-01 1.59719946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404860624 meters Centerline goodness : 0.848106 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41345663e-01 -2.75342116e-01 -1.95077068e-01 -5.86896071e+00] [ 2.81383643e-01 9.59589320e-01 3.40336261e-03 -9.13304509e-01] [ 1.86256782e-01 -5.80952368e-02 9.80782012e-01 1.59753501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434860624 meters Centerline goodness : 0.848193 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.91, Z:1.60 [[ 9.41274190e-01 -2.75625373e-01 -1.95021929e-01 -5.86944271e+00] [ 2.81657061e-01 9.59509324e-01 3.34017507e-03 -9.14351411e-01] [ 1.86204722e-01 -5.80733239e-02 9.80793195e-01 1.59813255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464860624 meters Centerline goodness : 0.847947 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.92, Z:1.60 [[ 9.41193982e-01 -2.75912912e-01 -1.95002443e-01 -5.86975380e+00] [ 2.81958173e-01 9.59420714e-01 3.38853803e-03 -9.16225220e-01] [ 1.86154442e-01 -5.81718043e-02 9.80796903e-01 1.59877019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494860624 meters Centerline goodness : 0.849633 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.92, Z:1.60 [[ 9.41136269e-01 -2.76090532e-01 -1.95029593e-01 -5.86977026e+00] [ 2.82136560e-01 9.59368351e-01 3.36580155e-03 -9.17237784e-01] [ 1.86175953e-01 -5.81926563e-02 9.80791583e-01 1.59911299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524860624 meters Centerline goodness : 0.850971 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.92, Z:1.60 [[ 9.41087808e-01 -2.76236740e-01 -1.95056405e-01 -5.86956754e+00] [ 2.82320855e-01 9.59313495e-01 3.54298111e-03 -9.18662412e-01] [ 1.86141540e-01 -5.84027473e-02 9.80785627e-01 1.59919910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554860624 meters Centerline goodness : 0.848893 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.92, Z:1.60 [[ 9.41033023e-01 -2.76364906e-01 -1.95139151e-01 -5.86919591e+00] [ 2.82491194e-01 9.59262657e-01 3.72558751e-03 -9.20372549e-01] [ 1.86160078e-01 -5.86309925e-02 9.80768490e-01 1.59935377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584860624 meters Centerline goodness : 0.849226 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.92, Z:1.60 [[ 9.40830505e-01 -2.77131429e-01 -1.95028543e-01 -5.86944816e+00] [ 2.83256953e-01 9.59036999e-01 3.67888877e-03 -9.23209757e-01] [ 1.86020053e-01 -5.87044015e-02 9.80790667e-01 1.59989679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614860624 meters Centerline goodness : 0.846170 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.92, Z:1.60 [[ 9.40767519e-01 -2.77433381e-01 -1.94903036e-01 -5.86983705e+00] [ 2.83578428e-01 9.58941552e-01 3.79151367e-03 -9.24704860e-01] [ 1.85848728e-01 -5.88372297e-02 9.80815187e-01 1.60021394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644860624 meters Centerline goodness : 0.849623 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.60 [[ 9.40730086e-01 -2.77596533e-01 -1.94851403e-01 -5.87005434e+00] [ 2.83761980e-01 9.58886820e-01 3.89925252e-03 -9.26212899e-01] [ 1.85758024e-01 -5.89595642e-02 9.80825023e-01 1.60062082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674860624 meters Centerline goodness : 0.847852 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.60 [[ 9.40703287e-01 -2.77693639e-01 -1.94842422e-01 -5.86992079e+00] [ 2.83890968e-01 9.58847970e-01 4.06063761e-03 -9.27630878e-01] [ 1.85696647e-01 -5.91338588e-02 9.80826153e-01 1.60075887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704860624 meters Centerline goodness : 0.847169 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.60 [[ 9.40702138e-01 -2.77631294e-01 -1.94936788e-01 -5.86963715e+00] [ 2.83881659e-01 9.58849609e-01 4.31640317e-03 -9.29161339e-01] [ 1.85716694e-01 -5.93994283e-02 9.80806310e-01 1.60100397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73486062399999 meters Centerline goodness : 0.849096 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.60 [[ 9.40654582e-01 -2.77844369e-01 -1.94862678e-01 -5.86975820e+00] [ 2.84110932e-01 9.58781299e-01 4.40445893e-03 -9.30464592e-01] [ 1.85606938e-01 -5.95056916e-02 9.80820645e-01 1.60120370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764860624 meters Centerline goodness : 0.848347 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.60 [[ 9.40562094e-01 -2.78151610e-01 -1.94870800e-01 -5.86965646e+00] [ 2.84482108e-01 9.58669787e-01 4.70846816e-03 -9.33144882e-01] [ 1.85507081e-01 -5.98658628e-02 9.80817619e-01 1.60155402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794860624 meters Centerline goodness : 0.845830 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.93, Z:1.60 [[ 9.40504233e-01 -2.78359306e-01 -1.94853496e-01 -5.86980106e+00] [ 2.84700860e-01 9.58604634e-01 4.75148515e-03 -9.34242716e-01] [ 1.85464844e-01 -5.99437497e-02 9.80820849e-01 1.60186474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824860624 meters Centerline goodness : 0.846194 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.60 [[ 9.40464931e-01 -2.78551845e-01 -1.94768024e-01 -5.87002714e+00] [ 2.84916937e-01 9.58539764e-01 4.88461629e-03 -9.35556359e-01] [ 1.85332277e-01 -6.00865191e-02 9.80837172e-01 1.60207471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854860624 meters Centerline goodness : 0.837516 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.60 [[ 9.40337848e-01 -2.79034372e-01 -1.94690912e-01 -5.87010526e+00] [ 2.85429845e-01 9.58386448e-01 5.02193591e-03 -9.38710165e-01] [ 1.85187839e-01 -6.02929133e-02 9.80851787e-01 1.60264336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884860624 meters Centerline goodness : 0.845039 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.60 [[ 9.40290279e-01 -2.79228730e-01 -1.94641998e-01 -5.87016654e+00] [ 2.85636014e-01 9.58324711e-01 5.08099611e-03 -9.40013769e-01] [ 1.85111477e-01 -6.03743757e-02 9.80861191e-01 1.60288599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914860624 meters Centerline goodness : 0.845973 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.60 [[ 9.40246648e-01 -2.79329482e-01 -1.94708195e-01 -5.87000460e+00] [ 2.85755572e-01 9.58288708e-01 5.14837123e-03 -9.40910924e-01] [ 1.85148573e-01 -6.04796905e-02 9.80847701e-01 1.60306786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944860624 meters Centerline goodness : 0.836232 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.60 [[ 9.40217546e-01 -2.79480664e-01 -1.94631767e-01 -5.87021919e+00] [ 2.85901223e-01 9.58245367e-01 5.12914884e-03 -9.41625933e-01] [ 1.85071491e-01 -6.04679761e-02 9.80862971e-01 1.60331887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974860624 meters Centerline goodness : 0.840231 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.60 [[ 9.40198107e-01 -2.79502421e-01 -1.94694416e-01 -5.86999457e+00] [ 2.85941163e-01 9.58233054e-01 5.20241332e-03 -9.42311941e-01] [ 1.85108538e-01 -6.05624468e-02 9.80850151e-01 1.60340859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004860624 meters Centerline goodness : 0.841704 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.94, Z:1.60 [[ 9.40230620e-01 -2.79346490e-01 -1.94761185e-01 -5.86963034e+00] [ 2.85858435e-01 9.58255590e-01 5.58385705e-03 -9.44234262e-01] [ 1.85071163e-01 -6.09242410e-02 9.80834798e-01 1.60355994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034860624 meters Centerline goodness : 0.842091 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.95, Z:1.60 [[ 9.40211105e-01 -2.79372895e-01 -1.94817512e-01 -5.86964100e+00] [ 2.85900755e-01 9.58242597e-01 5.64660246e-03 -9.45044156e-01] [ 1.85104931e-01 -6.10074721e-02 9.80823253e-01 1.60387310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064860624 meters Centerline goodness : 0.840870 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.95, Z:1.60 [[ 9.40200021e-01 -2.79399826e-01 -1.94832386e-01 -5.86955087e+00] [ 2.85942631e-01 9.58229678e-01 5.71805815e-03 -9.45693911e-01] [ 1.85096550e-01 -6.10870034e-02 9.80819884e-01 1.60396640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094860624 meters Centerline goodness : 0.842686 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.95, Z:1.60 [[ 0.94012102 -0.27918796 -0.1955161 -5.86790453] [ 0.2859029 0.95823709 0.00641927 -0.94641975] [ 0.1855586 -0.06193351 0.98067948 1.6038675 ] [ 0. 0. 0. 1. ]] SLAMing on 99.124860624 meters Centerline goodness : 0.841036 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.95, Z:1.60 [[ 0.94007364 -0.27932629 -0.19554634 -5.86776114] [ 0.28608853 0.95818015 0.00664491 -0.94853082] [ 0.18551252 -0.06219027 0.98067195 1.60418233] [ 0. 0. 0. 1. ]] SLAMing on 99.154860624 meters Centerline goodness : 0.845669 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.95, Z:1.60 [[ 0.94001725 -0.27953566 -0.19551826 -5.86795698] [ 0.2863003 0.95811689 0.00664585 -0.94946304] [ 0.1854716 -0.06222415 0.98067754 1.60451597] [ 0. 0. 0. 1. ]] SLAMing on 99.184860624 meters Centerline goodness : 0.839973 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.95, Z:1.60 [[ 0.93987259 -0.27941439 -0.19638512 -5.86637668] [ 0.28640036 0.95808046 0.00752796 -0.95055965] [ 0.18604933 -0.06332009 0.98049794 1.6049339 ] [ 0. 0. 0. 1. ]] SLAMing on 99.214860624 meters Centerline goodness : 0.842081 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.95, Z:1.61 [[ 0.93979578 -0.27919966 -0.19705695 -5.86481941] [ 0.28637494 0.95808158 0.00831183 -0.9518734 ] [ 0.18647597 -0.0642436 0.98035681 1.60511426] [ 0. 0. 0. 1. ]] SLAMing on 99.244860624 meters Centerline goodness : 0.842257 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.95, Z:1.61 [[ 0.9396856 -0.27900253 -0.19785997 -5.86340129] [ 0.28641477 0.95806067 0.00929184 -0.95319527] [ 0.18696941 -0.06540142 0.98018626 1.605592 ] [ 0. 0. 0. 1. ]] SLAMing on 99.274860624 meters Centerline goodness : 0.845935 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.61 [[ 0.93962856 -0.27880448 -0.19840923 -5.86216573] [ 0.286443 0.95804192 0.01030019 -0.95503272] [ 0.18721262 -0.06651129 0.98006514 1.6058176 ] [ 0. 0. 0. 1. ]] SLAMing on 99.304860624 meters Centerline goodness : 0.846126 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.61 [[ 0.93959701 -0.27861991 -0.19881753 -5.86130898] [ 0.2863655 0.95806036 0.01073082 -0.95583054] [ 0.18748937 -0.06701713 0.97997778 1.60606905] [ 0. 0. 0. 1. ]] SLAMing on 99.334860624 meters Centerline goodness : 0.846323 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.61 [[ 0.93955813 -0.27835033 -0.19937806 -5.85983132] [ 0.28623166 0.95809425 0.01126215 -0.95645869] [ 0.18788815 -0.06764976 0.97985793 1.60595179] [ 0. 0. 0. 1. ]] SLAMing on 99.364860624 meters Centerline goodness : 0.845112 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.61 [[ 0.93956137 -0.27810877 -0.19969963 -5.85853131] [ 0.28608716 0.95813248 0.01167451 -0.9571147 ] [ 0.18809192 -0.06810042 0.97978761 1.60550055] [ 0. 0. 0. 1. ]] SLAMing on 99.394860624 meters Centerline goodness : 0.844743 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.61 [[ 0.93954701 -0.27789393 -0.20006594 -5.85712152] [ 0.28595079 0.95816954 0.01196962 -0.95762984] [ 0.1883708 -0.06845504 0.97970932 1.6050693 ] [ 0. 0. 0. 1. ]] SLAMing on 99.424860624 meters Centerline goodness : 0.845704 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.60 [[ 0.93965956 -0.27723255 -0.20045452 -5.85581241] [ 0.28545348 0.95830781 0.01274589 -0.95879515] [ 0.18856356 -0.06919724 0.97962009 1.60475381] [ 0. 0. 0. 1. ]] SLAMing on 99.454860624 meters Centerline goodness : 0.845333 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.96, Z:1.60 [[ 0.93972898 -0.27679275 -0.20073669 -5.85517418] [ 0.28511068 0.95840386 0.01318904 -0.95916969] [ 0.18873618 -0.0696263 0.97955645 1.60470112] [ 0. 0. 0. 1. ]] SLAMing on 99.48486062399999 meters Centerline goodness : 0.843458 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.93973081 -0.2765869 -0.20101168 -5.85443233] [ 0.28497249 0.95844122 0.01345761 -0.95927625] [ 0.18893568 -0.06992933 0.9794964 1.60456516] [ 0. 0. 0. 1. ]] SLAMing on 99.514860624 meters Centerline goodness : 0.841390 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.93988181 -0.27595696 -0.20117141 -5.85362788] [ 0.28442762 0.9585967 0.01390317 -0.95998116] [ 0.18900557 -0.07028604 0.97945738 1.60417725] [ 0. 0. 0. 1. ]] SLAMing on 99.544860624 meters Centerline goodness : 0.841584 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.9400087 -0.27547534 -0.20123862 -5.85285794] [ 0.28398282 0.95872542 0.01411813 -0.96016031] [ 0.18904339 -0.07041947 0.9794405 1.60354517] [ 0. 0. 0. 1. ]] SLAMing on 99.574860624 meters Centerline goodness : 0.838071 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.94007645 -0.27497319 -0.20160858 -5.85154781] [ 0.28359858 0.95883134 0.01463943 -0.9606225 ] [ 0.18928318 -0.07093809 0.97935676 1.6030084 ] [ 0. 0. 0. 1. ]] SLAMing on 99.604860624 meters Centerline goodness : 0.838522 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.94010549 -0.27462978 -0.20194097 -5.85036102] [ 0.28333742 0.95890339 0.01497289 -0.96076878] [ 0.18952988 -0.07129353 0.97928324 1.60252845] [ 0. 0. 0. 1. ]] SLAMing on 99.634860624 meters Centerline goodness : 0.839642 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.94006804 -0.27443991 -0.20237297 -5.84895396] [ 0.28324601 0.95892468 0.01533463 -0.96085219] [ 0.18985201 -0.07173693 0.97918845 1.60202283] [ 0. 0. 0. 1. ]] SLAMing on 99.664860624 meters Centerline goodness : 0.837960 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.94004815 -0.27434425 -0.20259493 -5.84816661] [ 0.28317166 0.95894609 0.01536884 -0.96089051] [ 0.19006126 -0.07181659 0.97914202 1.60181718] [ 0. 0. 0. 1. ]] SLAMing on 99.694860624 meters Centerline goodness : 0.837192 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.94001838 -0.27426304 -0.20284289 -5.8473723 ] [ 0.28312102 0.95895992 0.01543903 -0.96060552] [ 0.19028385 -0.07194206 0.97908958 1.60149568] [ 0. 0. 0. 1. ]] SLAMing on 99.724860624 meters Centerline goodness : 0.834973 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.94001864 -0.27402498 -0.20316317 -5.84654663] [ 0.28295044 0.95900624 0.01568697 -0.96067571] [ 0.19053612 -0.07223115 0.97901923 1.60137406] [ 0. 0. 0. 1. ]] SLAMing on 99.754860624 meters Centerline goodness : 0.837993 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.96, Z:1.60 [[ 0.93997325 -0.27395724 -0.2034643 -5.84569803] [ 0.2829426 0.95900529 0.01588501 -0.96082252] [ 0.19077153 -0.0725002 0.97895349 1.60121794] [ 0. 0. 0. 1. ]] SLAMing on 99.784860624 meters Centerline goodness : 0.836400 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.96, Z:1.60 [[ 0.93986641 -0.27405349 -0.20382793 -5.84470521] [ 0.28311559 0.95895019 0.01612725 -0.96105423] [ 0.1910411 -0.07286433 0.97887389 1.60111124] [ 0. 0. 0. 1. ]] SLAMing on 99.814860624 meters Centerline goodness : 0.833101 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.96, Z:1.60 [[ 0.93970497 -0.27424189 -0.20431826 -5.84352211] [ 0.28345948 0.95883858 0.01671207 -0.96238797] [ 0.19132508 -0.07362036 0.97876185 1.6013694 ] [ 0. 0. 0. 1. ]] SLAMing on 99.844860624 meters Centerline goodness : 0.837606 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.96, Z:1.60 [[ 0.9396145 -0.27416314 -0.20483938 -5.84251403] [ 0.28353114 0.95880726 0.01728361 -0.96291351] [ 0.19166296 -0.07431828 0.97864299 1.60158362] [ 0. 0. 0. 1. ]] SLAMing on 99.874860624 meters Centerline goodness : 0.838470 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.96, Z:1.60 [[ 0.93949926 -0.27427467 -0.20521828 -5.84155406] [ 0.28373507 0.95874131 0.0175931 -0.96347218] [ 0.1919259 -0.07475633 0.97855809 1.60167878] [ 0. 0. 0. 1. ]] SLAMing on 99.904860624 meters Centerline goodness : 0.837854 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.96, Z:1.60 [[ 0.93939196 -0.2743467 -0.20561282 -5.84036503] [ 0.28394158 0.95867048 0.01811345 -0.96460856] [ 0.19214558 -0.07539766 0.97846577 1.60167349] [ 0. 0. 0. 1. ]] SLAMing on 99.934860624 meters Centerline goodness : 0.837561 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.97, Z:1.60 [[ 0.93920866 -0.2743375 -0.20646072 -5.83870526] [ 0.28421625 0.95856761 0.01921589 -0.96596752] [ 0.19263492 -0.07672722 0.97826618 1.60208636] [ 0. 0. 0. 1. ]] SLAMing on 99.964860624 meters Centerline goodness : 0.837767 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.97, Z:1.60 [[ 0.93888046 -0.27480708 -0.20732714 -5.83691511] [ 0.28495096 0.95833014 0.02015648 -0.9679629 ] [ 0.19314871 -0.07800259 0.97806399 1.60279709] [ 0. 0. 0. 1. ]] SLAMing on 99.994860624 meters Centerline goodness : 0.836870 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.97, Z:1.60 [[ 0.93871864 -0.27482422 -0.20803596 -5.83561259] [ 0.2851738 0.9582479 0.02090137 -0.96884856] [ 0.19360582 -0.07894691 0.97789783 1.60320093] [ 0. 0. 0. 1. ]] SLAMing on 100.024860624 meters Centerline goodness : 0.836945 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93853377 -0.27505566 -0.20856352 -5.83445067] [ 0.28551957 0.95813762 0.02123375 -0.96910137] [ 0.19399209 -0.07947756 0.97777829 1.60333098] [ 0. 0. 0. 1. ]] SLAMing on 100.054860624 meters Centerline goodness : 0.837948 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93844442 -0.27521506 -0.20875522 -5.83383525] [ 0.28571178 0.95807881 0.02130201 -0.96949046] [ 0.19414132 -0.07963458 0.9777359 1.60328691] [ 0. 0. 0. 1. ]] SLAMing on 100.084860624 meters Centerline goodness : 0.835455 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93853448 -0.2747176 -0.20900545 -5.83286793] [ 0.28534815 0.95817316 0.02192312 -0.97035031] [ 0.19424075 -0.08021493 0.97766871 1.6029199 ] [ 0. 0. 0. 1. ]] SLAMing on 100.114860624 meters Centerline goodness : 0.835455 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93853448 -0.2747176 -0.20900545 -5.83286793] [ 0.28534815 0.95817316 0.02192312 -0.97035031] [ 0.19424075 -0.08021493 0.97766871 1.6029199 ] [ 0. 0. 0. 1. ]] SLAMing on 100.144860624 meters Centerline goodness : 0.842296 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93863086 -0.27427455 -0.20915442 -5.83228867] [ 0.28494063 0.9582907 0.02208568 -0.97016155] [ 0.19437319 -0.08032689 0.97763319 1.60254166] [ 0. 0. 0. 1. ]] SLAMing on 100.174860624 meters Centerline goodness : 0.838380 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93866663 -0.27394983 -0.20941931 -5.83187463] [ 0.28468536 0.95836027 0.02235715 -0.97002865] [ 0.19457441 -0.08060452 0.97757031 1.60257989] [ 0. 0. 0. 1. ]] SLAMing on 100.204860624 meters Centerline goodness : 0.835024 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93915841 -0.27109493 -0.21092421 -5.8305554 ] [ 0.28261233 0.95888368 0.0259299 -0.97151804] [ 0.19522232 -0.08396207 0.97715844 1.60309886] [ 0. 0. 0. 1. ]] SLAMing on 100.23486062399999 meters Centerline goodness : 0.839210 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93919148 -0.27074946 -0.2112205 -5.83019323] [ 0.28235264 0.95895106 0.02626503 -0.97161295] [ 0.19543888 -0.08430656 0.97708549 1.60336342] [ 0. 0. 0. 1. ]] SLAMing on 100.264860624 meters Centerline goodness : 0.845202 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93913095 -0.2707065 -0.21154444 -5.82933658] [ 0.28236926 0.95894179 0.02642443 -0.97137362] [ 0.19570554 -0.08454965 0.97701111 1.60313127] [ 0. 0. 0. 1. ]] SLAMing on 100.294860624 meters Centerline goodness : 0.838672 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93908206 -0.27057457 -0.2119299 -5.82795953] [ 0.2823454 0.95893819 0.026807 -0.97193936] [ 0.19597439 -0.08501141 0.97691714 1.60275005] [ 0. 0. 0. 1. ]] SLAMing on 100.324860624 meters Centerline goodness : 0.837373 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93912034 -0.2703421 -0.21205692 -5.82713667] [ 0.28217974 0.95897849 0.02710819 -0.97256931] [ 0.19602954 -0.08529602 0.97688127 1.60232672] [ 0. 0. 0. 1. ]] SLAMing on 100.354860624 meters Centerline goodness : 0.835890 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93911957 -0.27008749 -0.2123845 -5.82603399] [ 0.28203304 0.95900972 0.02752657 -0.97322147] [ 0.19624422 -0.08575019 0.9767984 1.60209615] [ 0. 0. 0. 1. ]] SLAMing on 100.384860624 meters Centerline goodness : 0.837218 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93905233 -0.26998938 -0.21280614 -5.82509548] [ 0.28204675 0.95899477 0.02790456 -0.97365763] [ 0.19654604 -0.08622512 0.9766959 1.60214688] [ 0. 0. 0. 1. ]] SLAMing on 100.414860624 meters Centerline goodness : 0.834440 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.97, Z:1.60 [[ 0.93900363 -0.26990868 -0.21312316 -5.82501982] [ 0.2820569 0.9589825 0.02822197 -0.97368623] [ 0.19676402 -0.08661339 0.97661765 1.60271276] [ 0. 0. 0. 1. ]] SLAMing on 100.444860624 meters Centerline goodness : 0.836067 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93886903 -0.26986106 -0.21377547 -5.82406842] [ 0.28217215 0.95893319 0.02874027 -0.97361831] [ 0.19724051 -0.08730484 0.97645996 1.60305936] [ 0. 0. 0. 1. ]] SLAMing on 100.474860624 meters Centerline goodness : 0.836769 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93879511 -0.26969795 -0.2143053 -5.82267704] [ 0.28212472 0.95893662 0.02908965 -0.97367525] [ 0.19765978 -0.08777005 0.97633346 1.60284651] [ 0. 0. 0. 1. ]] SLAMing on 100.504860624 meters Centerline goodness : 0.834559 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93870404 -0.26984956 -0.21451327 -5.82172274] [ 0.28229415 0.95888743 0.0290672 -0.97381499] [ 0.19785031 -0.08784134 0.97628846 1.60251998] [ 0. 0. 0. 1. ]] SLAMing on 100.534860624 meters Centerline goodness : 0.831848 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93868185 -0.26953622 -0.21500374 -5.82012014] [ 0.28212676 0.95892049 0.029597 -0.97447777] [ 0.19819402 -0.08844048 0.97616464 1.60213087] [ 0. 0. 0. 1. ]] SLAMing on 100.564860624 meters Centerline goodness : 0.836455 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.9385693 -0.26992127 -0.21501204 -5.81993142] [ 0.28247269 0.95882595 0.02935961 -0.97449981] [ 0.19823433 -0.08829106 0.97616998 1.60216633] [ 0. 0. 0. 1. ]] SLAMing on 100.59486062399999 meters Centerline goodness : 0.833238 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93854896 -0.26956169 -0.21555126 -5.81897453] [ 0.28229081 0.95885888 0.03002591 -0.97492121] [ 0.1985894 -0.08902892 0.97603079 1.60232503] [ 0. 0. 0. 1. ]] SLAMing on 100.624860624 meters Centerline goodness : 0.832380 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93856285 -0.26929172 -0.21582807 -5.81841781] [ 0.28207437 0.95891739 0.03019075 -0.97465063] [ 0.19883117 -0.08921548 0.97596453 1.60229649] [ 0. 0. 0. 1. ]] SLAMing on 100.654860624 meters Centerline goodness : 0.830909 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93861064 -0.26898418 -0.21600366 -5.81787345] [ 0.28181239 0.95898887 0.0303665 -0.97455683] [ 0.19897699 -0.08937482 0.97592023 1.60206955] [ 0. 0. 0. 1. ]] SLAMing on 100.684860624 meters Centerline goodness : 0.830870 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93852811 -0.26882929 -0.21655436 -5.81712265] [ 0.28176552 0.95899333 0.03065911 -0.97450644] [ 0.19943212 -0.08979199 0.97578903 1.60247959] [ 0. 0. 0. 1. ]] SLAMing on 100.714860624 meters Centerline goodness : 0.829672 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93857631 -0.2685478 -0.21669467 -5.81709067] [ 0.2815262 0.95905811 0.03083081 -0.97466065] [ 0.19954324 -0.0899423 0.97575247 1.60276964] [ 0. 0. 0. 1. ]] SLAMing on 100.744860624 meters Centerline goodness : 0.840055 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.9386181 -0.26817889 -0.21697039 -5.81691518] [ 0.28126395 0.95912102 0.03126425 -0.97479859] [ 0.19971645 -0.09037114 0.9756774 1.60309118] [ 0. 0. 0. 1. ]] SLAMing on 100.774860624 meters Centerline goodness : 0.835676 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.97, Z:1.60 [[ 0.93854672 -0.26825402 -0.21718617 -5.81698545] [ 0.28139912 0.95907531 0.03144958 -0.9749676 ] [ 0.19986142 -0.0906329 0.97562344 1.60368495] [ 0. 0. 0. 1. ]] SLAMing on 100.804860624 meters Centerline goodness : 0.824987 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.98, Z:1.60 [[ 0.93849633 -0.26827649 -0.21737608 -5.81659455] [ 0.2814784 0.95904591 0.0316363 -0.97518254] [ 0.19998637 -0.09087723 0.9755751 1.60375565] [ 0. 0. 0. 1. ]] SLAMing on 100.834860624 meters Centerline goodness : 0.825834 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.98, Z:1.60 [[ 0.93829555 -0.26881 -0.21758365 -5.81590586] [ 0.28202627 0.95888769 0.0315529 -0.9754429 ] [ 0.20015654 -0.09097025 0.97553153 1.60381903] [ 0. 0. 0. 1. ]] SLAMing on 100.864860624 meters Centerline goodness : 0.833476 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.98, Z:1.60 [[ 0.93816406 -0.26872728 -0.2182518 -5.81435769] [ 0.28213409 0.9588352 0.03217796 -0.97594054] [ 0.20062041 -0.09176448 0.97536185 1.60381474] [ 0. 0. 0. 1. ]] SLAMing on 100.894860624 meters Centerline goodness : 0.832739 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.98, Z:1.60 [[ 0.93792403 -0.26939697 -0.21845775 -5.81414995] [ 0.28279047 0.9586496 0.03194522 -0.97575192] [ 0.20081849 -0.09173996 0.97532339 1.60427424] [ 0. 0. 0. 1. ]] SLAMing on 100.924860624 meters Centerline goodness : 0.831706 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.98, Z:1.60 [[ 0.93772979 -0.26952348 -0.21913453 -5.81277348] [ 0.28306888 0.95855379 0.03235168 -0.97590624] [ 0.2013327 -0.0923673 0.97515815 1.60447064] [ 0. 0. 0. 1. ]] SLAMing on 100.954860624 meters Centerline goodness : 0.830056 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.98, Z:1.60 [[ 0.93762721 -0.26959999 -0.21947904 -5.81213484] [ 0.28324749 0.95849004 0.03267579 -0.97612558] [ 0.20155908 -0.0928046 0.97506987 1.60465157] [ 0. 0. 0. 1. ]] SLAMing on 100.98486062399999 meters Centerline goodness : 0.831072 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.98, Z:1.60 [[ 0.93742538 -0.26985883 -0.22002243 -5.81129925] [ 0.2835848 0.95838704 0.03277111 -0.97565449] [ 0.20202307 -0.09311548 0.9749442 1.60498663] [ 0. 0. 0. 1. ]] SLAMing on 101.014860624 meters Centerline goodness : 0.839339 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93726758 -0.2702724 -0.220187 -5.81180592] [ 0.28398541 0.95827471 0.03258644 -0.9746669 ] [ 0.20219241 -0.09307211 0.97491323 1.60566763] [ 0. 0. 0. 1. ]] SLAMing on 101.044860624 meters Centerline goodness : 0.834119 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93722544 -0.27015721 -0.22050749 -5.81126265] [ 0.28392937 0.95828632 0.03273299 -0.97446373] [ 0.20246626 -0.09328675 0.97483588 1.60578071] [ 0. 0. 0. 1. ]] SLAMing on 101.074860624 meters Centerline goodness : 0.832580 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93725182 -0.27004875 -0.22052823 -5.81123303] [ 0.28382066 0.95831849 0.03273377 -0.97419362] [ 0.20249657 -0.09327025 0.97483116 1.60570526] [ 0. 0. 0. 1. ]] SLAMing on 101.104860624 meters Centerline goodness : 0.836334 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93730766 -0.2697761 -0.2206246 -5.81110165] [ 0.28356611 0.95839141 0.03280499 -0.97380475] [ 0.20259472 -0.09331003 0.97480696 1.60562529] [ 0. 0. 0. 1. ]] SLAMing on 101.134860624 meters Centerline goodness : 0.833835 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93735799 -0.26959303 -0.22063453 -5.81117162] [ 0.28329141 0.95848712 0.03237941 -0.97213043] [ 0.20274609 -0.09285496 0.97481895 1.60529229] [ 0. 0. 0. 1. ]] SLAMing on 101.164860624 meters Centerline goodness : 0.837174 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93772339 -0.26670504 -0.22258318 -5.80950055] [ 0.28138148 0.95890339 0.03645208 -0.97302492] [ 0.20371381 -0.09681275 0.97423199 1.60610364] [ 0. 0. 0. 1. ]] SLAMing on 101.194860624 meters Centerline goodness : 0.835292 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93753555 -0.26730255 -0.22265768 -5.80965 ] [ 0.28183677 0.95879902 0.03567165 -0.97138503] [ 0.20394884 -0.09619656 0.97424386 1.60625184] [ 0. 0. 0. 1. ]] SLAMing on 101.224860624 meters Centerline goodness : 0.833856 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93748748 -0.26750712 -0.2226144 -5.80985077] [ 0.28192325 0.95879446 0.03510633 -0.97000183] [ 0.20405026 -0.09567192 0.97427428 1.60612842] [ 0. 0. 0. 1. ]] SLAMing on 101.254860624 meters Centerline goodness : 0.838390 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93799998 -0.26408399 -0.22453437 -5.80790947] [ 0.27942399 0.95937788 0.03893995 -0.97018734] [ 0.20512989 -0.09926596 0.97368783 1.6063398 ] [ 0. 0. 0. 1. ]] SLAMing on 101.284860624 meters Centerline goodness : 0.836131 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93807778 -0.26385263 -0.22448134 -5.80789838] [ 0.27912867 0.95947405 0.03868762 -0.9693016 ] [ 0.20517619 -0.09895118 0.97371012 1.60598619] [ 0. 0. 0. 1. ]] SLAMing on 101.314860624 meters Centerline goodness : 0.837856 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.9381742 -0.26354608 -0.22443848 -5.80793748] [ 0.27876757 0.95958725 0.03848307 -0.96830823] [ 0.20522624 -0.09867 0.9737281 1.60564964] [ 0. 0. 0. 1. ]] SLAMing on 101.34486062399999 meters Centerline goodness : 0.838407 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.61 [[ 0.93819853 -0.2634293 -0.22447387 -5.80787587] [ 0.27856263 0.95966363 0.03806027 -0.96668062] [ 0.20539321 -0.09823812 0.97373657 1.60525235] [ 0. 0. 0. 1. ]] SLAMing on 101.374860624 meters Centerline goodness : 0.833495 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.97, Z:1.60 [[ 0.93827734 -0.26331098 -0.22428322 -5.80816963] [ 0.27832979 0.95974842 0.03762315 -0.9654691 ] [ 0.20534887 -0.09772565 0.97379748 1.60485388] [ 0. 0. 0. 1. ]] SLAMing on 101.404860624 meters Centerline goodness : 0.837733 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93827189 -0.26325066 -0.22437679 -5.80792336] [ 0.27820841 0.95979643 0.03729479 -0.96429074] [ 0.20553816 -0.09741617 0.97378856 1.60461153] [ 0. 0. 0. 1. ]] SLAMing on 101.434860624 meters Centerline goodness : 0.836968 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93844541 -0.26300057 -0.22394397 -5.80883494] [ 0.27777325 0.95994715 0.03665375 -0.96266749] [ 0.20533442 -0.09660319 0.97391252 1.60414014] [ 0. 0. 0. 1. ]] SLAMing on 101.464860624 meters Centerline goodness : 0.837664 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93847112 -0.26302229 -0.2238107 -5.80929919] [ 0.27771431 0.9599764 0.03633277 -0.96194648] [ 0.20529666 -0.09625269 0.97395518 1.60417015] [ 0. 0. 0. 1. ]] SLAMing on 101.494860624 meters Centerline goodness : 0.837573 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93844611 -0.26290519 -0.22405304 -5.80886647] [ 0.27759213 0.96001655 0.03620533 -0.96104683] [ 0.20557606 -0.09617211 0.97390421 1.60406625] [ 0. 0. 0. 1. ]] SLAMing on 101.524860624 meters Centerline goodness : 0.837699 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.9383718 -0.26342452 -0.22375408 -5.80955229] [ 0.27787392 0.95997368 0.03516558 -0.95884443] [ 0.20553455 -0.09517381 0.97401103 1.60379416] [ 0. 0. 0. 1. ]] SLAMing on 101.554860624 meters Centerline goodness : 0.835656 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93835705 -0.26347689 -0.22375427 -5.80980827] [ 0.2778718 0.95998393 0.03490161 -0.95806111] [ 0.20560474 -0.09492517 0.97402048 1.60387258] [ 0. 0. 0. 1. ]] SLAMing on 101.584860624 meters Centerline goodness : 0.838956 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93835599 -0.26330143 -0.22396517 -5.80970362] [ 0.2777528 0.96001156 0.03508844 -0.95742143] [ 0.20577032 -0.0951324 0.9739653 1.60391848] [ 0. 0. 0. 1. ]] SLAMing on 101.614860624 meters Centerline goodness : 0.834937 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93827271 -0.26320203 -0.2244304 -5.80924549] [ 0.27776163 0.9599979 0.03539073 -0.95691308] [ 0.2061378 -0.09554431 0.97384726 1.60425717] [ 0. 0. 0. 1. ]] SLAMing on 101.644860624 meters Centerline goodness : 0.837897 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93817964 -0.26361437 -0.22433554 -5.80958456] [ 0.27809918 0.95991314 0.03503723 -0.95649274] [ 0.20610632 -0.09525874 0.9738819 1.60445459] [ 0. 0. 0. 1. ]] SLAMing on 101.674860624 meters Centerline goodness : 0.837350 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.96, Z:1.60 [[ 0.93807181 -0.26349821 -0.22492216 -5.80834912] [ 0.278142 0.95988291 0.03552225 -0.95652798] [ 0.20653889 -0.09588273 0.97372901 1.60445793] [ 0. 0. 0. 1. ]] SLAMing on 101.704860624 meters Centerline goodness : 0.837885 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.60 [[ 0.93783698 -0.26401783 -0.22529176 -5.80777766] [ 0.27863161 0.95975466 0.03514861 -0.95498543] [ 0.20694496 -0.09573708 0.97365712 1.60445373] [ 0. 0. 0. 1. ]] SLAMing on 101.73486062399999 meters Centerline goodness : 0.837476 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.60 [[ 0.93765592 -0.26428467 -0.22573211 -5.8071155 ] [ 0.27889751 0.95968626 0.03490655 -0.95370523] [ 0.20740674 -0.09568646 0.97356384 1.60458615] [ 0. 0. 0. 1. ]] SLAMing on 101.764860624 meters Centerline goodness : 0.836108 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.60 [[ 0.9375587 -0.2644729 -0.2259154 -5.80686013] [ 0.27900661 0.95967182 0.03442834 -0.95190112] [ 0.20769928 -0.09531048 0.97353835 1.60441808] [ 0. 0. 0. 1. ]] SLAMing on 101.794860624 meters Centerline goodness : 0.835003 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.60 [[ 0.9374985 -0.26488955 -0.22567697 -5.80769109] [ 0.27921516 0.95964338 0.0335182 -0.94996559] [ 0.20769078 -0.0944357 0.97362541 1.60446918] [ 0. 0. 0. 1. ]] SLAMing on 101.824860624 meters Centerline goodness : 0.831068 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.60 [[ 0.93748671 -0.26510134 -0.22547716 -5.80855347] [ 0.27923231 0.95966748 0.03267493 -0.94719858] [ 0.20772093 -0.09359282 0.97370036 1.60469757] [ 0. 0. 0. 1. ]] SLAMing on 101.854860624 meters Centerline goodness : 0.836615 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.61 [[ 0.93741727 -0.265417 -0.22539449 -5.80924226] [ 0.27939306 0.95964504 0.03195182 -0.94541437] [ 0.20781815 -0.09292584 0.9737435 1.60510955] [ 0. 0. 0. 1. ]] SLAMing on 101.884860624 meters Centerline goodness : 0.835261 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.94, Z:1.61 [[ 0.93739664 -0.26551254 -0.22536775 -5.80958309] [ 0.27937139 0.95966942 0.03140438 -0.94356469] [ 0.20794028 -0.09239966 0.9737675 1.60528467] [ 0. 0. 0. 1. ]] SLAMing on 101.914860624 meters Centerline goodness : 0.776318 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.94, Z:1.61 [[ 0.93736214 -0.26571823 -0.22526883 -5.81017627] [ 0.2794316 0.95967323 0.03074518 -0.94153131] [ 0.20801491 -0.0917666 0.97381142 1.60549955] [ 0. 0. 0. 1. ]] SLAMing on 101.944860624 meters Centerline goodness : 0.775957 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.94, Z:1.61 [[ 0.93732525 -0.26591266 -0.22519288 -5.81079455] [ 0.27947569 0.95968229 0.03005405 -0.93937842] [ 0.20812186 -0.09110636 0.97385056 1.60581078] [ 0. 0. 0. 1. ]] SLAMing on 101.974860624 meters Centerline goodness : 0.832738 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.94, Z:1.61 [[ 0.93743409 -0.26552668 -0.22519526 -5.81101487] [ 0.27897227 0.9598445 0.02954678 -0.93620627] [ 0.20830698 -0.09052139 0.97386554 1.60576944] [ 0. 0. 0. 1. ]] SLAMing on 102.004860624 meters Centerline goodness : 0.774403 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93742508 -0.26552016 -0.22524045 -5.81091507] [ 0.27889478 0.95987776 0.02919576 -0.934964 ] [ 0.20845123 -0.09018722 0.97386567 1.60577778] [ 0. 0. 0. 1. ]] SLAMing on 102.034860624 meters Centerline goodness : 0.775412 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93741419 -0.26564102 -0.22514324 -5.81109255] [ 0.27894708 0.95987136 0.0289049 -0.93402496] [ 0.20843022 -0.08989891 0.97389683 1.6056977 ] [ 0. 0. 0. 1. ]] SLAMing on 102.064860624 meters Centerline goodness : 0.775412 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93741419 -0.26564102 -0.22514324 -5.81109255] [ 0.27894708 0.95987136 0.0289049 -0.93402496] [ 0.20843022 -0.08989891 0.97389683 1.6056977 ] [ 0. 0. 0. 1. ]] SLAMing on 102.09486062399999 meters Centerline goodness : 0.834784 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.9373746 -0.26587191 -0.22503551 -5.81139207] [ 0.27909439 0.95983958 0.02853602 -0.93304831] [ 0.20841106 -0.08955509 0.9739326 1.6056759 ] [ 0. 0. 0. 1. ]] SLAMing on 102.124860624 meters Centerline goodness : 0.837713 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93732841 -0.26617059 -0.22487478 -5.81179248] [ 0.27930224 0.95979056 0.02814858 -0.93225489] [ 0.20834037 -0.08919249 0.973981 1.60570589] [ 0. 0. 0. 1. ]] SLAMing on 102.154860624 meters Centerline goodness : 0.836603 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.9372727 -0.2664542 -0.22477108 -5.8121701 ] [ 0.27950153 0.95974363 0.02776798 -0.9312599 ] [ 0.20832372 -0.08885003 0.97401586 1.60575385] [ 0. 0. 0. 1. ]] SLAMing on 102.184860624 meters Centerline goodness : 0.837695 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93716786 -0.26707221 -0.22447457 -5.8133616 ] [ 0.27994895 0.95963429 0.02702985 -0.92938644] [ 0.20819458 -0.08817293 0.974105 1.60601208] [ 0. 0. 0. 1. ]] SLAMing on 102.214860624 meters Centerline goodness : 0.835223 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93709535 -0.26744573 -0.22433255 -5.81390256] [ 0.28023105 0.95956336 0.02662159 -0.92858854] [ 0.20814147 -0.08781192 0.97414896 1.60615613] [ 0. 0. 0. 1. ]] SLAMing on 102.244860624 meters Centerline goodness : 0.834796 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93702983 -0.26779113 -0.22419412 -5.81420111] [ 0.28051165 0.95948917 0.02633922 -0.92818894] [ 0.20805842 -0.0875697 0.9741885 1.60612654] [ 0. 0. 0. 1. ]] SLAMing on 102.274860624 meters Centerline goodness : 0.837706 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93690793 -0.2683448 -0.22404151 -5.81413819] [ 0.2809923 0.95935775 0.02600075 -0.92813629] [ 0.20795879 -0.08731425 0.9742327 1.60582426] [ 0. 0. 0. 1. ]] SLAMing on 102.304860624 meters Centerline goodness : 0.838408 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93684303 -0.26865977 -0.22393541 -5.81422712] [ 0.28124523 0.95929119 0.02572026 -0.92772806] [ 0.20790927 -0.08707661 0.97426454 1.60570801] [ 0. 0. 0. 1. ]] SLAMing on 102.334860624 meters Centerline goodness : 0.837920 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.93, Z:1.61 [[ 0.93675519 -0.26910038 -0.22377375 -5.81479059] [ 0.28159461 0.95919954 0.02531238 -0.92719878] [ 0.20783211 -0.08672499 0.97431237 1.60588572] [ 0. 0. 0. 1. ]] SLAMing on 102.364860624 meters Centerline goodness : 0.839803 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93667954 -0.26955898 -0.22353835 -5.81553682] [ 0.28195631 0.9591039 0.02490683 -0.92662982] [ 0.20768265 -0.08635777 0.97437685 1.60605196] [ 0. 0. 0. 1. ]] SLAMing on 102.394860624 meters Centerline goodness : 0.838435 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.9365782 -0.27013786 -0.22326399 -5.81661995] [ 0.28242215 0.95897915 0.02442783 -0.9261985 ] [ 0.20750663 -0.08593328 0.97445188 1.60649361] [ 0. 0. 0. 1. ]] SLAMing on 102.424860624 meters Centerline goodness : 0.838806 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93646381 -0.27075873 -0.2229916 -5.81782662] [ 0.28292419 0.95884408 0.0239151 -0.92584802] [ 0.20733895 -0.08548534 0.97452697 1.60709712] [ 0. 0. 0. 1. ]] SLAMing on 102.454860624 meters Centerline goodness : 0.840537 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93614762 -0.27234637 -0.22238499 -5.8203474 ] [ 0.28429788 0.95846043 0.02298521 -0.92592691] [ 0.20688727 -0.08474113 0.97468795 1.60814669] [ 0. 0. 0. 1. ]] SLAMing on 102.48486062399999 meters Centerline goodness : 0.839470 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93601927 -0.27298977 -0.22213626 -5.82113332] [ 0.28488063 0.95829344 0.02273134 -0.92643168] [ 0.20666629 -0.08455929 0.97475062 1.60842038] [ 0. 0. 0. 1. ]] SLAMing on 102.514860624 meters Centerline goodness : 0.841016 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93585945 -0.27369263 -0.22194468 -5.82173785] [ 0.28551219 0.95811336 0.02239615 -0.92706376] [ 0.2065185 -0.08432756 0.97480202 1.60876463] [ 0. 0. 0. 1. ]] SLAMing on 102.544860624 meters Centerline goodness : 0.842602 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93572228 -0.2742458 -0.22184016 -5.82207625] [ 0.28602371 0.95796578 0.02218113 -0.9277309 ] [ 0.2064322 -0.08420692 0.97483072 1.60901563] [ 0. 0. 0. 1. ]] SLAMing on 102.574860624 meters Centerline goodness : 0.841029 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93552684 -0.27488942 -0.22186782 -5.82208206] [ 0.28663393 0.95778894 0.02193957 -0.9284084 ] [ 0.20647159 -0.0841199 0.9748299 1.60925651] [ 0. 0. 0. 1. ]] SLAMing on 102.604860624 meters Centerline goodness : 0.842716 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93541601 -0.27528883 -0.22183993 -5.82232034] [ 0.28697207 0.95769501 0.02161707 -0.92832684] [ 0.20650405 -0.08388282 0.97484345 1.60954894] [ 0. 0. 0. 1. ]] SLAMing on 102.634860624 meters Centerline goodness : 0.844268 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93535196 -0.27549493 -0.22185412 -5.82252365] [ 0.2871376 0.95765035 0.02139651 -0.92815015] [ 0.20656405 -0.08371593 0.97484508 1.60984721] [ 0. 0. 0. 1. ]] SLAMing on 102.664860624 meters Centerline goodness : 0.844625 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93528334 -0.27569988 -0.22188883 -5.82287012] [ 0.28726723 0.95762017 0.02100373 -0.9273873 ] [ 0.20669449 -0.08338583 0.97484573 1.61029634] [ 0. 0. 0. 1. ]] SLAMing on 102.694860624 meters Centerline goodness : 0.839623 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93526755 -0.27565841 -0.22200686 -5.822944 ] [ 0.28719021 0.95764788 0.0207921 -0.9269579 ] [ 0.20687289 -0.08320438 0.97482339 1.61073642] [ 0. 0. 0. 1. ]] SLAMing on 102.724860624 meters Centerline goodness : 0.843916 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93530332 -0.27532584 -0.22226869 -5.82300224] [ 0.28680819 0.95776889 0.02048929 -0.92623847] [ 0.20724081 -0.08291218 0.97477014 1.61163657] [ 0. 0. 0. 1. ]] SLAMing on 102.754860624 meters Centerline goodness : 0.844067 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.61 [[ 0.93533209 -0.27504111 -0.22250004 -5.82268612] [ 0.28650743 0.95786184 0.02035149 -0.92565471] [ 0.2075268 -0.08278331 0.97472024 1.61200925] [ 0. 0. 0. 1. ]] SLAMing on 102.784860624 meters Centerline goodness : 0.843836 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93535044 -0.27483649 -0.22267569 -5.82256518] [ 0.28626784 0.95793797 0.02013891 -0.92489774] [ 0.20777459 -0.08258183 0.97468454 1.61241466] [ 0. 0. 0. 1. ]] SLAMing on 102.814860624 meters Centerline goodness : 0.846018 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93536021 -0.27468521 -0.22282127 -5.82259814] [ 0.28606715 0.95800363 0.01986525 -0.92400497] [ 0.2080069 -0.08232301 0.97465689 1.61286127] [ 0. 0. 0. 1. ]] SLAMing on 102.84486062399999 meters Centerline goodness : 0.842291 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93547555 -0.2740433 -0.22312725 -5.82197447] [ 0.28544848 0.95818695 0.01992299 -0.92374879] [ 0.20833785 -0.08232881 0.97458571 1.61326149] [ 0. 0. 0. 1. ]] SLAMing on 102.874860624 meters Centerline goodness : 0.842099 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93548576 -0.27396713 -0.22317795 -5.82197123] [ 0.28536225 0.95821386 0.01986406 -0.92381157] [ 0.2084101 -0.0822691 0.9745753 1.61350889] [ 0. 0. 0. 1. ]] SLAMing on 102.904860624 meters Centerline goodness : 0.841660 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93551182 -0.27378023 -0.22329806 -5.82152347] [ 0.28517007 0.95827215 0.01981207 -0.92377551] [ 0.20855616 -0.08221235 0.97454885 1.61360929] [ 0. 0. 0. 1. ]] SLAMing on 102.934860624 meters Centerline goodness : 0.843584 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93552961 -0.27357641 -0.22347324 -5.82098726] [ 0.28497901 0.95832874 0.01982414 -0.92369813] [ 0.20873742 -0.08223125 0.97450845 1.6136304 ] [ 0. 0. 0. 1. ]] SLAMing on 102.964860624 meters Centerline goodness : 0.843698 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93557178 -0.27314915 -0.2238191 -5.81997017] [ 0.28459418 0.95844087 0.01993116 -0.92351738] [ 0.2090732 -0.08234464 0.97442689 1.61360298] [ 0. 0. 0. 1. ]] SLAMing on 102.994860624 meters Centerline goodness : 0.842336 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93557872 -0.27292396 -0.22406465 -5.81930479] [ 0.28438639 0.95850238 0.01993887 -0.9232385 ] [ 0.20932471 -0.08237532 0.9743703 1.61360179] [ 0. 0. 0. 1. ]] SLAMing on 103.024860624 meters Centerline goodness : 0.842006 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93559693 -0.27276319 -0.22418436 -5.81896674] [ 0.28422665 0.95855029 0.01991374 -0.92296095] [ 0.20946025 -0.0823504 0.97434327 1.61363936] [ 0. 0. 0. 1. ]] SLAMing on 103.054860624 meters Centerline goodness : 0.842151 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.9355705 -0.27282123 -0.22422402 -5.81899072] [ 0.28424284 0.95854998 0.0196965 -0.92249917] [ 0.20955631 -0.08216153 0.97433856 1.61384547] [ 0. 0. 0. 1. ]] SLAMing on 103.084860624 meters Centerline goodness : 0.841142 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93555293 -0.27290429 -0.22419625 -5.81912543] [ 0.28429028 0.95853926 0.01953255 -0.92280125] [ 0.20957039 -0.08201054 0.97434826 1.61419599] [ 0. 0. 0. 1. ]] SLAMing on 103.114860624 meters Centerline goodness : 0.842356 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93547983 -0.27319446 -0.22414789 -5.81945192] [ 0.28451603 0.95847861 0.01921929 -0.92279606] [ 0.20959036 -0.08175293 0.97436561 1.61457839] [ 0. 0. 0. 1. ]] SLAMing on 103.144860624 meters Centerline goodness : 0.839280 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.61 [[ 0.93542595 -0.27346027 -0.2240486 -5.81992014] [ 0.28472759 0.95842063 0.01897633 -0.92273937] [ 0.20954353 -0.08154377 0.97439321 1.61490139] [ 0. 0. 0. 1. ]] SLAMing on 103.174860624 meters Centerline goodness : 0.841559 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.9353517 -0.27385391 -0.22387774 -5.82067049] [ 0.28502747 0.95833958 0.01856324 -0.92237683] [ 0.20946728 -0.08117446 0.97444044 1.61535328] [ 0. 0. 0. 1. ]] SLAMing on 103.204860624 meters Centerline goodness : 0.841218 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93529531 -0.27406073 -0.22386022 -5.82099983] [ 0.28517942 0.9582996 0.01829125 -0.92201072] [ 0.20951225 -0.08094805 0.9744496 1.61568561] [ 0. 0. 0. 1. ]] SLAMing on 103.23486062399999 meters Centerline goodness : 0.843276 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93526723 -0.27427905 -0.22371012 -5.82149881] [ 0.28533264 0.95825908 0.01802274 -0.92192268] [ 0.20942899 -0.08068788 0.97448908 1.61601058] [ 0. 0. 0. 1. ]] SLAMing on 103.264860624 meters Centerline goodness : 0.845408 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93520392 -0.27450037 -0.22370332 -5.82163645] [ 0.28550486 0.95821247 0.01777168 -0.9217703 ] [ 0.20947697 -0.08048853 0.97449525 1.6162226 ] [ 0. 0. 0. 1. ]] SLAMing on 103.294860624 meters Centerline goodness : 0.844276 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93514204 -0.27479909 -0.22359524 -5.82201529] [ 0.28573759 0.95814859 0.01747296 -0.92160304] [ 0.20943592 -0.08022926 0.97452546 1.61648369] [ 0. 0. 0. 1. ]] SLAMing on 103.324860624 meters Centerline goodness : 0.845348 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93511352 -0.2750524 -0.22340296 -5.82255 ] [ 0.28593204 0.95809471 0.01724536 -0.92148504] [ 0.20929782 -0.08000443 0.97457361 1.6166894 ] [ 0. 0. 0. 1. ]] SLAMing on 103.354860624 meters Centerline goodness : 0.850614 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93509529 -0.27522725 -0.22326389 -5.82297014] [ 0.28605793 0.95806059 0.01705176 -0.92158317] [ 0.20920723 -0.07981143 0.97460888 1.61700301] [ 0. 0. 0. 1. ]] SLAMing on 103.384860624 meters Centerline goodness : 0.849039 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93506145 -0.27539939 -0.22319331 -5.82319409] [ 0.28617772 0.95802899 0.01681571 -0.92115087] [ 0.20919462 -0.07959667 0.97462915 1.61708589] [ 0. 0. 0. 1. ]] SLAMing on 103.414860624 meters Centerline goodness : 0.851222 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93506812 -0.27537614 -0.22319406 -5.82313782] [ 0.28613633 0.95804279 0.0167336 -0.92091171] [ 0.20922142 -0.07951099 0.97463039 1.61710163] [ 0. 0. 0. 1. ]] SLAMing on 103.444860624 meters Centerline goodness : 0.850997 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93508702 -0.27522708 -0.22329871 -5.822786 ] [ 0.28599634 0.95808426 0.01675217 -0.92090757] [ 0.20932833 -0.07952735 0.9746061 1.61713602] [ 0. 0. 0. 1. ]] SLAMing on 103.474860624 meters Centerline goodness : 0.853030 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93511254 -0.27500397 -0.22346667 -5.82226275] [ 0.28581123 0.9581371 0.01688912 -0.92100212] [ 0.20946713 -0.07966251 0.97456524 1.61706443] [ 0. 0. 0. 1. ]] SLAMing on 103.504860624 meters Centerline goodness : 0.855824 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93507852 -0.27513879 -0.22344309 -5.8223264 ] [ 0.28593321 0.95810187 0.01682313 -0.92112216] [ 0.20945254 -0.07962075 0.97457179 1.61713719] [ 0. 0. 0. 1. ]] SLAMing on 103.534860624 meters Centerline goodness : 0.852895 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93505634 -0.27516787 -0.22350006 -5.82221848] [ 0.28598667 0.95808436 0.01691101 -0.9216874 ] [ 0.20947854 -0.07973079 0.9745572 1.61723563] [ 0. 0. 0. 1. ]] SLAMing on 103.564860624 meters Centerline goodness : 0.856054 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93501187 -0.27525327 -0.22358094 -5.82204953] [ 0.28607236 0.95805948 0.01687108 -0.92217255] [ 0.20956002 -0.07973498 0.97453934 1.61745483] [ 0. 0. 0. 1. ]] SLAMing on 103.59486062399999 meters Centerline goodness : 0.854754 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93499096 -0.27533998 -0.22356161 -5.82203398] [ 0.28616342 0.95803197 0.01688891 -0.92288943] [ 0.20952898 -0.07976613 0.97454347 1.61761926] [ 0. 0. 0. 1. ]] SLAMing on 103.624860624 meters Centerline goodness : 0.856546 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93487462 -0.27588733 -0.22337328 -5.82282598] [ 0.28667771 0.95788072 0.0167458 -0.92426328] [ 0.20934501 -0.07969136 0.97458912 1.61822583] [ 0. 0. 0. 1. ]] SLAMing on 103.654860624 meters Centerline goodness : 0.855456 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93480155 -0.27621603 -0.22327286 -5.82330924] [ 0.28697144 0.95779557 0.01658446 -0.92478504] [ 0.20926886 -0.07957611 0.97461489 1.6186243 ] [ 0. 0. 0. 1. ]] SLAMing on 103.684860624 meters Centerline goodness : 0.856133 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93474116 -0.27651943 -0.22315009 -5.82378737] [ 0.28725125 0.95771336 0.0164876 -0.92535364] [ 0.20915468 -0.07951178 0.97464465 1.61892789] [ 0. 0. 0. 1. ]] SLAMing on 103.714860624 meters Centerline goodness : 0.857663 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93472347 -0.27665004 -0.2230623 -5.82387057] [ 0.28742052 0.95765912 0.01668713 -0.92662894] [ 0.20900115 -0.07971054 0.97466135 1.61901787] [ 0. 0. 0. 1. ]] SLAMing on 103.744860624 meters Centerline goodness : 0.856942 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93468571 -0.27677956 -0.22305984 -5.82393948] [ 0.28753615 0.95762577 0.0166085 -0.92691995] [ 0.20901095 -0.0796615 0.97466326 1.61920206] [ 0. 0. 0. 1. ]] SLAMing on 103.774860624 meters Centerline goodness : 0.857652 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93466346 -0.27684782 -0.22306838 -5.82393238] [ 0.28760685 0.95760454 0.01660875 -0.92723477] [ 0.2090132 -0.07967958 0.9746613 1.61927798] [ 0. 0. 0. 1. ]] SLAMing on 103.804860624 meters Centerline goodness : 0.856081 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93461471 -0.2770696 -0.22299726 -5.82412148] [ 0.28780465 0.957547 0.01649929 -0.92760509] [ 0.2089589 -0.07960012 0.97467943 1.6194637 ] [ 0. 0. 0. 1. ]] SLAMing on 103.834860624 meters Centerline goodness : 0.856264 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93456059 -0.27727592 -0.22296764 -5.82432667] [ 0.28799008 0.95749313 0.01638978 -0.9280726 ] [ 0.20894549 -0.07952971 0.97468806 1.61977546] [ 0. 0. 0. 1. ]] SLAMing on 103.864860624 meters Centerline goodness : 0.856642 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93446411 -0.27757689 -0.22299753 -5.82429882] [ 0.28828877 0.95740421 0.016333 -0.92895155] [ 0.20896511 -0.07955028 0.97468217 1.6200164 ] [ 0. 0. 0. 1. ]] SLAMing on 103.894860624 meters Centerline goodness : 0.856170 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93441159 -0.27778933 -0.22295309 -5.82444608] [ 0.28846727 0.95735325 0.0161677 -0.92923603] [ 0.20895365 -0.07942196 0.97469509 1.62023731] [ 0. 0. 0. 1. ]] SLAMing on 103.924860624 meters Centerline goodness : 0.855685 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93434125 -0.2781391 -0.22281172 -5.82493413] [ 0.28876218 0.95726838 0.01592666 -0.92941389] [ 0.20886079 -0.07922054 0.97473139 1.62051474] [ 0. 0. 0. 1. ]] SLAMing on 103.954860624 meters Centerline goodness : 0.855685 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93434125 -0.2781391 -0.22281172 -5.82493413] [ 0.28876218 0.95726838 0.01592666 -0.92941389] [ 0.20886079 -0.07922054 0.97473139 1.62051474] [ 0. 0. 0. 1. ]] SLAMing on 103.98486062399999 meters Centerline goodness : 0.856396 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93424889 -0.27854237 -0.22269522 -5.82568843] [ 0.28910268 0.95717044 0.01563274 -0.92953534] [ 0.2088029 -0.07898665 0.97476277 1.62108251] [ 0. 0. 0. 1. ]] SLAMing on 104.014860624 meters Centerline goodness : 0.856758 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93419372 -0.2788866 -0.22249576 -5.82652207] [ 0.28937692 0.95709225 0.01534367 -0.92963303] [ 0.20866982 -0.0787191 0.97481291 1.62161181] [ 0. 0. 0. 1. ]] SLAMing on 104.044860624 meters Centerline goodness : 0.854328 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93418027 -0.2788971 -0.22253906 -5.82653014] [ 0.28936064 0.95709945 0.01520063 -0.92949421] [ 0.2087526 -0.07859417 0.97480527 1.62184099] [ 0. 0. 0. 1. ]] SLAMing on 104.074860624 meters Centerline goodness : 0.854776 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93418325 -0.27882793 -0.2226132 -5.82632095] [ 0.2892695 0.95712895 0.01507745 -0.92901465] [ 0.20886553 -0.07848031 0.97479025 1.62184532] [ 0. 0. 0. 1. ]] SLAMing on 104.104860624 meters Centerline goodness : 0.854592 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93420069 -0.27870145 -0.22269837 -5.82614827] [ 0.28912253 0.95717514 0.01496358 -0.92850031] [ 0.20899098 -0.0783661 0.97477255 1.62193342] [ 0. 0. 0. 1. ]] SLAMing on 104.134860624 meters Centerline goodness : 0.856442 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93435115 -0.27821247 -0.2226786 -5.82634353] [ 0.28862939 0.95732327 0.01500786 -0.92813935] [ 0.20900003 -0.0782942 0.97477639 1.62222406] [ 0. 0. 0. 1. ]] SLAMing on 104.164860624 meters Centerline goodness : 0.857101 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93436834 -0.27808002 -0.22277187 -5.82626192] [ 0.28849126 0.95736564 0.01496077 -0.92801281] [ 0.20911384 -0.07824661 0.9747558 1.62243321] [ 0. 0. 0. 1. ]] SLAMing on 104.194860624 meters Centerline goodness : 0.855506 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.9343664 -0.27798197 -0.22290234 -5.826174 ] [ 0.28838802 0.95739772 0.01489791 -0.92808246] [ 0.20926484 -0.07820247 0.97472694 1.62274277] [ 0. 0. 0. 1. ]] SLAMing on 104.224860624 meters Centerline goodness : 0.854710 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93440306 -0.2778249 -0.22294447 -5.82601932] [ 0.28823245 0.95744443 0.01490674 -0.92803385] [ 0.20931548 -0.07818874 0.97471717 1.62278005] [ 0. 0. 0. 1. ]] SLAMing on 104.254860624 meters Centerline goodness : 0.855486 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93449174 -0.27745173 -0.22303749 -5.82571863] [ 0.28787355 0.95755125 0.01498045 -0.9276038 ] [ 0.20941348 -0.0782057 0.97469475 1.62273932] [ 0. 0. 0. 1. ]] SLAMing on 104.284860624 meters Centerline goodness : 0.854052 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93444626 -0.27757651 -0.22307281 -5.82579133] [ 0.28796041 0.95752831 0.01477619 -0.92715417] [ 0.20949701 -0.07804369 0.97468979 1.62287732] [ 0. 0. 0. 1. ]] SLAMing on 104.314860624 meters Centerline goodness : 0.853175 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93447154 -0.27750975 -0.22304995 -5.82564306] [ 0.28789528 0.95754753 0.01480014 -0.92715008] [ 0.20947374 -0.07804533 0.97469466 1.62277191] [ 0. 0. 0. 1. ]] SLAMing on 104.34486062399999 meters Centerline goodness : 0.853491 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93447784 -0.27741126 -0.22314604 -5.82525918] [ 0.28780082 0.95757602 0.01479352 -0.92722788] [ 0.20957541 -0.07804583 0.97467276 1.62274157] [ 0. 0. 0. 1. ]] SLAMing on 104.374860624 meters Centerline goodness : 0.851486 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93459396 -0.27686262 -0.22334102 -5.82387881] [ 0.28728745 0.9577278 0.01494613 -0.92699287] [ 0.20976188 -0.07813164 0.97462578 1.62171022] [ 0. 0. 0. 1. ]] SLAMing on 104.404860624 meters Centerline goodness : 0.850977 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93467149 -0.27647675 -0.22349455 -5.82350672] [ 0.28691161 0.95783995 0.01497855 -0.9264215 ] [ 0.20993079 -0.07812321 0.97459008 1.62145373] [ 0. 0. 0. 1. ]] SLAMing on 104.434860624 meters Centerline goodness : 0.850146 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93473567 -0.27619694 -0.22357208 -5.82325011] [ 0.28662639 0.95792569 0.01495608 -0.92559675] [ 0.21003462 -0.07806164 0.97457264 1.62112201] [ 0. 0. 0. 1. ]] SLAMing on 104.464860624 meters Centerline goodness : 0.851601 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93532139 -0.27313551 -0.22487974 -5.82273602] [ 0.28432699 0.95855208 0.01833204 -0.92582702] [ 0.21055182 -0.08108573 0.97421406 1.62145549] [ 0. 0. 0. 1. ]] SLAMing on 104.494860624 meters Centerline goodness : 0.848692 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93527077 -0.27338835 -0.224783 -5.82306491] [ 0.28448794 0.9585122 0.01791588 -0.92528986] [ 0.21055925 -0.08070425 0.97424413 1.62156721] [ 0. 0. 0. 1. ]] SLAMing on 104.524860624 meters Centerline goodness : 0.851090 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93519809 -0.2733149 -0.22517436 -5.82228722] [ 0.28450325 0.95850267 0.01818074 -0.92517178] [ 0.21086116 -0.08106543 0.97414884 1.62156857] [ 0. 0. 0. 1. ]] SLAMing on 104.554860624 meters Centerline goodness : 0.852423 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93507342 -0.27342398 -0.22555936 -5.82144662] [ 0.28466103 0.95845467 0.01824119 -0.92487324] [ 0.21120085 -0.08126481 0.97405864 1.62153005] [ 0. 0. 0. 1. ]] SLAMing on 104.584860624 meters Centerline goodness : 0.851882 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93492477 -0.27417636 -0.22526208 -5.82233646] [ 0.28525763 0.95829014 0.01755252 -0.92377436] [ 0.21105394 -0.08066801 0.97414009 1.62169499] [ 0. 0. 0. 1. ]] SLAMing on 104.614860624 meters Centerline goodness : 0.853656 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93485323 -0.27459876 -0.22504437 -5.82290179] [ 0.28558681 0.95819923 0.01715856 -0.92307884] [ 0.21092562 -0.08031044 0.97419742 1.62174249] [ 0. 0. 0. 1. ]] SLAMing on 104.644860624 meters Centerline goodness : 0.852576 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93477077 -0.27507154 -0.22480937 -5.82367935] [ 0.28595082 0.95809889 0.01669291 -0.92239489] [ 0.21079786 -0.07988847 0.97425977 1.62196108] [ 0. 0. 0. 1. ]] SLAMing on 104.674860624 meters Centerline goodness : 0.852248 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.92, Z:1.62 [[ 0.93463024 -0.27580865 -0.22449031 -5.82462896] [ 0.28653859 0.9579344 0.01604096 -0.92148997] [ 0.21062276 -0.0793175 0.97434429 1.62217445] [ 0. 0. 0. 1. ]] SLAMing on 104.704860624 meters Centerline goodness : 0.852606 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93455718 -0.27627272 -0.22422369 -5.82536328] [ 0.28691061 0.95782929 0.01566412 -0.92105652] [ 0.21044045 -0.07897117 0.97441181 1.62228682] [ 0. 0. 0. 1. ]] SLAMing on 104.73486062399999 meters Centerline goodness : 0.853993 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93446686 -0.27665926 -0.22412348 -5.82575476] [ 0.28721348 0.95774486 0.01527061 -0.92052136] [ 0.21042836 -0.07864116 0.97444111 1.62246442] [ 0. 0. 0. 1. ]] SLAMing on 104.764860624 meters Centerline goodness : 0.853725 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93439758 -0.27699245 -0.22400075 -5.82624623] [ 0.28747221 0.95767254 0.01493422 -0.91987562] [ 0.2103827 -0.07834849 0.97447454 1.62262086] [ 0. 0. 0. 1. ]] SLAMing on 104.794860624 meters Centerline goodness : 0.855297 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93433552 -0.27733176 -0.22383976 -5.82681229] [ 0.28772764 0.95760148 0.01456779 -0.91915497] [ 0.21030917 -0.07801609 0.97451708 1.62276073] [ 0. 0. 0. 1. ]] SLAMing on 104.824860624 meters Centerline goodness : 0.856485 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93430648 -0.27757384 -0.22366083 -5.82751823] [ 0.28786722 0.95756605 0.01413268 -0.9178577 ] [ 0.21024716 -0.07758887 0.97456457 1.62296022] [ 0. 0. 0. 1. ]] SLAMing on 104.854860624 meters Centerline goodness : 0.858639 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93426112 -0.27772792 -0.22365902 -5.82760867] [ 0.28796816 0.95753955 0.01386926 -0.91732812] [ 0.21031048 -0.07736419 0.97456877 1.6230729 ] [ 0. 0. 0. 1. ]] SLAMing on 104.884860624 meters Centerline goodness : 0.857984 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93423149 -0.27788962 -0.22358194 -5.82774134] [ 0.2880846 0.95750739 0.0136699 -0.91695528] [ 0.21028264 -0.07718136 0.97458927 1.62306427] [ 0. 0. 0. 1. ]] SLAMing on 104.914860624 meters Centerline goodness : 0.858603 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93420161 -0.27804272 -0.22351643 -5.82782664] [ 0.28820778 0.95747219 0.01353814 -0.91664835] [ 0.21024658 -0.07706652 0.97460614 1.62299351] [ 0. 0. 0. 1. ]] SLAMing on 104.944860624 meters Centerline goodness : 0.857415 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.9341571 -0.27824556 -0.22345006 -5.82766573] [ 0.2883629 0.95742857 0.0133184 -0.91591873] [ 0.21023168 -0.07687618 0.97462439 1.62263575] [ 0. 0. 0. 1. ]] SLAMing on 104.974860624 meters Centerline goodness : 0.859325 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93410973 -0.27849091 -0.22334241 -5.82789465] [ 0.28856348 0.95737083 0.0131228 -0.91572988] [ 0.21016693 -0.07670659 0.97465171 1.62263171] [ 0. 0. 0. 1. ]] SLAMing on 105.004860624 meters Centerline goodness : 0.858341 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93406283 -0.27869908 -0.22327884 -5.82794944] [ 0.28875166 0.95731536 0.01302982 -0.9157641 ] [ 0.21011687 -0.07664281 0.97466752 1.62253602] [ 0. 0. 0. 1. ]] SLAMing on 105.034860624 meters Centerline goodness : 0.858216 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.92, Z:1.62 [[ 0.93401379 -0.27897387 -0.2231408 -5.82812511] [ 0.28898357 0.9572478 0.01285069 -0.9155697 ] [ 0.21001604 -0.07648675 0.97470151 1.62241592] [ 0. 0. 0. 1. ]] SLAMing on 105.064860624 meters Centerline goodness : 0.860959 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.93391312 -0.27949136 -0.22291447 -5.82862858] [ 0.28941105 0.95712385 0.01245736 -0.91483954] [ 0.20987503 -0.076148 0.97475841 1.6222779 ] [ 0. 0. 0. 1. ]] SLAMing on 105.09486062399999 meters Centerline goodness : 0.861334 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.93386431 -0.27975548 -0.22278762 -5.82893278] [ 0.28960505 0.95706914 0.01214829 -0.91421069] [ 0.20982461 -0.07586528 0.97479131 1.62229004] [ 0. 0. 0. 1. ]] SLAMing on 105.124860624 meters Centerline goodness : 0.860239 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.93382754 -0.27998399 -0.22265464 -5.82917774] [ 0.28975814 0.9570269 0.01182061 -0.91338095] [ 0.2097769 -0.0755544 0.97482572 1.62220346] [ 0. 0. 0. 1. ]] SLAMing on 105.154860624 meters Centerline goodness : 0.862187 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.93383009 -0.2801208 -0.22247181 -5.82933899] [ 0.28977554 0.95702772 0.01131714 -0.91120345] [ 0.20974153 -0.07503517 0.97487344 1.62177837] [ 0. 0. 0. 1. ]] SLAMing on 105.184860624 meters Centerline goodness : 0.862141 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.93379902 -0.28033537 -0.22233191 -5.82955293] [ 0.28989473 0.95699646 0.01090016 -0.90978249] [ 0.20971515 -0.07463141 0.9749101 1.62160056] [ 0. 0. 0. 1. ]] SLAMing on 105.214860624 meters Centerline goodness : 0.859253 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.9337486 -0.28053608 -0.22229047 -5.82981542] [ 0.28999468 0.95697149 0.01042374 -0.90850325] [ 0.20980141 -0.0741962 0.97492476 1.62175551] [ 0. 0. 0. 1. ]] SLAMing on 105.244860624 meters Centerline goodness : 0.859636 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.9337074 -0.2807197 -0.22223172 -5.83007703] [ 0.29007642 0.95695175 0.00995038 -0.90709478] [ 0.20987177 -0.07375493 0.9749431 1.62182083] [ 0. 0. 0. 1. ]] SLAMing on 105.274860624 meters Centerline goodness : 0.858807 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 0.93367367 -0.28088945 -0.22215894 -5.83040317] [ 0.29015037 0.95693379 0.0095119 -0.90569499] [ 0.20991961 -0.07334051 0.97496407 1.62188591] [ 0. 0. 0. 1. ]] SLAMing on 105.304860624 meters Centerline goodness : 0.857948 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.93370405 -0.28103054 -0.2218526 -5.8310006 ] [ 0.2901323 0.95694548 0.00886535 -0.90301809] [ 0.20980941 -0.07264421 0.97503991 1.62158507] [ 0. 0. 0. 1. ]] SLAMing on 105.334860624 meters Centerline goodness : 0.857270 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.933642 -0.28132243 -0.22174377 -5.83152574] [ 0.29031242 0.95689548 0.00835067 -0.90157843] [ 0.20983638 -0.0721715 0.97506921 1.62177789] [ 0. 0. 0. 1. ]] SLAMing on 105.364860624 meters Centerline goodness : 0.857917 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.93360963 -0.28158955 -0.22154091 -5.83204246] [ 0.29048374 0.95684694 0.00794579 -0.90033396] [ 0.20974329 -0.0717723 0.97511871 1.62170226] [ 0. 0. 0. 1. ]] SLAMing on 105.394860624 meters Centerline goodness : 0.853214 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.93358052 -0.28192015 -0.22124295 -5.83270664] [ 0.29069085 0.95678812 0.00743738 -0.89857288] [ 0.20958588 -0.0712567 0.97519036 1.62148788] [ 0. 0. 0. 1. ]] SLAMing on 105.424860624 meters Centerline goodness : 0.853120 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.93351042 -0.28223739 -0.22113423 -5.83307779] [ 0.29092871 0.95671862 0.00706911 -0.89772139] [ 0.20956807 -0.07093338 0.97521776 1.62152339] [ 0. 0. 0. 1. ]] SLAMing on 105.454860624 meters Centerline goodness : 0.851358 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.9334592 -0.28246559 -0.22105905 -5.83317515] [ 0.29110616 0.95666636 0.00683253 -0.89704514] [ 0.2095498 -0.07072954 0.97523649 1.62136614] [ 0. 0. 0. 1. ]] SLAMing on 105.48486062399999 meters Centerline goodness : 0.851665 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.93342998 -0.28262772 -0.22097521 -5.83322805] [ 0.29122106 0.95663286 0.00662294 -0.89637365] [ 0.20952032 -0.07053469 0.97525694 1.62118635] [ 0. 0. 0. 1. ]] SLAMing on 105.514860624 meters Centerline goodness : 0.849642 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 0.93339693 -0.28281929 -0.22086969 -5.83318302] [ 0.29134121 0.95659843 0.00630464 -0.89517314] [ 0.20950053 -0.07023318 0.97528295 1.62082322] [ 0. 0. 0. 1. ]] SLAMing on 105.544860624 meters Centerline goodness : 0.848964 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.62 [[ 0.93337511 -0.28304428 -0.22067363 -5.83345882] [ 0.29151753 0.95654591 0.00611925 -0.89455315] [ 0.20935244 -0.07004179 0.97532851 1.62056697] [ 0. 0. 0. 1. ]] SLAMing on 105.574860624 meters Centerline goodness : 0.847585 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.62 [[ 0.93332901 -0.28339023 -0.22042444 -5.83410958] [ 0.29180219 0.95646062 0.0058789 -0.89415999] [ 0.20916127 -0.06980728 0.97538634 1.62056654] [ 0. 0. 0. 1. ]] SLAMing on 105.604860624 meters Centerline goodness : 0.847839 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.62 [[ 9.33308834e-01 -2.83585602e-01 -2.20258546e-01 -5.83427721e+00] [ 2.91970109e-01 9.56409948e-01 5.78497867e-03 -8.94128583e-01] [ 2.09016928e-01 -6.97080835e-02 9.75424373e-01 1.62041006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634860624 meters Centerline goodness : 0.847574 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.62 [[ 9.33249773e-01 -2.83863993e-01 -2.20150164e-01 -5.83450026e+00] [ 2.92200903e-01 9.56340752e-01 5.56766407e-03 -8.93993605e-01] [ 2.08958114e-01 -6.95240982e-02 9.75450104e-01 1.62041906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664860624 meters Centerline goodness : 0.846551 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.33170518e-01 -2.84343187e-01 -2.19867542e-01 -5.83514994e+00] [ 2.92600464e-01 9.56220449e-01 5.23659160e-03 -8.93877457e-01] [ 2.08752850e-01 -6.92199776e-02 9.75515680e-01 1.62052503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694860624 meters Centerline goodness : 0.846995 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.33090122e-01 -2.84675614e-01 -2.19778567e-01 -5.83540767e+00] [ 2.92874741e-01 9.56137970e-01 4.95664687e-03 -8.93679058e-01] [ 2.08727596e-01 -6.89925891e-02 9.75537192e-01 1.62065990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724860624 meters Centerline goodness : 0.846515 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.33019712e-01 -2.84972869e-01 -2.19692242e-01 -5.83553915e+00] [ 2.93128035e-01 9.56061415e-01 4.74605099e-03 -8.93469308e-01] [ 2.08686780e-01 -6.88261144e-02 9.75557683e-01 1.62059010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754860624 meters Centerline goodness : 0.844855 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32953734e-01 -2.85227400e-01 -2.19642118e-01 -5.83567629e+00] [ 2.93346554e-01 9.55995271e-01 4.56523285e-03 -8.93365585e-01] [ 2.08674696e-01 -6.86904094e-02 9.75569833e-01 1.62063334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784860624 meters Centerline goodness : 0.846604 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32802904e-01 -2.85939551e-01 -2.19356597e-01 -5.83671434e+00] [ 2.93948625e-01 9.55812580e-01 4.06420774e-03 -8.92965392e-01] [ 2.08501677e-01 -6.82706746e-02 9.75636288e-01 1.62094235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814860624 meters Centerline goodness : 0.844072 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32766362e-01 -2.86134735e-01 -2.19257444e-01 -5.83697134e+00] [ 2.94103692e-01 9.55765614e-01 3.88716722e-03 -8.92556451e-01] [ 2.08446472e-01 -6.81102425e-02 9.75659297e-01 1.62093511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84486062399999 meters Centerline goodness : 0.844072 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32766362e-01 -2.86134735e-01 -2.19257444e-01 -5.83697134e+00] [ 2.94103692e-01 9.55765614e-01 3.88716722e-03 -8.92556451e-01] [ 2.08446472e-01 -6.81102425e-02 9.75659297e-01 1.62093511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874860624 meters Centerline goodness : 0.845191 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32710233e-01 -2.86316556e-01 -2.19258868e-01 -5.83695436e+00] [ 2.94235963e-01 9.55725899e-01 3.63381090e-03 -8.92115336e-01] [ 2.08510959e-01 -6.79031367e-02 9.75659953e-01 1.62099178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904860624 meters Centerline goodness : 0.843969 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32709871e-01 -2.86349953e-01 -2.19216789e-01 -5.83682909e+00] [ 2.94230984e-01 9.55728061e-01 3.46441466e-03 -8.91562722e-01] [ 2.08519602e-01 -6.77316653e-02 9.75670025e-01 1.62080872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934860624 meters Centerline goodness : 0.841830 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32705812e-01 -2.86379614e-01 -2.19195311e-01 -5.83677749e+00] [ 2.94232123e-01 9.55728171e-01 3.33468248e-03 -8.91225848e-01] [ 2.08536149e-01 -6.76045795e-02 9.75675302e-01 1.62077437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964860624 meters Centerline goodness : 0.841173 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32689914e-01 -2.86407330e-01 -2.19226745e-01 -5.83655402e+00] [ 2.94241487e-01 9.55725631e-01 3.23519665e-03 -8.90985082e-01] [ 2.08594035e-01 -6.75230388e-02 9.75668575e-01 1.62069733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994860624 meters Centerline goodness : 0.841995 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32667751e-01 -2.86450187e-01 -2.19265037e-01 -5.83635510e+00] [ 2.94260614e-01 9.55720168e-01 3.10657906e-03 -8.90745480e-01] [ 2.08666138e-01 -6.74184705e-02 9.75660388e-01 1.62067047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024860624 meters Centerline goodness : 0.842680 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32670779e-01 -2.86393167e-01 -2.19326633e-01 -5.83612401e+00] [ 2.94200246e-01 9.55738849e-01 3.07713324e-03 -8.90686072e-01] [ 2.08737713e-01 -6.73959015e-02 9.75646637e-01 1.62062362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054860624 meters Centerline goodness : 0.841012 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32654058e-01 -2.86443408e-01 -2.19332130e-01 -5.83620283e+00] [ 2.94236072e-01 9.55728058e-01 3.00213599e-03 -8.90625218e-01] [ 2.08761928e-01 -6.73353786e-02 9.75645634e-01 1.62072384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084860624 meters Centerline goodness : 0.841741 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32639089e-01 -2.86505263e-01 -2.19314986e-01 -5.83627264e+00] [ 2.94282334e-01 9.55714045e-01 2.92777193e-03 -8.90717381e-01] [ 2.08763591e-01 -6.72710806e-02 9.75649714e-01 1.62085306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114860624 meters Centerline goodness : 0.842035 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32616295e-01 -2.86612194e-01 -2.19272196e-01 -5.83648182e+00] [ 2.94388230e-01 9.55681441e-01 2.92470472e-03 -8.91383748e-01] [ 2.08716112e-01 -6.72787809e-02 9.75659341e-01 1.62113091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144860624 meters Centerline goodness : 0.841974 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32575000e-01 -2.86777065e-01 -2.19232261e-01 -5.83667708e+00] [ 2.94534505e-01 9.55636649e-01 2.83189421e-03 -8.91716256e-01] [ 2.08694261e-01 -6.72124192e-02 9.75668589e-01 1.62135574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174860624 meters Centerline goodness : 0.844921 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32571872e-01 -2.86800327e-01 -2.19215138e-01 -5.83659034e+00] [ 2.94591249e-01 9.55618673e-01 2.99141927e-03 -8.92649023e-01] [ 2.08628140e-01 -6.73685748e-02 9.75671961e-01 1.62138260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204860624 meters Centerline goodness : 0.841171 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 9.32549352e-01 -2.86888188e-01 -2.19195970e-01 -5.83639024e+00] [ 2.94689648e-01 9.55588190e-01 3.03689793e-03 -8.93459288e-01] [ 2.08589830e-01 -6.74268404e-02 9.75676127e-01 1.62137396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23486062399999 meters Centerline goodness : 0.845188 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32519358e-01 -2.86986022e-01 -2.19195505e-01 -5.83612477e+00] [ 2.94861711e-01 9.55533984e-01 3.37304533e-03 -8.95344371e-01] [ 2.08480737e-01 -6.77777916e-02 9.75675127e-01 1.62134097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264860624 meters Centerline goodness : 0.843243 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32493149e-01 -2.87129856e-01 -2.19118626e-01 -5.83622155e+00] [ 2.95003307e-01 9.55490283e-01 3.37157994e-03 -8.95829328e-01] [ 2.08397637e-01 -6.77846946e-02 9.75692400e-01 1.62141201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294860624 meters Centerline goodness : 0.843813 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32473419e-01 -2.87212049e-01 -2.19094868e-01 -5.83621162e+00] [ 2.95098172e-01 9.55460783e-01 3.42934467e-03 -8.96452549e-01] [ 2.08351605e-01 -6.78522678e-02 9.75697534e-01 1.62150225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324860624 meters Centerline goodness : 0.842782 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32409718e-01 -2.87446662e-01 -2.19058290e-01 -5.83624761e+00] [ 2.95332400e-01 9.55388469e-01 3.41267053e-03 -8.97164642e-01] [ 2.08304803e-01 -6.78770176e-02 9.75705806e-01 1.62161009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354860624 meters Centerline goodness : 0.842470 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32284836e-01 -2.87909896e-01 -2.18981453e-01 -5.83620178e+00] [ 2.95829337e-01 9.55234239e-01 3.54283145e-03 -8.99157336e-01] [ 2.08158565e-01 -6.80840660e-02 9.75722590e-01 1.62167721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384860624 meters Centerline goodness : 0.842762 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32226575e-01 -2.88204931e-01 -2.18841336e-01 -5.83634973e+00] [ 2.96127058e-01 9.55141891e-01 3.56838543e-03 -9.00107731e-01] [ 2.07996101e-01 -6.81313846e-02 9.75753932e-01 1.62166714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414860624 meters Centerline goodness : 0.841781 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32145630e-01 -2.88564902e-01 -2.18711734e-01 -5.83659300e+00] [ 2.96470921e-01 9.55035486e-01 3.49479493e-03 -9.00988972e-01] [ 2.07868992e-01 -6.80993271e-02 9.75783257e-01 1.62181164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444860624 meters Centerline goodness : 0.845544 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32101846e-01 -2.88804245e-01 -2.18582381e-01 -5.83669941e+00] [ 2.96705683e-01 9.54962598e-01 3.48913010e-03 -9.01803760e-01] [ 2.07730323e-01 -6.81068592e-02 9.75812261e-01 1.62183183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474860624 meters Centerline goodness : 0.842668 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32066051e-01 -2.88913051e-01 -2.18591231e-01 -5.83674162e+00] [ 2.96778434e-01 9.54940649e-01 3.30428105e-03 -9.01431227e-01] [ 2.07787002e-01 -6.79529716e-02 9.75810922e-01 1.62193790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504860624 meters Centerline goodness : 0.843209 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32049319e-01 -2.88955099e-01 -2.18606993e-01 -5.83667664e+00] [ 2.96791924e-01 9.54936945e-01 3.16005858e-03 -9.00949155e-01] [ 2.07842779e-01 -6.78261204e-02 9.75807869e-01 1.62192318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534860624 meters Centerline goodness : 0.842128 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32038029e-01 -2.88883500e-01 -2.18749710e-01 -5.83627626e+00] [ 2.96695527e-01 9.54967402e-01 3.00429621e-03 -9.00420632e-01] [ 2.08030951e-01 -6.77021790e-02 9.75776377e-01 1.62194452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564860624 meters Centerline goodness : 0.841569 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32244722e-01 -2.88326636e-01 -2.18603589e-01 -5.83618553e+00] [ 2.96162971e-01 9.55131956e-01 3.23134173e-03 -9.00388368e-01] [ 2.07863592e-01 -6.77546897e-02 9.75808398e-01 1.62173454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59486062399999 meters Centerline goodness : 0.841478 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32263212e-01 -2.88209273e-01 -2.18679486e-01 -5.83603858e+00] [ 2.96035606e-01 9.55171636e-01 3.17259609e-03 -8.99975880e-01] [ 2.07962071e-01 -6.76946088e-02 9.75791585e-01 1.62175720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624860624 meters Centerline goodness : 0.841633 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32252670e-01 -2.88178226e-01 -2.18765330e-01 -5.83613884e+00] [ 2.95967932e-01 9.55193241e-01 2.97579570e-03 -8.99328179e-01] [ 2.08105605e-01 -6.75217157e-02 9.75772963e-01 1.62203837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654860624 meters Centerline goodness : 0.840464 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32248217e-01 -2.88076868e-01 -2.18917747e-01 -5.83596430e+00] [ 2.95850267e-01 9.55230044e-01 2.86045304e-03 -8.98804118e-01] [ 2.08292779e-01 -6.74335261e-02 9.75739124e-01 1.62221681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684860624 meters Centerline goodness : 0.839500 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32265038e-01 -2.87940223e-01 -2.19025861e-01 -5.83576613e+00] [ 2.95703276e-01 9.55275760e-01 2.79195442e-03 -8.98450805e-01] [ 2.08426180e-01 -6.73695060e-02 9.75715059e-01 1.62232778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714860624 meters Centerline goodness : 0.841612 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32298964e-01 -2.87748222e-01 -2.19133754e-01 -5.83544522e+00] [ 2.95533218e-01 9.55328120e-01 2.88109406e-03 -8.98685635e-01] [ 2.08515607e-01 -6.74473444e-02 9.75690575e-01 1.62236171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744860624 meters Centerline goodness : 0.843101 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32295224e-01 -2.87734774e-01 -2.19167324e-01 -5.83527497e+00] [ 2.95533743e-01 9.55327787e-01 2.93689827e-03 -8.99271318e-01] [ 2.08531587e-01 -6.75093957e-02 9.75682868e-01 1.62245046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774860624 meters Centerline goodness : 0.845185 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.90, Z:1.62 [[ 9.32278097e-01 -2.87780449e-01 -2.19180209e-01 -5.83514289e+00] [ 2.95583565e-01 9.55312343e-01 2.94674807e-03 -8.99865257e-01] [ 2.08537542e-01 -6.75332563e-02 9.75679944e-01 1.62255818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804860624 meters Centerline goodness : 0.844657 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 9.32276284e-01 -2.87734578e-01 -2.19248132e-01 -5.83472594e+00] [ 2.95565561e-01 9.55317558e-01 3.05985795e-03 -9.00457238e-01] [ 2.08571163e-01 -6.76548300e-02 9.75664335e-01 1.62246146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834860624 meters Centerline goodness : 0.845682 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 9.32280845e-01 -2.87687862e-01 -2.19290039e-01 -5.83427846e+00] [ 2.95568608e-01 9.55315870e-01 3.28410622e-03 -9.01506662e-01] [ 2.08546457e-01 -6.78769608e-02 9.75654188e-01 1.62233417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864860624 meters Centerline goodness : 0.844378 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 9.32263165e-01 -2.87742498e-01 -2.19293517e-01 -5.83415549e+00] [ 2.95633779e-01 9.55295560e-01 3.32591398e-03 -9.01961691e-01] [ 2.08533116e-01 -6.79311981e-02 9.75653264e-01 1.62231975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894860624 meters Centerline goodness : 0.843118 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 9.32213524e-01 -2.87878946e-01 -2.19325461e-01 -5.83416071e+00] [ 2.95769819e-01 9.55253548e-01 3.29756598e-03 -9.02665938e-01] [ 2.08562125e-01 -6.79438874e-02 9.75646180e-01 1.62259411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924860624 meters Centerline goodness : 0.846994 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.62 [[ 9.32066566e-01 -2.88516682e-01 -2.19111938e-01 -5.83485262e+00] [ 2.96387672e-01 9.55062351e-01 3.20210540e-03 -9.04484171e-01] [ 2.08341701e-01 -6.79266525e-02 9.75694473e-01 1.62315166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954860624 meters Centerline goodness : 0.846522 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.91, Z:1.62 [[ 9.31992716e-01 -2.88799271e-01 -2.19053778e-01 -5.83488732e+00] [ 2.96674721e-01 9.54973197e-01 3.20978711e-03 -9.05336987e-01] [ 2.08263502e-01 -6.79792167e-02 9.75707507e-01 1.62322064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98486062399999 meters Centerline goodness : 0.843397 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31905139e-01 -2.89180026e-01 -2.18924017e-01 -5.83508120e+00] [ 2.97033821e-01 9.54861902e-01 3.10772011e-03 -9.06131312e-01] [ 2.08143512e-01 -6.79239376e-02 9.75736961e-01 1.62334580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014860624 meters Centerline goodness : 0.843607 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31826283e-01 -2.89483341e-01 -2.18858800e-01 -5.83510798e+00] [ 2.97345070e-01 9.54764946e-01 3.13172276e-03 -9.07150667e-01] [ 2.08052129e-01 -6.79948068e-02 9.75751514e-01 1.62340686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044860624 meters Centerline goodness : 0.843801 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31705831e-01 -2.89977111e-01 -2.18717900e-01 -5.83538829e+00] [ 2.97805774e-01 9.54621872e-01 2.96676375e-03 -9.07725637e-01] [ 2.07932598e-01 -6.78996047e-02 9.75783623e-01 1.62347686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074860624 meters Centerline goodness : 0.842270 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31531161e-01 -2.90607714e-01 -2.18624913e-01 -5.83570373e+00] [ 2.98422327e-01 9.54429641e-01 2.85914608e-03 -9.08739963e-01] [ 2.07831207e-01 -6.79059389e-02 9.75804782e-01 1.62365124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104860624 meters Centerline goodness : 0.842161 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31475342e-01 -2.90914633e-01 -2.18454490e-01 -5.83605724e+00] [ 2.98702299e-01 9.54342366e-01 2.75420257e-03 -9.09194587e-01] [ 2.07679137e-01 -6.78183304e-02 9.75843251e-01 1.62371305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134860624 meters Centerline goodness : 0.785361 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31423072e-01 -2.91094630e-01 -2.18437583e-01 -5.83600488e+00] [ 2.98858651e-01 9.54293770e-01 2.62798728e-03 -9.09473405e-01] [ 2.07688632e-01 -6.77297295e-02 9.75847384e-01 1.62381376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164860624 meters Centerline goodness : 0.841327 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31389293e-01 -2.91248768e-01 -2.18376145e-01 -5.83612375e+00] [ 2.98987673e-01 9.54253665e-01 2.51269763e-03 -9.09684421e-01] [ 2.07654417e-01 -6.76320753e-02 9.75861438e-01 1.62394507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194860624 meters Centerline goodness : 0.841186 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.62 [[ 9.31330166e-01 -2.91472101e-01 -2.18330335e-01 -5.83641165e+00] [ 2.99176774e-01 9.54194831e-01 2.34132506e-03 -9.09751062e-01] [ 2.07647247e-01 -6.74999121e-02 9.75872114e-01 1.62420352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224860624 meters Centerline goodness : 0.841669 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.63 [[ 9.31123585e-01 -2.92375661e-01 -2.18003081e-01 -5.83797479e+00] [ 2.99969722e-01 9.53946976e-01 1.82568758e-03 -9.10500242e-01] [ 2.07429593e-01 -6.70942643e-02 9.75946373e-01 1.62520234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254860624 meters Centerline goodness : 0.842995 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.63 [[ 9.31060488e-01 -2.92619684e-01 -2.17945151e-01 -5.83823101e+00] [ 3.00201472e-01 9.53874196e-01 1.75898996e-03 -9.11023548e-01] [ 2.07377541e-01 -6.70651813e-02 9.75959434e-01 1.62544395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284860624 meters Centerline goodness : 0.841750 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.63 [[ 9.31002678e-01 -2.92884071e-01 -2.17836943e-01 -5.83830330e+00] [ 3.00448698e-01 9.53796491e-01 1.68356666e-03 -9.11577354e-01] [ 2.07279022e-01 -6.70162310e-02 9.75983725e-01 1.62545071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314860624 meters Centerline goodness : 0.843705 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.63 [[ 9.30955788e-01 -2.93081339e-01 -2.17772012e-01 -5.83831535e+00] [ 3.00644696e-01 9.53734741e-01 1.67636097e-03 -9.12318068e-01] [ 2.07205424e-01 -6.70326183e-02 9.75998228e-01 1.62552151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34486062399999 meters Centerline goodness : 0.840818 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.91, Z:1.63 [[ 9.30796958e-01 -2.93743020e-01 -2.17559327e-01 -5.83881960e+00] [ 3.01288843e-01 9.53531599e-01 1.58801506e-03 -9.14321284e-01] [ 2.06983225e-01 -6.70263177e-02 9.76045807e-01 1.62592452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374860624 meters Centerline goodness : 0.840848 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30747083e-01 -2.94019901e-01 -2.17398631e-01 -5.83909460e+00] [ 3.01561388e-01 9.53445438e-01 1.58901459e-03 -9.15476693e-01] [ 2.06810531e-01 -6.70380036e-02 9.76081611e-01 1.62613132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404860624 meters Centerline goodness : 0.842200 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30724170e-01 -2.94075915e-01 -2.17420965e-01 -5.83894186e+00] [ 3.01671443e-01 9.53410190e-01 1.83022164e-03 -9.16812640e-01] [ 2.06753139e-01 -6.72931275e-02 9.76076213e-01 1.62621893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434860624 meters Centerline goodness : 0.838904 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30722981e-01 -2.94741310e-01 -2.16523193e-01 -5.83955067e+00] [ 3.02253248e-01 9.53226220e-01 1.65755162e-03 -9.18903563e-01] [ 2.05907036e-01 -6.69875595e-02 9.76276067e-01 1.62586930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464860624 meters Centerline goodness : 0.839744 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30710575e-01 -2.94739044e-01 -2.16579597e-01 -5.83928097e+00] [ 3.02282095e-01 9.53216840e-01 1.78651646e-03 -9.19711040e-01] [ 2.05920763e-01 -6.71308643e-02 9.76263328e-01 1.62592206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494860624 meters Centerline goodness : 0.841096 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30707425e-01 -2.94777076e-01 -2.16541369e-01 -5.83909973e+00] [ 3.02339520e-01 9.53198434e-01 1.88688614e-03 -9.20397371e-01] [ 2.05850683e-01 -6.72251525e-02 9.76271619e-01 1.62585363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524860624 meters Centerline goodness : 0.833072 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30828913e-01 -2.94781258e-01 -2.16012834e-01 -5.83916381e+00] [ 3.02367169e-01 9.53189050e-01 2.17503987e-03 -9.22271425e-01] [ 2.05259907e-01 -6.73397792e-02 9.76388101e-01 1.62539690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554860624 meters Centerline goodness : 0.835627 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30849850e-01 -2.94742264e-01 -2.15975818e-01 -5.83885647e+00] [ 3.02352386e-01 9.53193428e-01 2.30712992e-03 -9.23043233e-01] [ 2.05186721e-01 -6.74483955e-02 9.76395987e-01 1.62523999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584860624 meters Centerline goodness : 0.839670 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30869432e-01 -2.94683571e-01 -2.15971510e-01 -5.83876587e+00] [ 3.02295587e-01 9.53211402e-01 2.32429413e-03 -9.23364820e-01] [ 2.05181574e-01 -6.74508486e-02 9.76396899e-01 1.62531280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614860624 meters Centerline goodness : 0.840378 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.30898704e-01 -2.94538321e-01 -2.16043470e-01 -5.83848528e+00] [ 3.02167628e-01 9.53251787e-01 2.39892585e-03 -9.23554924e-01] [ 2.05237248e-01 -6.75144998e-02 9.76380799e-01 1.62530668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644860624 meters Centerline goodness : 0.837845 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.31258180e-01 -2.93771050e-01 -2.15538331e-01 -5.83943187e+00] [ 3.01467921e-01 9.53471666e-01 2.97903218e-03 -9.23769545e-01] [ 2.04634538e-01 -6.77521407e-02 9.76490836e-01 1.62512580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674860624 meters Centerline goodness : 0.839730 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.31272025e-01 -2.93628458e-01 -2.15672771e-01 -5.83907352e+00] [ 3.01339765e-01 9.53512052e-01 3.01855212e-03 -9.23607164e-01] [ 2.04760254e-01 -6.78018754e-02 9.76461030e-01 1.62507248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704860624 meters Centerline goodness : 0.843466 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.31301869e-01 -2.93410589e-01 -2.15840348e-01 -5.83859537e+00] [ 3.01136437e-01 9.53576168e-01 3.05587608e-03 -9.23412567e-01] [ 2.04923585e-01 -6.78433363e-02 9.76423886e-01 1.62503556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73486062399999 meters Centerline goodness : 0.843466 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.31301869e-01 -2.93410589e-01 -2.15840348e-01 -5.83859537e+00] [ 3.01136437e-01 9.53576168e-01 3.05587608e-03 -9.23412567e-01] [ 2.04923585e-01 -6.78433363e-02 9.76423886e-01 1.62503556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764860624 meters Centerline goodness : 0.838216 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.63 [[ 9.31329731e-01 -2.93217254e-01 -2.15982811e-01 -5.83827520e+00] [ 3.00951120e-01 9.53634632e-01 3.06782484e-03 -9.23374156e-01] [ 2.05069150e-01 -6.78574253e-02 9.76392346e-01 1.62512886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794860624 meters Centerline goodness : 0.840619 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.62 [[ 9.31677374e-01 -2.92223861e-01 -2.15829762e-01 -5.83813207e+00] [ 3.00001456e-01 9.53932537e-01 3.44122747e-03 -9.23801046e-01] [ 2.04881423e-01 -6.79553566e-02 9.76424944e-01 1.62448966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824860624 meters Centerline goodness : 0.838717 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.62 [[ 9.31837560e-01 -2.91721496e-01 -2.15817819e-01 -5.83778184e+00] [ 2.99524461e-01 9.54081741e-01 3.62338283e-03 -9.23662744e-01] [ 2.04850821e-01 -6.80191200e-02 9.76426925e-01 1.62397426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854860624 meters Centerline goodness : 0.836876 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.92, Z:1.62 [[ 9.31997176e-01 -2.91106771e-01 -2.15958586e-01 -5.83732436e+00] [ 2.98959589e-01 9.54257872e-01 3.88299141e-03 -9.23526189e-01] [ 2.04949816e-01 -6.81818273e-02 9.76394803e-01 1.62364727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884860624 meters Centerline goodness : 0.836786 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.93, Z:1.62 [[ 0.93272857 -0.28744922 -0.21769326 -5.8355318 ] [ 0.29618559 0.95509778 0.00789484 -0.92506429] [ 0.20564898 -0.07184135 0.97598531 1.62371913] [ 0. 0. 0. 1. ]] SLAMing on 107.914860624 meters Centerline goodness : 0.838752 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93341168 -0.2839816 -0.21931047 -5.83383164] [ 0.29361903 0.95584762 0.01196615 -0.92693216] [ 0.20622922 -0.07556307 0.97558174 1.62379207] [ 0. 0. 0. 1. ]] SLAMing on 107.944860624 meters Centerline goodness : 0.840198 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93349663 -0.28351875 -0.21954762 -5.83284495] [ 0.2932054 0.95597211 0.01216243 -0.92671061] [ 0.20643313 -0.07572614 0.97552597 1.62322747] [ 0. 0. 0. 1. ]] SLAMing on 107.974860624 meters Centerline goodness : 0.841868 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93362673 -0.28288446 -0.21981246 -5.83162545] [ 0.29266265 0.95613317 0.01256733 -0.92713356] [ 0.20661488 -0.07606409 0.9754612 1.62264016] [ 0. 0. 0. 1. ]] SLAMing on 108.004860624 meters Centerline goodness : 0.839851 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.9339105 -0.28208001 -0.2196407 -5.83105599] [ 0.29189049 0.95636507 0.01287614 -0.928111 ] [ 0.20642459 -0.0761362 0.97549586 1.62180238] [ 0. 0. 0. 1. ]] SLAMing on 108.034860624 meters Centerline goodness : 0.838165 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93396259 -0.28157113 -0.22007176 -5.83026007] [ 0.2915514 0.95645887 0.01357233 -0.92880441] [ 0.20666801 -0.07683828 0.97538926 1.62193824] [ 0. 0. 0. 1. ]] SLAMing on 108.064860624 meters Centerline goodness : 0.843224 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93389859 -0.28137842 -0.22058924 -5.82945484] [ 0.29151571 0.95646157 0.01413698 -0.92941585] [ 0.20700728 -0.07750774 0.97526434 1.62232692] [ 0. 0. 0. 1. ]] SLAMing on 108.09486062399999 meters Centerline goodness : 0.837647 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93382076 -0.28133943 -0.22096814 -5.82872833] [ 0.29160366 0.95642791 0.01459335 -0.9301648 ] [ 0.20723441 -0.07806269 0.97517184 1.6226094 ] [ 0. 0. 0. 1. ]] SLAMing on 108.124860624 meters Centerline goodness : 0.837718 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.93, Z:1.62 [[ 0.93367608 -0.28140771 -0.22149195 -5.82704716] [ 0.29190383 0.95632251 0.01547277 -0.93246845] [ 0.20746358 -0.0791009 0.97503944 1.62273844] [ 0. 0. 0. 1. ]] SLAMing on 108.154860624 meters Centerline goodness : 0.838422 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.93, Z:1.62 [[ 0.93355584 -0.28107547 -0.22241869 -5.82490801] [ 0.29194065 0.95628751 0.01687779 -0.93450397] [ 0.20795228 -0.08068942 0.97480514 1.62295776] [ 0. 0. 0. 1. ]] SLAMing on 108.184860624 meters Centerline goodness : 0.840366 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.94, Z:1.62 [[ 0.933342 -0.28177883 -0.22242619 -5.82332736] [ 0.29268103 0.95605957 0.01696811 -0.93733624] [ 0.20787143 -0.08093697 0.97480186 1.62275108] [ 0. 0. 0. 1. ]] SLAMing on 108.214860624 meters Centerline goodness : 0.837628 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.94, Z:1.62 [[ 0.93318774 -0.28178766 -0.22306135 -5.82174212] [ 0.29289922 0.9559796 0.01769338 -0.93903242] [ 0.20825633 -0.08184574 0.97464382 1.62312163] [ 0. 0. 0. 1. ]] SLAMing on 108.244860624 meters Centerline goodness : 0.836440 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.94, Z:1.62 [[ 0.93301498 -0.28187252 -0.22367593 -5.82027713] [ 0.29317581 0.95588279 0.01833155 -0.93997894] [ 0.20864081 -0.08267999 0.97449117 1.62327538] [ 0. 0. 0. 1. ]] SLAMing on 108.274860624 meters Centerline goodness : 0.837953 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.94, Z:1.62 [[ 0.93275586 -0.28222202 -0.22431506 -5.81853587] [ 0.29375856 0.95568843 0.01911908 -0.94198086] [ 0.20897948 -0.0837279 0.97432911 1.62358775] [ 0. 0. 0. 1. ]] SLAMing on 108.304860624 meters Centerline goodness : 0.836493 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.94, Z:1.62 [[ 0.93264584 -0.28225606 -0.22472929 -5.81730417] [ 0.29390439 0.95563659 0.01946559 -0.94269803] [ 0.20926525 -0.08420342 0.97422679 1.6235726 ] [ 0. 0. 0. 1. ]] SLAMing on 108.334860624 meters Centerline goodness : 0.838453 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.94, Z:1.62 [[ 0.9324563 -0.2823678 -0.2253745 -5.81589253] [ 0.29418345 0.95554044 0.01996392 -0.94341833] [ 0.20971728 -0.08491694 0.97406764 1.62382581] [ 0. 0. 0. 1. ]] SLAMing on 108.364860624 meters Centerline goodness : 0.841560 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.94, Z:1.62 [[ 0.9323134 -0.28244278 -0.22587122 -5.8146387 ] [ 0.29440921 0.95546067 0.0204483 -0.94437934] [ 0.21003559 -0.08556279 0.97394253 1.62396339] [ 0. 0. 0. 1. ]] SLAMing on 108.394860624 meters Centerline goodness : 0.841294 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93213018 -0.28250259 -0.22655158 -5.81352695] [ 0.29476406 0.95532766 0.02152246 -0.94674775] [ 0.21035084 -0.086841 0.97376135 1.6248767 ] [ 0. 0. 0. 1. ]] SLAMing on 108.424860624 meters Centerline goodness : 0.839344 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93213215 -0.2822212 -0.22689391 -5.8127693 ] [ 0.29463222 0.95535511 0.02210151 -0.94747276] [ 0.21052674 -0.08745178 0.97366867 1.62497671] [ 0. 0. 0. 1. ]] SLAMing on 108.454860624 meters Centerline goodness : 0.839518 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.63 [[ 0.93205246 -0.28209577 -0.22737676 -5.8118621 ] [ 0.29461584 0.95535288 0.02241396 -0.9475318 ] [ 0.21090216 -0.08787978 0.97354888 1.62514124] [ 0. 0. 0. 1. ]] SLAMing on 108.48486062399999 meters Centerline goodness : 0.839086 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.63 [[ 0.93205785 -0.28177019 -0.22775804 -5.81123318] [ 0.29439957 0.95541059 0.02279264 -0.94754675] [ 0.21118015 -0.08829593 0.97345096 1.62524669] [ 0. 0. 0. 1. ]] SLAMing on 108.514860624 meters Centerline goodness : 0.841973 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93216567 -0.28134774 -0.22783901 -5.81061886] [ 0.29400839 0.95552725 0.02295083 -0.94759582] [ 0.21124922 -0.08838055 0.9734283 1.62476604] [ 0. 0. 0. 1. ]] SLAMing on 108.544860624 meters Centerline goodness : 0.838714 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93221671 -0.28099949 -0.22805986 -5.8096249 ] [ 0.29372825 0.95560714 0.02320998 -0.94775316] [ 0.21141364 -0.08862435 0.97337043 1.62426966] [ 0. 0. 0. 1. ]] SLAMing on 108.574860624 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93226773 -0.28067711 -0.22824822 -5.80867093] [ 0.29341882 0.95570181 0.02322592 -0.94753079] [ 0.21161826 -0.0886251 0.9733259 1.62368672] [ 0. 0. 0. 1. ]] SLAMing on 108.604860624 meters Centerline goodness : 0.842457 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93239378 -0.28016906 -0.22835749 -5.80776089] [ 0.2929695 0.95583276 0.02350773 -0.94777474] [ 0.21168543 -0.08882024 0.9732935 1.62299222] [ 0. 0. 0. 1. ]] SLAMing on 108.634860624 meters Centerline goodness : 0.842271 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93270161 -0.27917264 -0.22832072 -5.80695975] [ 0.29198519 0.95612929 0.02369439 -0.94767746] [ 0.2116893 -0.08876606 0.9732976 1.62196367] [ 0. 0. 0. 1. ]] SLAMing on 108.664860624 meters Centerline goodness : 0.844223 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93279379 -0.27865327 -0.22857842 -5.80614235] [ 0.29149504 0.95627677 0.02377789 -0.94700493] [ 0.21195844 -0.08880934 0.97323508 1.62147181] [ 0. 0. 0. 1. ]] SLAMing on 108.694860624 meters Centerline goodness : 0.842119 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.95, Z:1.62 [[ 0.93288755 -0.278041 -0.22894109 -5.80530322] [ 0.29092138 0.95644914 0.02387013 -0.94600772] [ 0.21233363 -0.08887201 0.97314757 1.62102573] [ 0. 0. 0. 1. ]] SLAMing on 108.724860624 meters Centerline goodness : 0.840733 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.95, Z:1.62 [[ 0.93308292 -0.27737554 -0.22895213 -5.80494654] [ 0.2902253 0.95666229 0.02380215 -0.94500996] [ 0.21242773 -0.08865708 0.97314664 1.62037175] [ 0. 0. 0. 1. ]] SLAMing on 108.754860624 meters Centerline goodness : 0.840432 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.95, Z:1.62 [[ 0.93404532 -0.27293521 -0.23035997 -5.80329118] [ 0.28670272 0.95761327 0.02789959 -0.94630553] [ 0.21298098 -0.09210431 0.97270545 1.61980074] [ 0. 0. 0. 1. ]] SLAMing on 108.784860624 meters Centerline goodness : 0.841483 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.95, Z:1.62 [[ 0.93423759 -0.2724518 -0.23015242 -5.80344805] [ 0.28618574 0.95776806 0.02789385 -0.94609101] [ 0.21283291 -0.09192582 0.97275475 1.61933792] [ 0. 0. 0. 1. ]] SLAMing on 108.814860624 meters Centerline goodness : 0.842629 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.95, Z:1.62 [[ 0.93451178 -0.27148934 -0.2301766 -5.80331663] [ 0.28524153 0.95804433 0.02807734 -0.94535759] [ 0.21289669 -0.09189453 0.97274375 1.61879856] [ 0. 0. 0. 1. ]] SLAMing on 108.84486062399999 meters Centerline goodness : 0.845354 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93450193 -0.27163814 -0.23004102 -5.80397105] [ 0.28529841 0.95803837 0.0277001 -0.94473627] [ 0.21286372 -0.09151614 0.97278663 1.61907232] [ 0. 0. 0. 1. ]] SLAMing on 108.874860624 meters Centerline goodness : 0.843314 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.95, Z:1.62 [[ 0.93498642 -0.26886074 -0.23133157 -5.80247063] [ 0.2833268 0.95851841 0.03111872 -0.94585455] [ 0.21336897 -0.09463801 0.97237715 1.61906768] [ 0. 0. 0. 1. ]] SLAMing on 108.904860624 meters Centerline goodness : 0.844922 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.9350393 -0.26873772 -0.23126078 -5.80289474] [ 0.28313457 0.95858391 0.03084955 -0.94473534] [ 0.21339243 -0.09432347 0.97240257 1.61903623] [ 0. 0. 0. 1. ]] SLAMing on 108.934860624 meters Centerline goodness : 0.852641 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93492877 -0.26907118 -0.23131988 -5.80273607] [ 0.28339789 0.9585184 0.03046505 -0.94389336] [ 0.2135271 -0.09403822 0.97240063 1.61896005] [ 0. 0. 0. 1. ]] SLAMing on 108.964860624 meters Centerline goodness : 0.847119 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93484086 -0.26953522 -0.23113489 -5.80267577] [ 0.28372309 0.95844115 0.02986262 -0.94351955] [ 0.21348016 -0.0934951 0.97246331 1.61870311] [ 0. 0. 0. 1. ]] SLAMing on 108.994860624 meters Centerline goodness : 0.844361 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93454903 -0.27058399 -0.23108962 -5.80201797] [ 0.2845709 0.95822088 0.02884695 -0.94238408] [ 0.21362937 -0.09272027 0.97250473 1.61815833] [ 0. 0. 0. 1. ]] SLAMing on 109.024860624 meters Centerline goodness : 0.846456 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93444679 -0.27066151 -0.23141206 -5.8012706 ] [ 0.28468783 0.95818534 0.02887373 -0.94207418] [ 0.21392064 -0.09286116 0.97242725 1.61813188] [ 0. 0. 0. 1. ]] SLAMing on 109.054860624 meters Centerline goodness : 0.846537 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93429281 -0.27092314 -0.23172742 -5.80127813] [ 0.28493149 0.95812047 0.02862173 -0.94072225] [ 0.2142685 -0.09276752 0.9723596 1.61858485] [ 0. 0. 0. 1. ]] SLAMing on 109.084860624 meters Centerline goodness : 0.846050 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93422775 -0.27068779 -0.23226413 -5.80059146] [ 0.28481015 0.95814738 0.02892718 -0.9399121 ] [ 0.21471303 -0.09317575 0.9722225 1.61877405] [ 0. 0. 0. 1. ]] SLAMing on 109.114860624 meters Centerline goodness : 0.844079 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93418601 -0.27062939 -0.23249998 -5.80012826] [ 0.28478534 0.95815313 0.02898101 -0.93942733] [ 0.21492746 -0.09328624 0.97216452 1.61876427] [ 0. 0. 0. 1. ]] SLAMing on 109.144860624 meters Centerline goodness : 0.842934 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93401818 -0.27109511 -0.23263164 -5.79993985] [ 0.28516055 0.95805716 0.02845925 -0.93859687] [ 0.21515924 -0.09291883 0.97214844 1.61899189] [ 0. 0. 0. 1. ]] SLAMing on 109.174860624 meters Centerline goodness : 0.848261 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.934059 -0.2707229 -0.23290105 -5.79914349] [ 0.28489259 0.95812508 0.02885385 -0.93865217] [ 0.21533694 -0.09330299 0.9720723 1.61869929] [ 0. 0. 0. 1. ]] SLAMing on 109.204860624 meters Centerline goodness : 0.842961 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93414446 -0.27064162 -0.23265261 -5.79938064] [ 0.28470397 0.95819207 0.02848875 -0.93844612] [ 0.21521565 -0.09284973 0.97214256 1.61849781] [ 0. 0. 0. 1. ]] SLAMing on 109.23486062399999 meters Centerline goodness : 0.842450 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93421589 -0.27056274 -0.23245749 -5.79971332] [ 0.28453295 0.95825236 0.02816781 -0.93813001] [ 0.21513177 -0.09245663 0.97219859 1.61838771] [ 0. 0. 0. 1. ]] SLAMing on 109.264860624 meters Centerline goodness : 0.841426 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93448761 -0.26969445 -0.23237431 -5.80033745] [ 0.28364177 0.95851552 0.02820195 -0.93688983] [ 0.21512847 -0.09226544 0.97221748 1.61821194] [ 0. 0. 0. 1. ]] SLAMing on 109.294860624 meters Centerline goodness : 0.837040 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.94, Z:1.62 [[ 0.93462963 -0.26925005 -0.23231845 -5.80066804] [ 0.28313589 0.95867098 0.02800029 -0.9356319 ] [ 0.21517787 -0.09194759 0.97223666 1.61797027] [ 0. 0. 0. 1. ]] SLAMing on 109.324860624 meters Centerline goodness : 0.837505 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.93, Z:1.62 [[ 0.93471864 -0.2687106 -0.23258476 -5.8002383 ] [ 0.28258591 0.9588362 0.02789895 -0.93415215] [ 0.21551395 -0.09180285 0.9721759 1.61763039] [ 0. 0. 0. 1. ]] SLAMing on 109.354860624 meters Centerline goodness : 0.838196 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.93, Z:1.62 [[ 0.93487084 -0.26818847 -0.23257568 -5.79999772] [ 0.28200044 0.95901495 0.027678 -0.93280745] [ 0.21562064 -0.0914618 0.97218439 1.61692324] [ 0. 0. 0. 1. ]] SLAMing on 109.384860624 meters Centerline goodness : 0.836712 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.93, Z:1.62 [[ 0.9352497 -0.26674472 -0.23271282 -5.7991977 ] [ 0.28051879 0.95945118 0.02761592 -0.93024074] [ 0.21591019 -0.0911081 0.97215333 1.61539342] [ 0. 0. 0. 1. ]] SLAMing on 109.414860624 meters Centerline goodness : 0.835546 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.93, Z:1.61 [[ 0.93529556 -0.26693836 -0.2323061 -5.79977659] [ 0.28048517 0.95948569 0.02674486 -0.92904864] [ 0.21575515 -0.09017277 0.97227495 1.61494918] [ 0. 0. 0. 1. ]] SLAMing on 109.444860624 meters Centerline goodness : 0.835282 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.93, Z:1.61 [[ 0.93546265 -0.26656107 -0.23206644 -5.79987847] [ 0.27996219 0.9596525 0.02623463 -0.92728883] [ 0.21571001 -0.08951134 0.97234609 1.61407291] [ 0. 0. 0. 1. ]] SLAMing on 109.474860624 meters Centerline goodness : 0.841272 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.93, Z:1.61 [[ 0.93556185 -0.26623447 -0.23204144 -5.80024241] [ 0.27964114 0.95974408 0.02630837 -0.92620736] [ 0.2156962 -0.08950145 0.97235006 1.6139234 ] [ 0. 0. 0. 1. ]] SLAMing on 109.504860624 meters Centerline goodness : 0.843210 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.92, Z:1.61 [[ 0.93557138 -0.26596971 -0.23230651 -5.80039152] [ 0.27941738 0.95980643 0.02641111 -0.92481331] [ 0.21594473 -0.08961996 0.97228398 1.61411651] [ 0. 0. 0. 1. ]] SLAMing on 109.534860624 meters Centerline goodness : 0.842509 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.92, Z:1.61 [[ 0.93554787 -0.26629974 -0.2320229 -5.80143741] [ 0.27954845 0.95979032 0.02559683 -0.92298717] [ 0.21587691 -0.08880871 0.97237347 1.61416661] [ 0. 0. 0. 1. ]] SLAMing on 109.564860624 meters Centerline goodness : 0.842607 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.92, Z:1.61 [[ 0.93562596 -0.26612879 -0.23190413 -5.80209447] [ 0.27921645 0.95990422 0.02494139 -0.92003175] [ 0.21596813 -0.08808726 0.97241884 1.61375279] [ 0. 0. 0. 1. ]] SLAMing on 109.59486062399999 meters Centerline goodness : 0.843472 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.92, Z:1.61 [[ 0.93553321 -0.26624283 -0.2321473 -5.80161893] [ 0.27925716 0.95990382 0.02449668 -0.91806518] [ 0.21631702 -0.08774625 0.97237212 1.61340314] [ 0. 0. 0. 1. ]] SLAMing on 109.624860624 meters Centerline goodness : 0.842487 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.91, Z:1.61 [[ 0.93539748 -0.26702148 -0.23179968 -5.80277024] [ 0.27974016 0.95979491 0.02321997 -0.91480516] [ 0.21627992 -0.08656358 0.97248637 1.61322674] [ 0. 0. 0. 1. ]] SLAMing on 109.654860624 meters Centerline goodness : 0.842487 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.91, Z:1.61 [[ 0.93539748 -0.26702148 -0.23179968 -5.80277024] [ 0.27974016 0.95979491 0.02321997 -0.91480516] [ 0.21627992 -0.08656358 0.97248637 1.61322674] [ 0. 0. 0. 1. ]] SLAMing on 109.684860624 meters Centerline goodness : 0.840016 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.91, Z:1.61 [[ 0.93520088 -0.26783931 -0.23164934 -5.80369386] [ 0.28041166 0.95961545 0.02252754 -0.91345515] [ 0.21626053 -0.08602495 0.97253848 1.61364154] [ 0. 0. 0. 1. ]] SLAMing on 109.714860624 meters Centerline goodness : 0.840464 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.91, Z:1.61 [[ 0.93497796 -0.26820907 -0.2321209 -5.80303019] [ 0.28077958 0.95951356 0.02228358 -0.91175102] [ 0.2167465 -0.08600947 0.97243166 1.61372227] [ 0. 0. 0. 1. ]] SLAMing on 109.744860624 meters Centerline goodness : 0.840601 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.91, Z:1.61 [[ 0.93486619 -0.2688812 -0.23179326 -5.80377937] [ 0.28123314 0.95940181 0.02135629 -0.90848893] [ 0.21664057 -0.08515322 0.97253061 1.61327504] [ 0. 0. 0. 1. ]] SLAMing on 109.774860624 meters Centerline goodness : 0.837640 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.91, Z:1.61 [[ 0.93477163 -0.26944578 -0.23151882 -5.80464783] [ 0.28163269 0.95929987 0.020659 -0.9066072 ] [ 0.2165295 -0.08451472 0.97261104 1.61328179] [ 0. 0. 0. 1. ]] SLAMing on 109.804860624 meters Centerline goodness : 0.839304 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.90, Z:1.61 [[ 0.93469604 -0.26984174 -0.2313628 -5.80535499] [ 0.28188142 0.9592405 0.02001328 -0.90467541] [ 0.21653215 -0.08392321 0.97266167 1.61344392] [ 0. 0. 0. 1. ]] SLAMing on 109.834860624 meters Centerline goodness : 0.834370 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.88, Z:1.63 [[ 9.33742785e-01 -2.77143565e-01 -2.26530033e-01 -5.74047638e+00] [ 2.84925032e-01 9.58548248e-01 1.72698352e-03 -8.81604903e-01] [ 2.16661344e-01 -6.61566354e-02 9.74002650e-01 1.63231644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864860624 meters Centerline goodness : 0.840482 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.61 [[ 9.35092762e-01 -2.76201458e-01 -2.22068190e-01 -5.83085825e+00] [ 2.82447060e-01 9.59275446e-01 -3.77845822e-03 -8.97164670e-01] [ 2.14068177e-01 -5.91892984e-02 9.75023816e-01 1.61130314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894860624 meters Centerline goodness : 0.840504 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.90, Z:1.61 [[ 9.35021001e-01 -2.76587049e-01 -2.21890361e-01 -5.83159625e+00] [ 2.82714660e-01 9.59194368e-01 -4.31111667e-03 -8.95900922e-01] [ 2.14028384e-01 -5.87006733e-02 9.75062091e-01 1.61157197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924860624 meters Centerline goodness : 0.840493 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 9.34968747e-01 -2.76928761e-01 -2.21684244e-01 -5.83224036e+00] [ 2.82954272e-01 9.59121595e-01 -4.75881524e-03 -8.94569790e-01] [ 2.13939999e-01 -5.82771604e-02 9.75106891e-01 1.61159370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954860624 meters Centerline goodness : 0.839879 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 9.34909139e-01 -2.77167203e-01 -2.21637640e-01 -5.83259433e+00] [ 2.83096273e-01 9.59077328e-01 -5.21341116e-03 -8.93283955e-01] [ 2.14012622e-01 -5.78707241e-02 9.75115161e-01 1.61177618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98486062399999 meters Centerline goodness : 0.839304 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 9.34901692e-01 -2.77294847e-01 -2.21509355e-01 -5.83289111e+00] [ 2.83117018e-01 9.59068554e-01 -5.68007194e-03 -8.91106909e-01] [ 2.14017712e-01 -5.74027593e-02 9.75141704e-01 1.61157160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014860624 meters Centerline goodness : 0.838110 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.93488249 -0.27732307 -0.22155507 -5.83289077] [ 0.28309864 0.9590726 -0.00590824 -0.8901905 ] [ 0.21412589 -0.05719843 0.97512996 1.61162315] [ 0. 0. 0. 1. ]] SLAMing on 110.044860624 meters Centerline goodness : 0.782005 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.934839 -0.27745407 -0.22157455 -5.8329779 ] [ 0.28317142 0.95904931 -0.00619409 -0.88955331] [ 0.21421949 -0.0569531 0.97512376 1.61178593] [ 0. 0. 0. 1. ]] SLAMing on 110.074860624 meters Centerline goodness : 0.840931 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.93477752 -0.27773048 -0.22148762 -5.83341083] [ 0.28336725 0.95898897 -0.00656981 -0.88890196] [ 0.21422882 -0.05662102 0.97514105 1.61206522] [ 0. 0. 0. 1. ]] SLAMing on 110.104860624 meters Centerline goodness : 0.840500 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.93469487 -0.27804484 -0.22144201 -5.83380217] [ 0.28361611 0.95891313 -0.00689265 -0.88847365] [ 0.21426012 -0.05636199 0.97514918 1.61236731] [ 0. 0. 0. 1. ]] SLAMing on 110.134860624 meters Centerline goodness : 0.842625 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.93462975 -0.27828129 -0.22141986 -5.83398811] [ 0.2838103 0.95885411 -0.00710689 -0.8882552 ] [ 0.21428706 -0.05619893 0.97515267 1.61255448] [ 0. 0. 0. 1. ]] SLAMing on 110.164860624 meters Centerline goodness : 0.839630 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.93454982 -0.27856013 -0.22140659 -5.8339668 ] [ 0.28406255 0.95877829 -0.00725725 -0.88821503] [ 0.21430141 -0.05611106 0.97515458 1.61254663] [ 0. 0. 0. 1. ]] SLAMing on 110.194860624 meters Centerline goodness : 0.841040 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.93432353 -0.27945048 -0.22123962 -5.83424842] [ 0.28487843 0.95853308 -0.0076564 -0.88850896] [ 0.21420508 -0.05587284 0.97518942 1.61249529] [ 0. 0. 0. 1. ]] SLAMing on 110.224860624 meters Centerline goodness : 0.840777 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.89, Z:1.61 [[ 0.93421393 -0.2799467 -0.22107505 -5.83457664] [ 0.28531735 0.95840028 -0.00793192 -0.88879186] [ 0.21409891 -0.05566644 0.97522454 1.61261257] [ 0. 0. 0. 1. ]] SLAMing on 110.254860624 meters Centerline goodness : 0.839743 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.61 [[ 0.93411659 -0.28038574 -0.22092993 -5.83501722] [ 0.28570724 0.95828213 -0.00816898 -0.88916761] [ 0.21400367 -0.0554905 0.97525547 1.61284757] [ 0. 0. 0. 1. ]] SLAMing on 110.284860624 meters Centerline goodness : 0.838623 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.61 [[ 0.9339853 -0.28091949 -0.22080695 -5.8355713 ] [ 0.28616602 0.95814198 -0.00854095 -0.88933469] [ 0.21396372 -0.05521032 0.97528014 1.61324401] [ 0. 0. 0. 1. ]] SLAMing on 110.314860624 meters Centerline goodness : 0.840422 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.61 [[ 0.93375853 -0.28197723 -0.22041746 -5.83729566] [ 0.28704022 0.95787241 -0.00940013 -0.88857878] [ 0.21378242 -0.05449122 0.97536033 1.61404742] [ 0. 0. 0. 1. ]] SLAMing on 110.34486062399999 meters Centerline goodness : 0.838713 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.61 [[ 0.93365885 -0.28238567 -0.22031676 -5.83796375] [ 0.28734945 0.95777491 -0.00987467 -0.88784433] [ 0.21380233 -0.05408832 0.9753784 1.61449734] [ 0. 0. 0. 1. ]] SLAMing on 110.374860624 meters Centerline goodness : 0.839919 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.61 [[ 0.93360685 -0.28257547 -0.22029377 -5.8382821 ] [ 0.28748035 0.95773265 -0.01015974 -0.88732213] [ 0.21385343 -0.05384493 0.97538066 1.61477394] [ 0. 0. 0. 1. ]] SLAMing on 110.404860624 meters Centerline goodness : 0.836037 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.61 [[ 0.93355772 -0.28278388 -0.22023456 -5.83825958] [ 0.28762189 0.95768677 -0.01047403 -0.88683613] [ 0.21387761 -0.05356617 0.97539071 1.61476915] [ 0. 0. 0. 1. ]] SLAMing on 110.434860624 meters Centerline goodness : 0.836719 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.61 [[ 0.93352712 -0.28288394 -0.22023575 -5.83836673] [ 0.28765792 0.95767257 -0.01077809 -0.88615827] [ 0.21396269 -0.05329092 0.97538713 1.61497178] [ 0. 0. 0. 1. ]] SLAMing on 110.464860624 meters Centerline goodness : 0.837562 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.89, Z:1.62 [[ 0.9335011 -0.28299611 -0.22020198 -5.83864437] [ 0.28770069 0.95765606 -0.01109903 -0.88525909] [ 0.21401874 -0.0529913 0.97539115 1.61515029] [ 0. 0. 0. 1. ]] SLAMing on 110.494860624 meters Centerline goodness : 0.837916 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93347086 -0.28312176 -0.22016861 -5.83908521] [ 0.28774821 0.95763751 -0.01146143 -0.88426397] [ 0.2140867 -0.05265421 0.97539449 1.61547937] [ 0. 0. 0. 1. ]] SLAMing on 110.524860624 meters Centerline goodness : 0.837305 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93353128 -0.28300274 -0.22006545 -5.83967428] [ 0.28754487 0.95769441 -0.01180562 -0.88289276] [ 0.21409648 -0.05225777 0.97541367 1.61588752] [ 0. 0. 0. 1. ]] SLAMing on 110.554860624 meters Centerline goodness : 0.839738 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93353982 -0.28295031 -0.22009663 -5.83979956] [ 0.28745824 0.95771846 -0.01196305 -0.88222156] [ 0.21417555 -0.05210061 0.97540472 1.61606779] [ 0. 0. 0. 1. ]] SLAMing on 110.584860624 meters Centerline goodness : 0.840144 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93353407 -0.28297165 -0.22009357 -5.83992006] [ 0.28743389 0.95772312 -0.01217281 -0.88143783] [ 0.21423326 -0.05189862 0.97540281 1.6161646 ] [ 0. 0. 0. 1. ]] SLAMing on 110.614860624 meters Centerline goodness : 0.837365 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93360537 -0.28262426 -0.22023744 -5.83946095] [ 0.28707992 0.95782897 -0.01219753 -0.88077223] [ 0.21439712 -0.05183807 0.97537003 1.61614457] [ 0. 0. 0. 1. ]] SLAMing on 110.644860624 meters Centerline goodness : 0.839914 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93359406 -0.28265118 -0.22025086 -5.83936961] [ 0.28706982 0.95782976 -0.0123724 -0.88028634] [ 0.2144599 -0.05167657 0.97536479 1.61614956] [ 0. 0. 0. 1. ]] SLAMing on 110.674860624 meters Centerline goodness : 0.839030 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93356594 -0.28279833 -0.22018115 -5.8396091 ] [ 0.28716508 0.95779812 -0.01260856 -0.87957729] [ 0.21445477 -0.05145741 0.97537751 1.61618855] [ 0. 0. 0. 1. ]] SLAMing on 110.704860624 meters Centerline goodness : 0.777554 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93357177 -0.28269816 -0.22028506 -5.83934523] [ 0.28705665 0.95782995 -0.01265986 -0.87919073] [ 0.21457455 -0.0514154 0.97535338 1.61620127] [ 0. 0. 0. 1. ]] SLAMing on 110.73486062399999 meters Centerline goodness : 0.838009 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93359083 -0.28257927 -0.22035679 -5.83920644] [ 0.28690303 0.95787383 -0.01282126 -0.87858711] [ 0.21469702 -0.05125122 0.97533507 1.61630533] [ 0. 0. 0. 1. ]] SLAMing on 110.764860624 meters Centerline goodness : 0.839709 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93357515 -0.28258985 -0.22040966 -5.83910089] [ 0.28688611 0.95787702 -0.01296033 -0.87817066] [ 0.21478781 -0.05113303 0.97532129 1.616363 ] [ 0. 0. 0. 1. ]] SLAMing on 110.794860624 meters Centerline goodness : 0.839716 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.9335774 -0.28260464 -0.22038117 -5.83919087] [ 0.28687231 0.95787946 -0.01308492 -0.87779511] [ 0.21479646 -0.05100547 0.97532606 1.61640956] [ 0. 0. 0. 1. ]] SLAMing on 110.824860624 meters Centerline goodness : 0.837800 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93351426 -0.28280149 -0.22039608 -5.83946009] [ 0.28700523 0.95783526 -0.01340206 -0.87722248] [ 0.21489326 -0.05074382 0.97531838 1.61673943] [ 0. 0. 0. 1. ]] SLAMing on 110.854860624 meters Centerline goodness : 0.839000 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93348478 -0.28295997 -0.22031753 -5.83996593] [ 0.28709566 0.95780379 -0.01371064 -0.87628653] [ 0.21490053 -0.05045354 0.97533184 1.61700303] [ 0. 0. 0. 1. ]] SLAMing on 110.884860624 meters Centerline goodness : 0.839254 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93344306 -0.28313965 -0.22026347 -5.84010409] [ 0.28723609 0.957759 -0.01389707 -0.87594988] [ 0.21489413 -0.0502955 0.97534141 1.61700855] [ 0. 0. 0. 1. ]] SLAMing on 110.914860624 meters Centerline goodness : 0.835888 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93338804 -0.28339361 -0.22016999 -5.84039064] [ 0.2874326 0.95769611 -0.01416542 -0.87559957] [ 0.21487033 -0.0500622 0.97535866 1.61715059] [ 0. 0. 0. 1. ]] SLAMing on 110.944860624 meters Centerline goodness : 0.836532 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93332866 -0.28372526 -0.21999451 -5.84083734] [ 0.28772688 0.95760525 -0.01433241 -0.87567554] [ 0.21473436 -0.04992149 0.97539582 1.61721817] [ 0. 0. 0. 1. ]] SLAMing on 110.974860624 meters Centerline goodness : 0.836814 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93318621 -0.28428907 -0.21987091 -5.84127675] [ 0.28823031 0.95744913 -0.01464392 -0.87598583] [ 0.21467832 -0.04970796 0.97541906 1.61743524] [ 0. 0. 0. 1. ]] SLAMing on 111.004860624 meters Centerline goodness : 0.836347 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93311454 -0.28466036 -0.21969463 -5.84169855] [ 0.28855822 0.95734729 -0.01484311 -0.87620822] [ 0.21454931 -0.04954438 0.97545577 1.61753652] [ 0. 0. 0. 1. ]] SLAMing on 111.034860624 meters Centerline goodness : 0.836368 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93305122 -0.284993 -0.21953227 -5.84212506] [ 0.28885544 0.95725513 -0.01500502 -0.87652215] [ 0.21442472 -0.04941264 0.97548984 1.61766085] [ 0. 0. 0. 1. ]] SLAMing on 111.064860624 meters Centerline goodness : 0.834768 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.9329568 -0.28538398 -0.21942558 -5.84254729] [ 0.28920433 0.95714643 -0.01521752 -0.87687172] [ 0.21436525 -0.04926154 0.97551055 1.61792727] [ 0. 0. 0. 1. ]] SLAMing on 111.09486062399999 meters Centerline goodness : 0.835699 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93278462 -0.28611354 -0.21920743 -5.84330029] [ 0.28987803 0.95693797 -0.01550653 -0.87756181] [ 0.21420454 -0.04907916 0.97555505 1.61823748] [ 0. 0. 0. 1. ]] SLAMing on 111.124860624 meters Centerline goodness : 0.776335 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93270296 -0.28647733 -0.21907974 -5.84375576] [ 0.2902149 0.95683365 -0.01564204 -0.87817505] [ 0.21410395 -0.04899082 0.97558157 1.61852084] [ 0. 0. 0. 1. ]] SLAMing on 111.154860624 meters Centerline goodness : 0.836571 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93263057 -0.28678145 -0.21898998 -5.844075 ] [ 0.29050954 0.95674329 -0.01570006 -0.87887398] [ 0.21401968 -0.04897632 0.97560079 1.61873026] [ 0. 0. 0. 1. ]] SLAMing on 111.184860624 meters Centerline goodness : 0.834591 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.88, Z:1.62 [[ 0.93258144 -0.28698489 -0.21893271 -5.84426953] [ 0.29071801 0.95668017 -0.01568759 -0.87973317] [ 0.21395068 -0.04901772 0.97561384 1.61892631] [ 0. 0. 0. 1. ]] SLAMing on 111.214860624 meters Centerline goodness : 0.835447 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93249912 -0.28745803 -0.21866248 -5.84507013] [ 0.29117927 0.95653911 -0.01573403 -0.88141821] [ 0.21368208 -0.04899801 0.9756737 1.61940459] [ 0. 0. 0. 1. ]] SLAMing on 111.244860624 meters Centerline goodness : 0.835335 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93242439 -0.28780496 -0.21852475 -5.84555793] [ 0.29151746 0.9564353 -0.01578235 -0.88232812] [ 0.21354703 -0.04898793 0.97570377 1.6197024 ] [ 0. 0. 0. 1. ]] SLAMing on 111.274860624 meters Centerline goodness : 0.836298 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93235337 -0.28809679 -0.21844319 -5.84602815] [ 0.29182025 0.95634354 -0.01574739 -0.88360275] [ 0.21344351 -0.04906401 0.9757226 1.62013835] [ 0. 0. 0. 1. ]] SLAMing on 111.304860624 meters Centerline goodness : 0.837967 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93223762 -0.28863624 -0.21822499 -5.84672354] [ 0.29236129 0.9561782 -0.01575203 -0.8855747 ] [ 0.21320859 -0.0491159 0.97577135 1.62066428] [ 0. 0. 0. 1. ]] SLAMing on 111.334860624 meters Centerline goodness : 0.837242 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.9322193 -0.28867632 -0.21825024 -5.84647603] [ 0.29242571 0.95616015 -0.0156513 -0.88662159] [ 0.21320034 -0.04923154 0.97576732 1.62075094] [ 0. 0. 0. 1. ]] SLAMing on 111.364860624 meters Centerline goodness : 0.839222 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93219644 -0.28873243 -0.21827363 -5.84598272] [ 0.29255741 0.95612527 -0.01531742 -0.88886765] [ 0.21311957 -0.04957872 0.97576739 1.62069806] [ 0. 0. 0. 1. ]] SLAMing on 111.394860624 meters Centerline goodness : 0.838041 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93216038 -0.28886287 -0.21825504 -5.8459947 ] [ 0.29268481 0.95608588 -0.01534227 -0.88934724] [ 0.21310238 -0.04957847 0.97577116 1.6208323 ] [ 0. 0. 0. 1. ]] SLAMing on 111.424860624 meters Centerline goodness : 0.838357 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93214418 -0.2888997 -0.21827549 -5.84599017] [ 0.29271516 0.95607597 -0.01538116 -0.88939641] [ 0.21313156 -0.04955509 0.97576597 1.62092688] [ 0. 0. 0. 1. ]] SLAMing on 111.454860624 meters Centerline goodness : 0.837461 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93216967 -0.28874984 -0.2183649 -5.8456893 ] [ 0.29258718 0.95611669 -0.0152847 -0.88965201] [ 0.21319578 -0.04964284 0.97574748 1.62093943] [ 0. 0. 0. 1. ]] SLAMing on 111.48486062399999 meters Centerline goodness : 0.838720 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93219519 -0.28870588 -0.21831408 -5.84560692] [ 0.29253486 0.95613236 -0.01530564 -0.8895639 ] [ 0.21315599 -0.04959663 0.97575852 1.6208303 ] [ 0. 0. 0. 1. ]] SLAMing on 111.514860624 meters Centerline goodness : 0.838720 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93219519 -0.28870588 -0.21831408 -5.84560692] [ 0.29253486 0.95613236 -0.01530564 -0.8895639 ] [ 0.21315599 -0.04959663 0.97575852 1.6208303 ] [ 0. 0. 0. 1. ]] SLAMing on 111.544860624 meters Centerline goodness : 0.838720 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93219519 -0.28870588 -0.21831408 -5.84560692] [ 0.29253486 0.95613236 -0.01530564 -0.8895639 ] [ 0.21315599 -0.04959663 0.97575852 1.6208303 ] [ 0. 0. 0. 1. ]] SLAMing on 111.574860624 meters Centerline goodness : 0.838280 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.9323155 -0.2882936 -0.21834513 -5.8456372 ] [ 0.29210446 0.95626327 -0.01534757 -0.88892296] [ 0.21322004 -0.04947081 0.97575092 1.6210739 ] [ 0. 0. 0. 1. ]] SLAMing on 111.604860624 meters Centerline goodness : 0.840581 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93232406 -0.28828598 -0.21831867 -5.84578514] [ 0.29204818 0.95627698 -0.01556303 -0.88816416] [ 0.21325972 -0.04924978 0.97575343 1.62119284] [ 0. 0. 0. 1. ]] SLAMing on 111.634860624 meters Centerline goodness : 0.840762 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93241254 -0.28798059 -0.21834386 -5.8458756 ] [ 0.29168206 0.95638465 -0.01581088 -0.88664533] [ 0.21337394 -0.04894472 0.97574381 1.62134556] [ 0. 0. 0. 1. ]] SLAMing on 111.664860624 meters Centerline goodness : 0.776630 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.89, Z:1.62 [[ 0.93241981 -0.28798251 -0.21831027 -5.84593021] [ 0.29162141 0.9563985 -0.01608931 -0.88540889] [ 0.21342506 -0.04866195 0.97574677 1.6213119 ] [ 0. 0. 0. 1. ]] SLAMing on 111.694860624 meters Centerline goodness : 0.776193 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93243936 -0.28793791 -0.21828558 -5.84592795] [ 0.29153146 0.9564226 -0.01628562 -0.88447127] [ 0.21346251 -0.04845177 0.97574904 1.62124063] [ 0. 0. 0. 1. ]] SLAMing on 111.724860624 meters Centerline goodness : 0.840513 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.9324369 -0.28786171 -0.21839658 -5.84567843] [ 0.29142047 0.95645341 -0.01646141 -0.8835354 ] [ 0.21362477 -0.04829601 0.97572125 1.62122295] [ 0. 0. 0. 1. ]] SLAMing on 111.754860624 meters Centerline goodness : 0.839963 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93242671 -0.28783135 -0.21848006 -5.84548306] [ 0.29133578 0.95647464 -0.01672521 -0.88257408] [ 0.21378468 -0.04805602 0.97569807 1.62125112] [ 0. 0. 0. 1. ]] SLAMing on 111.784860624 meters Centerline goodness : 0.835451 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93246897 -0.28776272 -0.21839013 -5.84551484] [ 0.29119983 0.95651112 -0.01700366 -0.88115693] [ 0.2137856 -0.04773979 0.97571339 1.62102359] [ 0. 0. 0. 1. ]] SLAMing on 111.814860624 meters Centerline goodness : 0.841348 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93247736 -0.28779883 -0.21830668 -5.84559994] [ 0.29119672 0.95650914 -0.0171679 -0.88051162] [ 0.21375324 -0.04756151 0.97572919 1.62091959] [ 0. 0. 0. 1. ]] SLAMing on 111.84486062399999 meters Centerline goodness : 0.840158 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93243812 -0.28796839 -0.21825068 -5.8457848 ] [ 0.29130069 0.95647193 -0.01747448 -0.87943266] [ 0.21378275 -0.0472827 0.97573628 1.62088706] [ 0. 0. 0. 1. ]] SLAMing on 111.874860624 meters Centerline goodness : 0.840597 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93240112 -0.28814821 -0.21817141 -5.84626272] [ 0.29142164 0.95643008 -0.0177464 -0.87874543] [ 0.21377929 -0.04703311 0.9757491 1.6211089 ] [ 0. 0. 0. 1. ]] SLAMing on 111.904860624 meters Centerline goodness : 0.840429 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93237886 -0.28843621 -0.21788577 -5.84715746] [ 0.29164451 0.95635715 -0.01801336 -0.87798135] [ 0.21357232 -0.04674991 0.97580803 1.6212411 ] [ 0. 0. 0. 1. ]] SLAMing on 111.934860624 meters Centerline goodness : 0.839790 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93233371 -0.2886576 -0.21778577 -5.84733368] [ 0.29184213 0.95629474 -0.01812559 -0.87802686] [ 0.21349948 -0.04665996 0.97582827 1.62122786] [ 0. 0. 0. 1. ]] SLAMing on 111.964860624 meters Centerline goodness : 0.841475 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93224534 -0.28907647 -0.21760843 -5.84786412] [ 0.29222979 0.95617345 -0.01827771 -0.87860465] [ 0.21335506 -0.04655236 0.975865 1.62144996] [ 0. 0. 0. 1. ]] SLAMing on 111.994860624 meters Centerline goodness : 0.839105 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.88, Z:1.62 [[ 0.93200587 -0.29021958 -0.21711209 -5.84922339] [ 0.29328782 0.95584147 -0.01869055 -0.87960653] [ 0.2129491 -0.04625663 0.97596773 1.62176317] [ 0. 0. 0. 1. ]] SLAMing on 112.024860624 meters Centerline goodness : 0.839491 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.62 [[ 0.93367324 -0.28932279 -0.21106065 -5.85608247] [ 0.29179599 0.9562707 -0.02003593 -0.88231233] [ 0.20762797 -0.04287964 0.9772676 1.61744133] [ 0. 0. 0. 1. ]] SLAMing on 112.054860624 meters Centerline goodness : 0.837921 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.62 [[ 0.93352524 -0.28999205 -0.21079669 -5.85673618] [ 0.29242835 0.95607343 -0.02023015 -0.88280027] [ 0.2074037 -0.04275757 0.97732057 1.61748116] [ 0. 0. 0. 1. ]] SLAMing on 112.084860624 meters Centerline goodness : 0.836293 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.88, Z:1.62 [[ 0.933341 -0.2909199 -0.21033353 -5.85780573] [ 0.29328366 0.95580393 -0.02058025 -0.88316781] [ 0.20702481 -0.042479 0.97741305 1.61749222] [ 0. 0. 0. 1. ]] SLAMing on 112.114860624 meters Centerline goodness : 0.836002 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.89, Z:1.61 [[ 0.93411851 -0.29186949 -0.20551112 -5.87267517] [ 0.29257658 0.95584258 -0.02763884 -0.8870972 ] [ 0.20450321 -0.03430979 0.97826442 1.6146598 ] [ 0. 0. 0. 1. ]] SLAMing on 112.144860624 meters Centerline goodness : 0.836067 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.89, Z:1.61 [[ 0.93466134 -0.29294852 -0.20146796 -5.89787215] [ 0.29353788 0.95554788 -0.02763628 -0.89332456] [ 0.20060828 -0.03330792 0.97910515 1.60582071] [ 0. 0. 0. 1. ]] SLAMing on 112.174860624 meters Centerline goodness : 0.836103 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.89, Z:1.61 [[ 0.9344989 -0.29367772 -0.20115967 -5.8983053 ] [ 0.29422422 0.9553299 -0.02787288 -0.89393394] [ 0.20035949 -0.03313887 0.97916183 1.60564147] [ 0. 0. 0. 1. ]] SLAMing on 112.204860624 meters Centerline goodness : 0.834361 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.90, Z:1.60 [[ 0.93669586 -0.29159363 -0.19384019 -5.90734466] [ 0.29124775 0.95614744 -0.03093243 -0.89703624] [ 0.19435951 -0.02748124 0.98054534 1.60067687] [ 0. 0. 0. 1. ]] SLAMing on 112.23486062399999 meters Centerline goodness : 0.836300 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.90, Z:1.60 [[ 0.93643765 -0.29275283 -0.19333986 -5.90901311] [ 0.2922429 0.95581492 -0.03181069 -0.89554069] [ 0.19410979 -0.02671348 0.98061602 1.60100624] [ 0. 0. 0. 1. ]] SLAMing on 112.264860624 meters Centerline goodness : 0.834545 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.89, Z:1.60 [[ 0.93631167 -0.29336933 -0.19301525 -5.91021469] [ 0.29276376 0.95563865 -0.0323132 -0.89482019] [ 0.19393254 -0.02625265 0.98066353 1.60141822] [ 0. 0. 0. 1. ]] SLAMing on 112.294860624 meters Centerline goodness : 0.833478 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.89, Z:1.60 [[ 0.93671319 -0.29334044 -0.19110148 -5.91321108] [ 0.29272859 0.95565734 -0.03207831 -0.89473789] [ 0.1920374 -0.02589269 0.98104597 1.60036485] [ 0. 0. 0. 1. ]] SLAMing on 112.324860624 meters Centerline goodness : 0.835131 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.89, Z:1.60 [[ 0.93665675 -0.29360039 -0.19097891 -5.91352141] [ 0.29291125 0.95558769 -0.03248327 -0.89361518] [ 0.1920342 -0.0255142 0.98105652 1.60037573] [ 0. 0. 0. 1. ]] SLAMing on 112.354860624 meters Centerline goodness : 0.835600 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.89, Z:1.60 [[ 0.93660735 -0.29376369 -0.19097008 -5.91359658] [ 0.29301417 0.95554507 -0.03280733 -0.89273079] [ 0.19211812 -0.02522935 0.98104745 1.60044427] [ 0. 0. 0. 1. ]] SLAMing on 112.384860624 meters Centerline goodness : 0.835020 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.89, Z:1.60 [[ 0.93865198 -0.29129686 -0.18460392 -5.92106371] [ 0.29020908 0.95637673 -0.03349993 -0.89402379] [ 0.18630932 -0.02212896 0.9822419 1.59531967] [ 0. 0. 0. 1. ]] SLAMing on 112.414860624 meters Centerline goodness : 0.833844 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.89, Z:1.60 [[ 0.93861153 -0.29147042 -0.1845356 -5.92139296] [ 0.29030978 0.95633231 -0.03389306 -0.89281346] [ 0.18635618 -0.02176007 0.98224125 1.59550612] [ 0. 0. 0. 1. ]] SLAMing on 112.444860624 meters Centerline goodness : 0.834549 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.89, Z:1.60 [[ 0.93858327 -0.29171072 -0.18429949 -5.92219177] [ 0.29048147 0.95626743 -0.03425081 -0.8917705 ] [ 0.18623093 -0.02138835 0.98227317 1.59569967] [ 0. 0. 0. 1. ]] SLAMing on 112.474860624 meters Centerline goodness : 0.837060 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.89, Z:1.60 [[ 0.93854047 -0.29198049 -0.18409012 -5.92315825] [ 0.29063265 0.95619878 -0.03487903 -0.89010059] [ 0.18621075 -0.02076722 0.98229032 1.59623907] [ 0. 0. 0. 1. ]] SLAMing on 112.504860624 meters Centerline goodness : 0.837503 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.89, Z:1.60 [[ 0.93850348 -0.29213161 -0.18403899 -5.92342699] [ 0.29074023 0.95615734 -0.03511793 -0.88974476] [ 0.18622928 -0.02054923 0.98229139 1.59645934] [ 0. 0. 0. 1. ]] SLAMing on 112.534860624 meters Centerline goodness : 0.835913 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.89, Z:1.60 [[ 0.93848726 -0.29222323 -0.1839762 -5.92356057] [ 0.29082197 0.95613049 -0.03517205 -0.88966326] [ 0.18618335 -0.0204958 0.98230122 1.59642254] [ 0. 0. 0. 1. ]] SLAMing on 112.564860624 meters Centerline goodness : 0.835551 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.89, Z:1.60 [[ 0.93845356 -0.29233828 -0.18396536 -5.92356618] [ 0.2909334 0.95609551 -0.03520135 -0.88978806] [ 0.18617915 -0.02048683 0.9823022 1.59642416] [ 0. 0. 0. 1. ]] SLAMing on 112.59486062399999 meters Centerline goodness : 0.833436 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.89, Z:1.59 [[ 0.93999876 -0.2899439 -0.17981899 -5.93620343] [ 0.28741752 0.95694728 -0.0405347 -0.89393535] [ 0.18383008 -0.01358056 0.98286422 1.59375247] [ 0. 0. 0. 1. ]] SLAMing on 112.624860624 meters Centerline goodness : 0.832764 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.90, Z:1.59 [[ 0.94136395 -0.28861812 -0.17473837 -5.94189832] [ 0.28595216 0.9573746 -0.0408073 -0.89641576] [ 0.1790678 -0.01155229 0.98376891 1.58997027] [ 0. 0. 0. 1. ]] SLAMing on 112.654860624 meters Centerline goodness : 0.834717 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.90, Z:1.59 [[ 0.9413204 -0.28881617 -0.17464573 -5.94195556] [ 0.28617893 0.95731303 -0.04066188 -0.8971555 ] [ 0.17893444 -0.01170407 0.98379138 1.58979631] [ 0. 0. 0. 1. ]] SLAMing on 112.684860624 meters Centerline goodness : 0.832414 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.90, Z:1.59 [[ 9.43464582e-01 -2.85921101e-01 -1.67701245e-01 -5.95328580e+00] [ 2.82511147e-01 9.58237290e-01 -4.43705704e-02 -9.01454851e-01] [ 1.73384069e-01 -5.51540932e-03 9.84838842e-01 1.58560395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714860624 meters Centerline goodness : 0.830433 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.91, Z:1.58 [[ 0.94386851 -0.28665717 -0.16413382 -5.97892835] [ 0.28353561 0.95801265 -0.04265337 -0.90949852] [ 0.16946917 -0.00627862 0.98551549 1.5765403 ] [ 0. 0. 0. 1. ]] SLAMing on 112.744860624 meters Centerline goodness : 0.828055 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.92, Z:1.57 [[ 0.94460894 -0.28651989 -0.16006344 -6.00624372] [ 0.28383491 0.95804296 -0.03989274 -0.91664242] [ 0.16477772 -0.00774855 0.98630029 1.56748725] [ 0. 0. 0. 1. ]] SLAMing on 112.774860624 meters Centerline goodness : 0.827939 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.56 [[ 9.46487172e-01 -2.84056731e-01 -1.53211640e-01 -6.01935058e+00] [ 2.80667687e-01 9.58806192e-01 -4.37759684e-02 -9.20813784e-01] [ 1.59335128e-01 -1.56816408e-03 9.87223307e-01 1.56387616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804860624 meters Centerline goodness : 0.830984 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.93, Z:1.56 [[ 9.47872470e-01 -2.82488469e-01 -1.47438275e-01 -6.03503061e+00] [ 2.78420299e-01 9.59260499e-01 -4.79732482e-02 -9.25489305e-01] [ 1.54983603e-01 4.42271262e-03 9.87907143e-01 1.56160191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834860624 meters Centerline goodness : 0.829937 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.93, Z:1.56 [[ 9.47771463e-01 -2.82930418e-01 -1.47240047e-01 -6.03563295e+00] [ 2.78847933e-01 9.59129720e-01 -4.81041631e-02 -9.26003994e-01] [ 1.54832436e-01 4.53417024e-03 9.87930341e-01 1.56183164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864860624 meters Centerline goodness : 0.829834 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.93, Z:1.56 [[ 9.47725926e-01 -2.83144208e-01 -1.47122150e-01 -6.03584166e+00] [ 2.79065992e-01 9.59066669e-01 -4.80967480e-02 -9.26624502e-01] [ 1.54718266e-01 4.52574631e-03 9.87948266e-01 1.56184547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894860624 meters Centerline goodness : 0.828157 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.93, Z:1.56 [[ 9.47672323e-01 -2.83374761e-01 -1.47023511e-01 -6.03585649e+00] [ 2.79308178e-01 9.58998862e-01 -4.80429491e-02 -9.27284397e-01] [ 1.54609539e-01 4.46410430e-03 9.87965567e-01 1.56166931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924860624 meters Centerline goodness : 0.827832 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 9.48406901e-01 -2.82500670e-01 -1.43936519e-01 -6.06314617e+00] [ 2.78976169e-01 9.59264843e-01 -4.45337790e-02 -9.34304108e-01] [ 1.50654064e-01 2.08128477e-03 9.88584352e-01 1.55314277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954860624 meters Centerline goodness : 0.774305 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 9.48376847e-01 -2.82640323e-01 -1.43860359e-01 -6.06342465e+00] [ 2.79106313e-01 9.59223547e-01 -4.46077610e-02 -9.34636282e-01] [ 1.50602196e-01 2.15263336e-03 9.88592102e-01 1.55336817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98486062399999 meters Centerline goodness : 0.773387 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 9.48340664e-01 -2.82775658e-01 -1.43832934e-01 -6.06363379e+00] [ 2.79239698e-01 9.59183640e-01 -4.46311146e-02 -9.35029230e-01] [ 1.50582790e-01 2.16163570e-03 9.88595039e-01 1.55357021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014860624 meters Centerline goodness : 0.774822 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 9.48321995e-01 -2.82832502e-01 -1.43844251e-01 -6.06376250e+00] [ 2.79278094e-01 9.59166627e-01 -4.47563122e-02 -9.35218005e-01] [ 1.50629145e-01 2.27084712e-03 9.88587732e-01 1.55392987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044860624 meters Centerline goodness : 0.833122 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 9.48308442e-01 -2.82855189e-01 -1.43888986e-01 -6.06381287e+00] [ 2.79287162e-01 9.59159766e-01 -4.48466790e-02 -9.35495819e-01] [ 1.50697642e-01 2.34213788e-03 9.88577127e-01 1.55426308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074860624 meters Centerline goodness : 0.774489 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 9.48346133e-01 -2.82724239e-01 -1.43897939e-01 -6.06374664e+00] [ 2.79176686e-01 9.59198663e-01 -4.47023887e-02 -9.35980754e-01] [ 1.50665159e-01 2.22038771e-03 9.88582359e-01 1.55429355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104860624 meters Centerline goodness : 0.831693 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.94, Z:1.55 [[ 0.95060424 -0.27840136 -0.13727438 -6.07203694] [ 0.27455777 0.9604423 -0.04656845 -0.94047829] [ 0.14480885 0.00657842 0.98943778 1.54975098] [ 0. 0. 0. 1. ]] SLAMing on 113.134860624 meters Centerline goodness : 0.772925 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.94, Z:1.55 [[ 0.95068441 -0.27802519 -0.13748146 -6.07127289] [ 0.27422922 0.9605536 -0.04620736 -0.94130168] [ 0.14490512 0.00622719 0.98942596 1.54953474] [ 0. 0. 0. 1. ]] SLAMing on 113.164860624 meters Centerline goodness : 0.836128 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.94, Z:1.55 [[ 9.50835741e-01 -2.77377444e-01 -1.37743046e-01 -6.07069611e+00] [ 2.73645125e-01 9.60743668e-01 -4.57159786e-02 -9.42307515e-01] [ 1.45016340e-01 5.77567344e-03 9.89412403e-01 1.54968381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194860624 meters Centerline goodness : 0.838018 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.94, Z:1.55 [[ 9.50916784e-01 -2.76972890e-01 -1.37997423e-01 -6.07021584e+00] [ 2.73270371e-01 9.60861812e-01 -4.54739704e-02 -9.42931483e-01] [ 1.45191511e-01 5.53135479e-03 9.89388109e-01 1.54990164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224860624 meters Centerline goodness : 0.833615 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.94, Z:1.55 [[ 9.50967576e-01 -2.76716671e-01 -1.38161333e-01 -6.06989211e+00] [ 2.73039039e-01 9.60936734e-01 -4.52799670e-02 -9.43773976e-01] [ 1.45294022e-01 5.33634282e-03 9.89374131e-01 1.55012247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254860624 meters Centerline goodness : 0.836171 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.94, Z:1.55 [[ 9.51029729e-01 -2.76441723e-01 -1.38283870e-01 -6.06947458e+00] [ 2.72813517e-01 9.61017708e-01 -4.49193789e-02 -9.44990756e-01] [ 1.45310838e-01 4.99395577e-03 9.89373449e-01 1.55007356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284860624 meters Centerline goodness : 0.837998 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.95, Z:1.55 [[ 9.51121817e-01 -2.76024145e-01 -1.38484517e-01 -6.06875875e+00] [ 2.72464975e-01 9.61140121e-01 -4.44128938e-02 -9.46452442e-01] [ 1.45362057e-01 4.50989173e-03 9.89368250e-01 1.54991956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314860624 meters Centerline goodness : 0.839412 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.95, Z:1.55 [[ 9.51257473e-01 -2.75450041e-01 -1.38695689e-01 -6.06765096e+00] [ 2.72029383e-01 9.61308733e-01 -4.34227350e-02 -9.49790639e-01] [ 1.45290171e-01 3.57689846e-03 9.89382622e-01 1.54953462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34486062399999 meters Centerline goodness : 0.839423 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.95, Z:1.55 [[ 9.51324563e-01 -2.75156962e-01 -1.38817228e-01 -6.06701404e+00] [ 2.71823468e-01 9.61394674e-01 -4.28051747e-02 -9.51699807e-01] [ 1.45236286e-01 2.98783364e-03 9.89392487e-01 1.54924902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374860624 meters Centerline goodness : 0.839013 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.95, Z:1.55 [[ 9.51335676e-01 -2.75125643e-01 -1.38803143e-01 -6.06670816e+00] [ 2.71847952e-01 9.61404696e-01 -4.24228875e-02 -9.53398356e-01] [ 1.45117618e-01 2.62505603e-03 9.89410929e-01 1.54906654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404860624 meters Centerline goodness : 0.838751 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.96, Z:1.55 [[ 9.51255196e-01 -2.75432826e-01 -1.38745489e-01 -6.06658911e+00] [ 2.72242650e-01 9.61318163e-01 -4.18488839e-02 -9.57364802e-01] [ 1.44905115e-01 2.03652874e-03 9.89443460e-01 1.54918192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434860624 meters Centerline goodness : 0.841038 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.96, Z:1.55 [[ 9.51881054e-01 -2.74899826e-01 -1.35471565e-01 -6.06969875e+00] [ 2.71679482e-01 9.61467379e-01 -4.20801503e-02 -9.60633225e-01] [ 1.41819317e-01 3.25045316e-03 9.89887224e-01 1.54710257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464860624 meters Centerline goodness : 0.841038 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.96, Z:1.55 [[ 9.51881054e-01 -2.74899826e-01 -1.35471565e-01 -6.06969875e+00] [ 2.71679482e-01 9.61467379e-01 -4.20801503e-02 -9.60633225e-01] [ 1.41819317e-01 3.25045316e-03 9.89887224e-01 1.54710257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494860624 meters Centerline goodness : 0.837432 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.96, Z:1.55 [[ 9.51864673e-01 -2.74967312e-01 -1.35449702e-01 -6.06964417e+00] [ 2.71805278e-01 9.61449333e-01 -4.16781741e-02 -9.62996782e-01] [ 1.41688161e-01 2.85603761e-03 9.89907222e-01 1.54722763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524860624 meters Centerline goodness : 0.838487 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.97, Z:1.55 [[ 9.51870593e-01 -2.74959105e-01 -1.35424759e-01 -6.06943497e+00] [ 2.71862499e-01 9.61452877e-01 -4.12207117e-02 -9.65180387e-01] [ 1.41538534e-01 2.41986991e-03 9.89929789e-01 1.54713588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554860624 meters Centerline goodness : 0.840315 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.97, Z:1.55 [[ 9.51834753e-01 -2.75132344e-01 -1.35324780e-01 -6.06965859e+00] [ 2.72068933e-01 9.61403823e-01 -4.10022536e-02 -9.66908145e-01] [ 1.41382807e-01 2.20970128e-03 9.89952534e-01 1.54731977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584860624 meters Centerline goodness : 0.840091 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.97, Z:1.55 [[ 9.51816366e-01 -2.75264278e-01 -1.35185734e-01 -6.07001055e+00] [ 2.72241206e-01 9.61366587e-01 -4.07309554e-02 -9.68742804e-01] [ 1.41174825e-01 1.96526282e-03 9.89982730e-01 1.54760720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614860624 meters Centerline goodness : 0.840547 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.97, Z:1.55 [[ 9.51853355e-01 -2.75110224e-01 -1.35238881e-01 -6.06983757e+00] [ 2.72167131e-01 9.61411647e-01 -4.01583981e-02 -9.71345932e-01] [ 1.41068221e-01 1.41732778e-03 9.89998863e-01 1.54782044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644860624 meters Centerline goodness : 0.840341 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.97, Z:1.55 [[ 9.51882964e-01 -2.74977465e-01 -1.35300465e-01 -6.06960634e+00] [ 2.72076255e-01 9.61450013e-01 -3.98545227e-02 -9.72522810e-01] [ 1.41043730e-01 1.12479728e-03 9.90002728e-01 1.54783440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674860624 meters Centerline goodness : 0.838412 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.97, Z:1.55 [[ 9.51931562e-01 -2.74731151e-01 -1.35458835e-01 -6.06909519e+00] [ 2.71887367e-01 9.61520823e-01 -3.94330597e-02 -9.74053707e-01] [ 1.41079981e-01 7.08028012e-04 9.89997948e-01 1.54775954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704860624 meters Centerline goodness : 0.834828 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.55 [[ 9.52121316e-01 -2.73904002e-01 -1.35799841e-01 -6.06767649e+00] [ 2.71185632e-01 9.61757021e-01 -3.84939800e-02 -9.76813434e-01] [ 1.41150105e-01 -1.76026608e-04 9.89988190e-01 1.54733604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73486062399999 meters Centerline goodness : 0.835005 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.55 [[ 9.52222839e-01 -2.73452599e-01 -1.35997580e-01 -6.06723009e+00] [ 2.70785998e-01 9.61885324e-01 -3.80994288e-02 -9.77603969e-01] [ 1.41232464e-01 -5.47094027e-04 9.89976309e-01 1.54735863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764860624 meters Centerline goodness : 0.838683 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.55 [[ 9.52314007e-01 -2.73035143e-01 -1.36197808e-01 -6.06675578e+00] [ 2.70402580e-01 9.62003727e-01 -3.78321889e-02 -9.77987028e-01] [ 1.41352316e-01 -8.00115144e-04 9.89959031e-01 1.54737631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794860624 meters Centerline goodness : 0.832147 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.55 [[ 9.52436273e-01 -2.72509710e-01 -1.36395030e-01 -6.06625328e+00] [ 2.69920240e-01 9.62152398e-01 -3.74943562e-02 -9.78373314e-01] [ 1.41450381e-01 -1.10479430e-03 9.89944730e-01 1.54734500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824860624 meters Centerline goodness : 0.838286 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.55 [[ 9.53167674e-01 -2.70416783e-01 -1.35447958e-01 -6.06758525e+00] [ 2.67910256e-01 9.62742536e-01 -3.67546597e-02 -9.79699403e-01] [ 1.40340588e-01 -1.25454372e-03 9.90102492e-01 1.54646468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854860624 meters Centerline goodness : 0.838462 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.55 [[ 9.53644015e-01 -2.69222573e-01 -1.34470441e-01 -6.06947742e+00] [ 2.66707654e-01 9.63077615e-01 -3.67223910e-02 -9.80646398e-01] [ 1.39391969e-01 -8.44207589e-04 9.90236924e-01 1.54631551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884860624 meters Centerline goodness : 0.836901 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.55 [[ 9.53934162e-01 -2.68526230e-01 -1.33803135e-01 -6.07049481e+00] [ 2.65981139e-01 9.63272288e-01 -3.68853921e-02 -9.80997140e-01] [ 1.38793547e-01 -4.02874743e-04 9.90321255e-01 1.54596530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914860624 meters Centerline goodness : 0.835706 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.98, Z:1.54 [[ 9.55513914e-01 -2.63877330e-01 -1.31764621e-01 -6.07494286e+00] [ 2.61124934e-01 9.64554249e-01 -3.80640263e-02 -9.84984828e-01] [ 1.37138359e-01 1.96367874e-03 9.90549956e-01 1.54458887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944860624 meters Centerline goodness : 0.834743 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.99, Z:1.55 [[ 9.55898015e-01 -2.56714931e-01 -1.42675960e-01 -6.07728589e+00] [ 2.54170890e-01 9.66485562e-01 -3.60945594e-02 -9.90563408e-01] [ 1.47160268e-01 -1.76135818e-03 9.89111092e-01 1.54747088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974860624 meters Centerline goodness : 0.833718 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.99, Z:1.55 [[ 9.57137994e-01 -2.52345479e-01 -1.42157027e-01 -6.08257066e+00] [ 2.49273894e-01 9.67634720e-01 -3.93137994e-02 -9.93637184e-01] [ 1.47476734e-01 2.19269553e-03 9.89063094e-01 1.54777811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004860624 meters Centerline goodness : 0.835341 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.99, Z:1.55 [[ 9.57348724e-01 -2.51902958e-01 -1.41521444e-01 -6.08396242e+00] [ 2.48772301e-01 9.67748478e-01 -3.96891030e-02 -9.93886814e-01] [ 1.46954965e-01 2.78969665e-03 9.89139250e-01 1.54787132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034860624 meters Centerline goodness : 0.836637 Centerline is valid? [False, False] Translation: X:-6.09, Y:-1.00, Z:1.55 [[ 9.57534637e-01 -2.44365702e-01 -1.53012494e-01 -6.08558208e+00] [ 2.41776490e-01 9.69678783e-01 -3.55975664e-02 -1.00038265e+00] [ 1.57071794e-01 -2.90892105e-03 9.87582903e-01 1.55065436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064860624 meters Centerline goodness : 0.829647 Centerline is valid? [False, False] Translation: X:-6.08, Y:-1.00, Z:1.55 [[ 9.57873476e-01 -2.43054892e-01 -1.52979483e-01 -6.08457281e+00] [ 2.40557625e-01 9.70006726e-01 -3.49139115e-02 -1.00126247e+00] [ 1.56877125e-01 -3.35727129e-03 9.87612422e-01 1.54928956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09486062399999 meters Centerline goodness : 0.830276 Centerline is valid? [False, False] Translation: X:-6.09, Y:-1.01, Z:1.55 [[ 0.95750746 -0.23648795 -0.16508456 -6.0855958 ] [ 0.23443494 0.97160175 -0.03209812 -1.00647041] [ 0.16798726 -0.0079674 0.98575697 1.5530567 ] [ 0. 0. 0. 1. ]] SLAMing on 114.124860624 meters Centerline goodness : 0.829512 Centerline is valid? [False, False] Translation: X:-6.08, Y:-1.01, Z:1.55 [[ 0.95749891 -0.23625483 -0.16546752 -6.08415807] [ 0.23427195 0.9716546 -0.0316857 -1.00705747] [ 0.16826318 -0.00842538 0.9857061 1.55248051] [ 0. 0. 0. 1. ]] SLAMing on 114.154860624 meters Centerline goodness : 0.827551 Centerline is valid? [False, False] Translation: X:-6.08, Y:-1.01, Z:1.55 [[ 0.95746628 -0.2361364 -0.16582496 -6.08277186] [ 0.23422375 0.97167927 -0.03128296 -1.00777221] [ 0.16851573 -0.00888777 0.9856589 1.55197221] [ 0. 0. 0. 1. ]] SLAMing on 114.184860624 meters Centerline goodness : 0.826702 Centerline is valid? [False, False] Translation: X:-6.08, Y:-1.01, Z:1.55 [[ 0.95737545 -0.23616355 -0.16631 -6.08100086] [ 0.23432581 0.97166773 -0.03087443 -1.00855311] [ 0.16888948 -0.0094123 0.98559005 1.55143396] [ 0. 0. 0. 1. ]] SLAMing on 114.214860624 meters Centerline goodness : 0.827706 Centerline is valid? [False, False] Translation: X:-6.08, Y:-1.01, Z:1.55 [[ 0.95685123 -0.2375587 -0.16733677 -6.07875679] [ 0.23588054 0.97131488 -0.03012916 -1.01006781] [ 0.16969414 -0.01064236 0.98543931 1.55201565] [ 0. 0. 0. 1. ]] SLAMing on 114.244860624 meters Centerline goodness : 0.825696 Centerline is valid? [False, False] Translation: X:-6.08, Y:-1.01, Z:1.55 [[ 0.95655152 -0.23819619 -0.16814209 -6.07682972] [ 0.23662157 0.97114973 -0.02963834 -1.01085817] [ 0.17035089 -0.01143545 0.98531711 1.55216824] [ 0. 0. 0. 1. ]] SLAMing on 114.274860624 meters Centerline goodness : 0.825486 Centerline is valid? [False, False] Translation: X:-6.08, Y:-1.01, Z:1.55 [[ 0.95622255 -0.23900406 -0.16886534 -6.07506562] [ 0.23751097 0.97094318 -0.02928973 -1.01152443] [ 0.17095901 -0.01209987 0.98520384 1.55230547] [ 0. 0. 0. 1. ]] SLAMing on 114.304860624 meters Centerline goodness : 0.827324 Centerline is valid? [False, False] Translation: X:-6.07, Y:-1.01, Z:1.55 [[ 0.95570786 -0.24036773 -0.16984064 -6.07259892] [ 0.23902271 0.97059172 -0.02863299 -1.0134228 ] [ 0.17172837 -0.013231 0.98505548 1.55258393] [ 0. 0. 0. 1. ]] SLAMing on 114.334860624 meters Centerline goodness : 0.832264 Centerline is valid? [False, False] Translation: X:-6.07, Y:-1.01, Z:1.55 [[ 0.95551092 -0.24072506 -0.17044155 -6.0713759 ] [ 0.23947749 0.9704936 -0.02815499 -1.01426178] [ 0.17219004 -0.01391452 0.98496547 1.5529033 ] [ 0. 0. 0. 1. ]] SLAMing on 114.364860624 meters Centerline goodness : 0.829366 Centerline is valid? [False, False] Translation: X:-6.07, Y:-1.01, Z:1.55 [[ 0.95535566 -0.24092146 -0.17103334 -6.07033831] [ 0.23977717 0.97043463 -0.02763235 -1.01459948] [ 0.17263391 -0.01461117 0.98487768 1.55321752] [ 0. 0. 0. 1. ]] SLAMing on 114.394860624 meters Centerline goodness : 0.827698 Centerline is valid? [False, False] Translation: X:-6.07, Y:-1.01, Z:1.55 [[ 0.95528394 -0.24090501 -0.17145663 -6.06951686] [ 0.23983664 0.97043116 -0.02723508 -1.01490958] [ 0.17294793 -0.01510435 0.98481515 1.55335075] [ 0. 0. 0. 1. ]] SLAMing on 114.424860624 meters Centerline goodness : 0.828204 Centerline is valid? [False, False] Translation: X:-6.07, Y:-1.01, Z:1.55 [[ 0.95522664 -0.24079094 -0.17193544 -6.06847396] [ 0.23979715 0.97045182 -0.02684368 -1.01475797] [ 0.17331878 -0.01558783 0.98474241 1.55322361] [ 0. 0. 0. 1. ]] SLAMing on 114.454860624 meters Centerline goodness : 0.832710 Centerline is valid? [False, False] Translation: X:-6.07, Y:-1.01, Z:1.55 [[ 0.95527086 -0.24039183 -0.17224793 -6.06715426] [ 0.23943482 0.97054724 -0.02662743 -1.01475687] [ 0.17357577 -0.01580575 0.98469367 1.55248321] [ 0. 0. 0. 1. ]] SLAMing on 114.48486062399999 meters Centerline goodness : 0.829579 Centerline is valid? [False, False] Translation: X:-6.07, Y:-1.01, Z:1.55 [[ 0.955322 -0.24010413 -0.17236556 -6.0663182 ] [ 0.23912719 0.9706204 -0.02672514 -1.01427028] [ 0.17371835 -0.01568618 0.98467044 1.55181124] [ 0. 0. 0. 1. ]] SLAMing on 114.514860624 meters Centerline goodness : 0.831316 Centerline is valid? [False, False] Translation: X:-6.06, Y:-1.02, Z:1.55 [[ 0.95573448 -0.2374074 -0.17380832 -6.0646296 ] [ 0.23706198 0.97122098 -0.02305265 -1.01553335] [ 0.17427916 -0.01917114 0.98450965 1.55180339] [ 0. 0. 0. 1. ]] SLAMing on 114.544860624 meters Centerline goodness : 0.830267 Centerline is valid? [False, False] Translation: X:-6.06, Y:-1.02, Z:1.55 [[ 0.95641417 -0.23365156 -0.17515387 -6.06327278] [ 0.23399066 0.97205297 -0.01901017 -1.01659974] [ 0.1747006 -0.02280277 0.98435752 1.55158295] [ 0. 0. 0. 1. ]] SLAMing on 114.574860624 meters Centerline goodness : 0.830838 Centerline is valid? [False, False] Translation: X:-6.06, Y:-1.02, Z:1.55 [[ 0.95696745 -0.23029679 -0.17656919 -6.06200226] [ 0.23133194 0.97275944 -0.01498696 -1.01769298] [ 0.1752108 -0.02650406 0.98417413 1.55172951] [ 0. 0. 0. 1. ]] SLAMing on 114.604860624 meters Centerline goodness : 0.831558 Centerline is valid? [False, False] Translation: X:-6.06, Y:-1.02, Z:1.55 [[ 0.95772776 -0.22618275 -0.17776082 -6.06124362] [ 0.22787102 0.97362765 -0.01113507 -1.01775338] [ 0.17559141 -0.02984217 0.98401072 1.55166794] [ 0. 0. 0. 1. ]] SLAMing on 114.634860624 meters Centerline goodness : 0.833271 Centerline is valid? [False, False] Translation: X:-6.06, Y:-1.02, Z:1.55 [[ 0.95832573 -0.22261438 -0.17903808 -6.05977923] [ 0.22498836 0.97433486 -0.00719853 -1.01900614] [ 0.17604554 -0.03338295 0.98381581 1.55148844] [ 0. 0. 0. 1. ]] SLAMing on 114.664860624 meters Centerline goodness : 0.832223 Centerline is valid? [False, False] Translation: X:-6.06, Y:-1.02, Z:1.55 [[ 9.58904521e-01 -2.19069775e-01 -1.80306829e-01 -6.05829580e+00] [ 2.22161693e-01 9.75004851e-01 -3.11825320e-03 -1.02020950e+00] [ 1.76483148e-01 -3.70671633e-02 9.83605472e-01 1.55120980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694860624 meters Centerline goodness : 0.832771 Centerline is valid? [False, False] Translation: X:-6.06, Y:-1.02, Z:1.55 [[ 9.59364864e-01 -2.15931384e-01 -1.81638916e-01 -6.05667657e+00] [ 2.19715167e-01 9.75563794e-01 7.27656459e-04 -1.02137053e+00] [ 1.77043226e-01 -4.06069128e-02 9.83365026e-01 1.55115261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724860624 meters Centerline goodness : 0.829786 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.02, Z:1.55 [[ 9.59762880e-01 -2.12782586e-01 -1.83245152e-01 -6.05478275e+00] [ 2.17318237e-01 9.76089013e-01 4.79811675e-03 -1.02239950e+00] [ 1.77842623e-01 -4.44275675e-02 9.83055539e-01 1.55135877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754860624 meters Centerline goodness : 0.832789 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.02, Z:1.55 [[ 9.59883278e-01 -2.12126184e-01 -1.83375500e-01 -6.05401292e+00] [ 2.16579870e-01 9.76255103e-01 4.37423068e-03 -1.02020403e+00] [ 1.78093378e-01 -4.39141928e-02 9.83033210e-01 1.55037292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784860624 meters Centerline goodness : 0.832832 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.02, Z:1.55 [[ 9.59849154e-01 -2.11993929e-01 -1.83706767e-01 -6.05312710e+00] [ 2.16429954e-01 9.76289087e-01 4.20642489e-03 -1.01898813e+00] [ 1.78459175e-01 -4.37971805e-02 9.82972090e-01 1.54997083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814860624 meters Centerline goodness : 0.829260 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.02, Z:1.55 [[ 9.59801061e-01 -2.11984642e-01 -1.83968571e-01 -6.05239017e+00] [ 2.16412230e-01 9.76293487e-01 4.09560731e-03 -1.01776060e+00] [ 1.78739112e-01 -4.37440170e-02 9.82923594e-01 1.54953403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84486062399999 meters Centerline goodness : 0.830017 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.02, Z:1.55 [[ 9.59651438e-01 -2.12217947e-01 -1.84479430e-01 -6.05155064e+00] [ 2.16578887e-01 9.76258552e-01 3.58118488e-03 -1.01524057e+00] [ 1.79339629e-01 -4.33910388e-02 9.82829851e-01 1.54941112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874860624 meters Centerline goodness : 0.837236 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.59507846e-01 -2.12580521e-01 -1.84808591e-01 -6.05104226e+00] [ 2.16905276e-01 9.76187186e-01 3.26788739e-03 -1.01367587e+00] [ 1.79713089e-01 -4.32215220e-02 9.82769101e-01 1.54942181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904860624 meters Centerline goodness : 0.828959 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.59366898e-01 -2.12825657e-01 -1.85257647e-01 -6.05034273e+00] [ 2.17137818e-01 9.76136142e-01 3.06610236e-03 -1.01240785e+00] [ 1.80184139e-01 -4.31679582e-02 9.82685201e-01 1.54952950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934860624 meters Centerline goodness : 0.837179 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.59042920e-01 -2.13726700e-01 -1.85896680e-01 -6.04900810e+00] [ 2.17964290e-01 9.75953747e-01 2.41927827e-03 -1.01002814e+00] [ 1.80909497e-01 -4.28390295e-02 9.82566319e-01 1.54936920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964860624 meters Centerline goodness : 0.830910 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.58932265e-01 -2.13938567e-01 -1.86223523e-01 -6.04829038e+00] [ 2.18181771e-01 9.75905318e-01 2.35069296e-03 -1.00932444e+00] [ 1.81233623e-01 -4.28847334e-02 9.82504592e-01 1.54933348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994860624 meters Centerline goodness : 0.830868 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.58720394e-01 -2.14350621e-01 -1.86839550e-01 -6.04729756e+00] [ 2.18637595e-01 9.75803179e-01 2.39940571e-03 -1.00823727e+00] [ 1.81804313e-01 -4.31505091e-02 9.82387513e-01 1.54958811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024860624 meters Centerline goodness : 0.837153 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.58633578e-01 -2.14787697e-01 -1.86783051e-01 -6.04749399e+00] [ 2.18973087e-01 9.75729198e-01 1.82204420e-03 -1.00717793e+00] [ 1.81858324e-01 -4.26471340e-02 9.82399497e-01 1.54966787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054860624 meters Centerline goodness : 0.838998 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.58585566e-01 -2.14816064e-01 -1.86996716e-01 -6.04710151e+00] [ 2.18970300e-01 9.75730212e-01 1.60027383e-03 -1.00593652e+00] [ 1.82114581e-01 -4.24807264e-02 9.82359235e-01 1.54960237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084860624 meters Centerline goodness : 0.838390 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 9.58940201e-01 -2.12104576e-01 -1.88269327e-01 -6.04619277e+00] [ 2.16881845e-01 9.76185543e-01 4.90414252e-03 -1.00554337e+00] [ 1.82745604e-01 -4.55349785e-02 9.82105193e-01 1.54986822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114860624 meters Centerline goodness : 0.831910 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 9.58928274e-01 -2.12057790e-01 -1.88382746e-01 -6.04576422e+00] [ 2.16800861e-01 9.76204554e-01 4.69626258e-03 -1.00430845e+00] [ 1.82904216e-01 -4.53449206e-02 9.82084460e-01 1.54944935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144860624 meters Centerline goodness : 0.830406 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.01, Z:1.55 [[ 0.95930898 -0.20926094 -0.18956829 -6.04436692] [ 0.21466775 0.97665258 0.00821584 -1.00508649] [ 0.18342311 -0.04857573 0.98183316 1.54936549] [ 0. 0. 0. 1. ]] SLAMing on 115.174860624 meters Centerline goodness : 0.841099 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95928931 -0.2090921 -0.1898539 -6.04378017] [ 0.21451586 0.9766857 0.00824587 -1.00409256] [ 0.18370344 -0.04863685 0.98177773 1.54916996] [ 0. 0. 0. 1. ]] SLAMing on 115.20486062399999 meters Centerline goodness : 0.837664 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95935644 -0.20903947 -0.18957246 -6.04443017] [ 0.21437666 0.97671941 0.00786358 -1.00289867] [ 0.1835153 -0.04818389 0.98183524 1.54902229] [ 0. 0. 0. 1. ]] SLAMing on 115.23486062399999 meters Centerline goodness : 0.837637 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95935663 -0.20871614 -0.18992743 -6.04374124] [ 0.21412633 0.97677164 0.00819003 -1.00258189] [ 0.18380633 -0.04852562 0.98176397 1.54899007] [ 0. 0. 0. 1. ]] SLAMing on 115.264860624 meters Centerline goodness : 0.836376 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.9593002 -0.20863647 -0.19029966 -6.04287746] [ 0.21408441 0.97677991 0.00829904 -1.0019861 ] [ 0.1841494 -0.04870146 0.98169097 1.54886141] [ 0. 0. 0. 1. ]] SLAMing on 115.294860624 meters Centerline goodness : 0.836809 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95922307 -0.208887 -0.19041355 -6.04248224] [ 0.21426081 0.97674495 0.00784922 -1.00053238] [ 0.18434587 -0.04832731 0.98167259 1.54857973] [ 0. 0. 0. 1. ]] SLAMing on 115.324860624 meters Centerline goodness : 0.838329 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95913643 -0.2091448 -0.19056697 -6.04159099] [ 0.21448884 0.97669668 0.00762478 -0.99982591] [ 0.18453144 -0.04818769 0.98164459 1.54803765] [ 0. 0. 0. 1. ]] SLAMing on 115.354860624 meters Centerline goodness : 0.838329 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95913643 -0.2091448 -0.19056697 -6.04159099] [ 0.21448884 0.97669668 0.00762478 -0.99982591] [ 0.18453144 -0.04818769 0.98164459 1.54803765] [ 0. 0. 0. 1. ]] SLAMing on 115.384860624 meters Centerline goodness : 0.835179 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95905656 -0.20935728 -0.19073552 -6.0407632 ] [ 0.21465735 0.97666195 0.0073256 -0.99881911] [ 0.18475045 -0.04796845 0.98161413 1.5475198 ] [ 0. 0. 0. 1. ]] SLAMing on 115.414860624 meters Centerline goodness : 0.838709 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.55 [[ 0.95893351 -0.20949271 -0.19120493 -6.03908666] [ 0.21472222 0.97665139 0.00681459 -0.99646396] [ 0.18531295 -0.04759068 0.98152648 1.54654552] [ 0. 0. 0. 1. ]] SLAMing on 115.444860624 meters Centerline goodness : 0.839269 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.55 [[ 0.9589351 -0.2093963 -0.19130252 -6.03870285] [ 0.21454817 0.97669252 0.00638762 -0.99485835] [ 0.1855062 -0.04716891 0.98151034 1.54608804] [ 0. 0. 0. 1. ]] SLAMing on 115.474860624 meters Centerline goodness : 0.834119 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.55 [[ 9.58942498e-01 -2.09395048e-01 -1.91266831e-01 -6.03874390e+00] [ 2.14462251e-01 9.76714161e-01 5.94906312e-03 -9.93008728e-01] [ 1.85567318e-01 -4.67243245e-02 9.81520050e-01 1.54565356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504860624 meters Centerline goodness : 0.836442 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.55 [[ 9.58925962e-01 -2.09497608e-01 -1.91237422e-01 -6.03890417e+00] [ 2.14451019e-01 9.76720120e-01 5.34477316e-03 -9.90768340e-01] [ 1.85665721e-01 -4.61363018e-02 9.81529257e-01 1.54570827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534860624 meters Centerline goodness : 0.837742 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.55 [[ 9.58975267e-01 -2.09426111e-01 -1.91068421e-01 -6.03946507e+00] [ 2.14171351e-01 9.76786669e-01 4.29372713e-03 -9.86010802e-01] [ 1.85733868e-01 -4.50389600e-02 9.81567330e-01 1.54579380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564860624 meters Centerline goodness : 0.837965 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.98, Z:1.55 [[ 9.58979244e-01 -2.09436438e-01 -1.91037137e-01 -6.03977497e+00] [ 2.14056111e-01 9.76814595e-01 3.63698255e-03 -9.83334885e-01] [ 1.85846147e-01 -4.43804575e-02 9.81576072e-01 1.54598629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59486062399999 meters Centerline goodness : 0.838267 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.98, Z:1.55 [[ 9.58961340e-01 -2.09665396e-01 -1.90875797e-01 -6.04060663e+00] [ 2.14108297e-01 9.76806143e-01 2.71974099e-03 -9.80095778e-01] [ 1.85878416e-01 -4.34762183e-02 9.81610428e-01 1.54638409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624860624 meters Centerline goodness : 0.835266 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.98, Z:1.55 [[ 9.59624713e-01 -2.06368177e-01 -1.91134992e-01 -6.04237108e+00] [ 2.11218503e-01 9.77425394e-01 5.13248846e-03 -9.76419062e-01] [ 1.85761013e-01 -4.52965096e-02 9.81550341e-01 1.54653509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654860624 meters Centerline goodness : 0.837079 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.97, Z:1.55 [[ 9.59580372e-01 -2.06632950e-01 -1.91071542e-01 -6.04266317e+00] [ 2.11346264e-01 9.77401356e-01 4.39835782e-03 -9.73866975e-01] [ 1.85844739e-01 -4.46028344e-02 9.81566259e-01 1.54659660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684860624 meters Centerline goodness : 0.834272 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.97, Z:1.55 [[ 9.59551808e-01 -2.06860687e-01 -1.90968540e-01 -6.04286185e+00] [ 2.11456069e-01 9.77380200e-01 3.77818185e-03 -9.71592808e-01] [ 1.85867312e-01 -4.40068180e-02 9.81588887e-01 1.54648032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714860624 meters Centerline goodness : 0.832387 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.97, Z:1.55 [[ 9.59480493e-01 -2.07289216e-01 -1.90862160e-01 -6.04332364e+00] [ 2.11741034e-01 9.77321193e-01 3.00346805e-03 -9.69241325e-01] [ 1.85911047e-01 -4.32951202e-02 9.81612253e-01 1.54660581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744860624 meters Centerline goodness : 0.833512 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.96, Z:1.55 [[ 9.59397109e-01 -2.08057206e-01 -1.90445233e-01 -6.04454978e+00] [ 2.12267855e-01 9.77209951e-01 1.75165719e-03 -9.64915516e-01] [ 1.85740532e-01 -4.21059361e-02 9.81696259e-01 1.54656846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774860624 meters Centerline goodness : 0.829007 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.59343429e-01 -2.08476878e-01 -1.90256608e-01 -6.04510057e+00] [ 2.12577292e-01 9.77143553e-01 1.17100297e-03 -9.63152384e-01] [ 1.85663891e-01 -4.15676285e-02 9.81733697e-01 1.54660189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804860624 meters Centerline goodness : 0.829810 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.59287871e-01 -2.08943615e-01 -1.90024593e-01 -6.04569151e+00] [ 2.12946489e-01 9.77063639e-01 6.61889099e-04 -9.61585393e-01] [ 1.85527823e-01 -4.11000120e-02 9.81779108e-01 1.54649204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834860624 meters Centerline goodness : 0.827878 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.59223626e-01 -2.09297618e-01 -1.89959320e-01 -6.04594342e+00] [ 2.13220538e-01 9.77004071e-01 2.18746327e-04 -9.60243050e-01] [ 1.85545246e-01 -4.07130550e-02 9.81791938e-01 1.54649739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864860624 meters Centerline goodness : 0.827833 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.59170553e-01 -2.09710329e-01 -1.89772042e-01 -6.04624523e+00] [ 2.13549074e-01 9.76932312e-01 -2.25601673e-04 -9.59057594e-01] [ 1.85441750e-01 -4.03092534e-02 9.81828153e-01 1.54632735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894860624 meters Centerline goodness : 0.827847 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.59057783e-01 -2.10573531e-01 -1.89385735e-01 -6.04683980e+00] [ 2.14286009e-01 9.76770550e-01 -8.94251221e-04 -9.57541778e-01] [ 1.85174714e-01 -3.97250747e-02 9.81902360e-01 1.54589022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924860624 meters Centerline goodness : 0.829047 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.58988079e-01 -2.11016497e-01 -1.89245613e-01 -6.04714595e+00] [ 2.14666204e-01 9.76686686e-01 -1.24004172e-03 -9.56781185e-01] [ 1.85095339e-01 -3.94354521e-02 9.81929000e-01 1.54578929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95486062399999 meters Centerline goodness : 0.829911 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.58926573e-01 -2.11496238e-01 -1.89021609e-01 -6.04763051e+00] [ 2.15086523e-01 9.76593760e-01 -1.55391309e-03 -9.56051136e-01] [ 1.84925970e-01 -3.91659121e-02 9.81971699e-01 1.54564038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98486062399999 meters Centerline goodness : 0.830562 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.55 [[ 9.58841924e-01 -2.12038426e-01 -1.88843509e-01 -6.04814742e+00] [ 2.15564523e-01 9.76487731e-01 -1.90961941e-03 -9.55535528e-01] [ 1.84808282e-01 -3.88769378e-02 9.82005337e-01 1.54565616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014860624 meters Centerline goodness : 0.831503 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.55 [[ 9.58690134e-01 -2.13141039e-01 -1.88372303e-01 -6.04960100e+00] [ 2.16528059e-01 9.76272780e-01 -2.65687080e-03 -9.54480149e-01] [ 1.84469040e-01 -3.82407733e-02 9.82094098e-01 1.54583781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044860624 meters Centerline goodness : 0.833001 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.55 [[ 9.58624975e-01 -2.13570792e-01 -1.88217096e-01 -6.05010319e+00] [ 2.16890631e-01 9.76191226e-01 -3.02393791e-03 -9.53701345e-01] [ 1.84381703e-01 -3.79237024e-02 9.82122793e-01 1.54587565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074860624 meters Centerline goodness : 0.828551 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.55 [[ 9.58558599e-01 -2.14068026e-01 -1.87990141e-01 -6.05088342e+00] [ 2.17302089e-01 9.76098190e-01 -3.48224229e-03 -9.52683653e-01] [ 1.84242274e-01 -3.75127171e-02 9.82164742e-01 1.54604415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104860624 meters Centerline goodness : 0.832541 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.55 [[ 9.58509392e-01 -2.14417142e-01 -1.87843113e-01 -6.05143973e+00] [ 2.17561928e-01 9.76038478e-01 -3.96197125e-03 -9.51345992e-01] [ 1.84191620e-01 -3.70699232e-02 9.82191055e-01 1.54620632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134860624 meters Centerline goodness : 0.831721 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.55 [[ 9.58433564e-01 -2.15012761e-01 -1.87548967e-01 -6.05242498e+00] [ 2.17989185e-01 9.75939091e-01 -4.85850283e-03 -9.48607484e-01] [ 1.84081009e-01 -3.62270944e-02 9.82243239e-01 1.54637152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164860624 meters Centerline goodness : 0.832384 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.55 [[ 9.58404390e-01 -2.15217841e-01 -1.87462812e-01 -6.05268242e+00] [ 2.18106664e-01 9.75910389e-01 -5.32875061e-03 -9.47020205e-01] [ 1.84093748e-01 -3.57797906e-02 9.82257247e-01 1.54643031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194860624 meters Centerline goodness : 0.831412 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.94, Z:1.55 [[ 9.58465875e-01 -2.15099673e-01 -1.87283999e-01 -6.05281291e+00] [ 2.17883625e-01 9.75957274e-01 -5.84177516e-03 -9.44350250e-01] [ 1.84037745e-01 -3.52069745e-02 9.82288439e-01 1.54616233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224860624 meters Centerline goodness : 0.831261 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.94, Z:1.55 [[ 0.95842009 -0.21529381 -0.18729522 -6.05294106] [ 0.217976 0.97593311 -0.0064058 -0.94260791] [ 0.18416673 -0.03468642 0.98228278 1.54636474] [ 0. 0. 0. 1. ]] SLAMing on 116.254860624 meters Centerline goodness : 0.833124 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.94, Z:1.55 [[ 0.95843418 -0.21517615 -0.18735834 -6.05270196] [ 0.21779273 0.97597166 -0.00675622 -0.940939 ] [ 0.1843102 -0.03432989 0.9822684 1.54635116] [ 0. 0. 0. 1. ]] SLAMing on 116.284860624 meters Centerline goodness : 0.829981 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.94, Z:1.55 [[ 0.95847021 -0.21498955 -0.18738823 -6.05243546] [ 0.2175376 0.97602605 -0.00710877 -0.93902551] [ 0.1844241 -0.03395044 0.98226021 1.54626616] [ 0. 0. 0. 1. ]] SLAMing on 116.314860624 meters Centerline goodness : 0.829964 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.94, Z:1.55 [[ 9.59199772e-01 -2.11461312e-01 -1.87669688e-01 -6.05410258e+00] [ 2.14524472e-01 9.76710117e-01 -4.07406502e-03 -9.37131128e-01] [ 1.84160390e-01 -3.63518985e-02 9.82223748e-01 1.54628324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34486062399999 meters Centerline goodness : 0.827892 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.93, Z:1.55 [[ 9.59186364e-01 -2.11474605e-01 -1.87723228e-01 -6.05413257e+00] [ 2.14434162e-01 9.76727432e-01 -4.63833916e-03 -9.34839541e-01] [ 1.84335317e-01 -3.58052413e-02 9.82211014e-01 1.54650655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374860624 meters Centerline goodness : 0.827023 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.93, Z:1.55 [[ 9.59201807e-01 -2.11369098e-01 -1.87763143e-01 -6.05398354e+00] [ 2.14255195e-01 9.76764782e-01 -5.02718767e-03 -9.33102951e-01] [ 1.84463018e-01 -3.54071414e-02 9.82201471e-01 1.54656666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404860624 meters Centerline goodness : 0.826242 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.93, Z:1.55 [[ 9.59224240e-01 -2.11311516e-01 -1.87713346e-01 -6.05399643e+00] [ 2.14136454e-01 9.76789174e-01 -5.33752088e-03 -9.31709584e-01] [ 1.84484244e-01 -3.50763910e-02 9.82209352e-01 1.54651887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434860624 meters Centerline goodness : 0.825886 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.93, Z:1.55 [[ 9.59250430e-01 -2.11284729e-01 -1.87609638e-01 -6.05398479e+00] [ 2.14067649e-01 9.76803135e-01 -5.53863533e-03 -9.30577136e-01] [ 1.84427911e-01 -3.48482157e-02 9.82228053e-01 1.54624702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464860624 meters Centerline goodness : 0.826681 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.93, Z:1.55 [[ 0.95926175 -0.21136131 -0.18746547 -6.05433022] [ 0.21402668 0.97680849 -0.00614468 -0.92821647] [ 0.18441661 -0.03422826 0.98225197 1.54631418] [ 0. 0. 0. 1. ]] SLAMing on 116.494860624 meters Centerline goodness : 0.826589 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.93, Z:1.55 [[ 0.95925372 -0.21139484 -0.18746872 -6.05435635] [ 0.21400686 0.97681098 -0.00643266 -0.92699739] [ 0.18448133 -0.03394904 0.98224951 1.54635611] [ 0. 0. 0. 1. ]] SLAMing on 116.524860624 meters Centerline goodness : 0.825174 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.92, Z:1.55 [[ 0.95925853 -0.21149252 -0.1873339 -6.05470369] [ 0.21398405 0.97681165 -0.00705868 -0.9242122 ] [ 0.18448279 -0.03331537 0.98227093 1.54636008] [ 0. 0. 0. 1. ]] SLAMing on 116.554860624 meters Centerline goodness : 0.826560 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.92, Z:1.55 [[ 0.95926741 -0.21147274 -0.18731077 -6.05462622] [ 0.21393171 0.97682189 -0.00722588 -0.92312735] [ 0.18449734 -0.03314016 0.98227413 1.54621836] [ 0. 0. 0. 1. ]] SLAMing on 116.584860624 meters Centerline goodness : 0.825831 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.92, Z:1.55 [[ 0.95923858 -0.21170846 -0.18719207 -6.05491746] [ 0.21410883 0.97678072 -0.00753925 -0.9221254 ] [ 0.18444173 -0.03284753 0.9822944 1.54618974] [ 0. 0. 0. 1. ]] SLAMing on 116.614860624 meters Centerline goodness : 0.831036 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95919567 -0.21208242 -0.18698851 -6.05548971] [ 0.2144221 0.97670945 -0.0078623 -0.92135436] [ 0.1843009 -0.03255298 0.98233064 1.54618003] [ 0. 0. 0. 1. ]] SLAMing on 116.644860624 meters Centerline goodness : 0.832325 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95913219 -0.21271739 -0.18659246 -6.05658008] [ 0.21496789 0.9765856 -0.0083289 -0.91985483] [ 0.18399521 -0.03212287 0.9824021 1.54604999] [ 0. 0. 0. 1. ]] SLAMing on 116.674860624 meters Centerline goodness : 0.829084 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95907025 -0.21317515 -0.18638836 -6.05726039] [ 0.2153524 0.97649739 -0.00872851 -0.91892413] [ 0.18386845 -0.03176792 0.98243737 1.54615794] [ 0. 0. 0. 1. ]] SLAMing on 116.70486062399999 meters Centerline goodness : 0.831495 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95900578 -0.21354322 -0.18629872 -6.05764876] [ 0.2156642 0.97642566 -0.00904928 -0.91817773] [ 0.18383926 -0.03149965 0.98245147 1.54623543] [ 0. 0. 0. 1. ]] SLAMing on 116.73486062399999 meters Centerline goodness : 0.832175 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95895473 -0.21394495 -0.18610048 -6.05795633] [ 0.21602687 0.97634348 -0.00926257 -0.91775799] [ 0.18367967 -0.03132031 0.98248706 1.54598673] [ 0. 0. 0. 1. ]] SLAMing on 116.764860624 meters Centerline goodness : 0.832708 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95888392 -0.21461074 -0.18569831 -6.05851935] [ 0.21663227 0.97620626 -0.00958087 -0.91695357] [ 0.18333601 -0.0310413 0.9825601 1.54536691] [ 0. 0. 0. 1. ]] SLAMing on 116.794860624 meters Centerline goodness : 0.831480 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95883483 -0.21500124 -0.18549994 -6.05883284] [ 0.21696963 0.97612846 -0.00986953 -0.91652679] [ 0.18319373 -0.03078461 0.98259471 1.54520845] [ 0. 0. 0. 1. ]] SLAMing on 116.824860624 meters Centerline goodness : 0.831124 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95877161 -0.21534 -0.18543374 -6.05906402] [ 0.21725626 0.97606161 -0.01017061 -0.91590999] [ 0.1831849 -0.03053535 0.98260413 1.54522961] [ 0. 0. 0. 1. ]] SLAMing on 116.854860624 meters Centerline goodness : 0.830127 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95872049 -0.21576009 -0.1852096 -6.05944362] [ 0.21761376 0.97597838 -0.01050927 -0.91528827] [ 0.18302805 -0.03022871 0.98264284 1.54505456] [ 0. 0. 0. 1. ]] SLAMing on 116.884860624 meters Centerline goodness : 0.832204 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.54 [[ 0.95863781 -0.21645575 -0.18482548 -6.06032476] [ 0.21820527 0.97584009 -0.01107193 -0.91387439] [ 0.1827567 -0.02971592 0.98270899 1.54485743] [ 0. 0. 0. 1. ]] SLAMing on 116.914860624 meters Centerline goodness : 0.832283 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.54 [[ 0.95859488 -0.21671357 -0.184746 -6.06046096] [ 0.21841266 0.97579044 -0.01135489 -0.9129897 ] [ 0.18273414 -0.02946613 0.9827207 1.54474837] [ 0. 0. 0. 1. ]] SLAMing on 116.944860624 meters Centerline goodness : 0.777692 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.54 [[ 0.95856467 -0.21695125 -0.18462377 -6.06075355] [ 0.21860605 0.97574429 -0.01159609 -0.91223601] [ 0.18266137 -0.02924427 0.98274086 1.54466296] [ 0. 0. 0. 1. ]] SLAMing on 116.974860624 meters Centerline goodness : 0.828268 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.54 [[ 0.95849535 -0.21749897 -0.18433901 -6.0617752 ] [ 0.21907087 0.97563455 -0.012049 -0.91148453] [ 0.18246815 -0.0288344 0.98278886 1.54495321] [ 0. 0. 0. 1. ]] SLAMing on 117.004860624 meters Centerline goodness : 0.777844 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.55 [[ 0.95846269 -0.2178279 -0.1841203 -6.06236668] [ 0.21935969 0.975567 -0.01226175 -0.91143397] [ 0.18229264 -0.02863614 0.98282723 1.54508167] [ 0. 0. 0. 1. ]] SLAMing on 117.034860624 meters Centerline goodness : 0.832580 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.55 [[ 0.95842266 -0.21803314 -0.18408571 -6.06259347] [ 0.21954912 0.97552313 -0.01236121 -0.91175647] [ 0.18227503 -0.02856859 0.98283246 1.54529293] [ 0. 0. 0. 1. ]] SLAMing on 117.064860624 meters Centerline goodness : 0.832291 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.55 [[ 0.95838969 -0.21821105 -0.18404657 -6.06269641] [ 0.21972677 0.97548298 -0.01237345 -0.91233009] [ 0.18223432 -0.02858137 0.98283964 1.54536198] [ 0. 0. 0. 1. ]] SLAMing on 117.09486062399999 meters Centerline goodness : 0.828846 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.55 [[ 0.9583514 -0.21854155 -0.18385371 -6.06319334] [ 0.22006318 0.97540753 -0.01234253 -0.91330069] [ 0.18202965 -0.02863095 0.98287612 1.5454405 ] [ 0. 0. 0. 1. ]] SLAMing on 117.124860624 meters Centerline goodness : 0.826527 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.55 [[ 0.95831539 -0.21880235 -0.18373117 -6.06362507] [ 0.2203047 0.97535162 -0.01245213 -0.91368784] [ 0.18192705 -0.02854377 0.98289766 1.54565614] [ 0. 0. 0. 1. ]] SLAMing on 117.154860624 meters Centerline goodness : 0.829669 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.91, Z:1.55 [[ 0.95830991 -0.21880108 -0.18376129 -6.06347352] [ 0.22032748 0.97534807 -0.01232688 -0.91441955] [ 0.18192835 -0.0286747 0.9828936 1.54566078] [ 0. 0. 0. 1. ]] SLAMing on 117.184860624 meters Centerline goodness : 0.828605 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95832211 -0.21875552 -0.1837519 -6.06321974] [ 0.22034105 0.97534906 -0.01200145 -0.91599674] [ 0.18184763 -0.02898683 0.98289939 1.54552551] [ 0. 0. 0. 1. ]] SLAMing on 117.214860624 meters Centerline goodness : 0.827938 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95831828 -0.21871756 -0.18381704 -6.0629661 ] [ 0.22032964 0.97535331 -0.01186491 -0.91682799] [ 0.18188162 -0.02912999 0.98288886 1.54553819] [ 0. 0. 0. 1. ]] SLAMing on 117.244860624 meters Centerline goodness : 0.827981 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95833294 -0.21859747 -0.18388346 -6.06266988] [ 0.22022446 0.97537805 -0.01178368 -0.91721813] [ 0.18193177 -0.02920295 0.98287742 1.54553615] [ 0. 0. 0. 1. ]] SLAMing on 117.274860624 meters Centerline goodness : 0.827981 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95833294 -0.21859747 -0.18388346 -6.06266988] [ 0.22022446 0.97537805 -0.01178368 -0.91721813] [ 0.18193177 -0.02920295 0.98287742 1.54553615] [ 0. 0. 0. 1. ]] SLAMing on 117.304860624 meters Centerline goodness : 0.825141 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95833623 -0.21848087 -0.18400482 -6.06240778] [ 0.22012023 0.97540227 -0.01172551 -0.91761728] [ 0.18204052 -0.0292662 0.9828554 1.54570073] [ 0. 0. 0. 1. ]] SLAMing on 117.334860624 meters Centerline goodness : 0.829513 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95834393 -0.21844528 -0.184007 -6.06264684] [ 0.22009967 0.97540792 -0.01164123 -0.91868979] [ 0.18202485 -0.02934358 0.982856 1.54617239] [ 0. 0. 0. 1. ]] SLAMing on 117.364860624 meters Centerline goodness : 0.827776 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95833474 -0.21842155 -0.18408302 -6.06256283] [ 0.22007667 0.97541304 -0.01164749 -0.91906583] [ 0.18210104 -0.02935018 0.98284169 1.54639986] [ 0. 0. 0. 1. ]] SLAMing on 117.394860624 meters Centerline goodness : 0.827225 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95837781 -0.21810132 -0.18423842 -6.0619132 ] [ 0.21979855 0.9754785 -0.01141507 -0.91960605] [ 0.18221026 -0.02955538 0.98281529 1.54628359] [ 0. 0. 0. 1. ]] SLAMing on 117.424860624 meters Centerline goodness : 0.827158 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95840665 -0.21782801 -0.18441163 -6.06128251] [ 0.21955782 0.97553472 -0.01124174 -0.91987988] [ 0.18234871 -0.02971485 0.98278481 1.54616193] [ 0. 0. 0. 1. ]] SLAMing on 117.45486062399999 meters Centerline goodness : 0.830598 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95847934 -0.21733848 -0.18461133 -6.06042867] [ 0.21911185 0.97563782 -0.01099316 -0.92016791] [ 0.18250303 -0.02991381 0.98275012 1.54599533] [ 0. 0. 0. 1. ]] SLAMing on 117.48486062399999 meters Centerline goodness : 0.828897 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95847354 -0.21726074 -0.1847329 -6.06027163] [ 0.21902395 0.97565679 -0.01106058 -0.92018861] [ 0.18263894 -0.02985966 0.98272652 1.54626529] [ 0. 0. 0. 1. ]] SLAMing on 117.514860624 meters Centerline goodness : 0.830437 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95848787 -0.2171674 -0.1847683 -6.06016035] [ 0.21891774 0.97567988 -0.01112669 -0.9200831 ] [ 0.18269107 -0.02978426 0.98271912 1.54638779] [ 0. 0. 0. 1. ]] SLAMing on 117.544860624 meters Centerline goodness : 0.830780 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95847041 -0.21725152 -0.18476 -6.06034847] [ 0.21896646 0.97566667 -0.01132387 -0.91979068] [ 0.1827243 -0.02960265 0.98271843 1.54665393] [ 0. 0. 0. 1. ]] SLAMing on 117.574860624 meters Centerline goodness : 0.836038 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95848238 -0.21709716 -0.18487927 -6.06031297] [ 0.21879614 0.97570383 -0.01141441 -0.91964725] [ 0.18286545 -0.02951036 0.98269495 1.54703629] [ 0. 0. 0. 1. ]] SLAMing on 117.604860624 meters Centerline goodness : 0.834608 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95850485 -0.21694325 -0.18494344 -6.0600783 ] [ 0.21863843 0.97573899 -0.01143046 -0.91937174] [ 0.18293628 -0.02947959 0.98268269 1.54704104] [ 0. 0. 0. 1. ]] SLAMing on 117.634860624 meters Centerline goodness : 0.834628 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95852133 -0.21678072 -0.18504859 -6.05967125] [ 0.21847322 0.97577581 -0.01144639 -0.91897192] [ 0.18304729 -0.02945656 0.98266271 1.54694083] [ 0. 0. 0. 1. ]] SLAMing on 117.664860624 meters Centerline goodness : 0.832997 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.9585505 -0.21655148 -0.18516584 -6.05908594] [ 0.21824924 0.9758263 -0.01141521 -0.91867702] [ 0.18316168 -0.02947025 0.98264098 1.54674492] [ 0. 0. 0. 1. ]] SLAMing on 117.694860624 meters Centerline goodness : 0.834397 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95857396 -0.21631947 -0.18531552 -6.05856476] [ 0.21801932 0.9758778 -0.0114061 -0.91851964] [ 0.18331266 -0.02946877 0.98261287 1.54674848] [ 0. 0. 0. 1. ]] SLAMing on 117.724860624 meters Centerline goodness : 0.780370 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95864187 -0.21573271 -0.18564796 -6.0573536 ] [ 0.21746217 0.97600397 -0.01124516 -0.91813126] [ 0.1836191 -0.02959133 0.98255197 1.54654822] [ 0. 0. 0. 1. ]] SLAMing on 117.754860624 meters Centerline goodness : 0.783078 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95862869 -0.21569833 -0.18575592 -6.05716514] [ 0.2174036 0.97601535 -0.0113889 -0.91772385] [ 0.18375719 -0.02946628 0.98252991 1.54669149] [ 0. 0. 0. 1. ]] SLAMing on 117.784860624 meters Centerline goodness : 0.780134 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95864003 -0.21556683 -0.18585002 -6.05683534] [ 0.21728461 0.9760426 -0.01132465 -0.91785345] [ 0.18383876 -0.02952609 0.98251286 1.54668498] [ 0. 0. 0. 1. ]] SLAMing on 117.814860624 meters Centerline goodness : 0.833078 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.9586254 -0.21570326 -0.18576718 -6.05698057] [ 0.2174424 0.97600878 -0.0112101 -0.91848377] [ 0.18372846 -0.02964738 0.98252984 1.54660051] [ 0. 0. 0. 1. ]] SLAMing on 117.84486062399999 meters Centerline goodness : 0.834321 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95860632 -0.21584968 -0.18569558 -6.05713771] [ 0.21758976 0.97597597 -0.0112075 -0.91907772] [ 0.18365356 -0.02966187 0.98254341 1.54668179] [ 0. 0. 0. 1. ]] SLAMing on 117.874860624 meters Centerline goodness : 0.781789 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95856032 -0.21612856 -0.18560859 -6.05755628] [ 0.21785819 0.97591529 -0.01127614 -0.91978377] [ 0.18357536 -0.02962749 0.98255906 1.54698134] [ 0. 0. 0. 1. ]] SLAMing on 117.904860624 meters Centerline goodness : 0.784114 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95850108 -0.21652025 -0.185458 -6.05805412] [ 0.21826646 0.97582493 -0.01120051 -0.92131001] [ 0.18339968 -0.02974356 0.98258836 1.54715661] [ 0. 0. 0. 1. ]] SLAMing on 117.934860624 meters Centerline goodness : 0.784128 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95849975 -0.21653113 -0.18545213 -6.05785735] [ 0.21829262 0.97582002 -0.01111876 -0.92202261] [ 0.18337546 -0.02982551 0.98259039 1.54712087] [ 0. 0. 0. 1. ]] SLAMing on 117.964860624 meters Centerline goodness : 0.837012 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95848959 -0.21656868 -0.18546083 -6.05781589] [ 0.2183451 0.97580913 -0.01104375 -0.92254459] [ 0.1833661 -0.02990914 0.9825896 1.54716986] [ 0. 0. 0. 1. ]] SLAMing on 117.994860624 meters Centerline goodness : 0.835805 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95845996 -0.21674755 -0.185405 -6.05791741] [ 0.21852363 0.97576905 -0.01105366 -0.92289863] [ 0.18330831 -0.02992089 0.98260002 1.54714605] [ 0. 0. 0. 1. ]] SLAMing on 118.024860624 meters Centerline goodness : 0.836386 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.92, Z:1.55 [[ 0.95844783 -0.21680076 -0.18540545 -6.05779739] [ 0.21859537 0.97575404 -0.01095955 -0.92370798] [ 0.18328616 -0.03002462 0.98260099 1.54715255] [ 0. 0. 0. 1. ]] SLAMing on 118.054860624 meters Centerline goodness : 0.835363 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.95839001 -0.21705615 -0.18540555 -6.05772899] [ 0.21888363 0.97569111 -0.01080801 -0.92549299] [ 0.18324449 -0.03022395 0.98260265 1.54722351] [ 0. 0. 0. 1. ]] SLAMing on 118.084860624 meters Centerline goodness : 0.834354 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.9583288 -0.21748981 -0.18521364 -6.05827847] [ 0.21930251 0.97559605 -0.01089705 -0.92622497] [ 0.18306369 -0.03017486 0.98263786 1.54734482] [ 0. 0. 0. 1. ]] SLAMing on 118.114860624 meters Centerline goodness : 0.833840 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.95825671 -0.21789127 -0.18511474 -6.05868442] [ 0.21969426 0.97550708 -0.01097142 -0.92707822] [ 0.18297131 -0.03015521 0.98265567 1.54756609] [ 0. 0. 0. 1. ]] SLAMing on 118.144860624 meters Centerline goodness : 0.835781 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.95819865 -0.21833922 -0.18488735 -6.05932541] [ 0.22013158 0.97540778 -0.01103372 -0.92793047] [ 0.18274965 -0.03012705 0.98269778 1.54769513] [ 0. 0. 0. 1. ]] SLAMing on 118.174860624 meters Centerline goodness : 0.831194 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.95812986 -0.21871127 -0.18480408 -6.05980972] [ 0.22048543 0.9753265 -0.01115359 -0.92873049] [ 0.18268373 -0.03006002 0.98271209 1.54810055] [ 0. 0. 0. 1. ]] SLAMing on 118.20486062399999 meters Centerline goodness : 0.829675 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.95804798 -0.21922966 -0.18461423 -6.06032174] [ 0.2210179 0.97520663 -0.01109592 -0.93036761] [ 0.18246958 -0.03017262 0.98274842 1.5482123 ] [ 0. 0. 0. 1. ]] SLAMing on 118.23486062399999 meters Centerline goodness : 0.833155 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.95800571 -0.21951866 -0.18449018 -6.0606811 ] [ 0.22129896 0.97514232 -0.01114565 -0.93133744] [ 0.18235086 -0.03014988 0.98277116 1.54842695] [ 0. 0. 0. 1. ]] SLAMing on 118.264860624 meters Centerline goodness : 0.832049 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.95797305 -0.21968456 -0.18446227 -6.06069561] [ 0.22147412 0.97510299 -0.01110707 -0.93251644] [ 0.18230976 -0.03021335 0.98277683 1.54857864] [ 0. 0. 0. 1. ]] SLAMing on 118.294860624 meters Centerline goodness : 0.834618 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.93, Z:1.55 [[ 0.9579228 -0.22000024 -0.18434698 -6.06103505] [ 0.22180715 0.97502823 -0.01102444 -0.93453758] [ 0.18216889 -0.03032891 0.9827994 1.54888034] [ 0. 0. 0. 1. ]] SLAMing on 118.324860624 meters Centerline goodness : 0.835400 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95789626 -0.22009168 -0.18437575 -6.0613163 ] [ 0.22189467 0.97500792 -0.01105927 -0.93511754] [ 0.18220187 -0.03031836 0.98279361 1.54935097] [ 0. 0. 0. 1. ]] SLAMing on 118.354860624 meters Centerline goodness : 0.836126 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.957881 -0.22015853 -0.18437517 -6.06156849] [ 0.22196331 0.97499234 -0.01105597 -0.9355418 ] [ 0.18219844 -0.03033422 0.98279375 1.54965481] [ 0. 0. 0. 1. ]] SLAMing on 118.384860624 meters Centerline goodness : 0.835578 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95786842 -0.22011435 -0.18449326 -6.06159012] [ 0.2219602 0.97499536 -0.01085028 -0.9375062 ] [ 0.18226837 -0.03055702 0.98277388 1.55029491] [ 0. 0. 0. 1. ]] SLAMing on 118.414860624 meters Centerline goodness : 0.834078 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95788383 -0.21991504 -0.18465088 -6.06110791] [ 0.22180451 0.97503329 -0.01062288 -0.93841903] [ 0.18237689 -0.03078091 0.98274677 1.5503383 ] [ 0. 0. 0. 1. ]] SLAMing on 118.444860624 meters Centerline goodness : 0.837339 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95791631 -0.21969089 -0.18474915 -6.06082729] [ 0.22161167 0.97507901 -0.01044956 -0.93936089] [ 0.18244069 -0.03093277 0.98273015 1.55055578] [ 0. 0. 0. 1. ]] SLAMing on 118.474860624 meters Centerline goodness : 0.836540 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.9579383 -0.21952197 -0.18483591 -6.06050552] [ 0.22147341 0.97511219 -0.01028312 -0.9401395 ] [ 0.18249312 -0.03108565 0.9827156 1.55060815] [ 0. 0. 0. 1. ]] SLAMing on 118.504860624 meters Centerline goodness : 0.835995 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95802124 -0.21888677 -0.18515911 -6.05964348] [ 0.22094231 0.97523846 -0.00971796 -0.9417975 ] [ 0.18270142 -0.03159947 0.9826605 1.55078135] [ 0. 0. 0. 1. ]] SLAMing on 118.534860624 meters Centerline goodness : 0.834180 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95804215 -0.21870679 -0.18526355 -6.05938207] [ 0.22078759 0.97527484 -0.00958319 -0.94228466] [ 0.18277878 -0.0317228 0.98264214 1.55089429] [ 0. 0. 0. 1. ]] SLAMing on 118.564860624 meters Centerline goodness : 0.834321 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95804357 -0.21858283 -0.18540243 -6.05913125] [ 0.22068945 0.97529828 -0.00945699 -0.94310222] [ 0.18288981 -0.03185616 0.98261717 1.55118823] [ 0. 0. 0. 1. ]] SLAMing on 118.59486062399999 meters Centerline goodness : 0.832864 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.94, Z:1.55 [[ 0.95806171 -0.21836654 -0.1855635 -6.05868343] [ 0.22050962 0.97534076 -0.00926888 -0.94393708] [ 0.18301165 -0.03203838 0.98258856 1.55131137] [ 0. 0. 0. 1. ]] SLAMing on 118.624860624 meters Centerline goodness : 0.833147 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:1.55 [[ 0.95808999 -0.21801551 -0.18583005 -6.05769744] [ 0.22026363 0.97540141 -0.00871904 -0.94634627] [ 0.18315978 -0.03257797 0.98254322 1.55128448] [ 0. 0. 0. 1. ]] SLAMing on 118.654860624 meters Centerline goodness : 0.831439 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:1.55 [[ 0.95808082 -0.21803675 -0.18585241 -6.05760453] [ 0.22031587 0.97539103 -0.00855884 -0.9474814 ] [ 0.18314492 -0.03274617 0.98254039 1.55140099] [ 0. 0. 0. 1. ]] SLAMing on 118.684860624 meters Centerline goodness : 0.832911 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:1.55 [[ 0.95806478 -0.21812782 -0.18582825 -6.05793647] [ 0.22045467 0.97536185 -0.00830715 -0.94940692] [ 0.1830618 -0.03300792 0.98254713 1.55189522] [ 0. 0. 0. 1. ]] SLAMing on 118.714860624 meters Centerline goodness : 0.831493 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:1.55 [[ 0.95804276 -0.21822989 -0.18582193 -6.05816664] [ 0.2205676 0.97533673 -0.00825754 -0.95027253] [ 0.18304099 -0.03307522 0.98254874 1.55222951] [ 0. 0. 0. 1. ]] SLAMing on 118.744860624 meters Centerline goodness : 0.832878 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:1.55 [[ 0.95801906 -0.21831401 -0.18584531 -6.05818297] [ 0.22067553 0.97531329 -0.00814223 -0.95152209] [ 0.18303496 -0.0332111 0.98254528 1.55249481] [ 0. 0. 0. 1. ]] SLAMing on 118.774860624 meters Centerline goodness : 0.830826 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:1.55 [[ 0.95800212 -0.21836052 -0.18587799 -6.05798159] [ 0.22076934 0.97529406 -0.00789884 -0.95308477] [ 0.18301049 -0.03346905 0.98254108 1.55253545] [ 0. 0. 0. 1. ]] SLAMing on 118.804860624 meters Centerline goodness : 0.830480 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:1.55 [[ 0.95799727 -0.21841707 -0.18583653 -6.05777894] [ 0.22086338 0.9752744 -0.00769526 -0.95455202] [ 0.18292238 -0.03367245 0.98255054 1.55246446] [ 0. 0. 0. 1. ]] SLAMing on 118.834860624 meters Centerline goodness : 0.831166 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.96, Z:1.55 [[ 0.95797137 -0.21846756 -0.18591069 -6.05746312] [ 0.22095049 0.97525605 -0.00751739 -0.95610948] [ 0.18295283 -0.03387561 0.98253789 1.5525709 ] [ 0. 0. 0. 1. ]] SLAMing on 118.864860624 meters Centerline goodness : 0.831445 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.96, Z:1.55 [[ 0.95789903 -0.21888878 -0.18578791 -6.05741863] [ 0.22141929 0.97515153 -0.00727928 -0.95884809] [ 0.18276472 -0.03416421 0.98256291 1.5524917 ] [ 0. 0. 0. 1. ]] SLAMing on 118.894860624 meters Centerline goodness : 0.829960 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.96, Z:1.55 [[ 0.9578594 -0.21911245 -0.18572859 -6.05759888] [ 0.22166095 0.97509727 -0.00719293 -0.9601765 ] [ 0.1826795 -0.03427896 0.98257476 1.552716 ] [ 0. 0. 0. 1. ]] SLAMing on 118.924860624 meters Centerline goodness : 0.828095 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.96, Z:1.55 [[ 0.95783468 -0.21925217 -0.18569115 -6.05767305] [ 0.22183312 0.97505934 -0.00702466 -0.96159578] [ 0.18260007 -0.03446398 0.98258305 1.55285454] [ 0. 0. 0. 1. ]] SLAMing on 118.95486062399999 meters Centerline goodness : 0.833353 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.96, Z:1.55 [[ 0.95767315 -0.22002406 -0.18561128 -6.05841732] [ 0.22260231 0.97488349 -0.00709855 -0.96419164] [ 0.18251123 -0.03451941 0.98259761 1.55369092] [ 0. 0. 0. 1. ]] SLAMing on 118.98486062399999 meters Centerline goodness : 0.833214 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.97, Z:1.55 [[ 0.9576268 -0.22037819 -0.18543023 -6.05898397] [ 0.2229778 0.97479851 -0.00698271 -0.96594133] [ 0.18229595 -0.03465999 0.98263262 1.55398886] [ 0. 0. 0. 1. ]] SLAMing on 119.014860624 meters Centerline goodness : 0.832104 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.97, Z:1.55 [[ 0.95757067 -0.22076311 -0.18526216 -6.05954916] [ 0.2233798 0.97470709 -0.00689523 -0.96773601] [ 0.18209855 -0.03478115 0.98266494 1.55431374] [ 0. 0. 0. 1. ]] SLAMing on 119.044860624 meters Centerline goodness : 0.833822 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.97, Z:1.55 [[ 0.95752317 -0.22107527 -0.18513538 -6.05994241] [ 0.22370271 0.97463341 -0.00684267 -0.96926825] [ 0.18195187 -0.03486327 0.9826892 1.55456837] [ 0. 0. 0. 1. ]] SLAMing on 119.074860624 meters Centerline goodness : 0.833845 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.97, Z:1.55 [[ 0.95748165 -0.22136063 -0.1850091 -6.06035633] [ 0.22399833 0.97456587 -0.00679006 -0.97082705] [ 0.18180661 -0.03494037 0.98271335 1.55492604] [ 0. 0. 0. 1. ]] SLAMing on 119.104860624 meters Centerline goodness : 0.836493 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.97, Z:1.56 [[ 0.95742421 -0.2217243 -0.18487079 -6.0606448 ] [ 0.2243981 0.97447519 -0.00660273 -0.97325341] [ 0.18161599 -0.03516304 0.98274065 1.55516357] [ 0. 0. 0. 1. ]] SLAMing on 119.134860624 meters Centerline goodness : 0.837340 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.97, Z:1.56 [[ 0.95743119 -0.22168112 -0.18488643 -6.06041533] [ 0.22439933 0.97447651 -0.00636135 -0.97439939] [ 0.18157768 -0.03539784 0.9827393 1.55509819] [ 0. 0. 0. 1. ]] SLAMing on 119.164860624 meters Centerline goodness : 0.837340 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.97, Z:1.56 [[ 0.95743119 -0.22168112 -0.18488643 -6.06041533] [ 0.22439933 0.97447651 -0.00636135 -0.97439939] [ 0.18157768 -0.03539784 0.9827393 1.55509819] [ 0. 0. 0. 1. ]] SLAMing on 119.194860624 meters Centerline goodness : 0.836134 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.98, Z:1.56 [[ 0.95742504 -0.22175328 -0.18483174 -6.06048863] [ 0.22449025 0.97445626 -0.00625589 -0.97529864] [ 0.18149771 -0.03550337 0.98275027 1.55518072] [ 0. 0. 0. 1. ]] SLAMing on 119.224860624 meters Centerline goodness : 0.837681 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.98, Z:1.56 [[ 9.57441005e-01 -2.21649136e-01 -1.84873966e-01 -6.06056465e+00] [ 2.24458684e-01 9.74465979e-01 -5.86125688e-03 -9.77528959e-01] [ 1.81452533e-01 -3.58847595e-02 9.82744759e-01 1.55559168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254860624 meters Centerline goodness : 0.839800 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.98, Z:1.56 [[ 9.57445835e-01 -2.21572796e-01 -1.84940449e-01 -6.06041196e+00] [ 2.24422632e-01 9.74475536e-01 -5.64914214e-03 -9.78805292e-01] [ 1.81471640e-01 -3.60960747e-02 9.82733493e-01 1.55576355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284860624 meters Centerline goodness : 0.839017 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.98, Z:1.56 [[ 9.57444175e-01 -2.21594514e-01 -1.84923017e-01 -6.06043186e+00] [ 2.24471268e-01 9.74465176e-01 -5.50190921e-03 -9.79982288e-01] [ 1.81420233e-01 -3.62421332e-02 9.82737608e-01 1.55593031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314860624 meters Centerline goodness : 0.840341 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.98, Z:1.56 [[ 9.57459254e-01 -2.21473152e-01 -1.84990321e-01 -6.06035029e+00] [ 2.24422795e-01 9.74478479e-01 -5.10912456e-03 -9.82201898e-01] [ 1.81400620e-01 -3.66242662e-02 9.82727062e-01 1.55630248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34486062399999 meters Centerline goodness : 0.843523 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.98, Z:1.56 [[ 9.57465226e-01 -2.21441968e-01 -1.84996742e-01 -6.06034391e+00] [ 2.24406425e-01 9.74482675e-01 -5.02718760e-03 -9.83021541e-01] [ 1.81389351e-01 -3.67011003e-02 9.82726276e-01 1.55650792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374860624 meters Centerline goodness : 0.841181 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.99, Z:1.56 [[ 9.57487581e-01 -2.21292712e-01 -1.85059634e-01 -6.05995311e+00] [ 2.24337450e-01 9.74500709e-01 -4.59085714e-03 -9.85044834e-01] [ 1.81356668e-01 -3.71201177e-02 9.82716569e-01 1.55649435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404860624 meters Centerline goodness : 0.842638 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.99, Z:1.56 [[ 9.57468098e-01 -2.21423536e-01 -1.85003941e-01 -6.05997341e+00] [ 2.24485213e-01 9.74467105e-01 -4.50002071e-03 -9.86113817e-01] [ 1.81276665e-01 -3.72220229e-02 9.82727476e-01 1.55654823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434860624 meters Centerline goodness : 0.844194 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.99, Z:1.56 [[ 9.57466721e-01 -2.21447635e-01 -1.84982226e-01 -6.05981530e+00] [ 2.24551911e-01 9.74452787e-01 -4.26680975e-03 -9.87403705e-01] [ 1.81201320e-01 -3.74527838e-02 9.82732604e-01 1.55647872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464860624 meters Centerline goodness : 0.840568 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.99, Z:1.56 [[ 9.57318226e-01 -2.21520790e-01 -1.85661936e-01 -6.05829202e+00] [ 2.24852602e-01 9.74387579e-01 -3.18650056e-03 -9.89662235e-01] [ 1.81612560e-01 -3.86960744e-02 9.82608514e-01 1.55678679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494860624 meters Centerline goodness : 0.845136 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.99, Z:1.56 [[ 9.57338076e-01 -2.21171208e-01 -1.85976089e-01 -6.05747010e+00] [ 2.24634546e-01 9.74439849e-01 -2.51018482e-03 -9.90844347e-01] [ 1.81777692e-01 -3.93735587e-02 9.82551064e-01 1.55677813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524860624 meters Centerline goodness : 0.839336 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.99, Z:1.56 [[ 9.57311557e-01 -2.20841523e-01 -1.86503634e-01 -6.05625461e+00] [ 2.24448304e-01 9.74484296e-01 -1.82109426e-03 -9.91732158e-01] [ 1.82147035e-01 -4.01170696e-02 9.82452583e-01 1.55681550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554860624 meters Centerline goodness : 0.838327 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.99, Z:1.56 [[ 9.57351106e-01 -2.20351266e-01 -1.86880121e-01 -6.05520892e+00] [ 2.24101761e-01 9.74565147e-01 -1.08409144e-03 -9.92525081e-01] [ 1.82365733e-01 -4.08423081e-02 9.82382128e-01 1.55656678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584860624 meters Centerline goodness : 0.839214 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.99, Z:1.56 [[ 9.57435847e-01 -2.19726547e-01 -1.87181314e-01 -6.05427163e+00] [ 2.23638534e-01 9.74672128e-01 -2.23268076e-04 -9.93521809e-01] [ 1.82489467e-01 -4.16471898e-02 9.82325356e-01 1.55627368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614860624 meters Centerline goodness : 0.837941 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.99, Z:1.56 [[ 9.57649500e-01 -2.19111238e-01 -1.86809262e-01 -6.05474022e+00] [ 2.23047617e-01 9.74807549e-01 5.43318600e-05 -9.94342389e-01] [ 1.82091174e-01 -4.17193917e-02 9.82396201e-01 1.55597574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644860624 meters Centerline goodness : 0.837437 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.99, Z:1.56 [[ 9.57724846e-01 -2.18602444e-01 -1.87018960e-01 -6.05389227e+00] [ 2.22612991e-01 9.74906790e-01 4.54420152e-04 -9.94548733e-01] [ 1.82226717e-01 -4.20680595e-02 9.82356199e-01 1.55553179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674860624 meters Centerline goodness : 0.837326 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.56 [[ 9.57752213e-01 -2.18045626e-01 -1.87528140e-01 -6.05261792e+00] [ 2.22244216e-01 9.74990025e-01 1.40021087e-03 -9.95170751e-01] [ 1.82532756e-01 -4.30180995e-02 9.82258233e-01 1.55529444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70486062399999 meters Centerline goodness : 0.834992 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 9.57881285e-01 -2.17444182e-01 -1.87567245e-01 -6.05185372e+00] [ 2.21732203e-01 9.75105689e-01 1.93033894e-03 -9.96241152e-01] [ 1.82478147e-01 -4.34387340e-02 9.82249868e-01 1.55478211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73486062399999 meters Centerline goodness : 0.837536 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 9.57859380e-01 -2.17120838e-01 -1.88053053e-01 -6.05067676e+00] [ 2.21554126e-01 9.75144544e-01 2.62424757e-03 -9.96985231e-01] [ 1.82809130e-01 -4.41775901e-02 9.82155366e-01 1.55480976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764860624 meters Centerline goodness : 0.833586 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 9.57911908e-01 -2.16714822e-01 -1.88253718e-01 -6.05011149e+00] [ 2.21273415e-01 9.75206271e-01 3.28697955e-03 -9.97969058e-01] [ 1.82873870e-01 -4.48041800e-02 9.82114929e-01 1.55471149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794860624 meters Centerline goodness : 0.832971 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 9.58016274e-01 -2.16014328e-01 -1.88527527e-01 -6.04909813e+00] [ 2.20771342e-01 9.75315888e-01 4.35126057e-03 -1.00016843e+00] [ 1.82933958e-01 -4.57900536e-02 9.82058266e-01 1.55458047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824860624 meters Centerline goodness : 0.833322 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 9.58076149e-01 -2.15734598e-01 -1.88543565e-01 -6.04867448e+00] [ 2.20594080e-01 9.75353270e-01 4.92448792e-03 -1.00136481e+00] [ 1.82834200e-01 -4.63096287e-02 9.82052480e-01 1.55430145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854860624 meters Centerline goodness : 0.832112 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 9.58116689e-01 -2.15307777e-01 -1.88825240e-01 -6.04752995e+00] [ 2.20302553e-01 9.75415404e-01 5.61911487e-03 -1.00268229e+00] [ 1.82973208e-01 -4.69824501e-02 9.81994631e-01 1.55398412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884860624 meters Centerline goodness : 0.829204 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.00, Z:1.55 [[ 0.95812526 -0.21499723 -0.18913532 -6.04651093] [ 0.22013557 0.9754487 0.00633768 -1.00384167] [ 0.18312922 -0.0477077 0.98193058 1.55379975] [ 0. 0. 0. 1. ]] SLAMing on 119.914860624 meters Centerline goodness : 0.833234 Centerline is valid? [False, False] Translation: X:-6.05, Y:-1.01, Z:1.55 [[ 0.95812379 -0.21474587 -0.18942814 -6.04506533] [ 0.22008611 0.97545264 0.00736595 -1.00616292] [ 0.18319637 -0.048748 0.98186696 1.55350937] [ 0. 0. 0. 1. ]] SLAMing on 119.944860624 meters Centerline goodness : 0.832918 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.01, Z:1.55 [[ 0.9580977 -0.2145534 -0.18977784 -6.04402917] [ 0.2200429 0.97545666 0.00808867 -1.00749152] [ 0.1833846 -0.049509 0.98179374 1.55351031] [ 0. 0. 0. 1. ]] SLAMing on 119.974860624 meters Centerline goodness : 0.830864 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.01, Z:1.55 [[ 0.95807897 -0.21427282 -0.19018895 -6.04270593] [ 0.21993593 0.97547344 0.00893081 -1.00883398] [ 0.18361064 -0.05038581 0.98170688 1.55329058] [ 0. 0. 0. 1. ]] SLAMing on 120.004860624 meters Centerline goodness : 0.833872 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.01, Z:1.55 [[ 0.95787877 -0.21465221 -0.19076866 -6.04123857] [ 0.22062528 0.97530335 0.01038564 -1.01231596] [ 0.18382801 -0.05203657 0.98158008 1.55383817] [ 0. 0. 0. 1. ]] SLAMing on 120.034860624 meters Centerline goodness : 0.833293 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.01, Z:1.55 [[ 0.95774126 -0.21455015 -0.19157222 -6.03938233] [ 0.220827 0.97524184 0.01178061 -1.01468145] [ 0.18430172 -0.05358709 0.98140782 1.55419714] [ 0. 0. 0. 1. ]] SLAMing on 120.064860624 meters Centerline goodness : 0.834921 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.02, Z:1.55 [[ 0.95756656 -0.21478809 -0.19217791 -6.03779137] [ 0.22126841 0.97513078 0.01265886 -1.01654459] [ 0.18467963 -0.05464461 0.98127845 1.55444374] [ 0. 0. 0. 1. ]] SLAMing on 120.09486062399999 meters Centerline goodness : 0.832886 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.02, Z:1.55 [[ 0.95731375 -0.21559623 -0.19253223 -6.0363585 ] [ 0.22223147 0.97490328 0.01329532 -1.0193993 ] [ 0.18483388 -0.05551452 0.98120058 1.55464692] [ 0. 0. 0. 1. ]] SLAMing on 120.124860624 meters Centerline goodness : 0.836056 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.02, Z:1.55 [[ 0.95726415 -0.21570383 -0.19265826 -6.03549677] [ 0.22242925 0.97485222 0.01372479 -1.02102327] [ 0.18485285 -0.05599108 0.98116993 1.55449175] [ 0. 0. 0. 1. ]] SLAMing on 120.154860624 meters Centerline goodness : 0.838125 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.02, Z:1.55 [[ 0.95720443 -0.21564985 -0.19301508 -6.03416978] [ 0.22251 0.97482503 0.01433406 -1.0226768 ] [ 0.18506479 -0.05666841 0.98109108 1.5543476 ] [ 0. 0. 0. 1. ]] SLAMing on 120.184860624 meters Centerline goodness : 0.840070 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.02, Z:1.55 [[ 0.95718813 -0.21539117 -0.19338441 -6.03269054] [ 0.22239997 0.97483964 0.01503101 -1.02379518] [ 0.18528124 -0.05739619 0.98100792 1.5539453 ] [ 0. 0. 0. 1. ]] SLAMing on 120.214860624 meters Centerline goodness : 0.833767 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.02, Z:1.55 [[ 0.95721372 -0.21513457 -0.1935433 -6.03184085] [ 0.22224167 0.97486798 0.0155261 -1.02482172] [ 0.18533897 -0.05787518 0.98096887 1.55365624] [ 0. 0. 0. 1. ]] SLAMing on 120.244860624 meters Centerline goodness : 0.836510 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95725409 -0.21485175 -0.19365779 -6.03127492] [ 0.22202944 0.97491046 0.01589077 -1.02541233] [ 0.18538485 -0.05820923 0.98094044 1.55339179] [ 0. 0. 0. 1. ]] SLAMing on 120.274860624 meters Centerline goodness : 0.835994 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95735894 -0.21433666 -0.19371024 -6.03063412] [ 0.22156909 0.97500987 0.01621389 -1.02593905] [ 0.18539417 -0.05844272 0.98092479 1.55288924] [ 0. 0. 0. 1. ]] SLAMing on 120.304860624 meters Centerline goodness : 0.836716 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95747965 -0.21370001 -0.19381699 -6.03025081] [ 0.22101287 0.97512846 0.01666708 -1.02634686] [ 0.18543471 -0.05879444 0.98089611 1.55268512] [ 0. 0. 0. 1. ]] SLAMing on 120.334860624 meters Centerline goodness : 0.835873 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.9579254 -0.2121841 -0.19327917 -6.03072688] [ 0.21952147 0.97545747 0.01711839 -1.0268311 ] [ 0.18490337 -0.05882707 0.98099446 1.55169539] [ 0. 0. 0. 1. ]] SLAMing on 120.364860624 meters Centerline goodness : 0.835404 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.9585243 -0.20855473 -0.19425778 -6.02968378] [ 0.21667347 0.97601206 0.02128538 -1.02883734] [ 0.18515877 -0.06249306 0.98071956 1.55158389] [ 0. 0. 0. 1. ]] SLAMing on 120.394860624 meters Centerline goodness : 0.837843 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95869824 -0.20770287 -0.1943121 -6.02949122] [ 0.21588877 0.9761767 0.02170465 -1.02888787] [ 0.18517483 -0.06275801 0.98069961 1.55132363] [ 0. 0. 0. 1. ]] SLAMing on 120.424860624 meters Centerline goodness : 0.837940 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95890167 -0.20697342 -0.19408655 -6.02988237] [ 0.21515223 0.97633683 0.02181534 -1.02854786] [ 0.18497865 -0.06267692 0.98074181 1.55101957] [ 0. 0. 0. 1. ]] SLAMing on 120.45486062399999 meters Centerline goodness : 0.842635 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95936263 -0.20565179 -0.1932115 -6.03161864] [ 0.21366209 0.97667435 0.02134757 -1.02767839] [ 0.18431455 -0.06176203 0.98092487 1.55041514] [ 0. 0. 0. 1. ]] SLAMing on 120.48486062399999 meters Centerline goodness : 0.841064 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95958473 -0.20511382 -0.19267968 -6.03194042] [ 0.21298884 0.97683195 0.02085899 -1.02740402] [ 0.1839372 -0.06105459 0.98103998 1.54945006] [ 0. 0. 0. 1. ]] SLAMing on 120.514860624 meters Centerline goodness : 0.822966 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95994229 -0.2034587 -0.19265345 -6.03080924] [ 0.2113821 0.97717172 0.0212845 -1.02756974] [ 0.18392498 -0.06115538 0.98103599 1.54786048] [ 0. 0. 0. 1. ]] SLAMing on 120.544860624 meters Centerline goodness : 0.834040 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.95998975 -0.20295002 -0.19295329 -6.02970646] [ 0.21091644 0.97726848 0.02146092 -1.02702419] [ 0.18421167 -0.06129928 0.98097322 1.54719422] [ 0. 0. 0. 1. ]] SLAMing on 120.574860624 meters Centerline goodness : 0.827773 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.03, Z:1.55 [[ 0.96002555 -0.20250058 -0.19324717 -6.02899656] [ 0.21052138 0.97734852 0.02169381 -1.02640825] [ 0.18447682 -0.06150927 0.98091025 1.54687561] [ 0. 0. 0. 1. ]] SLAMing on 120.604860624 meters Centerline goodness : 0.838129 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.02, Z:1.54 [[ 0.96118274 -0.20810646 -0.18116135 -6.02746767] [ 0.21517727 0.97636874 0.02007073 -1.02180976] [ 0.17270343 -0.05827345 0.98324856 1.54125794] [ 0. 0. 0. 1. ]] SLAMing on 120.634860624 meters Centerline goodness : 0.836036 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.02, Z:1.54 [[ 0.96123387 -0.20766232 -0.18139957 -6.02667513] [ 0.21475448 0.97646017 0.0201505 -1.02113403] [ 0.17294495 -0.05832571 0.98320301 1.54074262] [ 0. 0. 0. 1. ]] SLAMing on 120.664860624 meters Centerline goodness : 0.837385 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.02, Z:1.54 [[ 0.96131823 -0.20759209 -0.18103258 -6.02750968] [ 0.21454155 0.97652078 0.01947003 -1.0200694 ] [ 0.17274025 -0.0575559 0.98328436 1.54061406] [ 0. 0. 0. 1. ]] SLAMing on 120.694860624 meters Centerline goodness : 0.839580 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.96218697 -0.21298006 -0.16981087 -6.02529558] [ 0.21932035 0.97546248 0.01927512 -1.01439597] [ 0.16153892 -0.05578925 0.98528815 1.5352316 ] [ 0. 0. 0. 1. ]] SLAMing on 120.724860624 meters Centerline goodness : 0.833017 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.96216439 -0.21290084 -0.17003799 -6.02462156] [ 0.21924632 0.97547993 0.01923399 -1.01363907] [ 0.16177371 -0.05578646 0.98524978 1.53487366] [ 0. 0. 0. 1. ]] SLAMing on 120.754860624 meters Centerline goodness : 0.837536 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.9621315 -0.21305389 -0.1700324 -6.02435102] [ 0.21933058 0.97546938 0.01880412 -1.01296901] [ 0.16185511 -0.05538534 0.98525905 1.53457544] [ 0. 0. 0. 1. ]] SLAMing on 120.784860624 meters Centerline goodness : 0.841644 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.96201971 -0.2134547 -0.17016217 -6.02404177] [ 0.21967317 0.97540053 0.0183713 -1.01193655] [ 0.16205483 -0.05505361 0.98524481 1.53449937] [ 0. 0. 0. 1. ]] SLAMing on 120.814860624 meters Centerline goodness : 0.838118 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.96192196 -0.21355494 -0.17058847 -6.02336396] [ 0.21980148 0.97537134 0.01838635 -1.01080926] [ 0.16246061 -0.05518183 0.98517081 1.53454452] [ 0. 0. 0. 1. ]] SLAMing on 120.84486062399999 meters Centerline goodness : 0.840233 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.96171165 -0.21445633 -0.17064344 -6.02353927] [ 0.22053665 0.97522554 0.01728385 -1.00839757] [ 0.16270921 -0.05425521 0.98518124 1.53474 ] [ 0. 0. 0. 1. ]] SLAMing on 120.874860624 meters Centerline goodness : 0.836388 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.96164609 -0.21464711 -0.17077302 -6.02275423] [ 0.22069908 0.97519287 0.0170523 -1.00768379] [ 0.1628764 -0.05408773 0.98516283 1.53418335] [ 0. 0. 0. 1. ]] SLAMing on 120.904860624 meters Centerline goodness : 0.839591 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.96150287 -0.21494644 -0.17120237 -6.02166672] [ 0.22101514 0.97512249 0.01698332 -1.00691426] [ 0.16329277 -0.05416783 0.9850895 1.53397265] [ 0. 0. 0. 1. ]] SLAMing on 120.934860624 meters Centerline goodness : 0.837913 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.01, Z:1.53 [[ 0.96127652 -0.21553678 -0.17173046 -6.02099605] [ 0.22159469 0.97499601 0.01669054 -1.00505651] [ 0.16383909 -0.05409879 0.98500258 1.53428758] [ 0. 0. 0. 1. ]] SLAMing on 120.964860624 meters Centerline goodness : 0.836911 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96114185 -0.21578802 -0.17216815 -6.02021063] [ 0.2218865 0.97492835 0.01676585 -1.00429294] [ 0.16423374 -0.05431615 0.98492489 1.53433941] [ 0. 0. 0. 1. ]] SLAMing on 120.994860624 meters Centerline goodness : 0.836310 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96100089 -0.21616477 -0.17248214 -6.01954036] [ 0.2222569 0.97484698 0.01659012 -1.00349827] [ 0.16455749 -0.05427846 0.98487293 1.53434504] [ 0. 0. 0. 1. ]] SLAMing on 121.024860624 meters Centerline goodness : 0.835564 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96077643 -0.21678665 -0.17295145 -6.01863109] [ 0.22286877 0.97471184 0.01631983 -1.00208389] [ 0.16503991 -0.05422519 0.98479514 1.53428692] [ 0. 0. 0. 1. ]] SLAMing on 121.054860624 meters Centerline goodness : 0.840261 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96065709 -0.21688957 -0.17348451 -6.01762843] [ 0.22301859 0.97467602 0.01641258 -1.00125448] [ 0.16553147 -0.05445713 0.98469983 1.53435652] [ 0. 0. 0. 1. ]] SLAMing on 121.084860624 meters Centerline goodness : 0.840261 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96065709 -0.21688957 -0.17348451 -6.01762843] [ 0.22301859 0.97467602 0.01641258 -1.00125448] [ 0.16553147 -0.05445713 0.98469983 1.53435652] [ 0. 0. 0. 1. ]] SLAMing on 121.114860624 meters Centerline goodness : 0.836800 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96056406 -0.21700771 -0.17385148 -6.01693287] [ 0.22315693 0.97464456 0.01639989 -1.00035655] [ 0.16588449 -0.05454931 0.98463532 1.534319 ] [ 0. 0. 0. 1. ]] SLAMing on 121.144860624 meters Centerline goodness : 0.836881 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96046574 -0.21706223 -0.17432601 -6.01642731] [ 0.22328154 0.97461175 0.01665193 -0.99945015] [ 0.16628567 -0.05491739 0.98454718 1.5346316 ] [ 0. 0. 0. 1. ]] SLAMing on 121.174860624 meters Centerline goodness : 0.842133 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96038467 -0.21710908 -0.17471386 -6.01612339] [ 0.22330654 0.97461048 0.01638903 -0.99719243] [ 0.16671975 -0.05475452 0.98448284 1.53472884] [ 0. 0. 0. 1. ]] SLAMing on 121.20486062399999 meters Centerline goodness : 0.835696 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.00, Z:1.53 [[ 0.96032862 -0.21707568 -0.17506312 -6.01512593] [ 0.22328063 0.97461758 0.01631986 -0.99618641] [ 0.16707695 -0.05476064 0.98442194 1.53428742] [ 0. 0. 0. 1. ]] SLAMing on 121.23486062399999 meters Centerline goodness : 0.834330 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.00, Z:1.53 [[ 0.96030251 -0.21703423 -0.17525761 -6.01454703] [ 0.22322665 0.97463219 0.01618515 -0.99511234] [ 0.16729898 -0.05466481 0.98438956 1.53391068] [ 0. 0. 0. 1. ]] SLAMing on 121.264860624 meters Centerline goodness : 0.834736 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.96025279 -0.21733622 -0.17515579 -6.01431306] [ 0.22336815 0.97461488 0.01524801 -0.99276902] [ 0.16739549 -0.05376617 0.98442265 1.53310027] [ 0. 0. 0. 1. ]] SLAMing on 121.294860624 meters Centerline goodness : 0.831908 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.96014109 -0.21744469 -0.17563285 -6.01326011] [ 0.22347506 0.97459308 0.01507404 -0.9915331 ] [ 0.16789279 -0.05372277 0.98434032 1.53292493] [ 0. 0. 0. 1. ]] SLAMing on 121.324860624 meters Centerline goodness : 0.829696 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95999785 -0.21773743 -0.17605264 -6.01223375] [ 0.22377849 0.97452499 0.01497454 -0.99053492] [ 0.16830718 -0.05377232 0.98426685 1.53267839] [ 0. 0. 0. 1. ]] SLAMing on 121.354860624 meters Centerline goodness : 0.827877 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95970766 -0.21848017 -0.17671337 -6.01127138] [ 0.22453131 0.97435519 0.01475345 -0.98895724] [ 0.16895826 -0.05383669 0.98415178 1.53303459] [ 0. 0. 0. 1. ]] SLAMing on 121.384860624 meters Centerline goodness : 0.825685 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95950174 -0.21885252 -0.17736962 -6.01003376] [ 0.22496298 0.9742541 0.0148526 -0.98815133] [ 0.16955255 -0.0541527 0.98403222 1.53319049] [ 0. 0. 0. 1. ]] SLAMing on 121.414860624 meters Centerline goodness : 0.828595 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95942816 -0.21917349 -0.17737132 -6.00964922] [ 0.22522347 0.97419964 0.01447245 -0.98721234] [ 0.1696231 -0.05383346 0.98403758 1.5327608 ] [ 0. 0. 0. 1. ]] SLAMing on 121.444860624 meters Centerline goodness : 0.832149 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95924549 -0.21964366 -0.17777724 -6.00945064] [ 0.22570255 0.97409055 0.01435129 -0.98595994] [ 0.17001896 -0.05389119 0.9839661 1.53327656] [ 0. 0. 0. 1. ]] SLAMing on 121.474860624 meters Centerline goodness : 0.829174 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95921518 -0.21954422 -0.17806338 -6.0091649 ] [ 0.22564591 0.97410124 0.01451556 -0.98540072] [ 0.17026495 -0.05410281 0.98391195 1.53350107] [ 0. 0. 0. 1. ]] SLAMing on 121.504860624 meters Centerline goodness : 0.831032 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95917769 -0.2195451 -0.17826416 -6.00909677] [ 0.22565941 0.97409799 0.01452359 -0.98442227] [ 0.17045818 -0.05415769 0.98387548 1.53363395] [ 0. 0. 0. 1. ]] SLAMing on 121.534860624 meters Centerline goodness : 0.831014 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95908161 -0.21948902 -0.17884921 -6.00836312] [ 0.22565727 0.97409658 0.01465056 -0.98327482] [ 0.17100077 -0.05440971 0.98376741 1.53392563] [ 0. 0. 0. 1. ]] SLAMing on 121.564860624 meters Centerline goodness : 0.829905 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95898579 -0.2195102 -0.17933637 -6.00788672] [ 0.22563543 0.97410766 0.01424475 -0.98035758] [ 0.17156607 -0.05412515 0.98368468 1.53395845] [ 0. 0. 0. 1. ]] SLAMing on 121.59486062399999 meters Centerline goodness : 0.827697 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95898491 -0.21935427 -0.17953174 -6.00734035] [ 0.22545382 0.97415255 0.0140493 -0.97926487] [ 0.17180953 -0.05394918 0.98365185 1.53364543] [ 0. 0. 0. 1. ]] SLAMing on 121.624860624 meters Centerline goodness : 0.828767 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95898265 -0.21933961 -0.17956172 -6.00719368] [ 0.22538235 0.97417384 0.0137159 -0.97785653] [ 0.17191589 -0.05362335 0.98365109 1.5335214 ] [ 0. 0. 0. 1. ]] SLAMing on 121.654860624 meters Centerline goodness : 0.836097 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.9591332 -0.2185959 -0.17966453 -6.00655623] [ 0.22459816 0.97435768 0.01351939 -0.97502498] [ 0.17210223 -0.05331922 0.98363504 1.53305163] [ 0. 0. 0. 1. ]] SLAMing on 121.684860624 meters Centerline goodness : 0.837257 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.97, Z:1.53 [[ 0.95916433 -0.21837632 -0.17976534 -6.0063394 ] [ 0.22432612 0.97442462 0.01320806 -0.97337949] [ 0.17228345 -0.05299476 0.98362085 1.53306872] [ 0. 0. 0. 1. ]] SLAMing on 121.714860624 meters Centerline goodness : 0.838614 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.97, Z:1.53 [[ 0.95917532 -0.21827903 -0.17982486 -6.00638575] [ 0.22415538 0.97446963 0.01277922 -0.97145305] [ 0.17244442 -0.05256622 0.98361563 1.5332274 ] [ 0. 0. 0. 1. ]] SLAMing on 121.744860624 meters Centerline goodness : 0.837387 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.97, Z:1.53 [[ 0.9591589 -0.21830767 -0.17987766 -6.00659948] [ 0.22410343 0.97448773 0.01230086 -0.96976299] [ 0.1726032 -0.05210968 0.98361208 1.53356123] [ 0. 0. 0. 1. ]] SLAMing on 121.774860624 meters Centerline goodness : 0.837160 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.97, Z:1.53 [[ 0.95928397 -0.21764312 -0.18001596 -6.00630037] [ 0.2234009 0.97465151 0.01210284 -0.96740723] [ 0.17281873 -0.05182578 0.98358923 1.53357595] [ 0. 0. 0. 1. ]] SLAMing on 121.804860624 meters Centerline goodness : 0.837215 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.97, Z:1.53 [[ 0.95928163 -0.21764707 -0.18002365 -6.0060883 ] [ 0.22336577 0.97466233 0.01187777 -0.96646908] [ 0.17287711 -0.05160524 0.98359057 1.533406 ] [ 0. 0. 0. 1. ]] SLAMing on 121.834860624 meters Centerline goodness : 0.836657 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.97, Z:1.53 [[ 0.95924444 -0.21780029 -0.1800365 -6.00601667] [ 0.22347117 0.97464165 0.0115879 -0.9659256 ] [ 0.17294723 -0.0513486 0.98359167 1.53346975] [ 0. 0. 0. 1. ]] SLAMing on 121.864860624 meters Centerline goodness : 0.836725 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.97, Z:1.53 [[ 0.95922937 -0.21785664 -0.18004863 -6.00577376] [ 0.22349847 0.97463745 0.0114139 -0.96546768] [ 0.17299555 -0.05118914 0.98359149 1.5333163 ] [ 0. 0. 0. 1. ]] SLAMing on 121.894860624 meters Centerline goodness : 0.836165 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.95912572 -0.21846454 -0.1798641 -6.00631389] [ 0.22401223 0.97452562 0.01087823 -0.96442786] [ 0.17290567 -0.05072534 0.98363132 1.53333525] [ 0. 0. 0. 1. ]] SLAMing on 121.924860624 meters Centerline goodness : 0.836011 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.95903475 -0.21902515 -0.17966728 -6.00690184] [ 0.22448203 0.97442307 0.01036865 -0.9637245 ] [ 0.17280095 -0.05027598 0.98367279 1.53350071] [ 0. 0. 0. 1. ]] SLAMing on 121.95486062399999 meters Centerline goodness : 0.834410 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.95890821 -0.21987383 -0.17930574 -6.00783257] [ 0.2252239 0.97425786 0.00978906 -0.96308177] [ 0.17253766 -0.04977074 0.9837447 1.53356771] [ 0. 0. 0. 1. ]] SLAMing on 121.98486062399999 meters Centerline goodness : 0.833295 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.95882877 -0.22042518 -0.17905346 -6.00852479] [ 0.22570624 0.97414988 0.00941882 -0.96290565] [ 0.17234876 -0.04944452 0.98379426 1.53372313] [ 0. 0. 0. 1. ]] SLAMing on 122.014860624 meters Centerline goodness : 0.834212 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.9587293 -0.22107454 -0.17878526 -6.00920322] [ 0.22627059 0.97402335 0.00895202 -0.96274716] [ 0.17216195 -0.04903641 0.98384739 1.53388312] [ 0. 0. 0. 1. ]] SLAMing on 122.044860624 meters Centerline goodness : 0.834593 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.95864541 -0.22162821 -0.17854945 -6.00975287] [ 0.22673986 0.97391838 0.00848693 -0.96234853] [ 0.17201165 -0.04862023 0.98389434 1.53395617] [ 0. 0. 0. 1. ]] SLAMing on 122.074860624 meters Centerline goodness : 0.834756 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.95854322 -0.2222993 -0.17826364 -6.01068342] [ 0.22730953 0.9737903 0.00792706 -0.96169597] [ 0.17182922 -0.04811945 0.98395083 1.53425477] [ 0. 0. 0. 1. ]] SLAMing on 122.104860624 meters Centerline goodness : 0.836584 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 0.95838451 -0.22333078 -0.17782717 -6.01243241] [ 0.22816411 0.97359793 0.00694252 -0.95962527] [ 0.17158168 -0.04722738 0.98403725 1.53479862] [ 0. 0. 0. 1. ]] SLAMing on 122.134860624 meters Centerline goodness : 0.837027 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.54 [[ 0.95831066 -0.22372462 -0.17773005 -6.01288511] [ 0.22846729 0.97353046 0.00641372 -0.95853134] [ 0.17159071 -0.04675184 0.98405838 1.5350542 ] [ 0. 0. 0. 1. ]] SLAMing on 122.164860624 meters Centerline goodness : 0.837216 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.53 [[ 9.58256620e-01 -2.24181563e-01 -1.77445420e-01 -6.01353618e+00] [ 2.28824334e-01 9.73449989e-01 5.87725763e-03 -9.57072756e-01] [ 1.71416670e-01 -4.62357511e-02 9.84113093e-01 1.53494161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194860624 meters Centerline goodness : 0.837420 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.54 [[ 9.58198598e-01 -2.24554303e-01 -1.77287368e-01 -6.01404773e+00] [ 2.29112946e-01 9.73384848e-01 5.40335816e-03 -9.56277244e-01] [ 1.71355490e-01 -4.57963213e-02 9.84144295e-01 1.53514967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224860624 meters Centerline goodness : 0.838405 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.96, Z:1.54 [[ 9.58133931e-01 -2.25016866e-01 -1.77050217e-01 -6.01479120e+00] [ 2.29480022e-01 9.73301154e-01 4.87669735e-03 -9.55474610e-01] [ 1.71225842e-01 -4.53020169e-02 9.84189737e-01 1.53543127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254860624 meters Centerline goodness : 0.836130 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.58073699e-01 -2.25426320e-01 -1.76855197e-01 -6.01545173e+00] [ 2.29801737e-01 9.73227576e-01 4.38713993e-03 -9.54461976e-01] [ 1.71131378e-01 -4.48448349e-02 9.84227104e-01 1.53564460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284860624 meters Centerline goodness : 0.835115 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57991693e-01 -2.25856176e-01 -1.76750967e-01 -6.01617641e+00] [ 2.30142613e-01 9.73149242e-01 3.86388517e-03 -9.53329762e-01] [ 1.71132387e-01 -4.43794992e-02 9.84248021e-01 1.53607884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314860624 meters Centerline goodness : 0.836165 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57927589e-01 -2.26279528e-01 -1.76556818e-01 -6.01705968e+00] [ 2.30472184e-01 9.73073193e-01 3.33672321e-03 -9.52121032e-01] [ 1.71047675e-01 -4.38877748e-02 9.84284794e-01 1.53646878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34486062399999 meters Centerline goodness : 0.836047 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57904260e-01 -2.26508354e-01 -1.76389890e-01 -6.01726217e+00] [ 2.30675255e-01 9.73025496e-01 3.21110257e-03 -9.52093159e-01] [ 1.70904519e-01 -4.37647117e-02 9.84315140e-01 1.53631315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374860624 meters Centerline goodness : 0.832370 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57855554e-01 -2.26810546e-01 -1.76266030e-01 -6.01750943e+00] [ 2.30928248e-01 9.72966364e-01 2.93234219e-03 -9.51776912e-01] [ 1.70835833e-01 -4.35135658e-02 9.84338198e-01 1.53632147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404860624 meters Centerline goodness : 0.832913 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57822534e-01 -2.27046328e-01 -1.76141868e-01 -6.01782946e+00] [ 2.31122940e-01 9.72920790e-01 2.70615662e-03 -9.51447652e-01] [ 1.70757662e-01 -4.33024442e-02 9.84361072e-01 1.53637785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434860624 meters Centerline goodness : 0.835198 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57802932e-01 -2.27159392e-01 -1.76102681e-01 -6.01781767e+00] [ 2.31219585e-01 9.72898085e-01 2.61131303e-03 -9.51384461e-01] [ 1.70736776e-01 -4.32195120e-02 9.84368339e-01 1.53634393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464860624 meters Centerline goodness : 0.831737 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57771898e-01 -2.27407787e-01 -1.75950816e-01 -6.01812560e+00] [ 2.31430581e-01 9.72848430e-01 2.41202869e-03 -9.51198477e-01] [ 1.70624961e-01 -4.30305729e-02 9.84396004e-01 1.53635520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494860624 meters Centerline goodness : 0.832656 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57749154e-01 -2.27497694e-01 -1.75958398e-01 -6.01805518e+00] [ 2.31498720e-01 9.72832545e-01 2.27634733e-03 -9.50997301e-01] [ 1.70660193e-01 -4.29143136e-02 9.84394972e-01 1.53637527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524860624 meters Centerline goodness : 0.832125 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57735443e-01 -2.27602092e-01 -1.75898009e-01 -6.01794761e+00] [ 2.31583020e-01 9.72812732e-01 2.16632840e-03 -9.50605892e-01] [ 1.70622762e-01 -4.28097615e-02 9.84406013e-01 1.53613524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554860624 meters Centerline goodness : 0.831324 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57685485e-01 -2.27868568e-01 -1.75824990e-01 -6.01820204e+00] [ 2.31787015e-01 9.72764894e-01 1.80017720e-03 -9.49705506e-01] [ 1.70626174e-01 -4.24779530e-02 9.84419795e-01 1.53625469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584860624 meters Centerline goodness : 0.829238 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57635660e-01 -2.28103201e-01 -1.75792126e-01 -6.01851186e+00] [ 2.31961723e-01 9.72723846e-01 1.44144291e-03 -9.48850431e-01] [ 1.70668395e-01 -4.21574215e-02 9.84426255e-01 1.53650142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614860624 meters Centerline goodness : 0.831161 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57620472e-01 -2.28227413e-01 -1.75713631e-01 -6.01882729e+00] [ 2.32005328e-01 9.72714016e-01 9.84832778e-04 -9.47046146e-01] [ 1.70694346e-01 -4.17095948e-02 9.84440831e-01 1.53662099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644860624 meters Centerline goodness : 0.831659 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57591428e-01 -2.28315554e-01 -1.75757404e-01 -6.01878593e+00] [ 2.32044985e-01 9.72704813e-01 6.86459517e-04 -9.46066310e-01] [ 1.70803344e-01 -4.14409721e-02 9.84433270e-01 1.53668227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674860624 meters Centerline goodness : 0.829946 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.54 [[ 9.57567292e-01 -2.28437839e-01 -1.75730003e-01 -6.01896467e+00] [ 2.32110272e-01 9.72689414e-01 3.53593654e-04 -9.45106364e-01] [ 1.70849940e-01 -4.11273286e-02 9.84438338e-01 1.53684064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70486062399999 meters Centerline goodness : 0.830544 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57541161e-01 -2.28564006e-01 -1.75708341e-01 -6.01903855e+00] [ 2.32183898e-01 9.72671905e-01 4.46908012e-05 -9.44195555e-01] [ 1.70896352e-01 -4.08394408e-02 9.84442267e-01 1.53686683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73486062399999 meters Centerline goodness : 0.833604 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57503078e-01 -2.28823185e-01 -1.75578488e-01 -6.01960253e+00] [ 2.32371939e-01 9.72626935e-01 -3.57373341e-04 -9.43272777e-01] [ 1.70854142e-01 -4.04573275e-02 9.84465371e-01 1.53714129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764860624 meters Centerline goodness : 0.832500 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57470957e-01 -2.29058759e-01 -1.75446433e-01 -6.02001378e+00] [ 2.32523096e-01 9.72590518e-01 -8.33676103e-04 -9.41272563e-01] [ 1.70828498e-01 -3.99971271e-02 9.84488626e-01 1.53705121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794860624 meters Centerline goodness : 0.833147 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57430307e-01 -2.29298257e-01 -1.75355399e-01 -6.02017009e+00] [ 2.32718628e-01 9.72543499e-01 -1.08729211e-03 -9.40782127e-01] [ 1.70790067e-01 -3.97674614e-02 9.84504597e-01 1.53705753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824860624 meters Centerline goodness : 0.831796 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57364219e-01 -2.29645236e-01 -1.75262142e-01 -6.02036476e+00] [ 2.33012147e-01 9.72472809e-01 -1.40506956e-03 -9.40301080e-01] [ 1.70760335e-01 -3.94930447e-02 9.84520801e-01 1.53705443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854860624 meters Centerline goodness : 0.834489 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57290820e-01 -2.30078365e-01 -1.75094921e-01 -6.02054571e+00] [ 2.33390107e-01 9.72381657e-01 -1.72348969e-03 -9.40064112e-01] [ 1.70655627e-01 -3.92155416e-02 9.84550049e-01 1.53691479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884860624 meters Centerline goodness : 0.833745 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57238835e-01 -2.30392718e-01 -1.74965734e-01 -6.02092416e+00] [ 2.33668924e-01 9.72314312e-01 -1.92705304e-03 -9.40217559e-01] [ 1.70565666e-01 -3.90394048e-02 9.84572637e-01 1.53708009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914860624 meters Centerline goodness : 0.831786 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.54 [[ 9.57192413e-01 -2.30720913e-01 -1.74787142e-01 -6.02133411e+00] [ 2.33940194e-01 9.72248399e-01 -2.24420925e-03 -9.40041104e-01] [ 1.70454305e-01 -3.87415978e-02 9.84603686e-01 1.53724429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944860624 meters Centerline goodness : 0.832930 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58172895e-01 -2.29155126e-01 -1.71442792e-01 -6.04420739e+00] [ 2.31844525e-01 9.72742705e-01 -4.44367889e-03 -9.43829135e-01] [ 1.67788017e-01 -3.54902600e-02 9.85184055e-01 1.53424846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974860624 meters Centerline goodness : 0.832930 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58172895e-01 -2.29155126e-01 -1.71442792e-01 -6.04420739e+00] [ 2.31844525e-01 9.72742705e-01 -4.44367889e-03 -9.43829135e-01] [ 1.67788017e-01 -3.54902600e-02 9.85184055e-01 1.53424846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004860624 meters Centerline goodness : 0.831206 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.94, Z:1.53 [[ 9.58107875e-01 -2.29551421e-01 -1.71275929e-01 -6.04506652e+00] [ 2.32202066e-01 9.72656354e-01 -4.67094719e-03 -9.43920734e-01] [ 1.67664843e-01 -3.52953533e-02 9.85212027e-01 1.53471207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034860624 meters Centerline goodness : 0.831750 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58126228e-01 -2.29414696e-01 -1.71356435e-01 -6.04478269e+00] [ 2.32069044e-01 9.72688181e-01 -4.65418873e-03 -9.43954503e-01] [ 1.67744119e-01 -3.53072238e-02 9.85198107e-01 1.53472727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064860624 meters Centerline goodness : 0.830979 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58101905e-01 -2.29476817e-01 -1.71409247e-01 -6.04460039e+00] [ 2.32129579e-01 9.72673611e-01 -4.68033073e-03 -9.44544264e-01] [ 1.67799278e-01 -3.53049226e-02 9.85188796e-01 1.53482344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09486062399999 meters Centerline goodness : 0.830374 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58095486e-01 -2.29427342e-01 -1.71511323e-01 -6.04424400e+00] [ 2.32078015e-01 9.72685772e-01 -4.70996991e-03 -9.44679094e-01] [ 1.67907220e-01 -3.52914065e-02 9.85170890e-01 1.53483529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124860624 meters Centerline goodness : 0.832599 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58140739e-01 -2.29195643e-01 -1.71568300e-01 -6.04382538e+00] [ 2.31874408e-01 9.72735153e-01 -4.53663461e-03 -9.44851313e-01] [ 1.67930293e-01 -3.54355635e-02 9.85161782e-01 1.53458308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154860624 meters Centerline goodness : 0.831538 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58144118e-01 -2.29147727e-01 -1.71613429e-01 -6.04362262e+00] [ 2.31826369e-01 9.72746575e-01 -4.54273978e-03 -9.44768602e-01] [ 1.67977334e-01 -3.54319188e-02 9.85153894e-01 1.53453987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184860624 meters Centerline goodness : 0.832320 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58138528e-01 -2.29090713e-01 -1.71720724e-01 -6.04349178e+00] [ 2.31761853e-01 9.72761657e-01 -4.60457532e-03 -9.44676583e-01] [ 1.68098202e-01 -3.53864922e-02 9.85134910e-01 1.53473043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214860624 meters Centerline goodness : 0.830507 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.94, Z:1.53 [[ 9.58124523e-01 -2.29190748e-01 -1.71665368e-01 -6.04360667e+00] [ 2.31843011e-01 9.72741801e-01 -4.71234548e-03 -9.44783463e-01] [ 1.68066106e-01 -3.52844021e-02 9.85144048e-01 1.53486344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244860624 meters Centerline goodness : 0.830578 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.95, Z:1.54 [[ 9.58076635e-01 -2.29555325e-01 -1.71445365e-01 -6.04424933e+00] [ 2.32177845e-01 9.72661147e-01 -4.87255689e-03 -9.45006347e-01] [ 1.67876767e-01 -3.51375325e-02 9.85181580e-01 1.53501160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274860624 meters Centerline goodness : 0.832775 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.95, Z:1.54 [[ 9.58045815e-01 -2.29732118e-01 -1.71380774e-01 -6.04431517e+00] [ 2.32348910e-01 9.72620118e-01 -4.90824758e-03 -9.45674224e-01] [ 1.67815971e-01 -3.51178100e-02 9.85192641e-01 1.53509977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304860624 meters Centerline goodness : 0.833357 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.95, Z:1.53 [[ 9.58045667e-01 -2.29790372e-01 -1.71303487e-01 -6.04422743e+00] [ 2.32421849e-01 9.72603177e-01 -4.81076453e-03 -9.46398680e-01] [ 1.67715783e-01 -3.52057411e-02 9.85206563e-01 1.53496473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334860624 meters Centerline goodness : 0.833165 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.95, Z:1.54 [[ 9.57950708e-01 -2.30278721e-01 -1.71178711e-01 -6.04448606e+00] [ 2.32900608e-01 9.72488279e-01 -4.88409894e-03 -9.47558201e-01] [ 1.67593994e-01 -3.51888998e-02 9.85227890e-01 1.53506420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364860624 meters Centerline goodness : 0.830568 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57874533e-01 -2.30789926e-01 -1.70916320e-01 -6.04521994e+00] [ 2.33376820e-01 9.72373106e-01 -5.07970756e-03 -9.48190016e-01] [ 1.67366779e-01 -3.50221848e-02 9.85272454e-01 1.53529739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394860624 meters Centerline goodness : 0.834133 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57791958e-01 -2.31340311e-01 -1.70634774e-01 -6.04604629e+00] [ 2.33888719e-01 9.72248951e-01 -5.29575753e-03 -9.49071181e-01] [ 1.67124602e-01 -3.48373147e-02 9.85320115e-01 1.53566301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424860624 meters Centerline goodness : 0.830891 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57693626e-01 -2.31871950e-01 -1.70465006e-01 -6.04663682e+00] [ 2.34400687e-01 9.72124944e-01 -5.42318210e-03 -9.50200023e-01] [ 1.66970768e-01 -3.47633676e-02 9.85348807e-01 1.53600225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45486062399999 meters Centerline goodness : 0.831900 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57532207e-01 -2.32701548e-01 -1.70241187e-01 -6.04729587e+00] [ 2.35196423e-01 9.71931440e-01 -5.64963360e-03 -9.52173938e-01] [ 1.66777440e-01 -3.46304121e-02 9.85386229e-01 1.53642349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48486062399999 meters Centerline goodness : 0.825557 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57461297e-01 -2.33017606e-01 -1.70207698e-01 -6.04742803e+00] [ 2.35496822e-01 9.71858031e-01 -5.76318805e-03 -9.52942280e-01] [ 1.66760643e-01 -3.45653425e-02 9.85391356e-01 1.53666332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514860624 meters Centerline goodness : 0.832155 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57408916e-01 -2.33359672e-01 -1.70033616e-01 -6.04791924e+00] [ 2.35816491e-01 9.71779758e-01 -5.88938554e-03 -9.53489634e-01] [ 1.66609572e-01 -3.44581806e-02 9.85420664e-01 1.53687027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544860624 meters Centerline goodness : 0.834332 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 0.95735394 -0.23379694 -0.16974222 -6.04870791] [ 0.23621494 0.9716817 -0.00609695 -0.95391627] [ 0.16636086 -0.03425871 0.98546964 1.53711817] [ 0. 0. 0. 1. ]] SLAMing on 123.574860624 meters Centerline goodness : 0.833469 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 0.95735241 -0.23376925 -0.16978898 -6.04891008] [ 0.23618267 0.97168933 -0.00613132 -0.95451692] [ 0.16641545 -0.03423139 0.98546137 1.53767459] [ 0. 0. 0. 1. ]] SLAMing on 123.604860624 meters Centerline goodness : 0.832169 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 0.95735483 -0.23372184 -0.16984059 -6.0488737 ] [ 0.23612073 0.97170379 -0.00622393 -0.9543239 ] [ 0.16648942 -0.03414438 0.98545189 1.53784118] [ 0. 0. 0. 1. ]] SLAMing on 123.634860624 meters Centerline goodness : 0.831758 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 0.95739156 -0.2334242 -0.17004277 -6.04827519] [ 0.23583112 0.97177433 -0.00619208 -0.9544067 ] [ 0.16668858 -0.03417313 0.98541723 1.53790233] [ 0. 0. 0. 1. ]] SLAMing on 123.664860624 meters Centerline goodness : 0.830160 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 0.95746343 -0.2329521 -0.17028535 -6.04746498] [ 0.23538437 0.97188352 -0.00605094 -0.95432548] [ 0.1669071 -0.03428895 0.98537622 1.53780081] [ 0. 0. 0. 1. ]] SLAMing on 123.694860624 meters Centerline goodness : 0.832764 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57797493e-01 -2.31118232e-01 -1.70904432e-01 -6.04519786e+00] [ 2.33684258e-01 9.72298474e-01 -5.22928293e-03 -9.53597649e-01] [ 1.67378701e-01 -3.49290812e-02 9.85273733e-01 1.53713157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724860624 meters Centerline goodness : 0.830463 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57814515e-01 -2.30940773e-01 -1.71048865e-01 -6.04519639e+00] [ 2.33493156e-01 9.72343868e-01 -5.32426819e-03 -9.52989444e-01] [ 1.67547906e-01 -3.48390781e-02 9.85248161e-01 1.53749960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754860624 meters Centerline goodness : 0.833539 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57772832e-01 -2.31072276e-01 -1.71104663e-01 -6.04569700e+00] [ 2.33583217e-01 9.72320738e-01 -5.59135362e-03 -9.52682491e-01] [ 1.67660619e-01 -3.46119310e-02 9.85236992e-01 1.53820107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784860624 meters Centerline goodness : 0.831758 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.95, Z:1.54 [[ 9.57770969e-01 -2.31025309e-01 -1.71178499e-01 -6.04563673e+00] [ 2.33533407e-01 9.72332541e-01 -5.61933082e-03 -9.52833908e-01] [ 1.67740633e-01 -3.45938661e-02 9.85224007e-01 1.53843216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814860624 meters Centerline goodness : 0.833186 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.95, Z:1.54 [[ 9.57825648e-01 -2.30714360e-01 -1.71291891e-01 -6.04476024e+00] [ 2.33303913e-01 9.72390300e-01 -5.13704327e-03 -9.54914303e-01] [ 1.67747763e-01 -3.50426767e-02 9.85206932e-01 1.53815053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84486062399999 meters Centerline goodness : 0.829293 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.96, Z:1.54 [[ 9.57782297e-01 -2.30926054e-01 -1.71249026e-01 -6.04472817e+00] [ 2.33525591e-01 9.72337343e-01 -5.08819529e-03 -9.56012856e-01] [ 1.67686820e-01 -3.51176467e-02 9.85214637e-01 1.53817282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874860624 meters Centerline goodness : 0.831088 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.96, Z:1.54 [[ 9.57730867e-01 -2.31167646e-01 -1.71210705e-01 -6.04477949e+00] [ 2.33766092e-01 9.72279447e-01 -5.10802542e-03 -9.57193245e-01] [ 1.67645460e-01 -3.51311438e-02 9.85221195e-01 1.53837566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904860624 meters Centerline goodness : 0.830821 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.54 [[ 9.57658943e-01 -2.31595509e-01 -1.71034701e-01 -6.04534236e+00] [ 2.34173924e-01 9.72180671e-01 -5.22656542e-03 -9.58186094e-01] [ 1.67487079e-01 -3.50465999e-02 9.85251143e-01 1.53871867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934860624 meters Centerline goodness : 0.831528 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.54 [[ 9.57494995e-01 -2.32494417e-01 -1.70732777e-01 -6.04649488e+00] [ 2.35025755e-01 9.71973470e-01 -5.51986025e-03 -9.59951048e-01] [ 1.67231066e-01 -3.48413614e-02 9.85301908e-01 1.53946471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964860624 meters Centerline goodness : 0.829584 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.54 [[ 9.57436316e-01 -2.32794642e-01 -1.70652736e-01 -6.04670629e+00] [ 2.35329145e-01 9.71900109e-01 -5.51100493e-03 -9.61319040e-01] [ 1.67140345e-01 -3.48831263e-02 9.85315824e-01 1.53973594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994860624 meters Centerline goodness : 0.829757 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.54 [[ 9.57374605e-01 -2.33110992e-01 -1.70567087e-01 -6.04687244e+00] [ 2.35657936e-01 9.71820797e-01 -5.44763222e-03 -9.62924222e-01] [ 1.67030546e-01 -3.49800629e-02 9.85331006e-01 1.53995411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024860624 meters Centerline goodness : 0.830415 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.96, Z:1.54 [[ 9.57306400e-01 -2.33458016e-01 -1.70475252e-01 -6.04704704e+00] [ 2.36000924e-01 9.71737363e-01 -5.48280274e-03 -9.64332832e-01] [ 1.66937176e-01 -3.49835948e-02 9.85346704e-01 1.54022870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054860624 meters Centerline goodness : 0.829381 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.97, Z:1.54 [[ 9.57099512e-01 -2.34412416e-01 -1.70327166e-01 -6.04796624e+00] [ 2.36921258e-01 9.71511914e-01 -5.73739622e-03 -9.66699887e-01] [ 1.66819788e-01 -3.48628675e-02 9.85370864e-01 1.54114117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084860624 meters Centerline goodness : 0.831302 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.97, Z:1.54 [[ 9.57031913e-01 -2.34787064e-01 -1.70190926e-01 -6.04847563e+00] [ 2.37270218e-01 9.71425812e-01 -5.89363418e-03 -9.67628234e-01] [ 1.66711608e-01 -3.47408422e-02 9.85393482e-01 1.54160041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114860624 meters Centerline goodness : 0.778337 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.97, Z:1.54 [[ 9.56991973e-01 -2.34965947e-01 -1.70168643e-01 -6.04867476e+00] [ 2.37458598e-01 9.71380053e-01 -5.84867969e-03 -9.68701323e-01] [ 1.66672666e-01 -3.48108677e-02 9.85397598e-01 1.54192593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144860624 meters Centerline goodness : 0.781069 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.97, Z:1.54 [[ 9.56930537e-01 -2.35182923e-01 -1.70214392e-01 -6.04873677e+00] [ 2.37710634e-01 9.71319464e-01 -5.67041530e-03 -9.71038605e-01] [ 1.66666137e-01 -3.50355775e-02 9.85390738e-01 1.54244778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174860624 meters Centerline goodness : 0.828239 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.97, Z:1.54 [[ 9.56907149e-01 -2.35289871e-01 -1.70198077e-01 -6.04871427e+00] [ 2.37840451e-01 9.71288430e-01 -5.54120336e-03 -9.72555200e-01] [ 1.66615212e-01 -3.51775703e-02 9.85394291e-01 1.54266611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20486062399999 meters Centerline goodness : 0.833691 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.97, Z:1.54 [[ 9.56861609e-01 -2.35467717e-01 -1.70208156e-01 -6.04865656e+00] [ 2.38034057e-01 9.71241428e-01 -5.46595679e-03 -9.74134005e-01] [ 1.66600269e-01 -3.52851738e-02 9.85392971e-01 1.54293025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23486062399999 meters Centerline goodness : 0.832187 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56839033e-01 -2.35592949e-01 -1.70161767e-01 -6.04868483e+00] [ 2.38186819e-01 9.71204873e-01 -5.30421586e-03 -9.75562448e-01] [ 1.66511573e-01 -3.54550092e-02 9.85401866e-01 1.54304242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264860624 meters Centerline goodness : 0.780166 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56822318e-01 -2.35703593e-01 -1.70102520e-01 -6.04877121e+00] [ 2.38311371e-01 9.71174780e-01 -5.21889008e-03 -9.76708272e-01] [ 1.66429388e-01 -3.55438143e-02 9.85412551e-01 1.54323840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294860624 meters Centerline goodness : 0.832880 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56801117e-01 -2.35752523e-01 -1.70153958e-01 -6.04892330e+00] [ 2.38415392e-01 9.71150869e-01 -4.90822617e-03 -9.79008868e-01] [ 1.66402291e-01 -3.58711265e-02 9.85405267e-01 1.54379968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324860624 meters Centerline goodness : 0.831358 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56810775e-01 -2.35653642e-01 -1.70236605e-01 -6.04869743e+00] [ 2.38352344e-01 9.71167349e-01 -4.70540254e-03 -9.79973568e-01] [ 1.66437077e-01 -3.60741139e-02 9.85391982e-01 1.54390206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354860624 meters Centerline goodness : 0.830869 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56853401e-01 -2.35326058e-01 -1.70450038e-01 -6.04837305e+00] [ 2.38097871e-01 9.71231689e-01 -4.29079882e-03 -9.81790186e-01] [ 1.66556215e-01 -3.64781257e-02 9.85356978e-01 1.54435871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384860624 meters Centerline goodness : 0.826061 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56885808e-01 -2.35151148e-01 -1.70509495e-01 -6.04823218e+00] [ 2.37952477e-01 9.71268086e-01 -4.11389204e-03 -9.82599780e-01] [ 1.66577817e-01 -3.66366318e-02 9.85347445e-01 1.54453462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414860624 meters Centerline goodness : 0.831247 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56908358e-01 -2.34959243e-01 -1.70647438e-01 -6.04793799e+00] [ 2.37792879e-01 9.71307907e-01 -3.93663779e-03 -9.83397372e-01] [ 1.66676155e-01 -3.68117439e-02 9.85324289e-01 1.54470559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444860624 meters Centerline goodness : 0.830019 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.54 [[ 9.56942369e-01 -2.34718453e-01 -1.70788028e-01 -6.04762919e+00] [ 2.37588692e-01 9.71358686e-01 -3.73049061e-03 -9.84242977e-01] [ 1.66772049e-01 -3.70074395e-02 9.85300732e-01 1.54491085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474860624 meters Centerline goodness : 0.826004 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.98, Z:1.55 [[ 9.56978148e-01 -2.34502624e-01 -1.70884007e-01 -6.04738319e+00] [ 2.37396258e-01 9.71406246e-01 -3.59473271e-03 -9.84802802e-01] [ 1.66840766e-01 -3.71271432e-02 9.85284595e-01 1.54506597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504860624 meters Centerline goodness : 0.825820 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.99, Z:1.55 [[ 9.57715198e-01 -2.30445016e-01 -1.72269248e-01 -6.04596304e+00] [ 2.34173347e-01 9.72193909e-01 1.35911039e-03 -9.88115276e-01] [ 1.67165913e-01 -4.16425070e-02 9.85048963e-01 1.54516272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534860624 meters Centerline goodness : 0.826721 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.99, Z:1.55 [[ 9.57782707e-01 -2.29826634e-01 -1.72719436e-01 -6.04524252e+00] [ 2.33732229e-01 9.72298183e-01 2.34292287e-03 -9.89409437e-01] [ 1.67396328e-01 -4.26141099e-02 9.84968277e-01 1.54545360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564860624 meters Centerline goodness : 0.829977 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.54 [[ 9.57939787e-01 -2.29073043e-01 -1.72849373e-01 -6.04404585e+00] [ 2.33129348e-01 9.72440260e-01 3.26312317e-03 -9.91500792e-01] [ 1.67338196e-01 -4.34221372e-02 9.84942864e-01 1.54475585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59486062399999 meters Centerline goodness : 0.829290 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.54 [[ 9.57992586e-01 -2.28658016e-01 -1.73106087e-01 -6.04271473e+00] [ 2.32798068e-01 9.72517961e-01 3.72485916e-03 -9.92405184e-01] [ 1.67497059e-01 -4.38671500e-02 9.84896141e-01 1.54410595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624860624 meters Centerline goodness : 0.824637 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.54 [[ 9.57980164e-01 -2.28403599e-01 -1.73510235e-01 -6.04138330e+00] [ 2.32658793e-01 9.72548847e-01 4.31589152e-03 -9.93327198e-01] [ 1.67761414e-01 -4.45032203e-02 9.84822609e-01 1.54373883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654860624 meters Centerline goodness : 0.825976 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.99, Z:1.54 [[ 9.58041412e-01 -2.28144652e-01 -1.73512737e-01 -6.04077745e+00] [ 2.32465019e-01 9.72593300e-01 4.72100608e-03 -9.94787568e-01] [ 1.67680253e-01 -4.48585610e-02 9.84820310e-01 1.54344488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684860624 meters Centerline goodness : 0.825988 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.54 [[ 0.95809504 -0.22745844 -0.17411648 -6.0389415 ] [ 0.23204657 0.972685 0.00618701 -0.99736698] [ 0.1679532 -0.04633088 0.98470563 1.5431608 ] [ 0. 0. 0. 1. ]] SLAMing on 124.714860624 meters Centerline goodness : 0.828747 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.54 [[ 0.95817839 -0.226973 -0.17429122 -6.03810647] [ 0.23167533 0.97276904 0.0068505 -0.99871205] [ 0.16799023 -0.04694297 0.98467032 1.54283534] [ 0. 0. 0. 1. ]] SLAMing on 124.744860624 meters Centerline goodness : 0.828173 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.54 [[ 0.95823753 -0.2265089 -0.17456965 -6.03722653] [ 0.23134841 0.97284115 0.00761619 -0.9999349 ] [ 0.16810341 -0.04768453 0.98461537 1.54266376] [ 0. 0. 0. 1. ]] SLAMing on 124.774860624 meters Centerline goodness : 0.827561 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.54 [[ 0.95821193 -0.22629726 -0.17498414 -6.03605898] [ 0.23126174 0.97285662 0.00824626 -1.00089336] [ 0.16836837 -0.0483688 0.98453672 1.54255966] [ 0. 0. 0. 1. ]] SLAMing on 124.804860624 meters Centerline goodness : 0.826488 Centerline is valid? [False, False] Translation: X:-6.04, Y:-1.00, Z:1.54 [[ 0.95818363 -0.22608575 -0.17541199 -6.03503182] [ 0.23119564 0.97286575 0.00898903 -1.00209401] [ 0.16862003 -0.04916763 0.98445408 1.54263223] [ 0. 0. 0. 1. ]] SLAMing on 124.834860624 meters Centerline goodness : 0.823430 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.00, Z:1.54 [[ 0.95820677 -0.2255069 -0.17602963 -6.03349122] [ 0.23084778 0.97293638 0.01020308 -1.00411694] [ 0.16896477 -0.05041271 0.98433199 1.5426258 ] [ 0. 0. 0. 1. ]] SLAMing on 124.864860624 meters Centerline goodness : 0.828485 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95817605 -0.22532042 -0.17643515 -6.03231838] [ 0.23079204 0.97294253 0.01085715 -1.00540553] [ 0.16921493 -0.05112289 0.98425239 1.5425685 ] [ 0. 0. 0. 1. ]] SLAMing on 124.894860624 meters Centerline goodness : 0.828043 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95809291 -0.22524621 -0.17698058 -6.03101448] [ 0.23087307 0.97291476 0.01159722 -1.00666768] [ 0.16957479 -0.05197127 0.98414601 1.54266559] [ 0. 0. 0. 1. ]] SLAMing on 124.924860624 meters Centerline goodness : 0.828043 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95809291 -0.22524621 -0.17698058 -6.03101448] [ 0.23087307 0.97291476 0.01159722 -1.00666768] [ 0.16957479 -0.05197127 0.98414601 1.54266559] [ 0. 0. 0. 1. ]] SLAMing on 124.95486062399999 meters Centerline goodness : 0.829539 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95805045 -0.22525389 -0.1772005 -6.03021816] [ 0.23099741 0.97287782 0.01220458 -1.00817565] [ 0.1696453 -0.05262546 0.9840991 1.54270676] [ 0. 0. 0. 1. ]] SLAMing on 124.98486062399999 meters Centerline goodness : 0.827017 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95791581 -0.22539813 -0.17774416 -6.02943952] [ 0.23139712 0.97276572 0.01349911 -1.01086269] [ 0.16986075 -0.0540605 0.98398414 1.54360823] [ 0. 0. 0. 1. ]] SLAMing on 125.014860624 meters Centerline goodness : 0.827533 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95782699 -0.22547801 -0.17812107 -6.02830622] [ 0.23157676 0.97271665 0.01394701 -1.011769 ] [ 0.17011658 -0.05460752 0.98390974 1.54358412] [ 0. 0. 0. 1. ]] SLAMing on 125.044860624 meters Centerline goodness : 0.828475 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95783693 -0.22526262 -0.17834 -6.02714517] [ 0.23146168 0.97273633 0.01447466 -1.01286537] [ 0.1702172 -0.05514324 0.98386245 1.54311745] [ 0. 0. 0. 1. ]] SLAMing on 125.074860624 meters Centerline goodness : 0.828861 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.01, Z:1.54 [[ 0.95779641 -0.22506417 -0.17880757 -6.02595679] [ 0.23142806 0.97273187 0.01528948 -1.01417471] [ 0.17049071 -0.05602529 0.98376526 1.54310729] [ 0. 0. 0. 1. ]] SLAMing on 125.104860624 meters Centerline goodness : 0.827551 Centerline is valid? [False, False] Translation: X:-6.03, Y:-1.02, Z:1.54 [[ 0.95782775 -0.22481921 -0.17894783 -6.02524814] [ 0.23129387 0.97275394 0.0159036 -1.01615386] [ 0.17049677 -0.05662244 0.98373002 1.54317947] [ 0. 0. 0. 1. ]] SLAMing on 125.134860624 meters Centerline goodness : 0.827201 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95780519 -0.22460091 -0.17934226 -6.02447533] [ 0.23116632 0.97277748 0.01631292 -1.0162736 ] [ 0.17079622 -0.05708249 0.98365148 1.54324081] [ 0. 0. 0. 1. ]] SLAMing on 125.164860624 meters Centerline goodness : 0.828751 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95819593 -0.22163679 -0.1809356 -6.0228129 ] [ 0.22903366 0.97319631 0.0207975 -1.01848796] [ 0.17147637 -0.06136843 0.98327502 1.54394505] [ 0. 0. 0. 1. ]] SLAMing on 125.194860624 meters Centerline goodness : 0.830318 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.9584757 -0.22054704 -0.18078536 -6.02248376] [ 0.22803054 0.97341774 0.02144715 -1.01975101] [ 0.17124957 -0.06178115 0.9832887 1.54332282] [ 0. 0. 0. 1. ]] SLAMing on 125.224860624 meters Centerline goodness : 0.828298 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95855714 -0.22014727 -0.18084078 -6.02208856] [ 0.2277112 0.97348186 0.02192439 -1.02055613] [ 0.17121863 -0.06219526 0.98326799 1.5431349 ] [ 0. 0. 0. 1. ]] SLAMing on 125.254860624 meters Centerline goodness : 0.830074 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95858841 -0.2198654 -0.18101784 -6.02157171] [ 0.22752251 0.97351471 0.02241899 -1.02130466] [ 0.17129437 -0.06267622 0.98322425 1.54312411] [ 0. 0. 0. 1. ]] SLAMing on 125.284860624 meters Centerline goodness : 0.827586 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95874971 -0.21911626 -0.18107195 -6.02119632] [ 0.2269013 0.97364139 0.02320016 -1.02237272] [ 0.17121561 -0.06332861 0.98319617 1.54294102] [ 0. 0. 0. 1. ]] SLAMing on 125.314860624 meters Centerline goodness : 0.828567 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95871912 -0.21900987 -0.1813624 -6.02041115] [ 0.22686576 0.97364231 0.02350688 -1.0226164 ] [ 0.17143387 -0.06368141 0.98313534 1.54281141] [ 0. 0. 0. 1. ]] SLAMing on 125.34486062399999 meters Centerline goodness : 0.828023 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95872539 -0.2188334 -0.18154218 -6.01971012] [ 0.22679797 0.97364416 0.02407768 -1.02369286] [ 0.17148848 -0.06425728 0.98308835 1.54273761] [ 0. 0. 0. 1. ]] SLAMing on 125.374860624 meters Centerline goodness : 0.827954 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.95865828 -0.21886451 -0.18185882 -6.01842626] [ 0.22693618 0.97359972 0.02456754 -1.02464814] [ 0.17168073 -0.06482222 0.9830177 1.54241516] [ 0. 0. 0. 1. ]] SLAMing on 125.404860624 meters Centerline goodness : 0.827135 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.95846695 -0.2195034 -0.18209712 -6.01686944] [ 0.22765721 0.9734232 0.02488894 -1.02679185] [ 0.17179436 -0.06531095 0.9829655 1.54217853] [ 0. 0. 0. 1. ]] SLAMing on 125.434860624 meters Centerline goodness : 0.827366 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.95837126 -0.21973899 -0.18231649 -6.01572932] [ 0.22796308 0.973344 0.02518501 -1.02790286] [ 0.17192253 -0.06569802 0.9829173 1.54190255] [ 0. 0. 0. 1. ]] SLAMing on 125.464860624 meters Centerline goodness : 0.828462 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.95823656 -0.2198519 -0.18288748 -6.01391386] [ 0.22818628 0.97328134 0.0255823 -1.02864854] [ 0.17237666 -0.06624631 0.98280095 1.54161275] [ 0. 0. 0. 1. ]] SLAMing on 125.494860624 meters Centerline goodness : 0.828799 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.95827914 -0.21973104 -0.18280962 -6.01363497] [ 0.22809467 0.97329732 0.02579041 -1.02935182] [ 0.17226116 -0.06641231 0.98281 1.54136187] [ 0. 0. 0. 1. ]] SLAMing on 125.524860624 meters Centerline goodness : 0.827333 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.9582924 -0.21941985 -0.18311363 -6.01274611] [ 0.22787383 0.97333774 0.02621397 -1.02959325] [ 0.17247954 -0.06684745 0.9827422 1.54113498] [ 0. 0. 0. 1. ]] SLAMing on 125.554860624 meters Centerline goodness : 0.829052 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.95854637 -0.21856581 -0.18280547 -6.01391321] [ 0.22707607 0.97351005 0.02673295 -1.03013178] [ 0.17212005 -0.06713551 0.98278559 1.54144336] [ 0. 0. 0. 1. ]] SLAMing on 125.584860624 meters Centerline goodness : 0.831957 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.95872995 -0.21805605 -0.1824512 -6.01469024] [ 0.22654075 0.97363367 0.02677259 -1.03027965] [ 0.17180271 -0.06700032 0.98285034 1.54139848] [ 0. 0. 0. 1. ]] SLAMing on 125.614860624 meters Centerline goodness : 0.831745 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.95911279 -0.21658601 -0.18218991 -6.01517526] [ 0.22515276 0.97393597 0.02747671 -1.03099686] [ 0.17149023 -0.06737382 0.98287938 1.54101776] [ 0. 0. 0. 1. ]] SLAMing on 125.644860624 meters Centerline goodness : 0.830198 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.95919415 -0.21609581 -0.18234357 -6.01464374] [ 0.22473561 0.97402093 0.02787727 -1.03117538] [ 0.17158229 -0.06771881 0.9828396 1.54075178] [ 0. 0. 0. 1. ]] SLAMing on 125.674860624 meters Centerline goodness : 0.833082 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.95930699 -0.21559086 -0.1823477 -6.01428572] [ 0.22427273 0.97411944 0.02816128 -1.03112016] [ 0.17155712 -0.06791093 0.98283074 1.54024109] [ 0. 0. 0. 1. ]] SLAMing on 125.70486062399999 meters Centerline goodness : 0.825898 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.03, Z:1.54 [[ 0.95934965 -0.21556414 -0.18215475 -6.01456736] [ 0.22417315 0.97415207 0.02782349 -1.03077705] [ 0.17144868 -0.06752666 0.98287614 1.54007865] [ 0. 0. 0. 1. ]] SLAMing on 125.73486062399999 meters Centerline goodness : 0.827054 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.95959425 -0.2150501 -0.18147269 -6.01572914] [ 0.22350344 0.97432224 0.0272466 -1.02981783] [ 0.17095349 -0.06670545 0.98301846 1.53949411] [ 0. 0. 0. 1. ]] SLAMing on 125.764860624 meters Centerline goodness : 0.830800 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.95974644 -0.21446969 -0.1813547 -6.01554577] [ 0.22291214 0.97445671 0.02728195 -1.02939274] [ 0.17087115 -0.06660992 0.98303925 1.53882814] [ 0. 0. 0. 1. ]] SLAMing on 125.794860624 meters Centerline goodness : 0.831196 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.95988611 -0.21392813 -0.18125508 -6.01562819] [ 0.22235649 0.97458348 0.02728798 -1.02878955] [ 0.17081054 -0.0664966 0.98305746 1.53847292] [ 0. 0. 0. 1. ]] SLAMing on 125.824860624 meters Centerline goodness : 0.829513 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.95998699 -0.21347837 -0.1812511 -6.01567596] [ 0.22190944 0.97468378 0.02734475 -1.028038 ] [ 0.170825 -0.06647193 0.98305661 1.53821129] [ 0. 0. 0. 1. ]] SLAMing on 125.854860624 meters Centerline goodness : 0.829316 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.96016713 -0.21271974 -0.18118886 -6.01565779] [ 0.22113779 0.97485868 0.0273612 -1.02655867] [ 0.17081326 -0.06633903 0.98306763 1.53739897] [ 0. 0. 0. 1. ]] SLAMing on 125.884860624 meters Centerline goodness : 0.835035 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.03, Z:1.54 [[ 0.96023593 -0.21270976 -0.1808356 -6.01603299] [ 0.22098531 0.97491213 0.02668008 -1.02554194] [ 0.17062371 -0.06558118 0.98315139 1.53683839] [ 0. 0. 0. 1. ]] SLAMing on 125.914860624 meters Centerline goodness : 0.832516 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.96033239 -0.21233797 -0.18076032 -6.01587329] [ 0.22058998 0.97500367 0.0266065 -1.02457796] [ 0.17059241 -0.065425 0.98316723 1.53620906] [ 0. 0. 0. 1. ]] SLAMing on 125.944860624 meters Centerline goodness : 0.831789 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.96035879 -0.21242752 -0.18051467 -6.01642349] [ 0.22053698 0.97503543 0.02587192 -1.02271022] [ 0.17051229 -0.06465648 0.98323196 1.53586833] [ 0. 0. 0. 1. ]] SLAMing on 125.974860624 meters Centerline goodness : 0.831101 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.96032449 -0.2125132 -0.18059627 -6.01619086] [ 0.22059498 0.97502755 0.02567351 -1.02175391] [ 0.17063038 -0.06449353 0.98322218 1.53562427] [ 0. 0. 0. 1. ]] SLAMing on 126.004860624 meters Centerline goodness : 0.832498 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.96024723 -0.21264909 -0.18084698 -6.01546412] [ 0.22073748 0.97499714 0.02560341 -1.0208292 ] [ 0.17088075 -0.06450531 0.98317793 1.53529035] [ 0. 0. 0. 1. ]] SLAMing on 126.034860624 meters Centerline goodness : 0.821170 Centerline is valid? [False, False] Translation: X:-6.02, Y:-1.02, Z:1.54 [[ 0.96005672 -0.21358499 -0.18075548 -6.01572869] [ 0.22150909 0.97484771 0.0246103 -1.01936027] [ 0.17095267 -0.06366626 0.98322011 1.53541107] [ 0. 0. 0. 1. ]] SLAMing on 126.064860624 meters Centerline goodness : 0.832326 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.02, Z:1.53 [[ 0.95997461 -0.21385379 -0.18087372 -6.01468767] [ 0.22176066 0.97479473 0.02444282 -1.01915788] [ 0.17108756 -0.06357516 0.98320255 1.53468712] [ 0. 0. 0. 1. ]] SLAMing on 126.09486062399999 meters Centerline goodness : 0.832480 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.02, Z:1.53 [[ 0.9598649 -0.21408543 -0.18118169 -6.01348043] [ 0.22203088 0.97473109 0.02452746 -1.01890566] [ 0.17135245 -0.06377098 0.98314373 1.53421237] [ 0. 0. 0. 1. ]] SLAMing on 126.124860624 meters Centerline goodness : 0.834645 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.02, Z:1.53 [[ 0.95972332 -0.2148462 -0.18103112 -6.01380304] [ 0.22264048 0.97461374 0.02364897 -1.01764824] [ 0.17135453 -0.06300132 0.98319299 1.53418706] [ 0. 0. 0. 1. ]] SLAMing on 126.154860624 meters Centerline goodness : 0.828820 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.02, Z:1.53 [[ 0.95955173 -0.21521917 -0.18149708 -6.01309278] [ 0.22297785 0.97454649 0.02323837 -1.01547613] [ 0.171876 -0.06276825 0.98311687 1.53413975] [ 0. 0. 0. 1. ]] SLAMing on 126.184860624 meters Centerline goodness : 0.824287 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.01, Z:1.53 [[ 0.95955514 -0.21529406 -0.18139021 -6.01308888] [ 0.22298016 0.974555 0.022856 -1.01438301] [ 0.17185397 -0.06237801 0.98314556 1.5337311 ] [ 0. 0. 0. 1. ]] SLAMing on 126.214860624 meters Centerline goodness : 0.831236 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.01, Z:1.53 [[ 0.95947261 -0.21546546 -0.18162311 -6.01229365] [ 0.22312223 0.97452875 0.0225873 -1.01321309] [ 0.17213016 -0.06219605 0.98310877 1.53326964] [ 0. 0. 0. 1. ]] SLAMing on 126.244860624 meters Centerline goodness : 0.825477 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.01, Z:1.53 [[ 0.95942702 -0.21530975 -0.18204809 -6.01101209] [ 0.22289888 0.97459193 0.02206046 -1.01059897] [ 0.17267276 -0.06174372 0.98304213 1.53236448] [ 0. 0. 0. 1. ]] SLAMing on 126.274860624 meters Centerline goodness : 0.830698 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.01, Z:1.53 [[ 0.95942247 -0.21546782 -0.18188499 -6.01132952] [ 0.22293505 0.97459814 0.0214111 -1.00905067] [ 0.17265137 -0.06109083 0.98308668 1.53205867] [ 0. 0. 0. 1. ]] SLAMing on 126.304860624 meters Centerline goodness : 0.828208 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.01, Z:1.53 [[ 0.95966534 -0.21412841 -0.18218526 -6.01157237] [ 0.22166753 0.97487786 0.02183269 -1.00573799] [ 0.17293337 -0.06133663 0.9830218 1.53171196] [ 0. 0. 0. 1. ]] SLAMing on 126.334860624 meters Centerline goodness : 0.827570 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.00, Z:1.53 [[ 0.96001021 -0.2131691 -0.18149198 -6.0142691 ] [ 0.22047392 0.97517036 0.020833 -1.0021129 ] [ 0.17254465 -0.06001414 0.98317173 1.53192217] [ 0. 0. 0. 1. ]] SLAMing on 126.364860624 meters Centerline goodness : 0.829802 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.00, Z:1.53 [[ 0.96054409 -0.20995535 -0.18241107 -6.01368262] [ 0.21783364 0.97568947 0.02405332 -1.00196598] [ 0.17292644 -0.06283954 0.9829281 1.53178325] [ 0. 0. 0. 1. ]] SLAMing on 126.394860624 meters Centerline goodness : 0.836803 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.00, Z:1.53 [[ 0.96072545 -0.20956179 -0.18190785 -6.01468782] [ 0.21728631 0.97582743 0.02339833 -1.00014769] [ 0.17260727 -0.06200546 0.98303716 1.53122001] [ 0. 0. 0. 1. ]] SLAMing on 126.424860624 meters Centerline goodness : 0.830485 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.00, Z:1.53 [[ 0.96110321 -0.20718872 -0.18262928 -6.01381221] [ 0.2152973 0.97621482 0.02552837 -0.99941716] [ 0.17299622 -0.06385499 0.98285037 1.53076935] [ 0. 0. 0. 1. ]] SLAMing on 126.45486062399999 meters Centerline goodness : 0.829509 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.00, Z:1.53 [[ 0.96127791 -0.20649338 -0.18249728 -6.01374384] [ 0.21454394 0.97638634 0.02531016 -0.99797121] [ 0.17296147 -0.06348378 0.98288053 1.52986741] [ 0. 0. 0. 1. ]] SLAMing on 126.48486062399999 meters Centerline goodness : 0.830754 Centerline is valid? [False, False] Translation: X:-6.01, Y:-1.00, Z:1.53 [[ 0.96129465 -0.2067044 -0.18216996 -6.01439568] [ 0.21452641 0.97642049 0.02411312 -0.99571 ] [ 0.1728902 -0.06226008 0.98297134 1.52940309] [ 0. 0. 0. 1. ]] SLAMing on 126.514860624 meters Centerline goodness : 0.826404 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.99, Z:1.53 [[ 0.96128668 -0.20715264 -0.18170224 -6.01557939] [ 0.21464203 0.97643704 0.0223498 -0.99154074] [ 0.17279098 -0.06048551 0.98309958 1.52889271] [ 0. 0. 0. 1. ]] SLAMing on 126.544860624 meters Centerline goodness : 0.828363 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.96132036 -0.20687005 -0.18184593 -6.014838 ] [ 0.2143577 0.97650031 0.02231425 -0.99044159] [ 0.17295646 -0.06043122 0.98307382 1.5281668 ] [ 0. 0. 0. 1. ]] SLAMing on 126.574860624 meters Centerline goodness : 0.827085 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.99, Z:1.53 [[ 0.96122124 -0.20745778 -0.18170028 -6.01509829] [ 0.21483111 0.97641093 0.02166307 -0.98918511] [ 0.17291996 -0.05985788 0.98311531 1.52803054] [ 0. 0. 0. 1. ]] SLAMing on 126.604860624 meters Centerline goodness : 0.828551 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.96099503 -0.20839347 -0.18182607 -6.01484237] [ 0.2156347 0.97625288 0.02078442 -0.9880095 ] [ 0.17317689 -0.05918173 0.98311103 1.52823709] [ 0. 0. 0. 1. ]] SLAMing on 126.634860624 meters Centerline goodness : 0.828857 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.96092826 -0.2084281 -0.18213899 -6.01366754] [ 0.21575369 0.97621872 0.02115091 -0.98779951] [ 0.17339904 -0.05962166 0.98304528 1.52765693] [ 0. 0. 0. 1. ]] SLAMing on 126.664860624 meters Centerline goodness : 0.829746 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.96069671 -0.20935888 -0.18229289 -6.01351705] [ 0.21662174 0.97603703 0.02065783 -0.98740269] [ 0.17359971 -0.05933451 0.98302724 1.52806554] [ 0. 0. 0. 1. ]] SLAMing on 126.694860624 meters Centerline goodness : 0.827401 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.96014806 -0.21153276 -0.18267347 -6.01327964] [ 0.21871259 0.97558721 0.01985955 -0.98669593] [ 0.17401295 -0.05902109 0.98297304 1.52913885] [ 0. 0. 0. 1. ]] SLAMing on 126.724860624 meters Centerline goodness : 0.827873 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.9599398 -0.21203486 -0.18318515 -6.0123195 ] [ 0.21929034 0.97545332 0.02006392 -0.98663144] [ 0.17443431 -0.05943089 0.98287366 1.52942292] [ 0. 0. 0. 1. ]] SLAMing on 126.754860624 meters Centerline goodness : 0.830189 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95974219 -0.21248445 -0.18369888 -6.01107167] [ 0.21981541 0.97533088 0.02026947 -0.98674656] [ 0.17486024 -0.05983332 0.98277356 1.52951053] [ 0. 0. 0. 1. ]] SLAMing on 126.784860624 meters Centerline goodness : 0.830202 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95928175 -0.21434532 -0.18394184 -6.0105567 ] [ 0.22157844 0.97494824 0.01946572 -0.98640841] [ 0.17516139 -0.05943066 0.98274436 1.53006126] [ 0. 0. 0. 1. ]] SLAMing on 126.814860624 meters Centerline goodness : 0.830202 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95928175 -0.21434532 -0.18394184 -6.0105567 ] [ 0.22157844 0.97494824 0.01946572 -0.98640841] [ 0.17516139 -0.05943066 0.98274436 1.53006126] [ 0. 0. 0. 1. ]] SLAMing on 126.84486062399999 meters Centerline goodness : 0.829126 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95914158 -0.21466831 -0.18429583 -6.00930329] [ 0.22196044 0.97485776 0.01964461 -0.98692125] [ 0.17544515 -0.05974835 0.98267448 1.52980204] [ 0. 0. 0. 1. ]] SLAMing on 126.874860624 meters Centerline goodness : 0.828321 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95898186 -0.2152416 -0.18445824 -6.00876372] [ 0.2225082 0.97473792 0.0193929 -0.98692286] [ 0.17562429 -0.05964091 0.98264901 1.52983652] [ 0. 0. 0. 1. ]] SLAMing on 126.904860624 meters Centerline goodness : 0.830778 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95887577 -0.21534664 -0.18488668 -6.00766227] [ 0.22268122 0.97469397 0.01961499 -0.98683894] [ 0.17598391 -0.05997913 0.98256408 1.52971577] [ 0. 0. 0. 1. ]] SLAMing on 126.934860624 meters Centerline goodness : 0.831470 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95881558 -0.21514045 -0.18543803 -6.00714325] [ 0.22255365 0.97471771 0.01988101 -0.98554055] [ 0.17647252 -0.06033213 0.98245483 1.53000285] [ 0. 0. 0. 1. ]] SLAMing on 126.964860624 meters Centerline goodness : 0.831492 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.9589182 -0.21488576 -0.18520259 -6.0077719 ] [ 0.22224952 0.97479056 0.01971084 -0.9847204 ] [ 0.17629815 -0.06006227 0.98250266 1.52992383] [ 0. 0. 0. 1. ]] SLAMing on 126.994860624 meters Centerline goodness : 0.830503 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95889834 -0.21463118 -0.18560019 -6.00766817] [ 0.22211415 0.97481016 0.02025988 -0.98462681] [ 0.17657655 -0.06065159 0.98241646 1.53058772] [ 0. 0. 0. 1. ]] SLAMing on 127.024860624 meters Centerline goodness : 0.833106 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95883868 -0.21470739 -0.18582011 -6.00767491] [ 0.22219882 0.97479162 0.02022309 -0.98375263] [ 0.17679384 -0.06067969 0.98237565 1.53091852] [ 0. 0. 0. 1. ]] SLAMing on 127.054860624 meters Centerline goodness : 0.831742 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95880487 -0.21469404 -0.1860099 -6.00661342] [ 0.22219661 0.97479219 0.02021999 -0.98339313] [ 0.17697988 -0.06071779 0.98233979 1.53028923] [ 0. 0. 0. 1. ]] SLAMing on 127.084860624 meters Centerline goodness : 0.830118 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95875202 -0.21487304 -0.18607563 -6.00565404] [ 0.22236388 0.97475621 0.0201154 -0.98361945] [ 0.17705612 -0.06066218 0.98232949 1.52969259] [ 0. 0. 0. 1. ]] SLAMing on 127.114860624 meters Centerline goodness : 0.830737 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.53 [[ 0.95863658 -0.21494854 -0.18658251 -6.00404188] [ 0.2225032 0.9747209 0.02028523 -0.98342818] [ 0.17750559 -0.06096137 0.98222985 1.5292172 ] [ 0. 0. 0. 1. ]] SLAMing on 127.144860624 meters Centerline goodness : 0.834631 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.53 [[ 0.95850897 -0.21565071 -0.18642781 -6.00478253] [ 0.22308212 0.97460275 0.01959172 -0.98253839] [ 0.17746808 -0.06036755 0.9822733 1.52967545] [ 0. 0. 0. 1. ]] SLAMing on 127.174860624 meters Centerline goodness : 0.828555 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.53 [[ 0.95846411 -0.21585248 -0.18642494 -6.00492687] [ 0.22322935 0.97457542 0.01927207 -0.98204334] [ 0.17752524 -0.06008711 0.98228017 1.52992378] [ 0. 0. 0. 1. ]] SLAMing on 127.20486062399999 meters Centerline goodness : 0.833909 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95842159 -0.21609151 -0.18636663 -6.0052124 ] [ 0.22341503 0.9745387 0.0189747 -0.98191706] [ 0.17752122 -0.05982287 0.98229702 1.53023356] [ 0. 0. 0. 1. ]] SLAMing on 127.23486062399999 meters Centerline goodness : 0.834058 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95836876 -0.21630179 -0.18639438 -6.00530791] [ 0.22358258 0.97450541 0.0187092 -0.98200562] [ 0.17759549 -0.05960485 0.98229685 1.53059034] [ 0. 0. 0. 1. ]] SLAMing on 127.264860624 meters Centerline goodness : 0.833908 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95832691 -0.21653015 -0.18634439 -6.00564962] [ 0.22379368 0.97445886 0.01860952 -0.98304711] [ 0.17755542 -0.0595367 0.98230823 1.53111447] [ 0. 0. 0. 1. ]] SLAMing on 127.294860624 meters Centerline goodness : 0.836962 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95826899 -0.21684903 -0.1862714 -6.00588316] [ 0.22407421 0.97439851 0.0183925 -0.98336972] [ 0.17751418 -0.05936358 0.98232616 1.5313729 ] [ 0. 0. 0. 1. ]] SLAMing on 127.324860624 meters Centerline goodness : 0.833788 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.98, Z:1.53 [[ 0.95820671 -0.21716456 -0.1862242 -6.0061082 ] [ 0.22436344 0.97433494 0.01823361 -0.98396496] [ 0.17748505 -0.05925347 0.98233807 1.5316474 ] [ 0. 0. 0. 1. ]] SLAMing on 127.354860624 meters Centerline goodness : 0.836040 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95815558 -0.21745795 -0.18614489 -6.00632117] [ 0.22465487 0.974268 0.01822232 -0.98506106] [ 0.17739243 -0.05927818 0.98235331 1.53189728] [ 0. 0. 0. 1. ]] SLAMing on 127.384860624 meters Centerline goodness : 0.835271 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95809466 -0.21781001 -0.18604681 -6.00662792] [ 0.22499427 0.97419098 0.01815274 -0.98631569] [ 0.17729128 -0.05925151 0.98237318 1.53225793] [ 0. 0. 0. 1. ]] SLAMing on 127.414860624 meters Centerline goodness : 0.835527 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95729491 -0.22166081 -0.18561506 -6.00553292] [ 0.22827518 0.97348446 0.01477963 -0.98717444] [ 0.17741731 -0.05651977 0.98251138 1.53246133] [ 0. 0. 0. 1. ]] SLAMing on 127.444860624 meters Centerline goodness : 0.839151 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95722313 -0.22205691 -0.18551177 -6.00567441] [ 0.22868073 0.97338854 0.01482836 -0.98885716] [ 0.17728229 -0.05661702 0.98253015 1.53263844] [ 0. 0. 0. 1. ]] SLAMing on 127.474860624 meters Centerline goodness : 0.835728 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.99, Z:1.53 [[ 0.95712847 -0.22244668 -0.18553318 -6.00563872] [ 0.2290777 0.97329525 0.0148248 -0.99061129] [ 0.17728083 -0.05669075 0.98252617 1.53299127] [ 0. 0. 0. 1. ]] SLAMing on 127.504860624 meters Centerline goodness : 0.835990 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.99, Z:1.53 [[ 0.95686613 -0.22292513 -0.18631047 -6.00351489] [ 0.22982838 0.97309913 0.016031 -0.99354435] [ 0.17772485 -0.05815896 0.98236012 1.53307809] [ 0. 0. 0. 1. ]] SLAMing on 127.534860624 meters Centerline goodness : 0.839727 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.99, Z:1.53 [[ 0.95679614 -0.22293578 -0.18665689 -6.00253763] [ 0.22994444 0.97306393 0.01649649 -0.99441863] [ 0.17795143 -0.0587045 0.98228665 1.53303338] [ 0. 0. 0. 1. ]] SLAMing on 127.564860624 meters Centerline goodness : 0.829234 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.95681971 -0.22250194 -0.18705329 -6.00146716] [ 0.2296532 0.97312071 0.01719008 -0.99549775] [ 0.1782006 -0.0594052 0.98219935 1.53296955] [ 0. 0. 0. 1. ]] SLAMing on 127.59486062399999 meters Centerline goodness : 0.837195 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.95684966 -0.22212622 -0.18734638 -6.00048335] [ 0.22940206 0.97316876 0.0178118 -0.99632931] [ 0.17836318 -0.06002086 0.98213241 1.53272364] [ 0. 0. 0. 1. ]] SLAMing on 127.624860624 meters Centerline goodness : 0.831636 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.95690244 -0.22172805 -0.18754837 -5.99962661] [ 0.22908286 0.97323649 0.01821458 -0.99649213] [ 0.17849024 -0.06039369 0.98208647 1.5322601 ] [ 0. 0. 0. 1. ]] SLAMing on 127.654860624 meters Centerline goodness : 0.836450 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.9571723 -0.22053235 -0.1875811 -5.99859691] [ 0.22795007 0.97349397 0.0186617 -0.99664882] [ 0.17849356 -0.06062159 0.98207183 1.53113485] [ 0. 0. 0. 1. ]] SLAMing on 127.684860624 meters Centerline goodness : 0.839172 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.95770834 -0.21710327 -0.18884096 -5.99688757] [ 0.22525859 0.97403716 0.02258712 -0.99840433] [ 0.17903438 -0.06416993 0.98174789 1.53087737] [ 0. 0. 0. 1. ]] SLAMing on 127.714860624 meters Centerline goodness : 0.837134 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.95793266 -0.21620406 -0.18873478 -5.99655586] [ 0.22436717 0.97423903 0.02275262 -0.99803405] [ 0.17895358 -0.06414137 0.98176448 1.53010436] [ 0. 0. 0. 1. ]] SLAMing on 127.744860624 meters Centerline goodness : 0.836956 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.95807192 -0.2159204 -0.18835224 -5.99733221] [ 0.22391497 0.97436052 0.02199246 -0.99630582] [ 0.17877437 -0.06324524 0.98185527 1.52972958] [ 0. 0. 0. 1. ]] SLAMing on 127.774860624 meters Centerline goodness : 0.836533 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.9590503 -0.21070271 -0.18927993 -5.99681989] [ 0.21951151 0.97524715 0.02660271 -0.99632502] [ 0.17898945 -0.06706246 0.98156274 1.52918998] [ 0. 0. 0. 1. ]] SLAMing on 127.804860624 meters Centerline goodness : 0.831741 Centerline is valid? [False, False] Translation: X:-6.00, Y:-1.00, Z:1.53 [[ 0.9593637 -0.20964936 -0.18886088 -5.9973406 ] [ 0.2183778 0.97550664 0.02641838 -0.9953286 ] [ 0.17869644 -0.06658786 0.98164843 1.52833448] [ 0. 0. 0. 1. ]] SLAMing on 127.834860624 meters Centerline goodness : 0.833230 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.99, Z:1.53 [[ 0.95964909 -0.2089204 -0.18821769 -5.99845178] [ 0.21746368 0.97572977 0.02570938 -0.99377433] [ 0.17827838 -0.06560249 0.98179078 1.52759868] [ 0. 0. 0. 1. ]] SLAMing on 127.864860624 meters Centerline goodness : 0.836131 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.99, Z:1.53 [[ 0.96060681 -0.20450726 -0.18817899 -5.99993492] [ 0.21339952 0.97656217 0.02805299 -0.99139828] [ 0.17803144 -0.0671052 0.98173403 1.5266946 ] [ 0. 0. 0. 1. ]] SLAMing on 127.894860624 meters Centerline goodness : 0.837789 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.99, Z:1.52 [[ 0.96187581 -0.20791753 -0.17766604 -5.9974947 ] [ 0.21642296 0.97584794 0.02969678 -0.98694498] [ 0.16720055 -0.06701563 0.98364266 1.52130009] [ 0. 0. 0. 1. ]] SLAMing on 127.924860624 meters Centerline goodness : 0.834849 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.99, Z:1.52 [[ 0.96216083 -0.2069471 -0.17725526 -5.99772328] [ 0.21536094 0.97609164 0.02940691 -0.98569028] [ 0.1669317 -0.06646804 0.98372547 1.52013097] [ 0. 0. 0. 1. ]] SLAMing on 127.95486062399999 meters Centerline goodness : 0.834274 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.52 [[ 0.96235856 -0.20646759 -0.1767403 -5.99844159] [ 0.21472745 0.97625087 0.02874637 -0.98425361] [ 0.16660768 -0.06561531 0.98383765 1.51931156] [ 0. 0. 0. 1. ]] SLAMing on 127.98486062399999 meters Centerline goodness : 0.835433 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.52 [[ 0.96250992 -0.20599319 -0.17646945 -5.99845554] [ 0.21416106 0.97638683 0.02835116 -0.98323693] [ 0.1664623 -0.06508115 0.98389773 1.51843828] [ 0. 0. 0. 1. ]] SLAMing on 128.014860624 meters Centerline goodness : 0.833070 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.52 [[ 0.96240976 -0.20643506 -0.17649933 -5.99835713] [ 0.21447473 0.97634108 0.02754428 -0.98128079] [ 0.16663744 -0.06436353 0.98391529 1.51820681] [ 0. 0. 0. 1. ]] SLAMing on 128.044860624 meters Centerline goodness : 0.833467 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.52 [[ 0.9621328 -0.20744394 -0.17682615 -5.99790582] [ 0.21541706 0.97615052 0.02693778 -0.98020768] [ 0.16702086 -0.06400909 0.9838734 1.51859043] [ 0. 0. 0. 1. ]] SLAMing on 128.074860624 meters Centerline goodness : 0.833230 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.52 [[ 0.96168516 -0.20899608 -0.1774325 -5.99669182] [ 0.21700139 0.9758045 0.02675774 -0.97925143] [ 0.16754717 -0.06423562 0.98376914 1.51895491] [ 0. 0. 0. 1. ]] SLAMing on 128.104860624 meters Centerline goodness : 0.832361 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.52 [[ 0.96130024 -0.21033732 -0.17793277 -5.99597793] [ 0.21834417 0.97551314 0.02645652 -0.97888147] [ 0.16801096 -0.06428325 0.98368693 1.51969654] [ 0. 0. 0. 1. ]] SLAMing on 128.134860624 meters Centerline goodness : 0.832138 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.98, Z:1.52 [[ 0.96072088 -0.21341566 -0.17739545 -5.99579077] [ 0.22089764 0.97501816 0.02331982 -0.97742834] [ 0.16798697 -0.06159008 0.98386332 1.519528 ] [ 0. 0. 0. 1. ]] SLAMing on 128.164860624 meters Centerline goodness : 0.830662 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.98, Z:1.52 [[ 0.96038662 -0.21418767 -0.17827279 -5.99369819] [ 0.22179971 0.97480455 0.02368481 -0.9776892 ] [ 0.16870813 -0.06228743 0.98369601 1.51955808] [ 0. 0. 0. 1. ]] SLAMing on 128.194860624 meters Centerline goodness : 0.831614 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.98, Z:1.52 [[ 0.95961975 -0.21840683 -0.17728056 -5.99426008] [ 0.22523422 0.9741175 0.01909572 -0.97540498] [ 0.16852146 -0.05825427 0.98397508 1.51950747] [ 0. 0. 0. 1. ]] SLAMing on 128.224860624 meters Centerline goodness : 0.831470 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.52 [[ 0.95906891 -0.21985558 -0.17846666 -5.99240494] [ 0.2267692 0.97376215 0.01905259 -0.9741713 ] [ 0.16959526 -0.05874349 0.98376148 1.52029243] [ 0. 0. 0. 1. ]] SLAMing on 128.254860624 meters Centerline goodness : 0.828906 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.52 [[ 0.9588931 -0.22007875 -0.17913503 -5.99138105] [ 0.2270655 0.9736898 0.01922069 -0.97315083] [ 0.17019188 -0.05910597 0.98363672 1.52064975] [ 0. 0. 0. 1. ]] SLAMing on 128.284860624 meters Centerline goodness : 0.834749 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.52 [[ 0.95877773 -0.22018671 -0.17961926 -5.99090716] [ 0.22719759 0.9736598 0.01917965 -0.9717496 ] [ 0.17066495 -0.05919809 0.98354922 1.5210277 ] [ 0. 0. 0. 1. ]] SLAMing on 128.314860624 meters Centerline goodness : 0.833341 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.52 [[ 0.95871179 -0.22015665 -0.18000767 -5.99040767] [ 0.2271921 0.97366093 0.01918706 -0.97036765] [ 0.17104227 -0.05929118 0.98347806 1.52111819] [ 0. 0. 0. 1. ]] SLAMing on 128.344860624 meters Centerline goodness : 0.831329 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.52 [[ 0.95868068 -0.22046498 -0.17979583 -5.99117491] [ 0.22736788 0.97363374 0.01847128 -0.96808549] [ 0.17098302 -0.05858786 0.98353051 1.5213029 ] [ 0. 0. 0. 1. ]] SLAMing on 128.374860624 meters Centerline goodness : 0.834100 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.52 [[ 0.95864164 -0.22067864 -0.17974188 -5.99145124] [ 0.22751114 0.97360788 0.01806584 -0.96715424] [ 0.17101137 -0.05821195 0.9835479 1.52150226] [ 0. 0. 0. 1. ]] SLAMing on 128.404860624 meters Centerline goodness : 0.829358 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.52 [[ 0.9586077 -0.22089782 -0.17965365 -5.9917984 ] [ 0.22764642 0.9735849 0.01759397 -0.96580319] [ 0.17102161 -0.05776322 0.98357258 1.52163204] [ 0. 0. 0. 1. ]] SLAMing on 128.434860624 meters Centerline goodness : 0.829193 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95854274 -0.22116227 -0.17967487 -5.99219895] [ 0.2278102 0.97355742 0.01698428 -0.96414027] [ 0.17116752 -0.05721193 0.98357942 1.52205453] [ 0. 0. 0. 1. ]] SLAMing on 128.464860624 meters Centerline goodness : 0.838822 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95858275 -0.22110543 -0.17953132 -5.992757 ] [ 0.2276421 0.97360678 0.01639851 -0.96140086] [ 0.17116711 -0.05658821 0.98361557 1.52218998] [ 0. 0. 0. 1. ]] SLAMing on 128.494860624 meters Centerline goodness : 0.833382 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.9585564 -0.2213408 -0.17938193 -5.99333561] [ 0.22780218 0.97357606 0.01599454 -0.96041889] [ 0.17110171 -0.05619526 0.98364948 1.52244861] [ 0. 0. 0. 1. ]] SLAMing on 128.52486062399998 meters Centerline goodness : 0.833599 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.9584529 -0.22202104 -0.17909409 -5.99416125] [ 0.22838152 0.97344914 0.01544851 -0.95993643] [ 0.17090909 -0.05570845 0.98371065 1.52263182] [ 0. 0. 0. 1. ]] SLAMing on 128.55486062399999 meters Centerline goodness : 0.837996 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.9583986 -0.22225299 -0.17909699 -5.99391676] [ 0.22857189 0.97340857 0.0151874 -0.95979799] [ 0.1709591 -0.05549212 0.98371419 1.52254825] [ 0. 0. 0. 1. ]] SLAMing on 128.584860624 meters Centerline goodness : 0.838138 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95837943 -0.22234971 -0.17907951 -5.99364604] [ 0.22865796 0.97338935 0.01512312 -0.95973682] [ 0.17095147 -0.05544165 0.98371836 1.52228606] [ 0. 0. 0. 1. ]] SLAMing on 128.614860624 meters Centerline goodness : 0.831138 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95834826 -0.22249639 -0.17906413 -5.99355498] [ 0.22877614 0.97336424 0.01495098 -0.95929896] [ 0.17096808 -0.05529384 0.9837238 1.5221589 ] [ 0. 0. 0. 1. ]] SLAMing on 128.644860624 meters Centerline goodness : 0.835242 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95829861 -0.22272676 -0.17904345 -5.99369067] [ 0.22896026 0.97332521 0.01467093 -0.95876974] [ 0.17099989 -0.05505296 0.98373178 1.52228062] [ 0. 0. 0. 1. ]] SLAMing on 128.674860624 meters Centerline goodness : 0.834987 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.9582136 -0.22319735 -0.17891237 -5.99452657] [ 0.22934695 0.97324132 0.01418842 -0.95790297] [ 0.1709581 -0.05462854 0.9837627 1.522779 ] [ 0. 0. 0. 1. ]] SLAMing on 128.704860624 meters Centerline goodness : 0.834987 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.9582136 -0.22319735 -0.17891237 -5.99452657] [ 0.22934695 0.97324132 0.01418842 -0.95790297] [ 0.1709581 -0.05462854 0.9837627 1.522779 ] [ 0. 0. 0. 1. ]] SLAMing on 128.734860624 meters Centerline goodness : 0.835215 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95819707 -0.22331629 -0.17885249 -5.99457284] [ 0.22943348 0.9732235 0.01401059 -0.95767294] [ 0.17093465 -0.05445966 0.98377614 1.5227782 ] [ 0. 0. 0. 1. ]] SLAMing on 128.764860624 meters Centerline goodness : 0.835236 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.9581778 -0.22337624 -0.17888087 -5.99427659] [ 0.22948256 0.97321304 0.01393344 -0.95734842] [ 0.1709768 -0.05440075 0.98377207 1.52254751] [ 0. 0. 0. 1. ]] SLAMing on 128.794860624 meters Centerline goodness : 0.836419 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95807051 -0.22393026 -0.17876277 -5.99477436] [ 0.22995148 0.9731094 0.0134317 -0.95695253] [ 0.17094797 -0.05397528 0.98380052 1.52286135] [ 0. 0. 0. 1. ]] SLAMing on 128.824860624 meters Centerline goodness : 0.834704 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.52 [[ 0.95806379 -0.22408351 -0.17860672 -5.99485047] [ 0.230074 0.97308237 0.013291 -0.95665063] [ 0.17082076 -0.05382639 0.98383077 1.52266589] [ 0. 0. 0. 1. ]] SLAMing on 128.854860624 meters Centerline goodness : 0.836405 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.52 [[ 0.95800374 -0.22442653 -0.17849807 -5.9952727 ] [ 0.23034301 0.97302441 0.01286834 -0.95571341] [ 0.17079498 -0.0534437 0.98385611 1.52282659] [ 0. 0. 0. 1. ]] SLAMing on 128.884860624 meters Centerline goodness : 0.839093 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95796162 -0.22471657 -0.1783592 -5.99586762] [ 0.23054051 0.97298432 0.01235294 -0.9540178 ] [ 0.17076479 -0.05295266 0.9838879 1.52299334] [ 0. 0. 0. 1. ]] SLAMing on 128.914860624 meters Centerline goodness : 0.840413 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95790239 -0.22504124 -0.17826791 -5.99640272] [ 0.23081113 0.97292407 0.01204085 -0.95353975] [ 0.17073145 -0.05268018 0.98390831 1.52330705] [ 0. 0. 0. 1. ]] SLAMing on 128.944860624 meters Centerline goodness : 0.841917 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95783116 -0.22547801 -0.17809864 -5.997256 ] [ 0.23116697 0.97284508 0.01158767 -0.95302669] [ 0.17064962 -0.05226956 0.98394441 1.5238176 ] [ 0. 0. 0. 1. ]] SLAMing on 128.974860624 meters Centerline goodness : 0.842025 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95779528 -0.22571171 -0.17799558 -5.99769392] [ 0.2313551 0.97280333 0.01133576 -0.95255428] [ 0.17059608 -0.05203752 0.98396599 1.52399749] [ 0. 0. 0. 1. ]] SLAMing on 129.004860624 meters Centerline goodness : 0.838934 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95778086 -0.22580674 -0.1779526 -5.99804818] [ 0.23139381 0.9727978 0.01101563 -0.95180605] [ 0.1706245 -0.05172769 0.9839774 1.52433682] [ 0. 0. 0. 1. ]] SLAMing on 129.034860624 meters Centerline goodness : 0.841819 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95778327 -0.22577716 -0.17797718 -5.99795643] [ 0.23134212 0.97281158 0.01088328 -0.9513986 ] [ 0.17068107 -0.05159744 0.98397443 1.52437342] [ 0. 0. 0. 1. ]] SLAMing on 129.064860624 meters Centerline goodness : 0.840224 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95775267 -0.22580301 -0.17810903 -5.99776628] [ 0.23133466 0.97281595 0.01064864 -0.95069075] [ 0.17086281 -0.05140156 0.98395314 1.52450878] [ 0. 0. 0. 1. ]] SLAMing on 129.094860624 meters Centerline goodness : 0.840800 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.9577837 -0.22553524 -0.17828137 -5.99753485] [ 0.2310465 0.97288602 0.01050297 -0.94953134] [ 0.17107866 -0.05125086 0.98392349 1.52465819] [ 0. 0. 0. 1. ]] SLAMing on 129.124860624 meters Centerline goodness : 0.840199 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95777161 -0.22549222 -0.17840068 -5.99743015] [ 0.23098771 0.9729013 0.01038001 -0.94909814] [ 0.17122564 -0.05115004 0.98390317 1.52486581] [ 0. 0. 0. 1. ]] SLAMing on 129.154860624 meters Centerline goodness : 0.838584 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.52 [[ 0.95777456 -0.22544145 -0.17844898 -5.99730552] [ 0.23093518 0.97291398 0.01035983 -0.94910546] [ 0.17127997 -0.05113253 0.98389463 1.52494204] [ 0. 0. 0. 1. ]] SLAMing on 129.184860624 meters Centerline goodness : 0.839023 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95778941 -0.22519272 -0.17868318 -5.99672402] [ 0.23070093 0.97296919 0.01039454 -0.94897944] [ 0.17151245 -0.05117815 0.98385176 1.52500284] [ 0. 0. 0. 1. ]] SLAMing on 129.214860624 meters Centerline goodness : 0.837743 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95787 -0.22464116 -0.17894527 -5.99604 ] [ 0.23018472 0.97308957 0.01056782 -0.94888051] [ 0.17175581 -0.05131306 0.98380227 1.52505422] [ 0. 0. 0. 1. ]] SLAMing on 129.244860624 meters Centerline goodness : 0.837627 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95787667 -0.22459237 -0.1789708 -5.99625348] [ 0.23013062 0.97310273 0.01053413 -0.9489341 ] [ 0.17179109 -0.05127706 0.98379799 1.52539158] [ 0. 0. 0. 1. ]] SLAMing on 129.27486062399998 meters Centerline goodness : 0.838083 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95787164 -0.22458364 -0.1790087 -5.99631403] [ 0.2300976 0.97311215 0.01038439 -0.94880569] [ 0.17186338 -0.05113639 0.98379269 1.5257074 ] [ 0. 0. 0. 1. ]] SLAMing on 129.30486062399999 meters Centerline goodness : 0.836797 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95792099 -0.22427349 -0.17913341 -5.99612342] [ 0.22981867 0.97317624 0.01055354 -0.94922432] [ 0.1719615 -0.05127766 0.98376819 1.52592688] [ 0. 0. 0. 1. ]] SLAMing on 129.334860624 meters Centerline goodness : 0.836338 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95792166 -0.22425352 -0.17915482 -5.99602065] [ 0.22980161 0.97318014 0.01056551 -0.94954925] [ 0.17198056 -0.051291 0.98376416 1.5259823 ] [ 0. 0. 0. 1. ]] SLAMing on 129.364860624 meters Centerline goodness : 0.835288 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95791478 -0.22426185 -0.17918119 -5.99576539] [ 0.22979955 0.97318137 0.01049737 -0.94980416] [ 0.17202164 -0.05123134 0.98376008 1.52600355] [ 0. 0. 0. 1. ]] SLAMing on 129.394860624 meters Centerline goodness : 0.834307 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.9579158 -0.22419902 -0.17925432 -5.9953413 ] [ 0.2297511 0.97319209 0.01056319 -0.95015452] [ 0.17208063 -0.05130252 0.98374606 1.52586176] [ 0. 0. 0. 1. ]] SLAMing on 129.424860624 meters Centerline goodness : 0.835374 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95792891 -0.22408016 -0.1793329 -5.99489958] [ 0.22966287 0.97321115 0.01072525 -0.95073792] [ 0.17212546 -0.05146014 0.98372998 1.52574182] [ 0. 0. 0. 1. ]] SLAMing on 129.454860624 meters Centerline goodness : 0.835553 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95792645 -0.22403064 -0.17940788 -5.99471512] [ 0.22962302 0.97322014 0.0107623 -0.95116991] [ 0.17219228 -0.05150567 0.98371591 1.52588182] [ 0. 0. 0. 1. ]] SLAMing on 129.484860624 meters Centerline goodness : 0.837411 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95789726 -0.22422186 -0.17932482 -5.99493188] [ 0.22980161 0.9731787 0.01069788 -0.95161302] [ 0.1721164 -0.05145661 0.98373175 1.52602727] [ 0. 0. 0. 1. ]] SLAMing on 129.514860624 meters Centerline goodness : 0.837371 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95779612 -0.22472983 -0.17922917 -5.99580229] [ 0.2302709 0.97307035 0.0104595 -0.95265448] [ 0.17205203 -0.05128933 0.98375175 1.52689236] [ 0. 0. 0. 1. ]] SLAMing on 129.544860624 meters Centerline goodness : 0.839436 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95777912 -0.22486356 -0.17915226 -5.99589277] [ 0.23039859 0.97304038 0.010436 -0.95320955] [ 0.17197571 -0.05127181 0.98376601 1.52696564] [ 0. 0. 0. 1. ]] SLAMing on 129.574860624 meters Centerline goodness : 0.840077 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95769501 -0.2252549 -0.1791103 -5.99613034] [ 0.23076189 0.97295624 0.01025262 -0.9541171 ] [ 0.17195703 -0.05115071 0.98377558 1.52737965] [ 0. 0. 0. 1. ]] SLAMing on 129.604860624 meters Centerline goodness : 0.840156 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.9576806 -0.22531384 -0.17911321 -5.99609376] [ 0.23082234 0.97294187 0.01025497 -0.95446893] [ 0.17195615 -0.05116431 0.98377502 1.52744402] [ 0. 0. 0. 1. ]] SLAMing on 129.634860624 meters Centerline goodness : 0.841213 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.53 [[ 0.95763668 -0.22545956 -0.17916464 -5.9961359 ] [ 0.23095579 0.97291124 0.01015604 -0.95480635] [ 0.17202151 -0.05110491 0.98376668 1.52771563] [ 0. 0. 0. 1. ]] SLAMing on 129.664860624 meters Centerline goodness : 0.837100 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95760326 -0.22562627 -0.17913341 -5.99625891] [ 0.23109986 0.97287843 0.0100207 -0.95510776] [ 0.1720141 -0.05099356 0.98377376 1.52794316] [ 0. 0. 0. 1. ]] SLAMing on 129.694860624 meters Centerline goodness : 0.840032 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95755855 -0.22586545 -0.17907101 -5.99669196] [ 0.23133789 0.97282196 0.01001113 -0.95653916] [ 0.17194304 -0.05101215 0.98378522 1.52852846] [ 0. 0. 0. 1. ]] SLAMing on 129.724860624 meters Centerline goodness : 0.841328 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95753712 -0.22587546 -0.17917293 -5.99660649] [ 0.23135667 0.9728173 0.01002968 -0.95708205] [ 0.17203707 -0.05105664 0.98376647 1.52880512] [ 0. 0. 0. 1. ]] SLAMing on 129.754860624 meters Centerline goodness : 0.838512 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95754236 -0.22585096 -0.17917581 -5.9965886 ] [ 0.23137207 0.97281124 0.01025925 -0.95868071] [ 0.17198718 -0.05127994 0.98376358 1.52904383] [ 0. 0. 0. 1. ]] SLAMing on 129.784860624 meters Centerline goodness : 0.840150 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95750525 -0.2260439 -0.17913084 -5.99689889] [ 0.23154917 0.9727701 0.01016465 -0.95956176] [ 0.17195547 -0.0512103 0.98377275 1.52953923] [ 0. 0. 0. 1. ]] SLAMing on 129.814860624 meters Centerline goodness : 0.840579 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95746819 -0.22623351 -0.17908953 -5.99728731] [ 0.23172666 0.9727286 0.0100905 -0.96024002] [ 0.1719227 -0.05116116 0.98378103 1.52998478] [ 0. 0. 0. 1. ]] SLAMing on 129.844860624 meters Centerline goodness : 0.839590 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95744487 -0.22633177 -0.17909005 -5.99738519] [ 0.23183682 0.97270174 0.01014947 -0.96106621] [ 0.17190406 -0.05123723 0.98378033 1.53024282] [ 0. 0. 0. 1. ]] SLAMing on 129.874860624 meters Centerline goodness : 0.839374 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95731152 -0.22628648 -0.1798585 -5.99594632] [ 0.23198668 0.97265638 0.01103384 -0.96200379] [ 0.17244371 -0.0522876 0.98363061 1.53060166] [ 0. 0. 0. 1. ]] SLAMing on 129.904860624 meters Centerline goodness : 0.840773 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.53 [[ 0.95708553 -0.22715516 -0.17996618 -5.99567302] [ 0.2329504 0.97242105 0.01146329 -0.96450348] [ 0.17239896 -0.05289454 0.983606 1.53132612] [ 0. 0. 0. 1. ]] SLAMing on 129.934860624 meters Centerline goodness : 0.838484 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95700661 -0.22710372 -0.18045015 -5.99425619] [ 0.23303092 0.97239444 0.01206834 -0.9653285 ] [ 0.17272796 -0.05359994 0.98351009 1.5310837 ] [ 0. 0. 0. 1. ]] SLAMing on 129.964860624 meters Centerline goodness : 0.837921 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95697641 -0.22694763 -0.18080629 -5.99307607] [ 0.23301738 0.97238858 0.01278079 -0.96625757] [ 0.1729134 -0.05436192 0.98343568 1.53073913] [ 0. 0. 0. 1. ]] SLAMing on 129.994860624 meters Centerline goodness : 0.839207 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95681141 -0.2271236 -0.18145743 -5.99128717] [ 0.23334648 0.97230098 0.01342508 -0.96750957] [ 0.17338209 -0.05518772 0.98330716 1.53068931] [ 0. 0. 0. 1. ]] SLAMing on 130.02486062399998 meters Centerline goodness : 0.834673 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95682832 -0.22682147 -0.18174592 -5.99045535] [ 0.23314674 0.97234165 0.01393947 -0.9683717 ] [ 0.17355736 -0.05571114 0.98324672 1.53069293] [ 0. 0. 0. 1. ]] SLAMing on 130.05486062399999 meters Centerline goodness : 0.834444 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95682531 -0.22646036 -0.18221151 -5.98947962] [ 0.23286811 0.97240337 0.01428713 -0.96814805] [ 0.17394761 -0.05610154 0.98315555 1.5305444 ] [ 0. 0. 0. 1. ]] SLAMing on 130.084860624 meters Centerline goodness : 0.838181 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95742402 -0.22263879 -0.18376948 -5.98747652] [ 0.2298297 0.97305449 0.01852757 -0.969044 ] [ 0.17469276 -0.05997442 0.98279474 1.53024421] [ 0. 0. 0. 1. ]] SLAMing on 130.114860624 meters Centerline goodness : 0.835092 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95748547 -0.2226092 -0.1834849 -5.98791852] [ 0.22965669 0.97310852 0.01782184 -0.96744019] [ 0.17458342 -0.05920269 0.98286096 1.52981208] [ 0. 0. 0. 1. ]] SLAMing on 130.144860624 meters Centerline goodness : 0.838560 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95756286 -0.22215622 -0.18362999 -5.98739209] [ 0.22918018 0.97322342 0.0176812 -0.96623767] [ 0.17478502 -0.05901521 0.98283641 1.5292592 ] [ 0. 0. 0. 1. ]] SLAMing on 130.174860624 meters Centerline goodness : 0.838508 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95826598 -0.21848372 -0.18436694 -5.98647966] [ 0.22610143 0.9738753 0.021096 -0.9669271 ] [ 0.17494128 -0.06190121 0.98263105 1.52842743] [ 0. 0. 0. 1. ]] SLAMing on 130.204860624 meters Centerline goodness : 0.839682 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.97, Z:1.53 [[ 0.95844836 -0.21777662 -0.18425548 -5.98671042] [ 0.22535765 0.97404987 0.02099469 -0.9657297 ] [ 0.17490187 -0.06164571 0.98265413 1.52793644] [ 0. 0. 0. 1. ]] SLAMing on 130.234860624 meters Centerline goodness : 0.837547 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95920434 -0.21397921 -0.18476996 -5.98789244] [ 0.22204192 0.97474517 0.02385869 -0.96484728] [ 0.17499836 -0.06391203 0.98249215 1.52839759] [ 0. 0. 0. 1. ]] SLAMing on 130.264860624 meters Centerline goodness : 0.837061 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95943156 -0.21310083 -0.1846053 -5.98841986] [ 0.22112715 0.97495465 0.02379517 -0.9635496 ] [ 0.17491102 -0.06365108 0.98252464 1.52806178] [ 0. 0. 0. 1. ]] SLAMing on 130.294860624 meters Centerline goodness : 0.838549 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95955906 -0.21277932 -0.18431327 -5.98916007] [ 0.22068748 0.97506699 0.02326786 -0.9622055 ] [ 0.17476687 -0.06300252 0.98259209 1.52785479] [ 0. 0. 0. 1. ]] SLAMing on 130.324860624 meters Centerline goodness : 0.835711 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95975545 -0.2122243 -0.18393022 -5.99020492] [ 0.22004602 0.97521897 0.02297176 -0.96090886] [ 0.17449707 -0.06252039 0.98267084 1.52759595] [ 0. 0. 0. 1. ]] SLAMing on 130.354860624 meters Centerline goodness : 0.837686 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.9598488 -0.21181171 -0.18391866 -5.98981511] [ 0.21966 0.97530147 0.02316302 -0.96076979] [ 0.17446994 -0.06263257 0.98266851 1.52700622] [ 0. 0. 0. 1. ]] SLAMing on 130.384860624 meters Centerline goodness : 0.834880 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95981096 -0.21212565 -0.18375424 -5.98988815] [ 0.21988649 0.97526128 0.02270168 -0.96040303] [ 0.17439278 -0.0621944 0.98271004 1.52679568] [ 0. 0. 0. 1. ]] SLAMing on 130.414860624 meters Centerline goodness : 0.838093 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95977957 -0.21242264 -0.18357507 -5.99015765] [ 0.22013842 0.97520945 0.02248558 -0.96054475] [ 0.17424769 -0.06199312 0.98274849 1.52687793] [ 0. 0. 0. 1. ]] SLAMing on 130.444860624 meters Centerline goodness : 0.837121 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95971955 -0.21262403 -0.18365566 -5.98999285] [ 0.22037654 0.97515197 0.02264531 -0.96061616] [ 0.17427724 -0.06220654 0.98272976 1.52700163] [ 0. 0. 0. 1. ]] SLAMing on 130.474860624 meters Centerline goodness : 0.835412 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95960137 -0.21307791 -0.18374716 -5.9900715 ] [ 0.22080102 0.97506149 0.02240522 -0.96044352] [ 0.17439073 -0.06207164 0.98271816 1.52747287] [ 0. 0. 0. 1. ]] SLAMing on 130.504860624 meters Centerline goodness : 0.834856 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95948125 -0.21341964 -0.18397768 -5.98980169] [ 0.22121012 0.97496264 0.02267006 -0.96092815] [ 0.17453313 -0.06244922 0.98266896 1.52791418] [ 0. 0. 0. 1. ]] SLAMing on 130.534860624 meters Centerline goodness : 0.836152 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95914766 -0.2141549 -0.18486059 -5.98855461] [ 0.22226631 0.97468853 0.02408241 -0.96274073] [ 0.17502413 -0.06418687 0.98246964 1.52897001] [ 0. 0. 0. 1. ]] SLAMing on 130.564860624 meters Centerline goodness : 0.839245 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.958893 -0.21508962 -0.18509638 -5.98815744] [ 0.2232336 0.9744672 0.02409207 -0.96344765] [ 0.1751884 -0.06442145 0.98242501 1.52956227] [ 0. 0. 0. 1. ]] SLAMing on 130.594860624 meters Centerline goodness : 0.837198 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95856565 -0.2162096 -0.18548666 -5.98747172] [ 0.22440222 0.97419816 0.02411635 -0.96407284] [ 0.17548657 -0.06474073 0.9823508 1.53021584] [ 0. 0. 0. 1. ]] SLAMing on 130.624860624 meters Centerline goodness : 0.837198 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95856565 -0.2162096 -0.18548666 -5.98747172] [ 0.22440222 0.97419816 0.02411635 -0.96407284] [ 0.17548657 -0.06474073 0.9823508 1.53021584] [ 0. 0. 0. 1. ]] SLAMing on 130.654860624 meters Centerline goodness : 0.838592 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95827146 -0.21727687 -0.18575943 -5.9868721 ] [ 0.22545946 0.97396032 0.02386051 -0.964313 ] [ 0.17573798 -0.06474607 0.98230551 1.53066511] [ 0. 0. 0. 1. ]] SLAMing on 130.684860624 meters Centerline goodness : 0.836328 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95800948 -0.21820187 -0.18602629 -5.98640365] [ 0.22639606 0.97374596 0.02374068 -0.96464841] [ 0.17596209 -0.06485941 0.98225791 1.5311619 ] [ 0. 0. 0. 1. ]] SLAMing on 130.714860624 meters Centerline goodness : 0.837045 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95779419 -0.21885108 -0.18637193 -5.98576373] [ 0.2271012 0.97357875 0.02386331 -0.96490336] [ 0.17622524 -0.06518143 0.98218942 1.53156656] [ 0. 0. 0. 1. ]] SLAMing on 130.744860624 meters Centerline goodness : 0.839465 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95763646 -0.21962661 -0.18627016 -5.98642263] [ 0.22777672 0.97343523 0.02327271 -0.96449736] [ 0.17621063 -0.0647148 0.98222289 1.53200729] [ 0. 0. 0. 1. ]] SLAMing on 130.77486062399998 meters Centerline goodness : 0.838900 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95755771 -0.22008927 -0.18612886 -5.98681717] [ 0.22814421 0.97336148 0.02275212 -0.9637031 ] [ 0.17616316 -0.06425068 0.98226187 1.53215395] [ 0. 0. 0. 1. ]] SLAMing on 130.80486062399999 meters Centerline goodness : 0.839235 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95747991 -0.22046627 -0.1860829 -5.98728972] [ 0.22844274 0.97330199 0.02229691 -0.96299177] [ 0.17619914 -0.06385813 0.98228102 1.53253694] [ 0. 0. 0. 1. ]] SLAMing on 130.834860624 meters Centerline goodness : 0.835336 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.957429 -0.2208596 -0.18587833 -5.98829978] [ 0.22869595 0.97325925 0.02155434 -0.96112459] [ 0.17614732 -0.06314637 0.98233633 1.53303998] [ 0. 0. 0. 1. ]] SLAMing on 130.864860624 meters Centerline goodness : 0.839672 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95738563 -0.22104784 -0.18587794 -5.98874561] [ 0.22879221 0.97324822 0.0210243 -0.9597788 ] [ 0.176258 -0.06265578 0.98234789 1.53351308] [ 0. 0. 0. 1. ]] SLAMing on 130.894860624 meters Centerline goodness : 0.837990 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95739654 -0.22097822 -0.1859045 -5.98884682] [ 0.22866534 0.97328494 0.02070218 -0.95841247] [ 0.17636332 -0.06233011 0.9823497 1.53364711] [ 0. 0. 0. 1. ]] SLAMing on 130.924860624 meters Centerline goodness : 0.839523 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.53 [[ 0.95740271 -0.22086805 -0.18600364 -5.98870118] [ 0.22850232 0.97332997 0.02038264 -0.95683036] [ 0.17654104 -0.06201666 0.98233762 1.53366797] [ 0. 0. 0. 1. ]] SLAMing on 130.954860624 meters Centerline goodness : 0.839830 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95755507 -0.22018425 -0.18603004 -5.98859873] [ 0.22776093 0.97350927 0.02011626 -0.9546522 ] [ 0.17667269 -0.0616328 0.98233811 1.53373412] [ 0. 0. 0. 1. ]] SLAMing on 130.984860624 meters Centerline goodness : 0.842895 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95754399 -0.22037294 -0.18586358 -5.98924445] [ 0.22789155 0.97348448 0.01983469 -0.95422689] [ 0.17656428 -0.06134933 0.98237534 1.53405848] [ 0. 0. 0. 1. ]] SLAMing on 131.014860624 meters Centerline goodness : 0.844557 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95751114 -0.22058179 -0.18578508 -5.9897101 ] [ 0.22804948 0.97345306 0.01955968 -0.95379836] [ 0.17653855 -0.0610968 0.98239571 1.5343797 ] [ 0. 0. 0. 1. ]] SLAMing on 131.044860624 meters Centerline goodness : 0.845691 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95750934 -0.22052587 -0.18586071 -5.98933725] [ 0.22798235 0.97347046 0.01947594 -0.95335984] [ 0.17663496 -0.06102136 0.98238306 1.53422079] [ 0. 0. 0. 1. ]] SLAMing on 131.074860624 meters Centerline goodness : 0.843588 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95746248 -0.22068291 -0.18591573 -5.9892935 ] [ 0.22811653 0.97344223 0.01931497 -0.95346841] [ 0.17671574 -0.06090381 0.98237583 1.53444735] [ 0. 0. 0. 1. ]] SLAMing on 131.104860624 meters Centerline goodness : 0.843847 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.53 [[ 0.95741551 -0.22100679 -0.18577282 -5.98965964] [ 0.22839378 0.97338194 0.01907564 -0.95338567] [ 0.17661206 -0.06069267 0.98240754 1.53456651] [ 0. 0. 0. 1. ]] SLAMing on 131.134860624 meters Centerline goodness : 0.843822 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.54 [[ 0.95733727 -0.22140416 -0.18570283 -5.99018981] [ 0.2287261 0.97331117 0.01870127 -0.95333672] [ 0.1766061 -0.06037851 0.98242797 1.53509013] [ 0. 0. 0. 1. ]] SLAMing on 131.164860624 meters Centerline goodness : 0.848755 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.54 [[ 0.95715442 -0.22238016 -0.18547908 -5.99142834] [ 0.22962188 0.97310895 0.01824182 -0.95430631] [ 0.17643473 -0.0600503 0.98247888 1.53595347] [ 0. 0. 0. 1. ]] SLAMing on 131.194860624 meters Centerline goodness : 0.846688 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95709478 -0.2226691 -0.18544015 -5.99151932] [ 0.2299054 0.97304282 0.01819826 -0.95512954] [ 0.17638901 -0.06005116 0.98248704 1.53607987] [ 0. 0. 0. 1. ]] SLAMing on 131.224860624 meters Centerline goodness : 0.847295 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95697951 -0.22284573 -0.18582249 -5.99024232] [ 0.2302081 0.97296076 0.01875061 -0.95661225] [ 0.1766195 -0.06072179 0.98240441 1.53600515] [ 0. 0. 0. 1. ]] SLAMing on 131.254860624 meters Centerline goodness : 0.847156 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95683585 -0.22308377 -0.18627613 -5.98919898] [ 0.23056237 0.97286781 0.01921513 -0.95754267] [ 0.17693546 -0.06133399 0.98230952 1.53626452] [ 0. 0. 0. 1. ]] SLAMing on 131.284860624 meters Centerline goodness : 0.846948 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95668223 -0.22384197 -0.18615554 -5.9900217 ] [ 0.23124022 0.97271617 0.01874081 -0.95757112] [ 0.17688152 -0.06097565 0.98234154 1.53685801] [ 0. 0. 0. 1. ]] SLAMing on 131.314860624 meters Centerline goodness : 0.846440 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95663049 -0.22410303 -0.18610733 -5.99017322] [ 0.23145038 0.97267173 0.01845074 -0.95719978] [ 0.17688647 -0.06072515 0.98235616 1.53696262] [ 0. 0. 0. 1. ]] SLAMing on 131.344860624 meters Centerline goodness : 0.846578 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95655826 -0.2244531 -0.18605672 -5.99055513] [ 0.23172861 0.97261325 0.01803673 -0.9567234 ] [ 0.17691283 -0.06036785 0.98237344 1.53730205] [ 0. 0. 0. 1. ]] SLAMing on 131.374860624 meters Centerline goodness : 0.844932 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95647677 -0.22484889 -0.18599776 -5.99113468] [ 0.23204992 0.97254452 0.0176067 -0.95656627] [ 0.17693226 -0.06000116 0.9823924 1.53789545] [ 0. 0. 0. 1. ]] SLAMing on 131.404860624 meters Centerline goodness : 0.847489 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95637598 -0.22548999 -0.18573976 -5.99221813] [ 0.23259627 0.97242288 0.01710923 -0.95647213] [ 0.17675963 -0.05956523 0.98245001 1.53847849] [ 0. 0. 0. 1. ]] SLAMing on 131.434860624 meters Centerline goodness : 0.845434 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95626688 -0.22615763 -0.18548955 -5.99316394] [ 0.23316005 0.97229745 0.01655485 -0.95616307] [ 0.17660701 -0.05907961 0.98250678 1.53896349] [ 0. 0. 0. 1. ]] SLAMing on 131.464860624 meters Centerline goodness : 0.845034 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95621324 -0.22641862 -0.18544767 -5.99351003] [ 0.23337091 0.97225174 0.01626581 -0.95575027] [ 0.17661894 -0.05883167 0.98251951 1.53922752] [ 0. 0. 0. 1. ]] SLAMing on 131.494860624 meters Centerline goodness : 0.845378 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.96, Z:1.54 [[ 0.95618389 -0.22669761 -0.18525811 -5.99404278] [ 0.23358695 0.97220503 0.01595358 -0.95524709] [ 0.17649223 -0.05852843 0.98256039 1.53935635] [ 0. 0. 0. 1. ]] SLAMing on 131.52486062399998 meters Centerline goodness : 0.845616 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.54 [[ 0.95615011 -0.22692607 -0.1851527 -5.99461453] [ 0.23372847 0.97217862 0.01548358 -0.9541547 ] [ 0.17648786 -0.05808009 0.98258778 1.53972626] [ 0. 0. 0. 1. ]] SLAMing on 131.55486062399999 meters Centerline goodness : 0.845952 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.54 [[ 0.95614635 -0.2270022 -0.18507877 -5.99481649] [ 0.23376442 0.97217323 0.0152775 -0.95350963] [ 0.1764606 -0.05787235 0.98260493 1.53976127] [ 0. 0. 0. 1. ]] SLAMing on 131.584860624 meters Centerline goodness : 0.844073 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.54 [[ 0.95613695 -0.22696228 -0.18517629 -5.99465477] [ 0.23370605 0.97218932 0.015146 -0.95304397] [ 0.17658884 -0.05775847 0.98258859 1.53981276] [ 0. 0. 0. 1. ]] SLAMing on 131.614860624 meters Centerline goodness : 0.846581 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.95, Z:1.54 [[ 0.95613871 -0.22693049 -0.18520618 -5.99455184] [ 0.23365013 0.97220495 0.01500483 -0.95276215] [ 0.17665331 -0.05762015 0.98258512 1.53989615] [ 0. 0. 0. 1. ]] SLAMing on 131.644860624 meters Centerline goodness : 0.842874 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.54 [[ 0.95614189 -0.22700562 -0.18509766 -5.99506665] [ 0.23370743 0.97219226 0.01493457 -0.95310043] [ 0.17656028 -0.05753827 0.98260664 1.54026871] [ 0. 0. 0. 1. ]] SLAMing on 131.674860624 meters Centerline goodness : 0.845453 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.54 [[ 0.9561102 -0.22725075 -0.1849605 -5.99553875] [ 0.23392392 0.97214229 0.01479768 -0.95335464] [ 0.17644514 -0.0574149 0.98263454 1.5405287 ] [ 0. 0. 0. 1. ]] SLAMing on 131.704860624 meters Centerline goodness : 0.842130 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.95, Z:1.54 [[ 0.95606218 -0.22747121 -0.1849377 -5.99561919] [ 0.23413065 0.97209388 0.0147081 -0.95396724] [ 0.17643114 -0.05736144 0.98264018 1.54073222] [ 0. 0. 0. 1. ]] SLAMing on 131.734860624 meters Centerline goodness : 0.845551 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.54 [[ 0.95599305 -0.22782547 -0.18485896 -5.99579827] [ 0.2345041 0.97200234 0.01480807 -0.95602538] [ 0.17630968 -0.05750659 0.98265349 1.54106729] [ 0. 0. 0. 1. ]] SLAMing on 131.764860624 meters Centerline goodness : 0.842661 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.54 [[ 0.95594924 -0.22805516 -0.1848023 -5.99591442] [ 0.23473378 0.97194694 0.01480536 -0.95693466] [ 0.17624159 -0.05753252 0.98266419 1.54120782] [ 0. 0. 0. 1. ]] SLAMing on 131.794860624 meters Centerline goodness : 0.844254 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.54 [[ 0.95589555 -0.22830765 -0.18476828 -5.9960619 ] [ 0.23497406 0.9718901 0.01472499 -0.95784647] [ 0.17621263 -0.05749131 0.9826718 1.54152575] [ 0. 0. 0. 1. ]] SLAMing on 131.824860624 meters Centerline goodness : 0.841294 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.54 [[ 0.95586576 -0.22844751 -0.18474951 -5.99594586] [ 0.23512271 0.97185351 0.01476716 -0.95870889] [ 0.17617594 -0.05755423 0.98267469 1.54155703] [ 0. 0. 0. 1. ]] SLAMing on 131.854860624 meters Centerline goodness : 0.833903 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.54 [[ 0.95584534 -0.22849649 -0.18479459 -5.99593781] [ 0.23519633 0.97183389 0.01488512 -0.95982304] [ 0.17618845 -0.05769088 0.98266443 1.54186258] [ 0. 0. 0. 1. ]] SLAMing on 131.884860624 meters Centerline goodness : 0.838656 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.54 [[ 0.95583045 -0.22849961 -0.18486773 -5.9958259 ] [ 0.23520662 0.97183117 0.0149004 -0.96031411] [ 0.17625549 -0.05772437 0.98265045 1.54207871] [ 0. 0. 0. 1. ]] SLAMing on 131.914860624 meters Centerline goodness : 0.838162 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.96, Z:1.54 [[ 0.95580841 -0.22857068 -0.18489381 -5.9955993 ] [ 0.23527732 0.97181432 0.01488303 -0.96077039] [ 0.17628063 -0.05772664 0.9826458 1.54206629] [ 0. 0. 0. 1. ]] SLAMing on 131.944860624 meters Centerline goodness : 0.836417 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.95, Z:1.55 [[ 0.95501649 -0.23508881 -0.18076713 -5.93998443] [ 0.2418488 0.97018217 0.01599087 -0.94840885] [ 0.17161777 -0.05898986 0.98339592 1.54679133] [ 0. 0. 0. 1. ]] SLAMing on 131.974860624 meters Centerline goodness : 0.843388 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95618688 -0.23369034 -0.1763391 -6.02796232] [ 0.23869678 0.97106573 0.00742913 -0.95950049] [ 0.16950074 -0.04919521 0.98430144 1.5317386 ] [ 0. 0. 0. 1. ]] SLAMing on 132.004860624 meters Centerline goodness : 0.837379 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95621291 -0.23349527 -0.17645633 -6.02780564] [ 0.2385133 0.97111043 0.00747952 -0.95957578] [ 0.16961215 -0.04923919 0.98428005 1.5319169 ] [ 0. 0. 0. 1. ]] SLAMing on 132.034860624 meters Centerline goodness : 0.837910 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.9562458 -0.23333426 -0.17649107 -6.02775546] [ 0.2383464 0.97115164 0.00744964 -0.95942766] [ 0.16966133 -0.0491897 0.98427405 1.53206348] [ 0. 0. 0. 1. ]] SLAMing on 132.064860624 meters Centerline goodness : 0.844639 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95627777 -0.2330234 -0.17672842 -6.02725458] [ 0.23805009 0.97122398 0.00749226 -0.95923485] [ 0.169897 -0.0492349 0.98423114 1.5322006 ] [ 0. 0. 0. 1. ]] SLAMing on 132.094860624 meters Centerline goodness : 0.843199 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95715364 -0.22906798 -0.17715747 -6.02738524] [ 0.23460952 0.97203076 0.01070364 -0.96002001] [ 0.16975064 -0.05180786 0.98412431 1.53169344] [ 0. 0. 0. 1. ]] SLAMing on 132.124860624 meters Centerline goodness : 0.842613 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95782099 -0.22532288 -0.17834953 -6.02599595] [ 0.23157524 0.9727048 0.01477423 -0.96149568] [ 0.17015247 -0.0554524 0.98385627 1.5313158 ] [ 0. 0. 0. 1. ]] SLAMing on 132.154860624 meters Centerline goodness : 0.843204 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95806523 -0.22445367 -0.17813355 -6.02582653] [ 0.23069159 0.97291375 0.01484017 -0.9612281 ] [ 0.16997765 -0.05531176 0.98389441 1.53048408] [ 0. 0. 0. 1. ]] SLAMing on 132.184860624 meters Centerline goodness : 0.840593 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95920929 -0.22010636 -0.17739993 -6.02703915] [ 0.22665391 0.9738222 0.01727211 -0.96281664] [ 0.16895429 -0.05677596 0.98398727 1.52899898] [ 0. 0. 0. 1. ]] SLAMing on 132.214860624 meters Centerline goodness : 0.840397 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95940456 -0.21929376 -0.17735031 -6.02664701] [ 0.22585865 0.97400357 0.01746213 -0.96257105] [ 0.1689105 -0.05680935 0.98399286 1.52825007] [ 0. 0. 0. 1. ]] SLAMing on 132.244860624 meters Centerline goodness : 0.841304 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95955746 -0.21882223 -0.17710535 -6.02669037] [ 0.22533161 0.97412916 0.01726376 -0.96224401] [ 0.1687458 -0.056473 0.98404047 1.52760492] [ 0. 0. 0. 1. ]] SLAMing on 132.27486062399998 meters Centerline goodness : 0.846895 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.95994771 -0.21762169 -0.17646868 -6.0276667 ] [ 0.22406812 0.97442137 0.01721809 -0.96212658] [ 0.16820782 -0.05606947 0.98415565 1.52687582] [ 0. 0. 0. 1. ]] SLAMing on 132.30486062399999 meters Centerline goodness : 0.845098 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.96013831 -0.21675621 -0.17649696 -6.02725645] [ 0.22326572 0.97459774 0.01765388 -0.96268878] [ 0.16818695 -0.05635588 0.98414286 1.526488 ] [ 0. 0. 0. 1. ]] SLAMing on 132.334860624 meters Centerline goodness : 0.846343 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.96031974 -0.21610634 -0.17630669 -6.02737463] [ 0.22264532 0.97473428 0.01794851 -0.96283722] [ 0.16797339 -0.05649017 0.98417163 1.52599579] [ 0. 0. 0. 1. ]] SLAMing on 132.364860624 meters Centerline goodness : 0.845171 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.53 [[ 0.96046364 -0.21569362 -0.176028 -6.02742924] [ 0.2221983 0.97483756 0.01787868 -0.96297266] [ 0.16774239 -0.05628494 0.98422279 1.52540708] [ 0. 0. 0. 1. ]] SLAMing on 132.394860624 meters Centerline goodness : 0.847017 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.52 [[ 0.96078026 -0.21454527 -0.17570321 -6.02689396] [ 0.2211242 0.97506966 0.01852662 -0.96425071] [ 0.16734808 -0.05665224 0.98426884 1.52402659] [ 0. 0. 0. 1. ]] SLAMing on 132.424860624 meters Centerline goodness : 0.847574 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.52 [[ 0.96079097 -0.21458099 -0.17560102 -6.02696438] [ 0.22109854 0.97508168 0.01819743 -0.96408629] [ 0.16732051 -0.05630906 0.98429322 1.52389913] [ 0. 0. 0. 1. ]] SLAMing on 132.454860624 meters Centerline goodness : 0.845668 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.52 [[ 0.96081085 -0.21440087 -0.1757122 -6.02648566] [ 0.22097088 0.97510524 0.01848372 -0.9639736 ] [ 0.16737496 -0.05658664 0.98426804 1.5234832 ] [ 0. 0. 0. 1. ]] SLAMing on 132.484860624 meters Centerline goodness : 0.844687 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.52 [[ 0.9607296 -0.21434896 -0.17621908 -6.02539363] [ 0.22105415 0.97507434 0.01910742 -0.96422843] [ 0.16773105 -0.05731102 0.98416551 1.5234741 ] [ 0. 0. 0. 1. ]] SLAMing on 132.514860624 meters Centerline goodness : 0.844687 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.52 [[ 0.9607296 -0.21434896 -0.17621908 -6.02539363] [ 0.22105415 0.97507434 0.01910742 -0.96422843] [ 0.16773105 -0.05731102 0.98416551 1.5234741 ] [ 0. 0. 0. 1. ]] SLAMing on 132.544860624 meters Centerline goodness : 0.845812 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.9605814 -0.21504027 -0.17618473 -6.024912 ] [ 0.22168229 0.97493985 0.01868808 -0.96415727] [ 0.16775083 -0.05700846 0.98417971 1.52310292] [ 0. 0. 0. 1. ]] SLAMing on 132.574860624 meters Centerline goodness : 0.843911 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.96, Z:1.52 [[ 0.96003 -0.21826068 -0.17522749 -6.02565247] [ 0.22421432 0.97442924 0.01468309 -0.9622728 ] [ 0.16754205 -0.05338472 0.98441847 1.52304365] [ 0. 0. 0. 1. ]] SLAMing on 132.604860624 meters Centerline goodness : 0.845498 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95994922 -0.21818753 -0.17576034 -6.02433025] [ 0.22423939 0.97441721 0.01509297 -0.96243122] [ 0.1679708 -0.05390088 0.98431728 1.52289794] [ 0. 0. 0. 1. ]] SLAMing on 132.634860624 meters Centerline goodness : 0.838857 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95977873 -0.21859015 -0.1761906 -6.02381914] [ 0.22473465 0.97429737 0.01545899 -0.96234789] [ 0.16828286 -0.05443334 0.98423467 1.52339225] [ 0. 0. 0. 1. ]] SLAMing on 132.664860624 meters Centerline goodness : 0.843954 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95966951 -0.21894072 -0.17635017 -6.02377566] [ 0.22509381 0.97421498 0.01542572 -0.96207248] [ 0.16842566 -0.05449893 0.98420662 1.52375875] [ 0. 0. 0. 1. ]] SLAMing on 132.694860624 meters Centerline goodness : 0.845734 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95958202 -0.21907822 -0.17665527 -6.02330688] [ 0.22528378 0.97416798 0.01561955 -0.9619412 ] [ 0.16867 -0.05478581 0.98414884 1.52400008] [ 0. 0. 0. 1. ]] SLAMing on 132.724860624 meters Centerline goodness : 0.845780 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95940674 -0.21939262 -0.17721621 -6.02229323] [ 0.22567927 0.97407225 0.01587858 -0.96154105] [ 0.16913775 -0.05522804 0.98404384 1.52418133] [ 0. 0. 0. 1. ]] SLAMing on 132.754860624 meters Centerline goodness : 0.844138 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95924712 -0.21983124 -0.17753647 -6.02099404] [ 0.2260982 0.97397928 0.01561916 -0.96112363] [ 0.16948326 -0.05512331 0.98399027 1.52363358] [ 0. 0. 0. 1. ]] SLAMing on 132.784860624 meters Centerline goodness : 0.846175 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95921666 -0.21993977 -0.17756657 -6.0204709 ] [ 0.22618239 0.9739623 0.01545826 -0.96100361] [ 0.16954326 -0.05499025 0.98398738 1.52318869] [ 0. 0. 0. 1. ]] SLAMing on 132.814860624 meters Centerline goodness : 0.845151 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95913472 -0.22003506 -0.17789088 -6.02017988] [ 0.22629817 0.97393535 0.01546177 -0.95978258] [ 0.16985208 -0.0550863 0.98392874 1.52332286] [ 0. 0. 0. 1. ]] SLAMing on 132.844860624 meters Centerline goodness : 0.842756 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95909658 -0.22002834 -0.17810471 -6.01970974] [ 0.22629626 0.97393646 0.01541981 -0.95902093] [ 0.17006988 -0.05509352 0.98389072 1.52314557] [ 0. 0. 0. 1. ]] SLAMing on 132.874860624 meters Centerline goodness : 0.843512 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95913425 -0.21983619 -0.17813909 -6.01939587] [ 0.22607931 0.97398901 0.01528233 -0.95853952] [ 0.17014591 -0.05493137 0.98388664 1.52280251] [ 0. 0. 0. 1. ]] SLAMing on 132.904860624 meters Centerline goodness : 0.842191 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.9591292 -0.21957428 -0.17848897 -6.01863105] [ 0.22588937 0.97402794 0.01560663 -0.95822242] [ 0.17042643 -0.05528754 0.98381813 1.52266684] [ 0. 0. 0. 1. ]] SLAMing on 132.934860624 meters Centerline goodness : 0.840587 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95913025 -0.21980197 -0.17820288 -6.01961706] [ 0.22599323 0.97401392 0.01496475 -0.95710753] [ 0.1702828 -0.05462579 0.98387997 1.52295776] [ 0. 0. 0. 1. ]] SLAMing on 132.964860624 meters Centerline goodness : 0.842036 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95910466 -0.21961901 -0.17856581 -6.01893115] [ 0.22590177 0.9740285 0.01539081 -0.95708749] [ 0.17054807 -0.05509973 0.98380759 1.52296707] [ 0. 0. 0. 1. ]] SLAMing on 132.994860624 meters Centerline goodness : 0.841393 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.9590939 -0.21943121 -0.17885423 -6.01801301] [ 0.22577681 0.97405294 0.01567507 -0.9572498 ] [ 0.17077389 -0.055415 0.98375071 1.52265876] [ 0. 0. 0. 1. ]] SLAMing on 133.02486062399998 meters Centerline goodness : 0.786565 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95894554 -0.22012512 -0.17879704 -6.01801633] [ 0.22641523 0.97391052 0.01531178 -0.95685287] [ 0.17076181 -0.05516553 0.98376683 1.52272359] [ 0. 0. 0. 1. ]] SLAMing on 133.05486062399999 meters Centerline goodness : 0.841891 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95887258 -0.220092 -0.17922857 -6.01658497] [ 0.22642901 0.97390524 0.01544295 -0.95652748] [ 0.17115278 -0.05539037 0.98368625 1.52218699] [ 0. 0. 0. 1. ]] SLAMing on 133.084860624 meters Centerline goodness : 0.841769 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95881771 -0.22032215 -0.17923937 -6.01605793] [ 0.22662093 0.97386444 0.01519897 -0.95634437] [ 0.17120618 -0.05519244 0.98368808 1.52177145] [ 0. 0. 0. 1. ]] SLAMing on 133.114860624 meters Centerline goodness : 0.840679 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.96, Z:1.52 [[ 0.95878666 -0.22045793 -0.17923848 -6.01588949] [ 0.2267342 0.97384027 0.01505764 -0.95625252] [ 0.17123007 -0.05507656 0.98369042 1.52168113] [ 0. 0. 0. 1. ]] SLAMing on 133.144860624 meters Centerline goodness : 0.843576 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.52 [[ 0.9587342 -0.22077607 -0.17912752 -6.01648393] [ 0.22695436 0.97379742 0.01450215 -0.95485354] [ 0.17123219 -0.05455748 0.98371897 1.52200178] [ 0. 0. 0. 1. ]] SLAMing on 133.174860624 meters Centerline goodness : 0.841017 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.52 [[ 0.95870649 -0.22065317 -0.17942697 -6.01595333] [ 0.22684466 0.97382312 0.01449216 -0.95375053] [ 0.17153239 -0.05459577 0.98366455 1.52180216] [ 0. 0. 0. 1. ]] SLAMing on 133.204860624 meters Centerline goodness : 0.840899 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.52 [[ 0.95868504 -0.2207236 -0.17945499 -6.01597591] [ 0.22685607 0.97382567 0.01413844 -0.95253501] [ 0.17163719 -0.05426476 0.98366458 1.5218583 ] [ 0. 0. 0. 1. ]] SLAMing on 133.234860624 meters Centerline goodness : 0.841377 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.52 [[ 0.95868529 -0.2207582 -0.1794111 -6.01618821] [ 0.22683262 0.97383575 0.01381671 -0.95112451] [ 0.17166679 -0.05394216 0.98367716 1.52185999] [ 0. 0. 0. 1. ]] SLAMing on 133.264860624 meters Centerline goodness : 0.841906 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.52 [[ 0.95879633 -0.22027357 -0.17941337 -6.01621704] [ 0.22625949 0.97397553 0.01335301 -0.94811693] [ 0.17180292 -0.05339679 0.98368315 1.52187591] [ 0. 0. 0. 1. ]] SLAMing on 133.294860624 meters Centerline goodness : 0.843367 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.52 [[ 0.95879161 -0.22020135 -0.17952719 -6.01604694] [ 0.22613556 0.97400872 0.01302775 -0.94675454] [ 0.17199232 -0.05308838 0.98366675 1.52192907] [ 0. 0. 0. 1. ]] SLAMing on 133.324860624 meters Centerline goodness : 0.842126 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.95, Z:1.52 [[ 0.95878264 -0.22020502 -0.1795706 -6.01605551] [ 0.22606686 0.97403029 0.01260019 -0.94519783] [ 0.17213258 -0.05267581 0.98366439 1.52204478] [ 0. 0. 0. 1. ]] SLAMing on 133.354860624 meters Centerline goodness : 0.843548 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95877067 -0.22026697 -0.17955856 -6.0162956 ] [ 0.22604266 0.97404218 0.0121061 -0.94358523] [ 0.17223103 -0.05219486 0.9836728 1.52228043] [ 0. 0. 0. 1. ]] SLAMing on 133.384860624 meters Centerline goodness : 0.844129 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.9588237 -0.21996186 -0.17964935 -6.01619088] [ 0.2256666 0.97413432 0.01170106 -0.9411104 ] [ 0.17242882 -0.05176011 0.98366112 1.52228349] [ 0. 0. 0. 1. ]] SLAMing on 133.414860624 meters Centerline goodness : 0.842593 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95880233 -0.22008668 -0.17961053 -6.01631511] [ 0.22572933 0.97412397 0.01134732 -0.94006731] [ 0.17246553 -0.0514232 0.98367235 1.52235955] [ 0. 0. 0. 1. ]] SLAMing on 133.444860624 meters Centerline goodness : 0.842247 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95881509 -0.2200018 -0.17964639 -6.01633127] [ 0.22557613 0.97416395 0.0109547 -0.93851005] [ 0.17259498 -0.05102747 0.98367025 1.52250931] [ 0. 0. 0. 1. ]] SLAMing on 133.474860624 meters Centerline goodness : 0.841364 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95880369 -0.22008482 -0.17960555 -6.01645647] [ 0.22562551 0.9741546 0.01076764 -0.9381468 ] [ 0.17259378 -0.05084764 0.98367978 1.52258831] [ 0. 0. 0. 1. ]] SLAMing on 133.504860624 meters Centerline goodness : 0.840719 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95875918 -0.22038336 -0.17947702 -6.01684664] [ 0.22586888 0.97410151 0.01046429 -0.93796052] [ 0.17252268 -0.05057101 0.98370651 1.52280162] [ 0. 0. 0. 1. ]] SLAMing on 133.534860624 meters Centerline goodness : 0.842535 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95874188 -0.22043717 -0.17950337 -6.01666352] [ 0.225913 0.974092 0.01039633 -0.93808161] [ 0.17256106 -0.05051954 0.98370242 1.52280244] [ 0. 0. 0. 1. ]] SLAMing on 133.564860624 meters Centerline goodness : 0.842605 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95871023 -0.22059252 -0.17948156 -6.01685979] [ 0.22604361 0.97406328 0.01024755 -0.93829381] [ 0.17256587 -0.05039509 0.98370796 1.52309072] [ 0. 0. 0. 1. ]] SLAMing on 133.594860624 meters Centerline goodness : 0.838686 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95867969 -0.2208883 -0.17928083 -6.01730202] [ 0.22631763 0.97400061 0.01015601 -0.93840883] [ 0.1723763 -0.05031078 0.98374552 1.52307791] [ 0. 0. 0. 1. ]] SLAMing on 133.624860624 meters Centerline goodness : 0.839830 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95863549 -0.22109238 -0.17926559 -6.01739096] [ 0.22649641 0.97396069 0.00999754 -0.93849072] [ 0.17238725 -0.05018701 0.98374992 1.52324222] [ 0. 0. 0. 1. ]] SLAMing on 133.654860624 meters Centerline goodness : 0.839712 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95860732 -0.22123711 -0.17923769 -6.01752642] [ 0.22662386 0.9739321 0.00989393 -0.93878055] [ 0.17237644 -0.05010393 0.98375605 1.52343945] [ 0. 0. 0. 1. ]] SLAMing on 133.684860624 meters Centerline goodness : 0.838988 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95854673 -0.22159065 -0.17912498 -6.01787045] [ 0.22693286 0.97386269 0.00964063 -0.93884064] [ 0.17230686 -0.04989034 0.98377909 1.52363029] [ 0. 0. 0. 1. ]] SLAMing on 133.714860624 meters Centerline goodness : 0.838483 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95848882 -0.22195184 -0.17898762 -6.01838683] [ 0.22725173 0.97379062 0.00940633 -0.93902587] [ 0.17220872 -0.04969111 0.98380636 1.52392163] [ 0. 0. 0. 1. ]] SLAMing on 133.744860624 meters Centerline goodness : 0.837121 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95843154 -0.22230413 -0.17885708 -6.01895998] [ 0.22755593 0.97372214 0.00913757 -0.93892978] [ 0.17212578 -0.04945773 0.98383263 1.52425162] [ 0. 0. 0. 1. ]] SLAMing on 133.77486062399998 meters Centerline goodness : 0.837035 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95839348 -0.22247789 -0.17884495 -6.01912913] [ 0.22769868 0.97369053 0.00894809 -0.93855633] [ 0.17214888 -0.04929855 0.98383658 1.52438066] [ 0. 0. 0. 1. ]] SLAMing on 133.80486062399999 meters Centerline goodness : 0.838333 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.95836107 -0.22262817 -0.17883167 -6.0193689 ] [ 0.22779459 0.97367099 0.00862757 -0.93774825] [ 0.17220247 -0.04900522 0.98384186 1.52462984] [ 0. 0. 0. 1. ]] SLAMing on 133.834860624 meters Centerline goodness : 0.838345 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:1.52 [[ 0.9584262 -0.22234202 -0.17883857 -6.0194647 ] [ 0.22743912 0.97375731 0.00825573 -0.93574235] [ 0.17230977 -0.0485874 0.98384379 1.52477059] [ 0. 0. 0. 1. ]] SLAMing on 133.864860624 meters Centerline goodness : 0.839095 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.93, Z:1.52 [[ 0.95843255 -0.22229242 -0.1788662 -6.01951577] [ 0.22731701 0.97378927 0.00783854 -0.93406072] [ 0.17243554 -0.04817204 0.98384218 1.52488827] [ 0. 0. 0. 1. ]] SLAMing on 133.894860624 meters Centerline goodness : 0.837079 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.93, Z:1.52 [[ 0.95846712 -0.22213838 -0.17887238 -6.01947095] [ 0.22708982 0.97384545 0.00743368 -0.93219895] [ 0.17254275 -0.04774504 0.9838442 1.52489351] [ 0. 0. 0. 1. ]] SLAMing on 133.924860624 meters Centerline goodness : 0.840202 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.93, Z:1.53 [[ 0.95929025 -0.21819465 -0.17931345 -6.02079482] [ 0.22364781 0.97461317 0.01052782 -0.93040167] [ 0.17246414 -0.0502023 0.98373566 1.52508026] [ 0. 0. 0. 1. ]] SLAMing on 133.954860624 meters Centerline goodness : 0.839457 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.93, Z:1.53 [[ 0.9593581 -0.21772824 -0.17951726 -6.02032112] [ 0.22313612 0.97473338 0.01025229 -0.92856612] [ 0.17274926 -0.0498924 0.9837014 1.5251593 ] [ 0. 0. 0. 1. ]] SLAMing on 133.984860624 meters Centerline goodness : 0.839193 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.93, Z:1.53 [[ 0.95941223 -0.21742968 -0.17958983 -6.02019442] [ 0.22278449 0.97481688 0.00995626 -0.92684847] [ 0.17290241 -0.04956199 0.98369119 1.52525009] [ 0. 0. 0. 1. ]] SLAMing on 134.014860624 meters Centerline goodness : 0.841083 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.93, Z:1.53 [[ 0.96022299 -0.21340344 -0.18008547 -6.02123637] [ 0.21931203 0.97556376 0.01332585 -0.92605388] [ 0.17284107 -0.0522907 0.9835607 1.52537512] [ 0. 0. 0. 1. ]] SLAMing on 134.044860624 meters Centerline goodness : 0.841162 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.53 [[ 0.96026149 -0.21324466 -0.18006829 -6.02126464] [ 0.2190991 0.9756155 0.01303746 -0.92452769] [ 0.17289725 -0.05197217 0.98356771 1.52537743] [ 0. 0. 0. 1. ]] SLAMing on 134.074860624 meters Centerline goodness : 0.839671 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.53 [[ 0.96027446 -0.21312276 -0.18014342 -6.02125278] [ 0.2189201 0.97566012 0.01270096 -0.92295437] [ 0.17305189 -0.05163342 0.98355835 1.52553554] [ 0. 0. 0. 1. ]] SLAMing on 134.104860624 meters Centerline goodness : 0.839744 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.53 [[ 0.96029325 -0.21298553 -0.18020554 -6.02113584] [ 0.21871406 0.97571142 0.01230387 -0.92119671] [ 0.17320806 -0.0512288 0.98355202 1.52563483] [ 0. 0. 0. 1. ]] SLAMing on 134.134860624 meters Centerline goodness : 0.843102 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.53 [[ 0.96043436 -0.21222585 -0.18034973 -6.02051437] [ 0.21791881 0.97589154 0.01212809 -0.9186368 ] [ 0.17342788 -0.05094983 0.98352778 1.52539437] [ 0. 0. 0. 1. ]] SLAMing on 134.164860624 meters Centerline goodness : 0.839170 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.53 [[ 0.96046201 -0.21202438 -0.18043942 -6.02000307] [ 0.21770062 0.97594151 0.01202498 -0.91773079] [ 0.17354873 -0.05083131 0.98351259 1.52513873] [ 0. 0. 0. 1. ]] SLAMing on 134.194860624 meters Centerline goodness : 0.841412 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.52 [[ 0.96049816 -0.21180495 -0.18050468 -6.01951186] [ 0.21745607 0.97599777 0.0118833 -0.91651903] [ 0.17365523 -0.05066573 0.98350234 1.52481883] [ 0. 0. 0. 1. ]] SLAMing on 134.224860624 meters Centerline goodness : 0.840848 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.92, Z:1.52 [[ 0.96052173 -0.2116378 -0.18057534 -6.01926086] [ 0.21725039 0.97604627 0.01165963 -0.91520783] [ 0.17378227 -0.05042939 0.98349204 1.52473627] [ 0. 0. 0. 1. ]] SLAMing on 134.254860624 meters Centerline goodness : 0.842069 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.91, Z:1.52 [[ 0.96067332 -0.21082171 -0.18072347 -6.01883167] [ 0.21641367 0.97623315 0.01157399 -0.91290339] [ 0.1739882 -0.05022985 0.98346585 1.52470448] [ 0. 0. 0. 1. ]] SLAMing on 134.284860624 meters Centerline goodness : 0.841376 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.91, Z:1.53 [[ 0.96066956 -0.21074894 -0.1808283 -6.01891854] [ 0.21626263 0.97627204 0.01110791 -0.91120684] [ 0.17419663 -0.04977743 0.98345195 1.52512105] [ 0. 0. 0. 1. ]] SLAMing on 134.314860624 meters Centerline goodness : 0.844232 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.91, Z:1.53 [[ 0.96068354 -0.21066922 -0.18084693 -6.0191447 ] [ 0.21611122 0.97631006 0.01070522 -0.90977552] [ 0.17430741 -0.04936738 0.98345299 1.52549013] [ 0. 0. 0. 1. ]] SLAMing on 134.344860624 meters Centerline goodness : 0.843898 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.91, Z:1.53 [[ 0.96080222 -0.21021053 -0.18075018 -6.01954002] [ 0.21557606 0.97643227 0.01034362 -0.90791807] [ 0.17431597 -0.04890359 0.98347465 1.52594969] [ 0. 0. 0. 1. ]] SLAMing on 134.374860624 meters Centerline goodness : 0.842844 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.91, Z:1.53 [[ 0.96079844 -0.21017764 -0.18080849 -6.01959987] [ 0.2154971 0.97645255 0.01007023 -0.90707688] [ 0.17443437 -0.04863917 0.98346677 1.52622748] [ 0. 0. 0. 1. ]] SLAMing on 134.404860624 meters Centerline goodness : 0.843243 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.91, Z:1.53 [[ 0.96080699 -0.21019514 -0.1807427 -6.01980521] [ 0.21547184 0.97646041 0.00984613 -0.90624195] [ 0.17441848 -0.04840519 0.98348113 1.52631035] [ 0. 0. 0. 1. ]] SLAMing on 134.434860624 meters Centerline goodness : 0.843243 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.91, Z:1.53 [[ 0.96080699 -0.21019514 -0.1807427 -6.01980521] [ 0.21547184 0.97646041 0.00984613 -0.90624195] [ 0.17441848 -0.04840519 0.98348113 1.52631035] [ 0. 0. 0. 1. ]] SLAMing on 134.464860624 meters Centerline goodness : 0.841337 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96084088 -0.21000357 -0.18078526 -6.01990527] [ 0.2152223 0.97651863 0.009525 -0.90453319] [ 0.17453989 -0.04806103 0.98347647 1.52653848] [ 0. 0. 0. 1. ]] SLAMing on 134.494860624 meters Centerline goodness : 0.843000 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96082208 -0.20998632 -0.18090517 -6.01976498] [ 0.2151588 0.97653543 0.00923273 -0.90348052] [ 0.17472156 -0.04779435 0.98345721 1.52672199] [ 0. 0. 0. 1. ]] SLAMing on 134.52486062399998 meters Centerline goodness : 0.841697 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96082572 -0.20989355 -0.18099348 -6.01962951] [ 0.21503453 0.97656461 0.00903949 -0.90267101] [ 0.17485449 -0.04760522 0.98344275 1.52684112] [ 0. 0. 0. 1. ]] SLAMing on 134.55486062399999 meters Centerline goodness : 0.843783 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96088042 -0.20949635 -0.18116316 -6.01915255] [ 0.21458773 0.97666552 0.00875057 -0.90118153] [ 0.1751026 -0.04728364 0.98341412 1.52696767] [ 0. 0. 0. 1. ]] SLAMing on 134.584860624 meters Centerline goodness : 0.844887 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96089388 -0.20935544 -0.18125463 -6.0188161 ] [ 0.2144204 0.97670369 0.00859024 -0.90031327] [ 0.17523366 -0.047119 0.98339868 1.5269084 ] [ 0. 0. 0. 1. ]] SLAMing on 134.614860624 meters Centerline goodness : 0.841783 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96090316 -0.20920216 -0.1813824 -6.01843845] [ 0.21422604 0.97674851 0.0083392 -0.89927177] [ 0.17542042 -0.04686999 0.98337728 1.52694125] [ 0. 0. 0. 1. ]] SLAMing on 134.644860624 meters Centerline goodness : 0.841681 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.9610505 -0.20839002 -0.18153659 -6.01754888] [ 0.21341369 0.97692606 0.00837126 -0.89779563] [ 0.17560333 -0.0467876 0.98334856 1.5266348 ] [ 0. 0. 0. 1. ]] SLAMing on 134.674860624 meters Centerline goodness : 0.843118 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96107737 -0.20807423 -0.18175643 -6.01690493] [ 0.21307921 0.97700021 0.00823653 -0.8968541 ] [ 0.17586227 -0.04664446 0.98330909 1.52665121] [ 0. 0. 0. 1. ]] SLAMing on 134.704860624 meters Centerline goodness : 0.844314 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96109918 -0.20784502 -0.1819033 -6.0165691 ] [ 0.21282491 0.97705696 0.00807806 -0.8961166 ] [ 0.1760509 -0.04647737 0.98328324 1.52683332] [ 0. 0. 0. 1. ]] SLAMing on 134.734860624 meters Centerline goodness : 0.843626 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:1.53 [[ 0.96115452 -0.20747938 -0.1820283 -6.0160723 ] [ 0.21246172 0.97713588 0.00809212 -0.89567537] [ 0.17618743 -0.04645183 0.98325999 1.52677983] [ 0. 0. 0. 1. ]] SLAMing on 134.764860624 meters Centerline goodness : 0.842725 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.89, Z:1.53 [[ 0.96131461 -0.20655379 -0.18223544 -6.01535041] [ 0.21155412 0.97733169 0.00822288 -0.89490408] [ 0.176406 -0.04645743 0.98322054 1.52696303] [ 0. 0. 0. 1. ]] SLAMing on 134.794860624 meters Centerline goodness : 0.843308 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.89, Z:1.53 [[ 0.96135563 -0.20634821 -0.18225196 -6.01542146] [ 0.21132392 0.97738252 0.00810037 -0.8941293 ] [ 0.17645838 -0.04630154 0.98321849 1.52713107] [ 0. 0. 0. 1. ]] SLAMing on 134.824860624 meters Centerline goodness : 0.840043 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.89, Z:1.53 [[ 0.96138017 -0.20609997 -0.1824033 -6.01524094] [ 0.2110511 0.97744273 0.00794631 -0.89332128] [ 0.17665105 -0.04613584 0.98319169 1.52742462] [ 0. 0. 0. 1. ]] SLAMing on 134.854860624 meters Centerline goodness : 0.844018 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96154277 -0.20518593 -0.18257664 -6.01466342] [ 0.21016211 0.97763279 0.00812461 -0.89278171] [ 0.17682586 -0.04618285 0.98315805 1.52762382] [ 0. 0. 0. 1. ]] SLAMing on 134.884860624 meters Centerline goodness : 0.843826 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96160474 -0.20476429 -0.1827236 -6.01385829] [ 0.20976392 0.97771721 0.00825514 -0.89268576] [ 0.17696165 -0.046267 0.98312967 1.52738154] [ 0. 0. 0. 1. ]] SLAMing on 134.914860624 meters Centerline goodness : 0.842460 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96162953 -0.20450165 -0.18288719 -6.01319366] [ 0.20949946 0.97777416 0.00822608 -0.8926031 ] [ 0.17714012 -0.04622521 0.98309949 1.52735649] [ 0. 0. 0. 1. ]] SLAMing on 134.944860624 meters Centerline goodness : 0.843113 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96169167 -0.20413658 -0.18296826 -6.01249651] [ 0.20917387 0.97784189 0.0084576 -0.89272752] [ 0.17718752 -0.04640579 0.98308244 1.52696548] [ 0. 0. 0. 1. ]] SLAMing on 134.974860624 meters Centerline goodness : 0.841699 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96178632 -0.20358006 -0.18309079 -6.01195968] [ 0.20866016 0.97794938 0.00871421 -0.89293671] [ 0.17727949 -0.04658496 0.98305739 1.52692678] [ 0. 0. 0. 1. ]] SLAMing on 135.004860624 meters Centerline goodness : 0.843704 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96176311 -0.20354861 -0.1832476 -6.01159493] [ 0.20860784 0.97796191 0.00855966 -0.89285628] [ 0.17746687 -0.04645925 0.98302953 1.52714938] [ 0. 0. 0. 1. ]] SLAMing on 135.034860624 meters Centerline goodness : 0.832973 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96177687 -0.20344177 -0.18329402 -6.01130828] [ 0.20850078 0.97798477 0.00855605 -0.89295281] [ 0.17751811 -0.04644596 0.9830209 1.52713795] [ 0. 0. 0. 1. ]] SLAMing on 135.064860624 meters Centerline goodness : 0.840098 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.9617983 -0.20316066 -0.18349327 -6.01079288] [ 0.20825774 0.97803493 0.00873997 -0.89374057] [ 0.17768721 -0.04661998 0.98298211 1.52736675] [ 0. 0. 0. 1. ]] SLAMing on 135.094860624 meters Centerline goodness : 0.841316 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.96179288 -0.20312043 -0.1835662 -6.01055879] [ 0.2082285 0.97804075 0.008785 -0.89446754] [ 0.17775081 -0.04667307 0.98296809 1.52753669] [ 0. 0. 0. 1. ]] SLAMing on 135.124860624 meters Centerline goodness : 0.842576 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 0.96176814 -0.2032768 -0.1835227 -6.01075728] [ 0.20837313 0.97801056 0.00871709 -0.89542138] [ 0.17771515 -0.04662502 0.98297682 1.52792503] [ 0. 0. 0. 1. ]] SLAMing on 135.154860624 meters Centerline goodness : 0.843127 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 0.96175609 -0.2034683 -0.1833736 -6.01104959] [ 0.20854306 0.9779752 0.00861957 -0.89629918] [ 0.17758103 -0.04653122 0.98300551 1.52817953] [ 0. 0. 0. 1. ]] SLAMing on 135.184860624 meters Centerline goodness : 0.843091 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 0.9617231 -0.20358467 -0.18341745 -6.01132159] [ 0.20867449 0.97794663 0.00868039 -0.8981098 ] [ 0.17760528 -0.04662267 0.98299679 1.52888244] [ 0. 0. 0. 1. ]] SLAMing on 135.214860624 meters Centerline goodness : 0.842014 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 0.96169623 -0.20380312 -0.18331569 -6.01168354] [ 0.20888048 0.9779032 0.00861821 -0.89881858] [ 0.17750858 -0.04657917 0.98301632 1.52916667] [ 0. 0. 0. 1. ]] SLAMing on 135.244860624 meters Centerline goodness : 0.841746 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 0.96167081 -0.20397752 -0.18325509 -6.01185827] [ 0.2090523 0.97786661 0.0086038 -0.89974857] [ 0.17744405 -0.04658392 0.98302774 1.52938279] [ 0. 0. 0. 1. ]] SLAMing on 135.27486062399998 meters Centerline goodness : 0.841784 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 0.96164478 -0.20405105 -0.18330982 -6.0116212 ] [ 0.20915434 0.97784358 0.00874021 -0.90107129] [ 0.17746488 -0.04674502 0.98301634 1.52947811] [ 0. 0. 0. 1. ]] SLAMing on 135.30486062399999 meters Centerline goodness : 0.840355 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 0.96161291 -0.20406599 -0.18346028 -6.01106912] [ 0.20922862 0.97782509 0.00902699 -0.90294131] [ 0.17754996 -0.04706561 0.98298568 1.52950956] [ 0. 0. 0. 1. ]] SLAMing on 135.334860624 meters Centerline goodness : 0.842711 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.90, Z:1.53 [[ 9.60860810e-01 -2.07927735e-01 -1.83064365e-01 -6.01009639e+00] [ 2.12517942e-01 9.77141110e-01 5.60143878e-03 -9.04103655e-01] [ 1.77715022e-01 -4.42866650e-02 9.83084972e-01 1.52990863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364860624 meters Centerline goodness : 0.842716 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.91, Z:1.53 [[ 9.60773435e-01 -2.08335281e-01 -1.83059599e-01 -6.01058007e+00] [ 2.12947151e-01 9.77047184e-01 5.68430051e-03 -9.06214449e-01] [ 1.77673626e-01 -4.44433451e-02 9.83085384e-01 1.53057596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394860624 meters Centerline goodness : 0.841501 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.91, Z:1.53 [[ 9.60658325e-01 -2.08870566e-01 -1.83053732e-01 -6.01107040e+00] [ 2.13489793e-01 9.76928804e-01 5.67633530e-03 -9.08105677e-01] [ 1.77644844e-01 -4.45331220e-02 9.83086522e-01 1.53119535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424860624 meters Centerline goodness : 0.840464 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.91, Z:1.53 [[ 9.60574051e-01 -2.09326490e-01 -1.82975172e-01 -6.01147098e+00] [ 2.13967209e-01 9.76823786e-01 5.77266458e-03 -9.10223827e-01] [ 1.77526129e-01 -4.46957587e-02 9.83100586e-01 1.53161865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454860624 meters Centerline goodness : 0.842619 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.91, Z:1.53 [[ 9.59792359e-01 -2.13327236e-01 -1.82455799e-01 -6.01093706e+00] [ 2.17412939e-01 9.76076635e-01 2.45291083e-03 -9.12231479e-01] [ 1.77567570e-01 -4.20225367e-02 9.83210997e-01 1.53227717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484860624 meters Centerline goodness : 0.840219 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.91, Z:1.53 [[ 9.59722630e-01 -2.13623732e-01 -1.82475684e-01 -6.01096486e+00] [ 2.17743888e-01 9.76002450e-01 2.61103818e-03 -9.14104907e-01] [ 1.77538935e-01 -4.22388373e-02 9.83206900e-01 1.53255514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514860624 meters Centerline goodness : 0.843939 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.92, Z:1.53 [[ 9.59650603e-01 -2.13925011e-01 -1.82501536e-01 -6.01089463e+00] [ 2.18082605e-01 9.75926343e-01 2.78380829e-03 -9.15894787e-01] [ 1.77512530e-01 -4.24718936e-02 9.83201627e-01 1.53267953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544860624 meters Centerline goodness : 0.844996 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.92, Z:1.53 [[ 9.58876402e-01 -2.17775081e-01 -1.82016647e-01 -6.00966080e+00] [ 2.21378657e-01 9.75187781e-01 -5.31974441e-04 -9.16802693e-01] [ 1.77616261e-01 -3.97845031e-02 9.83295305e-01 1.53257281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.574860624 meters Centerline goodness : 0.846526 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.92, Z:1.53 [[ 9.58809875e-01 -2.18029354e-01 -1.82062695e-01 -6.00948672e+00] [ 2.21659653e-01 9.75124004e-01 -4.18497332e-04 -9.18133928e-01] [ 1.77624949e-01 -3.99546944e-02 9.83286835e-01 1.53261303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.604860624 meters Centerline goodness : 0.842369 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.92, Z:1.53 [[ 9.58083439e-01 -2.22061373e-01 -1.81010692e-01 -6.00991265e+00] [ 2.25101496e-01 9.74327765e-01 -3.83704444e-03 -9.18877471e-01] [ 1.77215803e-01 -3.70695688e-02 9.83473643e-01 1.53279247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.634860624 meters Centerline goodness : 0.843759 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.92, Z:1.53 [[ 9.58068793e-01 -2.29621954e-01 -1.71399959e-01 -6.00571622e+00] [ 2.32586907e-01 9.72571424e-01 -2.85585796e-03 -9.15412618e-01] [ 1.67354470e-01 -3.71292778e-02 9.85197390e-01 1.52763456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664860624 meters Centerline goodness : 0.844191 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.57384464e-01 -2.31931655e-01 -1.72112449e-01 -6.00471281e+00] [ 2.35057437e-01 9.71978809e-01 -2.27941350e-03 -9.17701566e-01] [ 1.67818321e-01 -3.82740360e-02 9.85074672e-01 1.52925293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694860624 meters Centerline goodness : 0.844043 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.57025995e-01 -2.33100100e-01 -1.72527067e-01 -6.00351134e+00] [ 2.36304401e-01 9.71676978e-01 -2.02024249e-03 -9.18237560e-01] [ 1.68111498e-01 -3.88354806e-02 9.85002705e-01 1.52934512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724860624 meters Centerline goodness : 0.842865 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.56696829e-01 -2.33917270e-01 -1.73245167e-01 -6.00170744e+00] [ 2.37274045e-01 9.71441787e-01 -1.37195713e-03 -9.19274178e-01] [ 1.68618519e-01 -3.97940344e-02 9.84877774e-01 1.52948330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754860624 meters Centerline goodness : 0.843443 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.56335738e-01 -2.35097897e-01 -1.73640247e-01 -6.00096379e+00] [ 2.38517250e-01 9.71137509e-01 -1.20833639e-03 -9.20192842e-01] [ 1.68912634e-01 -4.02606189e-02 9.84808410e-01 1.53018607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784860624 meters Centerline goodness : 0.843850 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.56047445e-01 -2.35821915e-01 -1.74244965e-01 -5.99962035e+00] [ 2.39404458e-01 9.70919813e-01 -4.71455164e-04 -9.21633224e-01] [ 1.69289068e-01 -4.12642880e-02 9.84702224e-01 1.53067079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814860624 meters Centerline goodness : 0.843937 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.55667844e-01 -2.36922669e-01 -1.74833123e-01 -5.99853748e+00] [ 2.40619534e-01 9.70619512e-01 -5.38466344e-05 -9.22502688e-01] [ 1.69709198e-01 -4.20168051e-02 9.84598078e-01 1.53129088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844860624 meters Centerline goodness : 0.843608 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.55336625e-01 -2.37726066e-01 -1.75551277e-01 -5.99674236e+00] [ 2.41570262e-01 9.70383178e-01 5.44245737e-04 -9.23573955e-01] [ 1.70222625e-01 -4.29279059e-02 9.84470138e-01 1.53148965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874860624 meters Centerline goodness : 0.843832 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.54729044e-01 -2.39610813e-01 -1.76292687e-01 -5.99533368e+00] [ 2.43606783e-01 9.69873506e-01 1.05671818e-03 -9.24825518e-01] [ 1.70728406e-01 -4.39549740e-02 9.84337225e-01 1.53237550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904860624 meters Centerline goodness : 0.844731 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.93, Z:1.53 [[ 9.54474418e-01 -2.40074872e-01 -1.77038530e-01 -5.99399110e+00] [ 2.44215612e-01 9.69719552e-01 1.65080961e-03 -9.25485048e-01] [ 1.71281406e-01 -4.48112285e-02 9.84202537e-01 1.53293092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934860624 meters Centerline goodness : 0.846168 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.93, Z:1.53 [[ 9.54265338e-01 -2.40479024e-01 -1.77616172e-01 -5.99293149e+00] [ 2.44732820e-01 9.69588265e-01 2.10795880e-03 -9.25672395e-01] [ 1.71707636e-01 -4.54800586e-02 9.84097583e-01 1.53317179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964860624 meters Centerline goodness : 0.843267 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.93, Z:1.53 [[ 9.54066906e-01 -2.41539053e-01 -1.77243404e-01 -5.99436395e+00] [ 2.45670231e-01 9.69352443e-01 1.40691197e-03 -9.25498017e-01] [ 1.71471503e-01 -4.48857163e-02 9.84166041e-01 1.53379920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994860624 meters Centerline goodness : 0.842786 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.93, Z:1.53 [[ 9.53997529e-01 -2.41915053e-01 -1.77103984e-01 -5.99476976e+00] [ 2.45993098e-01 9.69270951e-01 1.10428911e-03 -9.25082771e-01] [ 1.71394603e-01 -4.46198466e-02 9.84191526e-01 1.53387930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02486062399998 meters Centerline goodness : 0.844371 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.53922698e-01 -2.42405990e-01 -1.76835579e-01 -5.99540502e+00] [ 2.46379108e-01 9.69173389e-01 5.26978056e-04 -9.23531894e-01] [ 1.71256595e-01 -4.40712886e-02 9.84240265e-01 1.53380007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05486062399999 meters Centerline goodness : 0.844638 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.53893110e-01 -2.42607493e-01 -1.76718815e-01 -5.99574324e+00] [ 2.46511994e-01 9.69139730e-01 1.44477713e-04 -9.22319527e-01] [ 1.71230173e-01 -4.37011236e-02 9.84261368e-01 1.53380931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084860624 meters Centerline goodness : 0.845012 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.53818834e-01 -2.42917415e-01 -1.76693978e-01 -5.99598813e+00] [ 2.46735179e-01 9.69082870e-01 -3.76043982e-04 -9.20668849e-01] [ 1.71322455e-01 -4.32379425e-02 9.84265765e-01 1.53388950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114860624 meters Centerline goodness : 0.846505 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.53813503e-01 -2.43025792e-01 -1.76573681e-01 -5.99612937e+00] [ 2.46753161e-01 9.69077970e-01 -8.74673804e-04 -9.18123434e-01] [ 1.71326233e-01 -4.27358384e-02 9.84287036e-01 1.53350632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144860624 meters Centerline goodness : 0.843119 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.53736512e-01 -2.43431067e-01 -1.76431236e-01 -5.99662059e+00] [ 2.47066036e-01 9.68997623e-01 -1.40692576e-03 -9.16703249e-01] [ 1.71303938e-01 -4.22483297e-02 9.84311962e-01 1.53359071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174860624 meters Centerline goodness : 0.843160 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.92, Z:1.53 [[ 9.53697792e-01 -2.43678065e-01 -1.76299522e-01 -5.99696683e+00] [ 2.47250276e-01 9.68950057e-01 -1.75742301e-03 -9.15561728e-01] [ 1.71253677e-01 -4.19140549e-02 9.84334999e-01 1.53354145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204860624 meters Centerline goodness : 0.842295 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.91, Z:1.53 [[ 9.53614168e-01 -2.44068804e-01 -1.76211344e-01 -5.99730658e+00] [ 2.47543759e-01 9.68873911e-01 -2.33049876e-03 -9.14003671e-01] [ 1.71295376e-01 -4.13976219e-02 9.84349598e-01 1.53360846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234860624 meters Centerline goodness : 0.841602 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.91, Z:1.53 [[ 9.53489277e-01 -2.44809499e-01 -1.75859340e-01 -5.99847965e+00] [ 2.48106406e-01 9.68727040e-01 -3.33666472e-03 -9.10841358e-01] [ 1.71176545e-01 -4.04503547e-02 9.84409650e-01 1.53368456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264860624 meters Centerline goodness : 0.842220 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.91, Z:1.53 [[ 9.53374423e-01 -2.45449709e-01 -1.75589434e-01 -5.99968471e+00] [ 2.48625393e-01 9.68591340e-01 -4.02855760e-03 -9.09280070e-01] [ 1.71063214e-01 -3.98152684e-02 9.84455241e-01 1.53414038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.294860624 meters Centerline goodness : 0.842760 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.91, Z:1.53 [[ 9.53273988e-01 -2.46003173e-01 -1.75360040e-01 -6.00044458e+00] [ 2.49055473e-01 9.68477642e-01 -4.73579333e-03 -9.07259579e-01] [ 1.70997298e-01 -3.91598690e-02 9.84492981e-01 1.53421617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324860624 meters Centerline goodness : 0.842760 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.91, Z:1.53 [[ 9.53273988e-01 -2.46003173e-01 -1.75360040e-01 -6.00044458e+00] [ 2.49055473e-01 9.68477642e-01 -4.73579333e-03 -9.07259579e-01] [ 1.70997298e-01 -3.91598690e-02 9.84492981e-01 1.53421617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.354860624 meters Centerline goodness : 0.839709 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.90, Z:1.53 [[ 9.53148671e-01 -2.46676294e-01 -1.75095451e-01 -6.00054411e+00] [ 2.49614428e-01 9.68330286e-01 -5.39400596e-03 -9.04734855e-01] [ 1.70880801e-01 -3.85650611e-02 9.84536687e-01 1.53331596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.384860624 meters Centerline goodness : 0.840975 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.90, Z:1.53 [[ 9.53054919e-01 -2.47162078e-01 -1.74920635e-01 -6.00085021e+00] [ 2.50012397e-01 9.68224630e-01 -5.90477362e-03 -9.03474707e-01] [ 1.70821903e-01 -3.81047538e-02 9.84564830e-01 1.53314184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414860624 meters Centerline goodness : 0.840766 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.90, Z:1.53 [[ 0.95295638 -0.24766184 -0.17475055 -6.00134163] [ 0.25041729 0.96811645 -0.00645922 -0.9022685 ] [ 0.17077858 -0.03760521 0.98459155 1.533211 ] [ 0. 0. 0. 1. ]] SLAMing on 136.444860624 meters Centerline goodness : 0.841245 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.90, Z:1.53 [[ 0.95282848 -0.24833508 -0.17449235 -6.00243496] [ 0.25095171 0.96797235 -0.00726428 -0.90051567] [ 0.17070774 -0.03686754 0.98463173 1.53363124] [ 0. 0. 0. 1. ]] SLAMing on 136.474860624 meters Centerline goodness : 0.841430 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.90, Z:1.53 [[ 0.95269514 -0.24909185 -0.17414137 -6.00414759] [ 0.25150917 0.9678184 -0.00840758 -0.8968213 ] [ 0.17063148 -0.03578829 0.98468477 1.53415509] [ 0. 0. 0. 1. ]] SLAMing on 136.504860624 meters Centerline goodness : 0.778405 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.89, Z:1.53 [[ 0.95261833 -0.24947223 -0.17401701 -6.00482298] [ 0.25178228 0.96774173 -0.00903512 -0.89486333] [ 0.17065753 -0.03520738 0.9847012 1.53443586] [ 0. 0. 0. 1. ]] SLAMing on 136.534860624 meters Centerline goodness : 0.779113 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.95255266 -0.24976377 -0.17395828 -6.00524616] [ 0.25196868 0.96768721 -0.00965619 -0.8929286 ] [ 0.17074897 -0.03463401 0.98470568 1.53467462] [ 0. 0. 0. 1. ]] SLAMing on 136.564860624 meters Centerline goodness : 0.841102 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.95253566 -0.2500285 -0.17367086 -6.00601346] [ 0.25208361 0.96764864 -0.01048596 -0.88943871] [ 0.17067416 -0.03379133 0.98474793 1.53455824] [ 0. 0. 0. 1. ]] SLAMing on 136.594860624 meters Centerline goodness : 0.839977 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.95249679 -0.2502474 -0.17356876 -6.00633086] [ 0.25221148 0.96760949 -0.01101078 -0.88754155] [ 0.1707022 -0.0332883 0.9847602 1.53455565] [ 0. 0. 0. 1. ]] SLAMing on 136.624860624 meters Centerline goodness : 0.841625 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.89, Z:1.53 [[ 0.95244156 -0.25051151 -0.17349077 -6.00673906] [ 0.25235594 0.96756362 -0.01170977 -0.88519184] [ 0.17079679 -0.03262855 0.98476588 1.53474246] [ 0. 0. 0. 1. ]] SLAMing on 136.654860624 meters Centerline goodness : 0.782732 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.88, Z:1.53 [[ 0.95241032 -0.25072288 -0.1733569 -6.00728749] [ 0.25244985 0.96753077 -0.01238061 -0.88260957] [ 0.17083224 -0.0319725 0.98478125 1.53486048] [ 0. 0. 0. 1. ]] SLAMing on 136.684860624 meters Centerline goodness : 0.840814 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.88, Z:1.53 [[ 0.95317756 -0.24760019 -0.17362804 -6.00920357] [ 0.24975531 0.96826062 -0.00967788 -0.87995586] [ 0.17051343 -0.03413979 0.98476375 1.5346939 ] [ 0. 0. 0. 1. ]] SLAMing on 136.714860624 meters Centerline goodness : 0.839978 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.88, Z:1.53 [[ 0.9531476 -0.24768732 -0.17366818 -6.00905857] [ 0.24973843 0.96825861 -0.01029436 -0.87755036] [ 0.1707055 -0.03355958 0.98475042 1.53463264] [ 0. 0. 0. 1. ]] SLAMing on 136.744860624 meters Centerline goodness : 0.839048 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.88, Z:1.53 [[ 0.95314929 -0.24768032 -0.17366891 -6.00886587] [ 0.2496556 0.96827523 -0.0107311 -0.87546587] [ 0.17081718 -0.03312908 0.98474563 1.53440407] [ 0. 0. 0. 1. ]] SLAMing on 136.77486062399998 meters Centerline goodness : 0.840138 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.87, Z:1.53 [[ 0.95312739 -0.24781905 -0.1735912 -6.00879986] [ 0.24970864 0.96825598 -0.01122253 -0.87322614] [ 0.17086187 -0.03265072 0.98475385 1.5340519 ] [ 0. 0. 0. 1. ]] SLAMing on 136.80486062399999 meters Centerline goodness : 0.840020 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.87, Z:1.53 [[ 0.95306415 -0.24833611 -0.173199 -6.00978852] [ 0.25006063 0.96815399 -0.01214653 -0.86906498] [ 0.17069973 -0.03173383 0.98481195 1.53368219] [ 0. 0. 0. 1. ]] SLAMing on 136.834860624 meters Centerline goodness : 0.785516 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.87, Z:1.53 [[ 0.95295398 -0.24894739 -0.17292747 -6.01085136] [ 0.2505392 0.96802027 -0.01291749 -0.86694841] [ 0.17061307 -0.03101534 0.98484985 1.53397823] [ 0. 0. 0. 1. ]] SLAMing on 136.864860624 meters Centerline goodness : 0.838710 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.87, Z:1.53 [[ 0.95284329 -0.24951258 -0.17272271 -6.01175596] [ 0.25099662 0.96789307 -0.01355382 -0.86517472] [ 0.17055896 -0.03043815 0.98487723 1.53423088] [ 0. 0. 0. 1. ]] SLAMing on 136.894860624 meters Centerline goodness : 0.839192 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.86, Z:1.53 [[ 0.95259784 -0.25098902 -0.17193564 -6.01414424] [ 0.25225841 0.96754688 -0.01478941 -0.86238242] [ 0.17006777 -0.02928385 0.98499716 1.53442706] [ 0. 0. 0. 1. ]] SLAMing on 136.924860624 meters Centerline goodness : 0.785801 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.86, Z:1.53 [[ 0.95246438 -0.25173903 -0.17157817 -6.01514762] [ 0.2529133 0.96736722 -0.01534681 -0.86145412] [ 0.16984248 -0.02877711 0.98505097 1.53447205] [ 0. 0. 0. 1. ]] SLAMing on 136.954860624 meters Centerline goodness : 0.840063 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.86, Z:1.53 [[ 0.95232739 -0.25246481 -0.17127188 -6.0160071 ] [ 0.25355251 0.96719155 -0.01586266 -0.86043149] [ 0.16965748 -0.02831997 0.9850961 1.53442763] [ 0. 0. 0. 1. ]] SLAMing on 136.984860624 meters Centerline goodness : 0.839511 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.86, Z:1.53 [[ 0.95217115 -0.25334152 -0.17084549 -6.01726232] [ 0.25431773 0.96697965 -0.01651838 -0.85912774] [ 0.1693889 -0.02772071 0.98515936 1.53449556] [ 0. 0. 0. 1. ]] SLAMing on 137.014860624 meters Centerline goodness : 0.787963 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.86, Z:1.53 [[ 0.95191688 -0.25473403 -0.17019054 -6.01925533] [ 0.25553212 0.96664082 -0.01757427 -0.85630851] [ 0.16898989 -0.02675991 0.98525445 1.53440359] [ 0. 0. 0. 1. ]] SLAMing on 137.044860624 meters Centerline goodness : 0.839126 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.85, Z:1.53 [[ 0.95182703 -0.25521419 -0.1699736 -6.01986753] [ 0.25592883 0.96652673 -0.01806963 -0.85469644] [ 0.16889565 -0.02630199 0.98528294 1.53432499] [ 0. 0. 0. 1. ]] SLAMing on 137.074860624 meters Centerline goodness : 0.788348 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.85, Z:1.53 [[ 0.95174016 -0.25568221 -0.1697565 -6.02039293] [ 0.25630916 0.96641608 -0.01858946 -0.85299419] [ 0.1688084 -0.02581781 0.98531069 1.53420663] [ 0. 0. 0. 1. ]] SLAMing on 137.104860624 meters Centerline goodness : 0.789432 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.85, Z:1.53 [[ 0.95164843 -0.2562366 -0.16943457 -6.02120134] [ 0.25676497 0.96628383 -0.0191655 -0.85135538] [ 0.16863279 -0.02526605 0.98535507 1.53413961] [ 0. 0. 0. 1. ]] SLAMing on 137.134860624 meters Centerline goodness : 0.791539 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.85, Z:1.53 [[ 0.95153841 -0.25689709 -0.16905188 -6.02213237] [ 0.25727501 0.96613026 -0.02004705 -0.8482071 ] [ 0.16847616 -0.02441728 0.98540326 1.53387935] [ 0. 0. 0. 1. ]] SLAMing on 137.164860624 meters Centerline goodness : 0.792752 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.85, Z:1.53 [[ 0.95146526 -0.25725863 -0.16891377 -6.02254982] [ 0.25755662 0.96604515 -0.02052691 -0.84655062] [ 0.16845905 -0.02397422 0.98541706 1.53386172] [ 0. 0. 0. 1. ]] SLAMing on 137.194860624 meters Centerline goodness : 0.793275 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.84, Z:1.53 [[ 0.95138705 -0.25760193 -0.16883103 -6.02298669] [ 0.25779531 0.96596787 -0.02115765 -0.84461425] [ 0.1685356 -0.02339474 0.9854179 1.53407809] [ 0. 0. 0. 1. ]] SLAMing on 137.224860624 meters Centerline goodness : 0.795316 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.84, Z:1.53 [[ 0.9513331 -0.25815947 -0.16828256 -6.02450565] [ 0.25820036 0.96584031 -0.02202414 -0.84139106] [ 0.16821982 -0.02249832 0.98549273 1.53410498] [ 0. 0. 0. 1. ]] SLAMing on 137.254860624 meters Centerline goodness : 0.794079 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.84, Z:1.53 [[ 0.95128929 -0.25836852 -0.16820935 -6.02484211] [ 0.25833053 0.96579465 -0.02249501 -0.83988928] [ 0.1682677 -0.02205435 0.98549459 1.53428266] [ 0. 0. 0. 1. ]] SLAMing on 137.284860624 meters Centerline goodness : 0.793215 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.84, Z:1.53 [[ 0.95124417 -0.25864373 -0.16804151 -6.02565706] [ 0.25851022 0.96573332 -0.02305696 -0.83808482] [ 0.16824683 -0.02150765 0.98551024 1.53465537] [ 0. 0. 0. 1. ]] SLAMing on 137.314860624 meters Centerline goodness : 0.792419 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.84, Z:1.53 [[ 0.95119119 -0.25891093 -0.16792989 -6.02617308] [ 0.25868654 0.96567302 -0.0235988 -0.83620455] [ 0.16827535 -0.02099423 0.98551644 1.53484676] [ 0. 0. 0. 1. ]] SLAMing on 137.344860624 meters Centerline goodness : 0.797351 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.83, Z:1.54 [[ 0.95195996 -0.25599821 -0.16803913 -6.029158 ] [ 0.25622734 0.96639503 -0.02069299 -0.83485197] [ 0.16768955 -0.02335732 0.98556311 1.53516757] [ 0. 0. 0. 1. ]] SLAMing on 137.374860624 meters Centerline goodness : 0.798105 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.83, Z:1.54 [[ 0.95192836 -0.25621906 -0.1678815 -6.02985163] [ 0.25635465 0.96634939 -0.02124037 -0.83301261] [ 0.16767437 -0.0228179 0.98557833 1.53546741] [ 0. 0. 0. 1. ]] SLAMing on 137.404860624 meters Centerline goodness : 0.798797 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.83, Z:1.54 [[ 0.95188742 -0.25657981 -0.16756237 -6.03078646] [ 0.25659188 0.96627044 -0.02195546 -0.83053664] [ 0.1675439 -0.02209601 0.98561697 1.53558696] [ 0. 0. 0. 1. ]] SLAMing on 137.434860624 meters Centerline goodness : 0.800208 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.83, Z:1.54 [[ 0.95187288 -0.25666852 -0.16750909 -6.03080284] [ 0.25663979 0.96625222 -0.02219621 -0.82954073] [ 0.1675531 -0.02186152 0.98562063 1.535456 ] [ 0. 0. 0. 1. ]] SLAMing on 137.464860624 meters Centerline goodness : 0.800359 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.83, Z:1.54 [[ 0.95185082 -0.25679928 -0.16743401 -6.03089655] [ 0.25673092 0.96622258 -0.02243105 -0.82855789] [ 0.1675388 -0.02163448 0.98562807 1.53531345] [ 0. 0. 0. 1. ]] SLAMing on 137.494860624 meters Centerline goodness : 0.798082 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.83, Z:1.54 [[ 0.95182511 -0.25690608 -0.16741635 -6.03076954] [ 0.25679004 0.96620015 -0.02271871 -0.82731768] [ 0.16759428 -0.02136661 0.98562449 1.53511194] [ 0. 0. 0. 1. ]] SLAMing on 137.52486062399998 meters Centerline goodness : 0.800935 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.90, Z:1.47 [[ 0.95432671 -0.23229782 -0.18787831 -6.35052862] [ 0.24188512 0.96985643 0.02949725 -0.90288648] [ 0.17536284 -0.07359498 0.98174928 1.47226173] [ 0. 0. 0. 1. ]] SLAMing on 137.55486062399999 meters Centerline goodness : 0.799045 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 0.94905003 -0.27141999 -0.16011004 -6.17655724] [ 0.26425429 0.96226815 -0.06488209 -0.82162887] [ 0.17167908 0.01926659 0.98496451 1.54401921] [ 0. 0. 0. 1. ]] SLAMing on 137.584860624 meters Centerline goodness : 0.800424 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 0.94987232 -0.26826523 -0.1605501 -6.17765682] [ 0.26170992 0.9632123 -0.06107356 -0.82323497] [ 0.17102774 0.01599453 0.98513638 1.5430959 ] [ 0. 0. 0. 1. ]] SLAMing on 137.614860624 meters Centerline goodness : 0.800037 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 0.95063259 -0.26526963 -0.16102703 -6.17910147] [ 0.25927565 0.96408718 -0.05755036 -0.82470951] [ 0.17051046 0.01295886 0.98527065 1.54276135] [ 0. 0. 0. 1. ]] SLAMing on 137.644860624 meters Centerline goodness : 0.800329 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 0.95148562 -0.26210447 -0.16117183 -6.18138211] [ 0.25671549 0.96498984 -0.05377523 -0.82577723] [ 0.1696239 0.00979106 0.98546023 1.54220302] [ 0. 0. 0. 1. ]] SLAMing on 137.674860624 meters Centerline goodness : 0.801613 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 0.95216122 -0.2593921 -0.16156962 -6.18334682] [ 0.25451385 0.96574659 -0.0505591 -0.82704852] [ 0.16914994 0.00701871 0.98556534 1.54230742] [ 0. 0. 0. 1. ]] SLAMing on 137.704860624 meters Centerline goodness : 0.801343 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.52928346e-01 -2.56377579e-01 -1.61858283e-01 -6.18517461e+00] [ 2.52063860e-01 9.66568471e-01 -4.70021504e-02 -8.28747105e-01] [ 1.68497410e-01 3.99105784e-03 9.85694016e-01 1.54207631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734860624 meters Centerline goodness : 0.803536 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53763681e-01 -2.53070879e-01 -1.62141824e-01 -6.18715719e+00] [ 2.49322915e-01 9.67447253e-01 -4.34038819e-02 -8.29920643e-01] [ 1.67847920e-01 9.71374063e-04 9.85812422e-01 1.54198167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764860624 meters Centerline goodness : 0.803004 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53796684e-01 -2.52877786e-01 -1.62248917e-01 -6.18683222e+00] [ 2.49120438e-01 9.67497697e-01 -4.34420687e-02 -8.29559191e-01] [ 1.67960988e-01 1.01537982e-03 9.85793120e-01 1.54203660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.794860624 meters Centerline goodness : 0.805208 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53913391e-01 -2.52329094e-01 -1.62416966e-01 -6.18613588e+00] [ 2.48583225e-01 9.67641004e-01 -4.33274383e-02 -8.29139869e-01] [ 1.68094089e-01 9.56490487e-04 9.85770492e-01 1.54194859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.824860624 meters Centerline goodness : 0.801061 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53957898e-01 -2.52044663e-01 -1.62597099e-01 -6.18564452e+00] [ 2.48295049e-01 9.67715129e-01 -4.33243315e-02 -8.28731163e-01] [ 1.68267339e-01 9.57533661e-04 9.85740932e-01 1.54202691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.854860624 meters Centerline goodness : 0.801980 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53989780e-01 -2.51839493e-01 -1.62727898e-01 -6.18529725e+00] [ 2.48083878e-01 9.67768524e-01 -4.33413708e-02 -8.28427298e-01] [ 1.68398006e-01 9.77056942e-04 9.85718599e-01 1.54211931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.884860624 meters Centerline goodness : 0.802976 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.54778494e-01 -2.48886676e-01 -1.62645164e-01 -6.18551395e+00] [ 2.45571150e-01 9.68531789e-01 -4.05090701e-02 -8.30128687e-01] [ 1.67609179e-01 -1.26377090e-03 9.85852710e-01 1.54118200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914860624 meters Centerline goodness : 0.801403 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54831110e-01 -2.48572720e-01 -1.62816322e-01 -6.18478198e+00] [ 2.45276531e-01 9.68612242e-01 -4.03701337e-02 -8.30256898e-01] [ 1.67740797e-01 -1.38836318e-03 9.85830157e-01 1.54102111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944860624 meters Centerline goodness : 0.801136 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54903535e-01 -2.48222561e-01 -1.62925744e-01 -6.18410073e+00] [ 2.44968418e-01 9.68701666e-01 -4.00943410e-02 -8.30561902e-01] [ 1.67778760e-01 -1.62543384e-03 9.85823334e-01 1.54066779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974860624 meters Centerline goodness : 0.800893 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54916139e-01 -2.48165441e-01 -1.62938888e-01 -6.18401188e+00] [ 2.44930413e-01 9.68716113e-01 -3.99773031e-02 -8.30752599e-01] [ 1.67762512e-01 -1.73371732e-03 9.85825915e-01 1.54055900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004860624 meters Centerline goodness : 0.799653 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54925094e-01 -2.48088396e-01 -1.63003722e-01 -6.18388073e+00] [ 2.44857206e-01 9.68735792e-01 -3.99488965e-02 -8.30758368e-01] [ 1.67818397e-01 -1.76443214e-03 9.85816348e-01 1.54059133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034860624 meters Centerline goodness : 0.800163 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54912849e-01 -2.48062415e-01 -1.63114956e-01 -6.18362074e+00] [ 2.44825294e-01 9.68742463e-01 -3.99826962e-02 -8.30683961e-01] [ 1.67934588e-01 -1.75467680e-03 9.85796579e-01 1.54065485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064860624 meters Centerline goodness : 0.801380 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54919517e-01 -2.48028129e-01 -1.63128060e-01 -6.18341292e+00] [ 2.44810137e-01 9.68751036e-01 -3.98676297e-02 -8.30734285e-01] [ 1.67918771e-01 -1.86502512e-03 9.85799071e-01 1.54040049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094860624 meters Centerline goodness : 0.800366 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54911888e-01 -2.48060496e-01 -1.63123501e-01 -6.18339127e+00] [ 2.44850351e-01 9.68742656e-01 -3.98242595e-02 -8.30772409e-01] [ 1.67903519e-01 -1.91218780e-03 9.85801578e-01 1.54030366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124860624 meters Centerline goodness : 0.800960 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54894598e-01 -2.48251791e-01 -1.62933590e-01 -6.18373847e+00] [ 2.45024608e-01 9.68693894e-01 -3.99384799e-02 -8.30409802e-01] [ 1.67747573e-01 -1.78570021e-03 9.85828364e-01 1.54014186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154860624 meters Centerline goodness : 0.803674 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54874958e-01 -2.48367878e-01 -1.62871764e-01 -6.18396647e+00] [ 2.45117099e-01 9.68664385e-01 -4.00863712e-02 -8.30044773e-01] [ 1.67724244e-01 -1.64518215e-03 9.85832578e-01 1.54023048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184860624 meters Centerline goodness : 0.801343 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54830305e-01 -2.48554145e-01 -1.62849397e-01 -6.18433162e+00] [ 2.45263090e-01 9.68616956e-01 -4.03386737e-02 -8.29504576e-01] [ 1.67765032e-01 -1.42435819e-03 9.85825981e-01 1.54054026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214860624 meters Centerline goodness : 0.804365 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.54772366e-01 -2.48841273e-01 -1.62750575e-01 -6.18504605e+00] [ 2.45475655e-01 9.68543767e-01 -4.08004237e-02 -8.28151654e-01] [ 1.67783885e-01 -9.96186998e-04 9.85823298e-01 1.54099127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244860624 meters Centerline goodness : 0.804365 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.54772366e-01 -2.48841273e-01 -1.62750575e-01 -6.18504605e+00] [ 2.45475655e-01 9.68543767e-01 -4.08004237e-02 -8.28151654e-01] [ 1.67783885e-01 -9.96186998e-04 9.85823298e-01 1.54099127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27486062399998 meters Centerline goodness : 0.801445 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54777549e-01 -2.48790440e-01 -1.62797878e-01 -6.18492491e+00] [ 2.45403970e-01 9.68556936e-01 -4.09188698e-02 -8.27559089e-01] [ 1.67859237e-01 -8.82827308e-04 9.85810579e-01 1.54104767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30486062399999 meters Centerline goodness : 0.803186 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54789505e-01 -2.48726711e-01 -1.62825133e-01 -6.18460891e+00] [ 2.45345007e-01 9.68573277e-01 -4.08856306e-02 -8.26836108e-01] [ 1.67877421e-01 -9.11162386e-04 9.85807456e-01 1.54063754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334860624 meters Centerline goodness : 0.804134 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.83, Z:1.54 [[ 9.54847983e-01 -2.48380936e-01 -1.63009938e-01 -6.18376195e+00] [ 2.44985175e-01 9.68662066e-01 -4.09397769e-02 -8.25513026e-01] [ 1.68070204e-01 -8.43754793e-04 9.85774667e-01 1.54026660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364860624 meters Centerline goodness : 0.803995 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 9.54835695e-01 -2.48394230e-01 -1.63061654e-01 -6.18361001e+00] [ 2.44971987e-01 9.68658768e-01 -4.10964236e-02 -8.24690536e-01] [ 1.68159215e-01 -7.05205151e-04 9.85759596e-01 1.54020420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394860624 meters Centerline goodness : 0.801900 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 9.54825618e-01 -2.48471958e-01 -1.63002228e-01 -6.18381047e+00] [ 2.45031185e-01 9.68638909e-01 -4.12114227e-02 -8.24134703e-01] [ 1.68130183e-01 -5.90906889e-04 9.85764623e-01 1.54022999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424860624 meters Centerline goodness : 0.801854 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 9.54794535e-01 -2.48644627e-01 -1.62920977e-01 -6.18422684e+00] [ 2.45182782e-01 9.68594669e-01 -4.13493688e-02 -8.23728054e-01] [ 1.68085688e-01 -4.65267045e-04 9.85772278e-01 1.54036538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454860624 meters Centerline goodness : 0.802437 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.54701231e-01 -2.49190887e-01 -1.62632905e-01 -6.18504713e+00] [ 2.45692682e-01 9.68454360e-01 -4.16083973e-02 -8.23037230e-01] [ 1.67870979e-01 -2.34126499e-04 9.85808947e-01 1.54022833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484860624 meters Centerline goodness : 0.804440 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 9.54673125e-01 -2.49311089e-01 -1.62613669e-01 -6.18494029e+00] [ 2.45830463e-01 9.68423391e-01 -4.15152873e-02 -8.23004387e-01] [ 1.67829102e-01 -3.41864575e-04 9.85816045e-01 1.53987557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514860624 meters Centerline goodness : 0.802199 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 9.54657798e-01 -2.49409285e-01 -1.62553062e-01 -6.18458749e+00] [ 2.45970361e-01 9.68397995e-01 -4.12783848e-02 -8.23423906e-01] [ 1.67711272e-01 -5.76503425e-04 9.85835989e-01 1.53916267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544860624 meters Centerline goodness : 0.803935 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.82, Z:1.54 [[ 9.54581181e-01 -2.49754033e-01 -1.62473667e-01 -6.18457595e+00] [ 2.46313136e-01 9.68309140e-01 -4.13188752e-02 -8.23480679e-01] [ 1.67644292e-01 -5.77177707e-04 9.85847381e-01 1.53877646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.574860624 meters Centerline goodness : 0.802200 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.54407150e-01 -2.50694948e-01 -1.62046399e-01 -6.18555217e+00] [ 2.47244096e-01 9.68066007e-01 -4.14555600e-02 -8.23771843e-01] [ 1.67264310e-01 -4.99532575e-04 9.85911964e-01 1.53824535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.604860624 meters Centerline goodness : 0.802490 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.54364096e-01 -2.50965581e-01 -1.61880971e-01 -6.18586133e+00] [ 2.47525365e-01 9.67995858e-01 -4.14151296e-02 -8.24121851e-01] [ 1.67093882e-01 -5.44533818e-04 9.85940839e-01 1.53805978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.634860624 meters Centerline goodness : 0.802508 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.54276480e-01 -2.51412419e-01 -1.61704035e-01 -6.18640155e+00] [ 2.47964805e-01 9.67879924e-01 -4.14958803e-02 -8.24467028e-01] [ 1.66942669e-01 -4.98367115e-04 9.85966479e-01 1.53806712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664860624 meters Centerline goodness : 0.802238 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.54203519e-01 -2.51769483e-01 -1.61578995e-01 -6.18681094e+00] [ 2.48309839e-01 9.67787137e-01 -4.15966493e-02 -8.24501472e-01] [ 1.66846839e-01 -4.29985055e-04 9.85982732e-01 1.53805795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694860624 meters Centerline goodness : 0.803701 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53994601e-01 -2.52821928e-01 -1.61168774e-01 -6.18864390e+00] [ 2.49319189e-01 9.67512813e-01 -4.19392296e-02 -8.24779380e-01] [ 1.66536010e-01 -1.72669278e-04 9.86035358e-01 1.53850943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724860624 meters Centerline goodness : 0.804333 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53891726e-01 -2.53339826e-01 -1.60964304e-01 -6.18950143e+00] [ 2.49799928e-01 9.67377346e-01 -4.22026717e-02 -8.24640366e-01] [ 1.66404839e-01 4.79078230e-05 9.86057517e-01 1.53876543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754860624 meters Centerline goodness : 0.801546 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53829436e-01 -2.53697853e-01 -1.60769421e-01 -6.19015401e+00] [ 2.50141570e-01 9.67283502e-01 -4.23299067e-02 -8.24731547e-01] [ 1.66248615e-01 1.60395692e-04 9.86083857e-01 1.53884623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784860624 meters Centerline goodness : 0.804261 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53772097e-01 -2.54013730e-01 -1.60610747e-01 -6.19060123e+00] [ 2.50448338e-01 9.67200586e-01 -4.24105624e-02 -8.24681975e-01] [ 1.66115674e-01 2.25316513e-04 9.86106248e-01 1.53875111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814860624 meters Centerline goodness : 0.803154 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53668777e-01 -2.54570254e-01 -1.60342915e-01 -6.19172872e+00] [ 2.50954743e-01 9.67054134e-01 -4.27553266e-02 -8.24427530e-01] [ 1.65944513e-01 5.35605014e-04 9.86134946e-01 1.53914528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844860624 meters Centerline goodness : 0.805239 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53597364e-01 -2.54931369e-01 -1.60193833e-01 -6.19253791e+00] [ 2.51273401e-01 9.66958828e-01 -4.30383934e-02 -8.24130097e-01] [ 1.65872678e-01 7.88849101e-04 9.86146861e-01 1.53955545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874860624 meters Centerline goodness : 0.802296 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53535527e-01 -2.55220184e-01 -1.60102021e-01 -6.19308041e+00] [ 2.51545564e-01 9.66882556e-01 -4.31619271e-02 -8.23937367e-01] [ 1.65815646e-01 8.83477777e-04 9.86156372e-01 1.53972513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904860624 meters Centerline goodness : 0.804753 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53518400e-01 -2.55412816e-01 -1.59896699e-01 -6.19365790e+00] [ 2.51730052e-01 9.66831607e-01 -4.32275798e-02 -8.23987204e-01] [ 1.65634061e-01 9.67488342e-04 9.86186809e-01 1.53979488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934860624 meters Centerline goodness : 0.803853 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53501357e-01 -2.55529582e-01 -1.59811751e-01 -6.19400047e+00] [ 2.51841789e-01 9.66800711e-01 -4.32677445e-02 -8.23984428e-01] [ 1.65562304e-01 1.00857572e-03 9.86198817e-01 1.53988832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964860624 meters Centerline goodness : 0.802439 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53461277e-01 -2.55682532e-01 -1.59806243e-01 -6.19422549e+00] [ 2.51979932e-01 9.66760193e-01 -4.33686818e-02 -8.23856268e-01] [ 1.65582928e-01 1.08239254e-03 9.86195276e-01 1.54007294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99486062399998 meters Centerline goodness : 0.804233 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53423948e-01 -2.55805425e-01 -1.59832285e-01 -6.19429765e+00] [ 2.52112138e-01 9.66727761e-01 -4.33232603e-02 -8.24170345e-01] [ 1.65596632e-01 1.00977469e-03 9.86193052e-01 1.54011445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02486062399998 meters Centerline goodness : 0.803967 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.82, Z:1.54 [[ 9.53385231e-01 -2.55990425e-01 -1.59767032e-01 -6.19448689e+00] [ 2.52315121e-01 9.66678894e-01 -4.32318942e-02 -8.24958782e-01] [ 1.65510369e-01 9.05011464e-04 9.86207635e-01 1.54013405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05486062399999 meters Centerline goodness : 0.802767 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53347895e-01 -2.56174775e-01 -1.59694321e-01 -6.19452129e+00] [ 2.52535948e-01 9.66630231e-01 -4.30301281e-02 -8.26212278e-01] [ 1.65388592e-01 6.94125157e-04 9.86228235e-01 1.53998056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084860624 meters Centerline goodness : 0.800137 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53325004e-01 -2.56150559e-01 -1.59869722e-01 -6.19341227e+00] [ 2.52620820e-01 9.66636897e-01 -4.23772413e-02 -8.28709125e-01] [ 1.65390926e-01 1.28633662e-05 9.86228088e-01 1.53917462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114860624 meters Centerline goodness : 0.802357 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53319075e-01 -2.56076411e-01 -1.60023788e-01 -6.19268885e+00] [ 2.52596085e-01 9.66656493e-01 -4.20766150e-02 -8.29612629e-01] [ 1.65462862e-01 -3.08942662e-04 9.86215973e-01 1.53874480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144860624 meters Centerline goodness : 0.802403 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53299223e-01 -2.56158881e-01 -1.60010061e-01 -6.19267986e+00] [ 2.52715592e-01 9.66634547e-01 -4.18626624e-02 -8.30410829e-01] [ 1.65394746e-01 -5.29393813e-04 9.86227305e-01 1.53859495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174860624 meters Centerline goodness : 0.798218 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53271363e-01 -2.56272727e-01 -1.59993743e-01 -6.19293054e+00] [ 2.52841663e-01 9.66604325e-01 -4.17991897e-02 -8.31179898e-01] [ 1.65362636e-01 -6.07113497e-04 9.86232645e-01 1.53883484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204860624 meters Centerline goodness : 0.801692 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53218536e-01 -2.56481474e-01 -1.59973988e-01 -6.19352280e+00] [ 2.53071597e-01 9.66548860e-01 -4.16901424e-02 -8.32999104e-01] [ 1.65315425e-01 -7.45056109e-04 9.86240465e-01 1.53951845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234860624 meters Centerline goodness : 0.801038 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.83, Z:1.54 [[ 9.53190943e-01 -2.56545143e-01 -1.60036297e-01 -6.19366455e+00] [ 2.53131022e-01 9.66531965e-01 -4.17210554e-02 -8.33765015e-01] [ 1.65383531e-01 -7.42019402e-04 9.86229049e-01 1.54000373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264860624 meters Centerline goodness : 0.802713 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.84, Z:1.54 [[ 9.53188582e-01 -2.56588460e-01 -1.59980904e-01 -6.19407931e+00] [ 2.53213742e-01 9.66520272e-01 -4.14893256e-02 -8.35461678e-01] [ 1.65270469e-01 -9.62211909e-04 9.86247812e-01 1.54037394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.294860624 meters Centerline goodness : 0.802390 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.84, Z:1.54 [[ 9.53200455e-01 -2.56481040e-01 -1.60082380e-01 -6.19393234e+00] [ 2.53132326e-01 9.66548601e-01 -4.13258621e-02 -8.36398536e-01] [ 1.65326701e-01 -1.13019460e-03 9.86238209e-01 1.54063314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.324860624 meters Centerline goodness : 0.799357 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.84, Z:1.54 [[ 9.53202164e-01 -2.56465408e-01 -1.60097249e-01 -6.19406168e+00] [ 2.53140142e-01 9.66552576e-01 -4.11847821e-02 -8.37161274e-01] [ 1.65304880e-01 -1.26961691e-03 9.86241697e-01 1.54081993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.354860624 meters Centerline goodness : 0.797617 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.84, Z:1.54 [[ 9.53226182e-01 -2.56364433e-01 -1.60115970e-01 -6.19400015e+00] [ 2.53075264e-01 9.66579070e-01 -4.09611066e-02 -8.38080081e-01] [ 1.65265716e-01 -1.47619204e-03 9.86247973e-01 1.54084609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.384860624 meters Centerline goodness : 0.799211 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.84, Z:1.54 [[ 9.53240949e-01 -2.56306526e-01 -1.60120761e-01 -6.19398517e+00] [ 2.53065759e-01 9.66593960e-01 -4.06674076e-02 -8.39518053e-01] [ 1.65195083e-01 -1.75524375e-03 9.86259349e-01 1.54093445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414860624 meters Centerline goodness : 0.798504 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.85, Z:1.54 [[ 9.54449253e-01 -2.54214921e-01 -1.56209469e-01 -6.21196969e+00] [ 2.50443669e-01 9.67144284e-01 -4.37024408e-02 -8.47046175e-01] [ 1.62186907e-01 2.59008941e-03 9.86756656e-01 1.53790946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444860624 meters Centerline goodness : 0.798156 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.85, Z:1.54 [[ 9.54442752e-01 -2.54210401e-01 -1.56256537e-01 -6.21177906e+00] [ 2.50511555e-01 9.67146559e-01 -4.32607582e-02 -8.48926447e-01] [ 1.62120306e-01 2.14584910e-03 9.86768667e-01 1.53777899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474860624 meters Centerline goodness : 0.797022 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.85, Z:1.54 [[ 9.54348366e-01 -2.54531721e-01 -1.56309949e-01 -6.21160320e+00] [ 2.50974841e-01 9.67063611e-01 -4.24217136e-02 -8.53167098e-01] [ 1.61959336e-01 1.25522835e-03 9.86796635e-01 1.53751481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504860624 meters Centerline goodness : 0.798031 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.86, Z:1.54 [[ 9.54347060e-01 -2.54585234e-01 -1.56230751e-01 -6.21151983e+00] [ 2.51118021e-01 9.67050059e-01 -4.18798543e-02 -8.55313050e-01] [ 1.61744950e-01 7.35558770e-04 9.86832321e-01 1.53715511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534860624 meters Centerline goodness : 0.795172 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.86, Z:1.54 [[ 9.54349148e-01 -2.54539667e-01 -1.56292231e-01 -6.21119869e+00] [ 2.51162915e-01 9.67062317e-01 -4.13239106e-02 -8.57567065e-01] [ 1.61662902e-01 1.82626569e-04 9.86846023e-01 1.53693871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564860624 meters Centerline goodness : 0.792740 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.86, Z:1.54 [[ 9.54343722e-01 -2.54525493e-01 -1.56348435e-01 -6.21048526e+00] [ 2.51283214e-01 9.67065856e-01 -4.05015626e-02 -8.61827946e-01] [ 1.61507914e-01 -6.35325294e-04 9.86871213e-01 1.53659154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594860624 meters Centerline goodness : 0.791752 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.86, Z:1.54 [[ 9.54384840e-01 -2.54288595e-01 -1.56482867e-01 -6.20971788e+00] [ 2.51136070e-01 9.67127657e-01 -3.99345605e-02 -8.63932218e-01] [ 1.61493812e-01 -1.18555315e-03 9.86873013e-01 1.53624293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624860624 meters Centerline goodness : 0.793497 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.87, Z:1.54 [[ 9.54428485e-01 -2.53972655e-01 -1.56729570e-01 -6.20879689e+00] [ 2.50908887e-01 9.67209816e-01 -3.93688039e-02 -8.66050852e-01] [ 1.61588978e-01 -1.75013423e-03 9.86856595e-01 1.53605653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654860624 meters Centerline goodness : 0.789484 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.87, Z:1.53 [[ 9.56285876e-01 -2.51091139e-01 -1.49901844e-01 -6.21618753e+00] [ 2.47743296e-01 9.67961407e-01 -4.09142209e-02 -8.72399794e-01] [ 1.55372398e-01 1.98851476e-03 9.87853969e-01 1.53103629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684860624 meters Centerline goodness : 0.790755 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.87, Z:1.53 [[ 9.56304837e-01 -2.50938061e-01 -1.50037157e-01 -6.21587830e+00] [ 2.47642712e-01 9.68001758e-01 -4.05670240e-02 -8.74113891e-01] [ 1.55416042e-01 1.63883288e-03 9.87847745e-01 1.53121784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714860624 meters Centerline goodness : 0.790241 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.88, Z:1.53 [[ 9.56323890e-01 -2.50734928e-01 -1.50255164e-01 -6.21553274e+00] [ 2.47487970e-01 9.68054912e-01 -4.02416818e-02 -8.75817088e-01] [ 1.55545244e-01 1.29773626e-03 9.87827917e-01 1.53156927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74486062399998 meters Centerline goodness : 0.791356 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.88, Z:1.53 [[ 9.56376974e-01 -2.50444405e-01 -1.50401743e-01 -6.21553941e+00] [ 2.47291797e-01 9.68130732e-01 -3.96188514e-02 -8.79184630e-01] [ 1.55530870e-01 6.97439716e-04 9.87830786e-01 1.53226022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77486062399998 meters Centerline goodness : 0.789370 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.88, Z:1.53 [[ 9.56425267e-01 -2.50140609e-01 -1.50600082e-01 -6.21509326e+00] [ 2.47045706e-01 9.68209470e-01 -3.92280757e-02 -8.80987160e-01] [ 1.55624961e-01 3.13619203e-04 9.87816164e-01 1.53252288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80486062399999 meters Centerline goodness : 0.789370 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.88, Z:1.53 [[ 9.56425267e-01 -2.50140609e-01 -1.50600082e-01 -6.21509326e+00] [ 2.47045706e-01 9.68209470e-01 -3.92280757e-02 -8.80987160e-01] [ 1.55624961e-01 3.13619203e-04 9.87816164e-01 1.53252288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834860624 meters Centerline goodness : 0.787506 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.88, Z:1.53 [[ 9.56559289e-01 -2.49428262e-01 -1.50930013e-01 -6.21422499e+00] [ 2.46468075e-01 9.68393124e-01 -3.83176814e-02 -8.84105554e-01] [ 1.55717100e-01 -5.46295703e-04 9.87801542e-01 1.53269052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864860624 meters Centerline goodness : 0.792346 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.89, Z:1.53 [[ 9.56623592e-01 -2.49006568e-01 -1.51218493e-01 -6.21343987e+00] [ 2.46099302e-01 9.68501368e-01 -3.79504130e-02 -8.85282963e-01] [ 1.55905220e-01 -9.10505240e-04 9.87771600e-01 1.53275801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894860624 meters Centerline goodness : 0.787528 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.89, Z:1.53 [[ 9.56737137e-01 -2.48370907e-01 -1.51545185e-01 -6.21222492e+00] [ 2.45553147e-01 9.68663857e-01 -3.73360966e-02 -8.86543267e-01] [ 1.56069543e-01 -1.49156688e-03 9.87744943e-01 1.53240309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924860624 meters Centerline goodness : 0.787591 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.89, Z:1.53 [[ 9.56951273e-01 -2.47191713e-01 -1.52120076e-01 -6.21013907e+00] [ 2.44531035e-01 9.68963363e-01 -3.62570658e-02 -8.89332914e-01] [ 1.56361226e-01 -2.50183437e-03 9.87696769e-01 1.53200337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954860624 meters Centerline goodness : 0.785647 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.89, Z:1.53 [[ 9.57052604e-01 -2.46572201e-01 -1.52487584e-01 -6.20895378e+00] [ 2.43990288e-01 9.69119712e-01 -3.57172683e-02 -8.90356703e-01] [ 1.56585609e-01 -3.02218493e-03 9.87659766e-01 1.53176785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984860624 meters Centerline goodness : 0.786284 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.89, Z:1.53 [[ 9.57176539e-01 -2.45798887e-01 -1.52957444e-01 -6.20745431e+00] [ 2.43287368e-01 9.69314534e-01 -3.52220352e-02 -8.91134239e-01] [ 1.56921410e-01 -3.49890815e-03 9.87604895e-01 1.53156128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014860624 meters Centerline goodness : 0.784118 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.89, Z:1.53 [[ 9.57288969e-01 -2.45097410e-01 -1.53378905e-01 -6.20622808e+00] [ 2.42660494e-01 9.69490229e-01 -3.47070527e-02 -8.91999448e-01] [ 1.57205959e-01 -3.99432218e-03 9.87557761e-01 1.53142193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044860624 meters Centerline goodness : 0.784717 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.89, Z:1.53 [[ 9.57522435e-01 -2.43763326e-01 -1.54046184e-01 -6.20421454e+00] [ 2.41454409e-01 9.69822793e-01 -3.38159391e-02 -8.93683820e-01] [ 1.57640586e-01 -4.81560995e-03 9.87484813e-01 1.53128548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.074860624 meters Centerline goodness : 0.839698 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.89, Z:1.53 [[ 9.57606320e-01 -2.43178919e-01 -1.54447887e-01 -6.20333006e+00] [ 2.40901398e-01 9.69968328e-01 -3.35851059e-02 -8.94161983e-01] [ 1.57976749e-01 -5.04540233e-03 9.87429942e-01 1.53157972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.104860624 meters Centerline goodness : 0.784598 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.89, Z:1.53 [[ 9.57692622e-01 -2.42608288e-01 -1.54809758e-01 -6.20254436e+00] [ 2.40369225e-01 9.70109800e-01 -3.33108509e-02 -8.94578618e-01] [ 1.58263951e-01 -5.30994523e-03 9.87382563e-01 1.53181836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.134860624 meters Centerline goodness : 0.784598 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.89, Z:1.53 [[ 9.57692622e-01 -2.42608288e-01 -1.54809758e-01 -6.20254436e+00] [ 2.40369225e-01 9.70109800e-01 -3.33108509e-02 -8.94578618e-01] [ 1.58263951e-01 -5.30994523e-03 9.87382563e-01 1.53181836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164860624 meters Centerline goodness : 0.841869 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.89, Z:1.53 [[ 9.57797899e-01 -2.41977381e-01 -1.55145518e-01 -6.20151915e+00] [ 2.39783230e-01 9.70265718e-01 -3.29915016e-02 -8.94973643e-01] [ 1.58515575e-01 -5.60210262e-03 9.87340584e-01 1.53178090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194860624 meters Centerline goodness : 0.783894 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.53 [[ 9.57922762e-01 -2.41190146e-01 -1.55599794e-01 -6.20055873e+00] [ 2.39086731e-01 9.70458174e-01 -3.23800368e-02 -8.96807925e-01] [ 1.58812838e-01 -6.18427182e-03 9.87289338e-01 1.53217346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224860624 meters Centerline goodness : 0.840773 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.53 [[ 0.9579535 -0.24094602 -0.15578868 -6.20034261] [ 0.23887717 0.97051733 -0.03215294 -0.89780823] [ 0.15894273 -0.00641334 0.98726697 1.5325727 ] [ 0. 0. 0. 1. ]] SLAMing on 140.254860624 meters Centerline goodness : 0.781877 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.53 [[ 0.95797836 -0.24071232 -0.15599694 -6.19981212] [ 0.23868951 0.97057327 -0.03185675 -0.89910757] [ 0.15907477 -0.00671676 0.98724369 1.53273223] [ 0. 0. 0. 1. ]] SLAMing on 140.284860624 meters Centerline goodness : 0.841088 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.53 [[ 0.95798625 -0.24058916 -0.15613838 -6.19937096] [ 0.23866858 0.97059915 -0.03121858 -0.90259895] [ 0.15905863 -0.00735835 0.98724172 1.5329259 ] [ 0. 0. 0. 1. ]] SLAMing on 140.314860624 meters Centerline goodness : 0.840190 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.53 [[ 0.95795918 -0.24068732 -0.15615324 -6.19931102] [ 0.23881814 0.9705723 -0.0309082 -0.90448151] [ 0.15899722 -0.00768343 0.98724913 1.53302048] [ 0. 0. 0. 1. ]] SLAMing on 140.344860624 meters Centerline goodness : 0.840964 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.53 [[ 0.95792444 -0.24088382 -0.15606332 -6.19962015] [ 0.23906262 0.97052119 -0.03062171 -0.90645019] [ 0.15883903 -0.00797562 0.98727228 1.53319863] [ 0. 0. 0. 1. ]] SLAMing on 140.374860624 meters Centerline goodness : 0.840745 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.91, Z:1.53 [[ 9.59021755e-01 -2.40964471e-01 -1.49041599e-01 -6.20862217e+00] [ 2.38549348e-01 9.70529879e-01 -3.41462018e-02 -9.13217736e-01] [ 1.52877346e-01 -2.80682578e-03 9.88241185e-01 1.52979610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404860624 meters Centerline goodness : 0.839428 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.92, Z:1.53 [[ 9.58903634e-01 -2.41492347e-01 -1.48947196e-01 -6.20891262e+00] [ 2.39137749e-01 9.70397402e-01 -3.37937856e-02 -9.16166752e-01] [ 1.52698913e-01 -3.21391333e-03 9.88267531e-01 1.52993616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434860624 meters Centerline goodness : 0.838702 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.92, Z:1.53 [[ 9.58768503e-01 -2.42076809e-01 -1.48868318e-01 -6.20896652e+00] [ 2.39764879e-01 9.70250718e-01 -3.35610946e-02 -9.19017173e-01] [ 1.52563955e-01 -3.51607383e-03 9.88287345e-01 1.52995699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464860624 meters Centerline goodness : 0.838152 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.93, Z:1.53 [[ 9.59177719e-01 -2.42659324e-01 -1.45239651e-01 -6.22449317e+00] [ 2.39459359e-01 9.70106910e-01 -3.93928625e-02 -9.26732816e-01] [ 1.50457034e-01 3.00576230e-03 9.88611980e-01 1.52788527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49486062399998 meters Centerline goodness : 0.782232 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.93, Z:1.53 [[ 9.59090726e-01 -2.43076101e-01 -1.45117154e-01 -6.22485179e+00] [ 2.39925275e-01 9.70003501e-01 -3.91033201e-02 -9.29310493e-01] [ 1.50269230e-01 2.68635855e-03 9.88641463e-01 1.52808525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52486062399998 meters Centerline goodness : 0.839300 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.93, Z:1.53 [[ 9.58802392e-01 -2.44311904e-01 -1.44947113e-01 -6.22600488e+00] [ 2.41168587e-01 9.69693270e-01 -3.91493899e-02 -9.33224516e-01] [ 1.50118902e-01 2.57983821e-03 9.88664584e-01 1.52907253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55486062399999 meters Centerline goodness : 0.785494 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.94, Z:1.53 [[ 9.58742973e-01 -2.44534324e-01 -1.44965085e-01 -6.22609947e+00] [ 2.41426570e-01 9.69637845e-01 -3.89314943e-02 -9.35041226e-01] [ 1.50083719e-01 2.32687325e-03 9.88670553e-01 1.52930838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584860624 meters Centerline goodness : 0.785043 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.94, Z:1.53 [[ 9.58690550e-01 -2.44740712e-01 -1.44963488e-01 -6.22622593e+00] [ 2.41670229e-01 9.69586356e-01 -3.87014024e-02 -9.36946589e-01] [ 1.50026428e-01 2.06930950e-03 9.88679821e-01 1.52954915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614860624 meters Centerline goodness : 0.786112 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.94, Z:1.53 [[ 9.58657765e-01 -2.44874733e-01 -1.44953977e-01 -6.22629835e+00] [ 2.41866842e-01 9.69553311e-01 -3.82989248e-02 -9.39938575e-01] [ 1.49919047e-01 1.65600108e-03 9.88696888e-01 1.52985943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644860624 meters Centerline goodness : 0.784874 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.94, Z:1.53 [[ 9.58661347e-01 -2.44793615e-01 -1.45067254e-01 -6.22617416e+00] [ 2.41816373e-01 9.69574147e-01 -3.80895771e-02 -9.41171271e-01] [ 1.49977544e-01 1.43536801e-03 9.88688361e-01 1.53012228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674860624 meters Centerline goodness : 0.788221 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.94, Z:1.53 [[ 9.58649020e-01 -2.44842075e-01 -1.45066936e-01 -6.22638959e+00] [ 2.41887933e-01 9.69562125e-01 -3.79409139e-02 -9.42517231e-01] [ 1.49940939e-01 1.28207857e-03 9.88694124e-01 1.53050784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704860624 meters Centerline goodness : 0.790077 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.94, Z:1.53 [[ 9.58656820e-01 -2.44743698e-01 -1.45181347e-01 -6.22620985e+00] [ 2.41835508e-01 9.69587331e-01 -3.76296969e-02 -9.43930749e-01] [ 1.49975626e-01 9.63960699e-04 9.88689224e-01 1.53066092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734860624 meters Centerline goodness : 0.787343 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.95, Z:1.53 [[ 9.58669227e-01 -2.44658908e-01 -1.45242321e-01 -6.22605992e+00] [ 2.41798594e-01 9.69608994e-01 -3.73073534e-02 -9.45163222e-01] [ 1.49955837e-01 6.46022680e-04 9.88692485e-01 1.53067937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764860624 meters Centerline goodness : 0.788345 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.95, Z:1.53 [[ 9.58714240e-01 -2.44350376e-01 -1.45464430e-01 -6.22558488e+00] [ 2.41575064e-01 9.69687006e-01 -3.67232769e-02 -9.47395127e-01] [ 1.50028314e-01 6.65495503e-05 9.88681698e-01 1.53083870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.794860624 meters Centerline goodness : 0.843355 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.95, Z:1.53 [[ 9.58756863e-01 -2.44123055e-01 -1.45565147e-01 -6.22516960e+00] [ 2.41396973e-01 9.69744228e-01 -3.63817840e-02 -9.48632900e-01] [ 1.50042593e-01 -2.57700688e-04 9.88679500e-01 1.53077745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.824860624 meters Centerline goodness : 0.790327 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.95, Z:1.53 [[ 9.58821502e-01 -2.43811234e-01 -1.45661966e-01 -6.22463694e+00] [ 2.41150348e-01 9.69822470e-01 -3.59289023e-02 -9.50081517e-01] [ 1.50026118e-01 -6.77029844e-04 9.88681802e-01 1.53056373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.854860624 meters Centerline goodness : 0.793561 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.95, Z:1.53 [[ 9.58872201e-01 -2.43568375e-01 -1.45734518e-01 -6.22449633e+00] [ 2.40975580e-01 9.69883088e-01 -3.54621763e-02 -9.52124287e-01] [ 1.49982908e-01 -1.11476491e-03 9.88687961e-01 1.53078163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.884860624 meters Centerline goodness : 0.795528 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.95, Z:1.53 [[ 9.58923537e-01 -2.43283378e-01 -1.45872715e-01 -6.22426987e+00] [ 2.40735908e-01 9.69954220e-01 -3.51430398e-02 -9.52951358e-01] [ 1.50039573e-01 -1.41731247e-03 9.88678976e-01 1.53091819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914860624 meters Centerline goodness : 0.794099 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.95, Z:1.53 [[ 9.58968385e-01 -2.42991800e-01 -1.46063760e-01 -6.22389145e+00] [ 2.40475545e-01 9.70026956e-01 -3.49172970e-02 -9.53520214e-01] [ 1.50170401e-01 -1.64017825e-03 9.88658768e-01 1.53104117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944860624 meters Centerline goodness : 0.846012 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.95, Z:1.53 [[ 9.59019242e-01 -2.42731364e-01 -1.46162848e-01 -6.22367424e+00] [ 2.40248739e-01 9.70091763e-01 -3.46773043e-02 -9.54182512e-01] [ 1.50208644e-01 -1.85923786e-03 9.88652571e-01 1.53112426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974860624 meters Centerline goodness : 0.846462 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.96, Z:1.53 [[ 9.59120494e-01 -2.42200240e-01 -1.46379378e-01 -6.22298397e+00] [ 2.39803299e-01 9.70223269e-01 -3.40761828e-02 -9.55721455e-01] [ 1.50273938e-01 -2.41909248e-03 9.88641437e-01 1.53100983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004860624 meters Centerline goodness : 0.848710 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.96, Z:1.53 [[ 9.59155337e-01 -2.41943926e-01 -1.46574817e-01 -6.22241399e+00] [ 2.39584522e-01 9.70286518e-01 -3.38131537e-02 -9.56704270e-01] [ 1.50400456e-01 -2.68499074e-03 9.88621512e-01 1.53102129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034860624 meters Centerline goodness : 0.846699 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.96, Z:1.53 [[ 9.59283805e-01 -2.41220299e-01 -1.46926340e-01 -6.22137269e+00] [ 2.38948409e-01 9.70464878e-01 -3.31900295e-02 -9.58134314e-01] [ 1.50592962e-01 -3.26915743e-03 9.88590447e-01 1.53090705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064860624 meters Centerline goodness : 0.846699 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.96, Z:1.53 [[ 9.59283805e-01 -2.41220299e-01 -1.46926340e-01 -6.22137269e+00] [ 2.38948409e-01 9.70464878e-01 -3.31900295e-02 -9.58134314e-01] [ 1.50592962e-01 -3.26915743e-03 9.88590447e-01 1.53090705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094860624 meters Centerline goodness : 0.795572 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.96, Z:1.53 [[ 9.59463346e-01 -2.40311446e-01 -1.47242987e-01 -6.22028819e+00] [ 2.38125280e-01 9.70688333e-01 -3.25654805e-02 -9.58651176e-01] [ 1.50752907e-01 -3.81689275e-03 9.88564106e-01 1.53058202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124860624 meters Centerline goodness : 0.848815 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.96, Z:1.53 [[ 0.95916529 -0.23366066 -0.15938835 -6.22192658] [ 0.23209677 0.97227143 -0.02862455 -0.96458825] [ 0.16165717 -0.00953785 0.98680089 1.53454844] [ 0. 0. 0. 1. ]] SLAMing on 141.154860624 meters Centerline goodness : 0.851587 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.97, Z:1.53 [[ 0.95988011 -0.22992472 -0.16051414 -6.22004984] [ 0.22895098 0.97312221 -0.02479133 -0.96634814] [ 0.16190002 -0.01295316 0.98672215 1.53361533] [ 0. 0. 0. 1. ]] SLAMing on 141.184860624 meters Centerline goodness : 0.843950 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.97, Z:1.53 [[ 0.95993142 -0.22946461 -0.16086534 -6.2192378 ] [ 0.22860006 0.97322166 -0.02411673 -0.96670113] [ 0.16209157 -0.01362342 0.98668167 1.53340488] [ 0. 0. 0. 1. ]] SLAMing on 141.214860624 meters Centerline goodness : 0.845112 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.97, Z:1.53 [[ 0.95989342 -0.22933344 -0.16127863 -6.21844546] [ 0.2285765 0.97324259 -0.02348731 -0.96735656] [ 0.16234966 -0.01431919 0.98662939 1.53353838] [ 0. 0. 0. 1. ]] SLAMing on 141.24486062399998 meters Centerline goodness : 0.849342 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.97, Z:1.53 [[ 0.95978617 -0.22937057 -0.16186306 -6.21745248] [ 0.2287574 0.97321942 -0.02267164 -0.96849319] [ 0.16272848 -0.01526745 0.98655276 1.53401794] [ 0. 0. 0. 1. ]] SLAMing on 141.27486062399998 meters Centerline goodness : 0.851554 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.97, Z:1.53 [[ 0.95960954 -0.22949618 -0.16272997 -6.21544251] [ 0.22913217 0.9731631 -0.021261 -0.97121253] [ 0.16324212 -0.01688441 0.98644155 1.5343017 ] [ 0. 0. 0. 1. ]] SLAMing on 141.30486062399999 meters Centerline goodness : 0.851726 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.97, Z:1.53 [[ 0.95954061 -0.22950814 -0.16311908 -6.21424955] [ 0.22921626 0.97315181 -0.0208679 -0.97196673] [ 0.16352898 -0.01736595 0.98638567 1.53412003] [ 0. 0. 0. 1. ]] SLAMing on 141.334860624 meters Centerline goodness : 0.851463 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.97, Z:1.53 [[ 0.95947004 -0.22948398 -0.16356753 -6.212934 ] [ 0.22930145 0.97314466 -0.02025607 -0.97287821] [ 0.16382332 -0.01807118 0.98632416 1.53394576] [ 0. 0. 0. 1. ]] SLAMing on 141.364860624 meters Centerline goodness : 0.851593 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.97, Z:1.53 [[ 0.95932806 -0.22956044 -0.16429143 -6.21132742] [ 0.22952635 0.97310802 -0.01945351 -0.97388667] [ 0.16433906 -0.01904691 0.98622 1.53407858] [ 0. 0. 0. 1. ]] SLAMing on 141.394860624 meters Centerline goodness : 0.848747 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.97, Z:1.53 [[ 0.95915367 -0.2297423 -0.16505369 -6.20965182] [ 0.2298348 0.97304801 -0.01880231 -0.97470248] [ 0.16492485 -0.01990078 0.98610535 1.53428538] [ 0. 0. 0. 1. ]] SLAMing on 141.424860624 meters Centerline goodness : 0.850604 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.98, Z:1.53 [[ 0.95904143 -0.22983234 -0.16557971 -6.2084221 ] [ 0.23006285 0.97300834 -0.01805158 -0.97582717] [ 0.16525928 -0.02078153 0.98603119 1.53433161] [ 0. 0. 0. 1. ]] SLAMing on 141.454860624 meters Centerline goodness : 0.852907 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.98, Z:1.53 [[ 0.95905311 -0.22950202 -0.16596974 -6.20764828] [ 0.22982431 0.97307431 -0.01752614 -0.97629898] [ 0.16552317 -0.02133538 0.98597509 1.53445148] [ 0. 0. 0. 1. ]] SLAMing on 141.484860624 meters Centerline goodness : 0.850937 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.98, Z:1.53 [[ 0.95910714 -0.22906894 -0.16625555 -6.2069219 ] [ 0.22947093 0.97316614 -0.01705162 -0.97656214] [ 0.16570027 -0.02179649 0.98593526 1.53431506] [ 0. 0. 0. 1. ]] SLAMing on 141.514860624 meters Centerline goodness : 0.853791 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.98, Z:1.53 [[ 0.95916265 -0.22869332 -0.16645232 -6.20633556] [ 0.22916567 0.97324542 -0.01662683 -0.97692191] [ 0.1658014 -0.02219732 0.98590931 1.5341257 ] [ 0. 0. 0. 1. ]] SLAMing on 141.544860624 meters Centerline goodness : 0.851995 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.98, Z:1.53 [[ 0.95977635 -0.22530284 -0.16753505 -6.20554944] [ 0.2264716 0.97393946 -0.01235113 -0.97930631] [ 0.16595174 -0.02608761 0.98578875 1.53435431] [ 0. 0. 0. 1. ]] SLAMing on 141.574860624 meters Centerline goodness : 0.852008 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.98, Z:1.53 [[ 0.96029405 -0.22203113 -0.16893049 -6.20407287] [ 0.22391503 0.97457533 -0.00806124 -0.98101435] [ 0.16642533 -0.03008492 0.985595 1.53448612] [ 0. 0. 0. 1. ]] SLAMing on 141.604860624 meters Centerline goodness : 0.855449 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.98, Z:1.53 [[ 0.9604395 -0.22137486 -0.16896493 -6.20403709] [ 0.22333106 0.97471317 -0.00758154 -0.98133913] [ 0.1663707 -0.0304535 0.9855929 1.53440671] [ 0. 0. 0. 1. ]] SLAMing on 141.634860624 meters Centerline goodness : 0.854924 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.98, Z:1.53 [[ 0.96049343 -0.22080254 -0.16940661 -6.20336388] [ 0.2229504 0.97480825 -0.00647994 -0.98255768] [ 0.16656975 -0.03154533 0.98552494 1.534738 ] [ 0. 0. 0. 1. ]] SLAMing on 141.664860624 meters Centerline goodness : 0.853237 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.98, Z:1.53 [[ 9.60535449e-01 -2.20448768e-01 -1.69628981e-01 -6.20233136e+00] [ 2.22660556e-01 9.74876864e-01 -6.11361142e-03 -9.82902091e-01] [ 1.66715107e-01 -3.18973429e-02 9.85489032e-01 1.53419192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694860624 meters Centerline goodness : 0.849632 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.98, Z:1.53 [[ 9.60514412e-01 -2.20142585e-01 -1.70144959e-01 -6.20091492e+00] [ 2.22455383e-01 9.74926839e-01 -5.59118797e-03 -9.83197365e-01] [ 1.67109746e-01 -3.24792455e-02 9.85403182e-01 1.53388396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724860624 meters Centerline goodness : 0.854213 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.98, Z:1.53 [[ 9.60575525e-01 -2.19643886e-01 -1.70444197e-01 -6.19943546e+00] [ 2.22035904e-01 9.75024944e-01 -5.13958567e-03 -9.83916955e-01] [ 1.67316222e-01 -3.29077712e-02 9.85353926e-01 1.53301711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754860624 meters Centerline goodness : 0.846649 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.99, Z:1.53 [[ 9.60676706e-01 -2.18888663e-01 -1.70845016e-01 -6.19899678e+00] [ 2.21494165e-01 9.75153908e-01 -3.89739006e-03 -9.85244085e-01] [ 1.67453279e-01 -3.40970423e-02 9.85290206e-01 1.53345458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784860624 meters Centerline goodness : 0.846750 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.99, Z:1.53 [[ 9.60749523e-01 -2.18470540e-01 -1.70970689e-01 -6.19841106e+00] [ 2.21157300e-01 9.75232194e-01 -3.40838085e-03 -9.85806839e-01] [ 1.67480751e-01 -3.45368156e-02 9.85270220e-01 1.53318041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814860624 meters Centerline goodness : 0.854660 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.99, Z:1.53 [[ 9.60867522e-01 -2.17905280e-01 -1.71028926e-01 -6.19775793e+00] [ 2.20746466e-01 9.75328118e-01 -2.46178703e-03 -9.87907922e-01] [ 1.67345757e-01 -3.53885799e-02 9.85262932e-01 1.53289047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844860624 meters Centerline goodness : 0.854660 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.99, Z:1.53 [[ 9.60867522e-01 -2.17905280e-01 -1.71028926e-01 -6.19775793e+00] [ 2.20746466e-01 9.75328118e-01 -2.46178703e-03 -9.87907922e-01] [ 1.67345757e-01 -3.53885799e-02 9.85262932e-01 1.53289047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874860624 meters Centerline goodness : 0.849107 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.99, Z:1.53 [[ 9.60880337e-01 -2.17631764e-01 -1.71304969e-01 -6.19691732e+00] [ 2.20567964e-01 9.75369682e-01 -1.93809556e-03 -9.88524734e-01] [ 1.67507465e-01 -3.59221103e-02 9.85216144e-01 1.53266593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904860624 meters Centerline goodness : 0.856854 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.99, Z:1.53 [[ 9.60931064e-01 -2.17249863e-01 -1.71505067e-01 -6.19596186e+00] [ 2.20267269e-01 9.75438449e-01 -1.47055864e-03 -9.89130961e-01] [ 1.67612116e-01 -3.63638473e-02 9.85182140e-01 1.53217878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934860624 meters Centerline goodness : 0.850471 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.99, Z:1.53 [[ 9.60915296e-01 -2.17218011e-01 -1.71633707e-01 -6.19518013e+00] [ 2.20278593e-01 9.75436209e-01 -1.24243414e-03 -9.89463120e-01] [ 1.67687612e-01 -3.66133576e-02 9.85160051e-01 1.53173645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964860624 meters Centerline goodness : 0.857184 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.99, Z:1.53 [[ 9.60895826e-01 -2.17168670e-01 -1.71805068e-01 -6.19409399e+00] [ 2.20271231e-01 9.75438119e-01 -1.02961298e-03 -9.89883295e-01] [ 1.67808812e-01 -3.68543630e-02 9.85130427e-01 1.53109012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99486062399998 meters Centerline goodness : 0.852297 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.99, Z:1.53 [[ 9.60868619e-01 -2.16981216e-01 -1.72193635e-01 -6.19240594e+00] [ 2.20212668e-01 9.75451825e-01 -3.44272077e-04 -9.91051835e-01] [ 1.68041296e-01 -3.75884196e-02 9.85063061e-01 1.53045903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02486062399998 meters Centerline goodness : 0.852297 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.99, Z:1.53 [[ 9.60868619e-01 -2.16981216e-01 -1.72193635e-01 -6.19240594e+00] [ 2.20212668e-01 9.75451825e-01 -3.44272077e-04 -9.91051835e-01] [ 1.68041296e-01 -3.75884196e-02 9.85063061e-01 1.53045903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05486062399999 meters Centerline goodness : 0.850193 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.99, Z:1.53 [[ 9.60882878e-01 -2.16722248e-01 -1.72440025e-01 -6.19163119e+00] [ 2.20031598e-01 9.75492742e-01 7.89551286e-05 -9.91541896e-01] [ 1.68196881e-01 -3.80181209e-02 9.85020016e-01 1.53032012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084860624 meters Centerline goodness : 0.851165 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.99, Z:1.53 [[ 9.60880559e-01 -2.16415832e-01 -1.72837320e-01 -6.19069130e+00] [ 2.19863424e-01 9.75530316e-01 8.23226039e-04 -9.92432842e-01] [ 1.68429887e-01 -3.87916269e-02 9.84950041e-01 1.53031657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114860624 meters Centerline goodness : 0.850001 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.99, Z:1.53 [[ 9.60910210e-01 -2.16344608e-01 -1.72761624e-01 -6.19070966e+00] [ 2.19917997e-01 9.75517077e-01 1.58362418e-03 -9.94431757e-01] [ 1.68189305e-01 -3.95151109e-02 9.84962392e-01 1.53055571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144860624 meters Centerline goodness : 0.852133 Centerline is valid? [False, False] Translation: X:-6.19, Y:-1.00, Z:1.53 [[ 9.60892728e-01 -2.16329858e-01 -1.72877290e-01 -6.19012888e+00] [ 2.19979537e-01 9.75502428e-01 2.00393973e-03 -9.95193086e-01] [ 1.68208704e-01 -3.99550372e-02 9.84941332e-01 1.53039886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174860624 meters Centerline goodness : 0.852760 Centerline is valid? [False, False] Translation: X:-6.19, Y:-1.00, Z:1.53 [[ 9.60826360e-01 -2.16348936e-01 -1.73221948e-01 -6.18895169e+00] [ 2.20112374e-01 9.75471099e-01 2.58418050e-03 -9.96033627e-01] [ 1.68413919e-01 -4.06112430e-02 9.84879423e-01 1.53013184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204860624 meters Centerline goodness : 0.854226 Centerline is valid? [False, False] Translation: X:-6.19, Y:-1.00, Z:1.53 [[ 9.60694817e-01 -2.17013884e-01 -1.73119733e-01 -6.18858174e+00] [ 2.20835987e-01 9.75306667e-01 2.89337454e-03 -9.97237511e-01] [ 1.68216928e-01 -4.10107172e-02 9.84896536e-01 1.52992817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234860624 meters Centerline goodness : 0.852572 Centerline is valid? [False, False] Translation: X:-6.19, Y:-1.00, Z:1.53 [[ 9.60619621e-01 -2.17023285e-01 -1.73524743e-01 -6.18725545e+00] [ 2.20937444e-01 9.75282295e-01 3.33022158e-03 -9.97854443e-01] [ 1.68512874e-01 -4.15371894e-02 9.84823879e-01 1.52966761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264860624 meters Centerline goodness : 0.853018 Centerline is valid? [False, False] Translation: X:-6.19, Y:-1.00, Z:1.53 [[ 9.60540873e-01 -2.17037972e-01 -1.73941803e-01 -6.18570899e+00] [ 2.21099211e-01 9.75242776e-01 4.08248477e-03 -9.98864420e-01] [ 1.68749433e-01 -4.23797889e-02 9.84747471e-01 1.52925080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.294860624 meters Centerline goodness : 0.852725 Centerline is valid? [False, False] Translation: X:-6.19, Y:-1.00, Z:1.53 [[ 9.60501762e-01 -2.17162887e-01 -1.74001858e-01 -6.18561939e+00] [ 2.21266217e-01 9.75203957e-01 4.30158740e-03 -9.99390875e-01] [ 1.68753155e-01 -4.26324151e-02 9.84735929e-01 1.52943163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.324860624 meters Centerline goodness : 0.853259 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 9.60455451e-01 -2.16942599e-01 -1.74531473e-01 -6.18495464e+00] [ 2.21212941e-01 9.75211892e-01 5.15764941e-03 -9.99820027e-01] [ 1.69086254e-01 -4.35623129e-02 9.84638088e-01 1.52990481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.354860624 meters Centerline goodness : 0.853259 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 9.60455451e-01 -2.16942599e-01 -1.74531473e-01 -6.18495464e+00] [ 2.21212941e-01 9.75211892e-01 5.15764941e-03 -9.99820027e-01] [ 1.69086254e-01 -4.35623129e-02 9.84638088e-01 1.52990481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.384860624 meters Centerline goodness : 0.859340 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 9.60583199e-01 -2.16374201e-01 -1.74534016e-01 -6.18494304e+00] [ 2.20675637e-01 9.75332365e-01 5.38891493e-03 -1.00006026e+00] [ 1.69062652e-01 -4.36919063e-02 9.84636398e-01 1.52981609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414860624 meters Centerline goodness : 0.854202 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 9.60602638e-01 -2.16221246e-01 -1.74616565e-01 -6.18487032e+00] [ 2.20563894e-01 9.75356332e-01 5.62087123e-03 -1.00023890e+00] [ 1.69098021e-01 -4.39135333e-02 9.84620465e-01 1.52992852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444860624 meters Centerline goodness : 0.854313 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.96055109 -0.21618613 -0.17494333 -6.18470134] [ 0.22065591 0.97533152 0.00627704 -1.00076979] [ 0.16927073 -0.0446317 0.98455849 1.53057502] [ 0. 0. 0. 1. ]] SLAMing on 142.474860624 meters Centerline goodness : 0.854369 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.96046854 -0.2162999 -0.17525565 -6.18389983] [ 0.22085116 0.97528481 0.00665648 -1.00122538] [ 0.16948438 -0.04509875 0.98450046 1.53060502] [ 0. 0. 0. 1. ]] SLAMing on 142.504860624 meters Centerline goodness : 0.852034 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.96028791 -0.21677053 -0.17566348 -6.1819492 ] [ 0.22133181 0.97517648 0.00656217 -1.00100586] [ 0.16988041 -0.04518149 0.9844284 1.52965889] [ 0. 0. 0. 1. ]] SLAMing on 142.534860624 meters Centerline goodness : 0.852043 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.96022816 -0.21673627 -0.17603201 -6.18045751] [ 0.22138211 0.97516234 0.00695492 -1.00153644] [ 0.17015241 -0.04564865 0.98435987 1.52916019] [ 0. 0. 0. 1. ]] SLAMing on 142.564860624 meters Centerline goodness : 0.855659 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.9601122 -0.217195 -0.17609912 -6.18020799] [ 0.22182952 0.97506155 0.00682984 -1.0015949 ] [ 0.17022408 -0.04562139 0.98434875 1.52925506] [ 0. 0. 0. 1. ]] SLAMing on 142.594860624 meters Centerline goodness : 0.853733 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.95999106 -0.21713536 -0.17683157 -6.17881804] [ 0.22193621 0.97503161 0.00759447 -1.00180384] [ 0.17076734 -0.04653595 0.98421183 1.52947968] [ 0. 0. 0. 1. ]] SLAMing on 142.624860624 meters Centerline goodness : 0.850026 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.95983965 -0.21755844 -0.17713319 -6.17821941] [ 0.22246119 0.97490824 0.00805922 -1.00273543] [ 0.17093525 -0.04714081 0.98415389 1.52987751] [ 0. 0. 0. 1. ]] SLAMing on 142.654860624 meters Centerline goodness : 0.852024 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.959774 -0.21759293 -0.17744629 -6.17732087] [ 0.22257925 0.97487799 0.00844886 -1.00339834] [ 0.17115007 -0.04760485 0.98409422 1.52981421] [ 0. 0. 0. 1. ]] SLAMing on 142.684860624 meters Centerline goodness : 0.849987 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.95971154 -0.21765973 -0.17770202 -6.17645428] [ 0.2226987 0.97484874 0.00867291 -1.00379102] [ 0.17134485 -0.04789749 0.98404612 1.52967709] [ 0. 0. 0. 1. ]] SLAMing on 142.714860624 meters Centerline goodness : 0.850640 Centerline is valid? [False, False] Translation: X:-6.18, Y:-1.00, Z:1.53 [[ 0.95969669 -0.21768666 -0.1777492 -6.17547837] [ 0.22274314 0.97483783 0.00875763 -1.00431397] [ 0.17137022 -0.04799708 0.98403685 1.52894969] [ 0. 0. 0. 1. ]] SLAMing on 142.74486062399998 meters Centerline goodness : 0.850153 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.00, Z:1.53 [[ 0.95958077 -0.21777313 -0.17826834 -6.17415774] [ 0.22290267 0.97479897 0.00902064 -1.00406383] [ 0.17181134 -0.04839252 0.98394056 1.52872538] [ 0. 0. 0. 1. ]] SLAMing on 142.77486062399998 meters Centerline goodness : 0.849745 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.00, Z:1.53 [[ 0.95950571 -0.21787942 -0.17854231 -6.17314794] [ 0.22306521 0.97475959 0.00925434 -1.0044429 ] [ 0.1720195 -0.04870617 0.98388871 1.52845037] [ 0. 0. 0. 1. ]] SLAMing on 142.80486062399999 meters Centerline goodness : 0.848197 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.00, Z:1.53 [[ 0.95942578 -0.2181057 -0.1786955 -6.17268317] [ 0.2233253 0.97469881 0.0093829 -1.0047195 ] [ 0.17212782 -0.04890943 0.98385969 1.52848119] [ 0. 0. 0. 1. ]] SLAMing on 142.834860624 meters Centerline goodness : 0.847812 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95938716 -0.21815217 -0.17884605 -6.17247402] [ 0.22343778 0.9746698 0.00971231 -1.00508113] [ 0.17219708 -0.04927883 0.98382913 1.52871386] [ 0. 0. 0. 1. ]] SLAMing on 142.864860624 meters Centerline goodness : 0.845272 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95931253 -0.21811474 -0.17929144 -6.17155373] [ 0.22349363 0.97465287 0.01011808 -1.00514358] [ 0.17254002 -0.04977689 0.98374397 1.52877303] [ 0. 0. 0. 1. ]] SLAMing on 142.894860624 meters Centerline goodness : 0.846350 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95913065 -0.21865207 -0.17960978 -6.17120416] [ 0.22414727 0.97449722 0.01063797 -1.00617131] [ 0.17270322 -0.05046225 0.98368042 1.52949147] [ 0. 0. 0. 1. ]] SLAMing on 142.924860624 meters Centerline goodness : 0.845444 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95900333 -0.21877707 -0.1801366 -6.17039475] [ 0.22443248 0.97442319 0.01138052 -1.00706329] [ 0.17303949 -0.05134246 0.98357577 1.53001943] [ 0. 0. 0. 1. ]] SLAMing on 142.954860624 meters Centerline goodness : 0.847333 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95894559 -0.21863955 -0.18061037 -6.16936777] [ 0.22445388 0.97440894 0.01215171 -1.00805932] [ 0.17333152 -0.05219152 0.98347965 1.53023216] [ 0. 0. 0. 1. ]] SLAMing on 142.984860624 meters Centerline goodness : 0.846762 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95884691 -0.21862076 -0.18115619 -6.16832017] [ 0.22459107 0.97436812 0.01286932 -1.00877236] [ 0.17369931 -0.05302577 0.98337013 1.53050476] [ 0. 0. 0. 1. ]] SLAMing on 143.014860624 meters Centerline goodness : 0.845260 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95856617 -0.21952687 -0.1815457 -6.16719207] [ 0.22559905 0.97413025 0.01324102 -1.01033117] [ 0.1739424 -0.05364893 0.98329336 1.53086172] [ 0. 0. 0. 1. ]] SLAMing on 143.044860624 meters Centerline goodness : 0.847026 Centerline is valid? [False, False] Translation: X:-6.17, Y:-1.01, Z:1.53 [[ 0.95847678 -0.21954813 -0.18199144 -6.16587813] [ 0.22573464 0.97409187 0.01374439 -1.0109055 ] [ 0.17425883 -0.05425545 0.98320405 1.53061767] [ 0. 0. 0. 1. ]] SLAMing on 143.074860624 meters Centerline goodness : 0.847242 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95833883 -0.21966239 -0.18257909 -6.16487893] [ 0.22598082 0.97402693 0.01429032 -1.01118161] [ 0.1746979 -0.05495434 0.98308731 1.53100485] [ 0. 0. 0. 1. ]] SLAMing on 143.104860624 meters Centerline goodness : 0.847111 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95826461 -0.21965752 -0.18297406 -6.16393979] [ 0.22603795 0.97401038 0.01451282 -1.01110595] [ 0.17503078 -0.05526621 0.98301062 1.5309881 ] [ 0. 0. 0. 1. ]] SLAMing on 143.134860624 meters Centerline goodness : 0.846596 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95829666 -0.21938091 -0.18313801 -6.16339184] [ 0.22576626 0.97407338 0.01451336 -1.01039311] [ 0.17520591 -0.05525449 0.98298008 1.53057986] [ 0. 0. 0. 1. ]] SLAMing on 143.164860624 meters Centerline goodness : 0.847763 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95831976 -0.21942751 -0.1829612 -6.16358907] [ 0.22574046 0.97408458 0.01415922 -1.00999649] [ 0.17511276 -0.05487081 0.98301817 1.53043876] [ 0. 0. 0. 1. ]] SLAMing on 143.194860624 meters Centerline goodness : 0.847803 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95883061 -0.21645622 -0.18382209 -6.16231956] [ 0.22336262 0.97457866 0.01748051 -1.01135178] [ 0.17536532 -0.05781983 0.98280409 1.52994407] [ 0. 0. 0. 1. ]] SLAMing on 143.224860624 meters Centerline goodness : 0.854265 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95907161 -0.21590179 -0.18321588 -6.16352444] [ 0.2226545 0.97475143 0.01687096 -1.01007144] [ 0.17494747 -0.0569743 0.98292793 1.52949385] [ 0. 0. 0. 1. ]] SLAMing on 143.254860624 meters Centerline goodness : 0.843774 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95911677 -0.21553295 -0.18341366 -6.1630536 ] [ 0.22231921 0.97482523 0.0170278 -1.00926879] [ 0.17512621 -0.05710803 0.98288834 1.52912346] [ 0. 0. 0. 1. ]] SLAMing on 143.284860624 meters Centerline goodness : 0.852641 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95963523 -0.21239848 -0.18435592 -6.16168856] [ 0.2198309 0.9753201 0.02061758 -1.01029185] [ 0.17542689 -0.06031249 0.98264328 1.52852312] [ 0. 0. 0. 1. ]] SLAMing on 143.314860624 meters Centerline goodness : 0.854107 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.9597409 -0.21217372 -0.18406445 -6.16196979] [ 0.21947825 0.97541191 0.02002277 -1.00917087] [ 0.17529035 -0.05961482 0.98271021 1.52796074] [ 0. 0. 0. 1. ]] SLAMing on 143.344860624 meters Centerline goodness : 0.848158 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.9599304 -0.21125961 -0.18412767 -6.16114229] [ 0.21853889 0.97562443 0.01994315 -1.00746038] [ 0.17542627 -0.0593831 0.98269999 1.52665968] [ 0. 0. 0. 1. ]] SLAMing on 143.374860624 meters Centerline goodness : 0.847882 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.95995712 -0.2113388 -0.18389735 -6.16124192] [ 0.21854558 0.97562971 0.01960863 -1.00699392] [ 0.17527165 -0.0590134 0.98274985 1.52624649] [ 0. 0. 0. 1. ]] SLAMing on 143.404860624 meters Centerline goodness : 0.845912 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.9600351 -0.21092333 -0.18396724 -6.16073784] [ 0.21816223 0.97571158 0.01980278 -1.00667164] [ 0.1753221 -0.05914607 0.98273287 1.52568386] [ 0. 0. 0. 1. ]] SLAMing on 143.434860624 meters Centerline goodness : 0.842990 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.53 [[ 0.96011229 -0.21073761 -0.18377715 -6.16076621] [ 0.2179245 0.97576894 0.0195932 -1.00623884] [ 0.17519501 -0.05886121 0.98277264 1.52517278] [ 0. 0. 0. 1. ]] SLAMing on 143.464860624 meters Centerline goodness : 0.843961 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.52 [[ 0.96036546 -0.21004523 -0.18324626 -6.16138288] [ 0.21715268 0.97594503 0.01939107 -1.0054593 ] [ 0.17476527 -0.05841493 0.98287578 1.5242759 ] [ 0. 0. 0. 1. ]] SLAMing on 143.49486062399998 meters Centerline goodness : 0.845031 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.01, Z:1.52 [[ 0.96042279 -0.20970363 -0.183337 -6.16099193] [ 0.21683598 0.97601265 0.01953134 -1.00504622] [ 0.17484343 -0.0585124 0.98285608 1.52390039] [ 0. 0. 0. 1. ]] SLAMing on 143.52486062399998 meters Centerline goodness : 0.840943 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96048268 -0.20959153 -0.18315133 -6.16107432] [ 0.21665656 0.97605855 0.019226 -1.00430108] [ 0.17473682 -0.05814718 0.98289671 1.52344851] [ 0. 0. 0. 1. ]] SLAMing on 143.55486062399999 meters Centerline goodness : 0.842928 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96059089 -0.20960137 -0.18257165 -6.16198475] [ 0.21645239 0.97612325 0.01821435 -1.00260632] [ 0.17439468 -0.05701461 0.98302382 1.52281951] [ 0. 0. 0. 1. ]] SLAMing on 143.584860624 meters Centerline goodness : 0.842874 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96060713 -0.209317 -0.18281229 -6.16122948] [ 0.21622564 0.97616842 0.01848481 -1.00245614] [ 0.1745864 -0.05728534 0.98297405 1.52248105] [ 0. 0. 0. 1. ]] SLAMing on 143.614860624 meters Centerline goodness : 0.842677 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96058503 -0.20949128 -0.18272876 -6.16105664] [ 0.21635837 0.97614319 0.01826268 -1.0021831 ] [ 0.17454357 -0.05707776 0.98299373 1.52212391] [ 0. 0. 0. 1. ]] SLAMing on 143.644860624 meters Centerline goodness : 0.840204 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96064982 -0.20942872 -0.1824597 -6.16077266] [ 0.21618379 0.97619176 0.01772631 -1.00113445] [ 0.17440326 -0.0564736 0.98305353 1.52097321] [ 0. 0. 0. 1. ]] SLAMing on 143.674860624 meters Centerline goodness : 0.844817 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96059431 -0.20973168 -0.18240395 -6.16110817] [ 0.21637656 0.97616029 0.01709586 -0.99996131] [ 0.17446995 -0.05589013 0.98307504 1.52108662] [ 0. 0. 0. 1. ]] SLAMing on 143.704860624 meters Centerline goodness : 0.839337 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96052055 -0.20971236 -0.18281414 -6.16017934] [ 0.216397 0.97615414 0.01718784 -0.99927463] [ 0.17485028 -0.0560697 0.98299724 1.5209311 ] [ 0. 0. 0. 1. ]] SLAMing on 143.734860624 meters Centerline goodness : 0.843851 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96043269 -0.21019999 -0.18271564 -6.16006206] [ 0.21674935 0.97608928 0.0164146 -0.99822157] [ 0.17489643 -0.05536861 0.98302877 1.52065089] [ 0. 0. 0. 1. ]] SLAMing on 143.764860624 meters Centerline goodness : 0.842538 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96055432 -0.20967176 -0.18268318 -6.15976233] [ 0.21617264 0.97622073 0.01620098 -0.99667054] [ 0.17494222 -0.05505303 0.98303834 1.51979139] [ 0. 0. 0. 1. ]] SLAMing on 143.794860624 meters Centerline goodness : 0.841614 Centerline is valid? [False, False] Translation: X:-6.16, Y:-1.00, Z:1.52 [[ 0.96053122 -0.21004173 -0.1823794 -6.16081674] [ 0.21642951 0.97617316 0.01562784 -0.99565778] [ 0.17475138 -0.05448331 0.98310403 1.52006352] [ 0. 0. 0. 1. ]] SLAMing on 143.824860624 meters Centerline goodness : 0.843545 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.99, Z:1.52 [[ 0.96047017 -0.21039509 -0.18229359 -6.16101733] [ 0.21670093 0.97612029 0.01516164 -0.99498962] [ 0.17475054 -0.05406549 0.98312724 1.52008029] [ 0. 0. 0. 1. ]] SLAMing on 143.854860624 meters Centerline goodness : 0.838037 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.99, Z:1.52 [[ 0.96046763 -0.21026676 -0.18245499 -6.16055623] [ 0.21656264 0.97615246 0.01506667 -0.99403054] [ 0.17493587 -0.05398398 0.98309876 1.51974566] [ 0. 0. 0. 1. ]] SLAMing on 143.884860624 meters Centerline goodness : 0.840348 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.99, Z:1.52 [[ 0.96067747 -0.20990662 -0.18176359 -6.16196914] [ 0.21601087 0.97628717 0.01423628 -0.99206457] [ 0.17446517 -0.05293939 0.9832392 1.51912157] [ 0. 0. 0. 1. ]] SLAMing on 143.914860624 meters Centerline goodness : 0.838632 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.99, Z:1.52 [[ 0.96073046 -0.2095725 -0.18186906 -6.16180705] [ 0.2156493 0.97636937 0.01407978 -0.99052487] [ 0.17462065 -0.05274681 0.98322195 1.51879203] [ 0. 0. 0. 1. ]] SLAMing on 143.944860624 meters Centerline goodness : 0.838632 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.99, Z:1.52 [[ 0.96073046 -0.2095725 -0.18186906 -6.16180705] [ 0.2156493 0.97636937 0.01407978 -0.99052487] [ 0.17462065 -0.05274681 0.98322195 1.51879203] [ 0. 0. 0. 1. ]] SLAMing on 143.974860624 meters Centerline goodness : 0.836193 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.99, Z:1.52 [[ 0.96082993 -0.20940598 -0.18153505 -6.16238698] [ 0.21536967 0.97643844 0.0135598 -0.98891263] [ 0.1744183 -0.05212581 0.98329098 1.51833353] [ 0. 0. 0. 1. ]] SLAMing on 144.004860624 meters Centerline goodness : 0.837706 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.99, Z:1.52 [[ 0.96114763 -0.20796299 -0.18151208 -6.16249461] [ 0.21388368 0.97676645 0.01345648 -0.98604045] [ 0.17449646 -0.05175613 0.98329664 1.51731787] [ 0. 0. 0. 1. ]] SLAMing on 144.034860624 meters Centerline goodness : 0.835804 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.98, Z:1.52 [[ 0.96132422 -0.20718259 -0.18146935 -6.1623056 ] [ 0.21302496 0.97695894 0.01309957 -0.98399773] [ 0.1745741 -0.05125044 0.98330935 1.51644278] [ 0. 0. 0. 1. ]] SLAMing on 144.064860624 meters Centerline goodness : 0.835151 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.98, Z:1.52 [[ 0.96153533 -0.20664761 -0.18096016 -6.16314455] [ 0.21230317 0.97712712 0.01224589 -0.98195321] [ 0.17429049 -0.05019327 0.98341419 1.51565132] [ 0. 0. 0. 1. ]] SLAMing on 144.094860624 meters Centerline goodness : 0.835719 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.98, Z:1.51 [[ 0.96239155 -0.20267073 -0.18090626 -6.16401795] [ 0.20854647 0.97791413 0.01386787 -0.9790897 ] [ 0.17410018 -0.05107368 0.98340257 1.51426474] [ 0. 0. 0. 1. ]] SLAMing on 144.124860624 meters Centerline goodness : 0.835286 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.98, Z:1.51 [[ 0.9630642 -0.1985416 -0.18190267 -6.16292103] [ 0.20502731 0.97860195 0.01737884 -0.97846694] [ 0.17455988 -0.05403196 0.98316295 1.51351039] [ 0. 0. 0. 1. ]] SLAMing on 144.154860624 meters Centerline goodness : 0.837237 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.97, Z:1.51 [[ 0.96461425 -0.20177486 -0.16972405 -6.16185033] [ 0.20759493 0.97806564 0.01708635 -0.97186428] [ 0.16255367 -0.05171559 0.9853435 1.50786751] [ 0. 0. 0. 1. ]] SLAMing on 144.184860624 meters Centerline goodness : 0.831651 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.97, Z:1.51 [[ 0.96526145 -0.19805175 -0.17042838 -6.16168097] [ 0.20436766 0.97868636 0.02017085 -0.97041329] [ 0.16280106 -0.0543002 0.98516359 1.50729267] [ 0. 0. 0. 1. ]] SLAMing on 144.214860624 meters Centerline goodness : 0.834680 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.96, Z:1.50 [[ 0.96705052 -0.19932189 -0.15837952 -6.16164894] [ 0.20467848 0.97866202 0.01809366 -0.96067846] [ 0.15139356 -0.04991436 0.98721251 1.50153206] [ 0. 0. 0. 1. ]] SLAMing on 144.24486062399998 meters Centerline goodness : 0.839657 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.96, Z:1.50 [[ 0.96759712 -0.19616289 -0.15898409 -6.16111902] [ 0.20184184 0.97920907 0.02023536 -0.95917456] [ 0.15170924 -0.05166932 0.98707375 1.50071522] [ 0. 0. 0. 1. ]] SLAMing on 144.27486062399998 meters Centerline goodness : 0.839495 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.96, Z:1.50 [[ 0.96790505 -0.19498596 -0.15855692 -6.1613848 ] [ 0.20050307 0.97950059 0.01941938 -0.95631327] [ 0.15152009 -0.05058727 0.98715885 1.4991589 ] [ 0. 0. 0. 1. ]] SLAMing on 144.30486062399999 meters Centerline goodness : 0.839164 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.95, Z:1.50 [[ 0.96858514 -0.19088707 -0.15938933 -6.1607256 ] [ 0.19683031 0.98018568 0.02222319 -0.95329275] [ 0.15198902 -0.0528977 0.98696564 1.4979832 ] [ 0. 0. 0. 1. ]] SLAMing on 144.334860624 meters Centerline goodness : 0.838028 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.95, Z:1.50 [[ 0.96858239 -0.19096561 -0.1593119 -6.1609286 ] [ 0.19681607 0.98020154 0.02164181 -0.95114931] [ 0.15202493 -0.05231701 0.98699106 1.49801723] [ 0. 0. 0. 1. ]] SLAMing on 144.364860624 meters Centerline goodness : 0.839103 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.95, Z:1.50 [[ 0.9685455 -0.19118326 -0.15927519 -6.16108504] [ 0.19693621 0.98019127 0.02100463 -0.94895323] [ 0.15210441 -0.05171099 0.98701075 1.49802124] [ 0. 0. 0. 1. ]] SLAMing on 144.394860624 meters Centerline goodness : 0.839284 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.95, Z:1.50 [[ 0.96851746 -0.1914065 -0.1591775 -6.16137296] [ 0.19707761 0.98017376 0.02048958 -0.94719176] [ 0.15209977 -0.05121484 0.98703733 1.49802904] [ 0. 0. 0. 1. ]] SLAMing on 144.424860624 meters Centerline goodness : 0.835494 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.9684348 -0.19209472 -0.15885106 -6.16254105] [ 0.19760897 0.98008641 0.01952757 -0.94430822] [ 0.15193662 -0.05030158 0.98710942 1.49822731] [ 0. 0. 0. 1. ]] SLAMing on 144.454860624 meters Centerline goodness : 0.837173 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.9683728 -0.19247083 -0.15877373 -6.1627965 ] [ 0.19790573 0.98003674 0.01900844 -0.94298117] [ 0.15194551 -0.04982949 0.987132 1.49827045] [ 0. 0. 0. 1. ]] SLAMing on 144.484860624 meters Centerline goodness : 0.836348 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.96829957 -0.19297225 -0.15861163 -6.16318446] [ 0.19832497 0.97996192 0.01848878 -0.94191369] [ 0.15186553 -0.04935933 0.98716793 1.49826562] [ 0. 0. 0. 1. ]] SLAMing on 144.514860624 meters Centerline goodness : 0.836681 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.96815638 -0.19387944 -0.15837924 -6.16381724] [ 0.19912011 0.97981406 0.01776498 -0.94086401] [ 0.15173794 -0.04873577 0.98721853 1.49827786] [ 0. 0. 0. 1. ]] SLAMing on 144.544860624 meters Centerline goodness : 0.836014 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.96805261 -0.19447044 -0.15828895 -6.16423995] [ 0.19964598 0.97971494 0.01732416 -0.94052706] [ 0.15170902 -0.04837245 0.98724084 1.49849838] [ 0. 0. 0. 1. ]] SLAMing on 144.574860624 meters Centerline goodness : 0.835689 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.96795525 -0.19503433 -0.1581905 -6.16458089] [ 0.200154 0.97961786 0.01694794 -0.94020092] [ 0.15166081 -0.04806731 0.98726315 1.49857295] [ 0. 0. 0. 1. ]] SLAMing on 144.604860624 meters Centerline goodness : 0.835522 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.9678496 -0.19562523 -0.15810733 -6.16496906] [ 0.20068424 0.97951645 0.0165333 -0.9398502 ] [ 0.1516344 -0.0477314 0.98728351 1.49875379] [ 0. 0. 0. 1. ]] SLAMing on 144.634860624 meters Centerline goodness : 0.836041 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.94, Z:1.50 [[ 0.96702818 -0.20017645 -0.15743535 -6.16469124] [ 0.20457224 0.97877715 0.01206201 -0.93729054] [ 0.1516796 -0.0438712 0.98745563 1.49874638] [ 0. 0. 0. 1. ]] SLAMing on 144.664860624 meters Centerline goodness : 0.834819 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.94, Z:1.50 [[ 0.9668992 -0.2008585 -0.15735884 -6.16508003] [ 0.20518566 0.97865452 0.01158354 -0.9371455 ] [ 0.15167329 -0.04348789 0.98747355 1.49898275] [ 0. 0. 0. 1. ]] SLAMing on 144.694860624 meters Centerline goodness : 0.836054 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.94, Z:1.50 [[ 0.9668043 -0.20136776 -0.15729104 -6.16531233] [ 0.20564433 0.97856232 0.01123349 -0.93710647] [ 0.15165702 -0.0432066 0.9874884 1.49909841] [ 0. 0. 0. 1. ]] SLAMing on 144.724860624 meters Centerline goodness : 0.835043 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.94, Z:1.50 [[ 0.96670444 -0.20189277 -0.15723177 -6.16564755] [ 0.20611471 0.97846765 0.01085316 -0.93711592] [ 0.15165502 -0.04289958 0.98750209 1.49936448] [ 0. 0. 0. 1. ]] SLAMing on 144.754860624 meters Centerline goodness : 0.833806 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.94, Z:1.50 [[ 0.96651589 -0.20308734 -0.15685202 -6.16716471] [ 0.20717196 0.97825372 0.00997146 -0.93653011] [ 0.151416 -0.04213292 0.98757178 1.50002469] [ 0. 0. 0. 1. ]] SLAMing on 144.784860624 meters Centerline goodness : 0.833586 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.94, Z:1.50 [[ 0.96642452 -0.20360725 -0.156741 -6.16785413] [ 0.20762367 0.97816248 0.00951655 -0.93601318] [ 0.15138053 -0.04174017 0.98759389 1.50047111] [ 0. 0. 0. 1. ]] SLAMing on 144.814860624 meters Centerline goodness : 0.832341 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 0.96621817 -0.20485124 -0.15639189 -6.16979349] [ 0.20870842 0.97794119 0.00847487 -0.93490362] [ 0.15120599 -0.04082888 0.98765872 1.50156797] [ 0. 0. 0. 1. ]] SLAMing on 144.844860624 meters Centerline goodness : 0.832404 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 0.96614072 -0.20528976 -0.15629528 -6.1702726 ] [ 0.20909471 0.97786164 0.00812525 -0.9347825 ] [ 0.15116713 -0.04053065 0.98767695 1.50192416] [ 0. 0. 0. 1. ]] SLAMing on 144.874860624 meters Centerline goodness : 0.832260 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 0.96606188 -0.20578905 -0.15612592 -6.17070235] [ 0.20954067 0.97776896 0.00778292 -0.93481947] [ 0.15105344 -0.04023351 0.9877065 1.50207498] [ 0. 0. 0. 1. ]] SLAMing on 144.904860624 meters Centerline goodness : 0.833092 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 0.96595953 -0.20640341 -0.15594816 -6.17140548] [ 0.21009345 0.97765346 0.0073791 -0.93492936] [ 0.15094018 -0.0398916 0.98773768 1.50243123] [ 0. 0. 0. 1. ]] SLAMing on 144.934860624 meters Centerline goodness : 0.834346 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 0.96585567 -0.20702864 -0.15576256 -6.17220878] [ 0.21064192 0.9775391 0.00687649 -0.93488267] [ 0.15084036 -0.03945182 0.98777059 1.50296328] [ 0. 0. 0. 1. ]] SLAMing on 144.964860624 meters Centerline goodness : 0.831421 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65711133e-01 -2.07941115e-01 -1.55442915e-01 -6.17376210e+00] [ 2.11439037e-01 9.77371950e-01 6.13227259e-03 -9.34248031e-01] [ 1.50650393e-01 -3.87887041e-02 9.87825843e-01 1.50379760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99486062399998 meters Centerline goodness : 0.830419 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65641753e-01 -2.08410970e-01 -1.55244558e-01 -6.17442633e+00] [ 2.11841681e-01 9.77287341e-01 5.70564296e-03 -9.33786215e-01] [ 1.50529422e-01 -3.83968752e-02 9.87859592e-01 1.50408431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02486062399998 meters Centerline goodness : 0.834146 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65596684e-01 -2.08571786e-01 -1.55308898e-01 -6.17440676e+00] [ 2.11978905e-01 9.77258643e-01 5.52155808e-03 -9.33555633e-01] [ 1.50625322e-01 -3.82538083e-02 9.87850524e-01 1.50424744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05486062399999 meters Centerline goodness : 0.830896 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65562314e-01 -2.08697269e-01 -1.55354010e-01 -6.17392592e+00] [ 2.12090010e-01 9.77235184e-01 5.40576261e-03 -9.33422269e-01] [ 1.50689237e-01 -3.81686342e-02 9.87844071e-01 1.50394040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084860624 meters Centerline goodness : 0.831684 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65540937e-01 -2.08735769e-01 -1.55435124e-01 -6.17360251e+00] [ 2.12117319e-01 9.77229790e-01 5.30860421e-03 -9.33105419e-01] [ 1.50787738e-01 -3.80961564e-02 9.87831838e-01 1.50381406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114860624 meters Centerline goodness : 0.824604 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65496902e-01 -2.08955274e-01 -1.55413722e-01 -6.17357486e+00] [ 2.12305949e-01 9.77189967e-01 5.09439242e-03 -9.32585597e-01] [ 1.50804230e-01 -3.79138778e-02 9.87836334e-01 1.50371373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144860624 meters Centerline goodness : 0.832532 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65476518e-01 -2.08986418e-01 -1.55498455e-01 -6.17330993e+00] [ 2.12315916e-01 9.77188636e-01 4.93174306e-03 -9.32142170e-01] [ 1.50920655e-01 -3.77762789e-02 9.87823825e-01 1.50374125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174860624 meters Centerline goodness : 0.833541 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65414092e-01 -2.09340722e-01 -1.55409434e-01 -6.17409516e+00] [ 2.12601593e-01 9.77128712e-01 4.47683936e-03 -9.31235990e-01] [ 1.50917835e-01 -3.73622970e-02 9.87840000e-01 1.50432642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204860624 meters Centerline goodness : 0.832613 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.93, Z:1.50 [[ 9.65335885e-01 -2.09784652e-01 -1.55296585e-01 -6.17491450e+00] [ 2.12978759e-01 9.77048508e-01 4.03265103e-03 -9.30775926e-01] [ 1.50886309e-01 -3.69677368e-02 9.87859660e-01 1.50495545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234860624 meters Centerline goodness : 0.831032 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.93, Z:1.51 [[ 9.65226837e-01 -2.10505646e-01 -1.54998473e-01 -6.17629882e+00] [ 2.13597969e-01 9.76915795e-01 3.38197685e-03 -9.29824646e-01] [ 1.50708532e-01 -3.63717338e-02 9.87908921e-01 1.50566941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264860624 meters Centerline goodness : 0.831250 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.93, Z:1.51 [[ 9.65169316e-01 -2.10872790e-01 -1.54857538e-01 -6.17687351e+00] [ 2.13918834e-01 9.76846571e-01 3.08369343e-03 -9.29494475e-01] [ 1.50621788e-01 -3.61032303e-02 9.87931998e-01 1.50593933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.294860624 meters Centerline goodness : 0.831406 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.93, Z:1.51 [[ 9.65129280e-01 -2.11057543e-01 -1.54855372e-01 -6.17686529e+00] [ 2.14079218e-01 9.76811969e-01 2.90972988e-03 -9.29163621e-01] [ 1.50650461e-01 -3.59595825e-02 9.87932866e-01 1.50592942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.324860624 meters Centerline goodness : 0.831709 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.93, Z:1.51 [[ 9.65077204e-01 -2.11328367e-01 -1.54810565e-01 -6.17697007e+00] [ 2.14308818e-01 9.76762418e-01 2.62868437e-03 -9.28715945e-01] [ 1.50657627e-01 -3.57141526e-02 9.87940676e-01 1.50601108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.354860624 meters Centerline goodness : 0.833389 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.93, Z:1.51 [[ 9.65040703e-01 -2.11461754e-01 -1.54855960e-01 -6.17677755e+00] [ 2.14420164e-01 9.76738413e-01 2.46272160e-03 -9.28224132e-01] [ 1.50732993e-01 -3.55808669e-02 9.87933989e-01 1.50592367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.384860624 meters Centerline goodness : 0.832324 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.93, Z:1.51 [[ 9.64981374e-01 -2.11736901e-01 -1.54849712e-01 -6.17692379e+00] [ 2.14626011e-01 9.76694283e-01 1.98826356e-03 -9.26637975e-01] [ 1.50819840e-01 -3.51534133e-02 9.87936037e-01 1.50596408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414860624 meters Centerline goodness : 0.831374 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.93, Z:1.51 [[ 9.64943285e-01 -2.11863167e-01 -1.54914346e-01 -6.17692565e+00] [ 2.14704013e-01 9.76677774e-01 1.64703351e-03 -9.25706764e-01] [ 1.50952453e-01 -3.48500257e-02 9.87926532e-01 1.50618201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444860624 meters Centerline goodness : 0.833611 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.92, Z:1.51 [[ 9.64909601e-01 -2.11995249e-01 -1.54943463e-01 -6.17686821e+00] [ 2.14793758e-01 9.76658493e-01 1.35273835e-03 -9.24849079e-01] [ 1.51040075e-01 -3.45861589e-02 9.87922413e-01 1.50622412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474860624 meters Centerline goodness : 0.832999 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.92, Z:1.51 [[ 9.64919287e-01 -2.11938468e-01 -1.54960818e-01 -6.17671235e+00] [ 2.14683719e-01 9.76683107e-01 1.00503123e-03 -9.23034137e-01] [ 1.51134608e-01 -3.42373387e-02 9.87920106e-01 1.50608449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504860624 meters Centerline goodness : 0.829759 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.92, Z:1.51 [[ 9.64911422e-01 -2.11947664e-01 -1.54997209e-01 -6.17671438e+00] [ 2.14652673e-01 9.76690172e-01 7.33012522e-04 -9.21774021e-01] [ 1.51228890e-01 -3.39778573e-02 9.87914636e-01 1.50615323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534860624 meters Centerline goodness : 0.832799 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.92, Z:1.51 [[ 9.64892544e-01 -2.12016462e-01 -1.55020637e-01 -6.17701475e+00] [ 2.14655566e-01 9.76689768e-01 2.91873889e-04 -9.20386757e-01] [ 1.51345188e-01 -3.35576696e-02 9.87911189e-01 1.50658483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564860624 meters Centerline goodness : 0.834565 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.92, Z:1.51 [[ 9.64888386e-01 -2.12021203e-01 -1.55040034e-01 -6.17718921e+00] [ 2.14600704e-01 9.76701862e-01 -1.01761893e-04 -9.18957287e-01] [ 1.51449466e-01 -3.31735116e-02 9.87908183e-01 1.50687290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594860624 meters Centerline goodness : 0.832943 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.92, Z:1.51 [[ 9.64929221e-01 -2.11731648e-01 -1.55181530e-01 -6.17734791e+00] [ 2.14240616e-01 9.76780750e-01 -5.69440982e-04 -9.16658432e-01] [ 1.51698900e-01 -3.26967163e-02 9.87885807e-01 1.50748710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624860624 meters Centerline goodness : 0.831066 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.92, Z:1.51 [[ 9.64893746e-01 -2.11903884e-01 -1.55167014e-01 -6.17772455e+00] [ 2.14342637e-01 9.76757984e-01 -1.03720909e-03 -9.15534531e-01] [ 1.51780409e-01 -3.22581104e-02 9.87887707e-01 1.50798660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654860624 meters Centerline goodness : 0.831466 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64882196e-01 -2.11898872e-01 -1.55245664e-01 -6.17761411e+00] [ 2.14309680e-01 9.76764984e-01 -1.23548734e-03 -9.14830379e-01] [ 1.51900327e-01 -3.20785487e-02 9.87875122e-01 1.50810389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684860624 meters Centerline goodness : 0.830953 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64839092e-01 -2.12108922e-01 -1.55226710e-01 -6.17787704e+00] [ 2.14478808e-01 9.76727468e-01 -1.51438101e-03 -9.14415458e-01] [ 1.51935405e-01 -3.18317057e-02 9.87877713e-01 1.50839977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714860624 meters Centerline goodness : 0.831836 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64735417e-01 -2.12755542e-01 -1.54985984e-01 -6.17867506e+00] [ 2.15054912e-01 9.76599963e-01 -1.97413915e-03 -9.14010401e-01] [ 1.51779315e-01 -3.14259751e-02 9.87914697e-01 1.50866421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74486062399998 meters Centerline goodness : 0.830346 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64683268e-01 -2.13114077e-01 -1.54817902e-01 -6.17902931e+00] [ 2.15379385e-01 9.76527996e-01 -2.18949752e-03 -9.13962741e-01] [ 1.51650628e-01 -3.12324129e-02 9.87940597e-01 1.50869500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77486062399998 meters Centerline goodness : 0.830677 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64611169e-01 -2.13575389e-01 -1.54631321e-01 -6.17960355e+00] [ 2.15802433e-01 9.76434007e-01 -2.43699333e-03 -9.13820069e-01] [ 1.51507762e-01 -3.10190643e-02 9.87969238e-01 1.50878417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80486062399999 meters Centerline goodness : 0.827314 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64435627e-01 -2.14687954e-01 -1.54184965e-01 -6.18112340e+00] [ 2.16814997e-01 9.76207830e-01 -3.08690348e-03 -9.13580009e-01] [ 1.51179291e-01 -3.04524930e-02 9.88037179e-01 1.50922321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834860624 meters Centerline goodness : 0.827314 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64435627e-01 -2.14687954e-01 -1.54184965e-01 -6.18112340e+00] [ 2.16814997e-01 9.76207830e-01 -3.08690348e-03 -9.13580009e-01] [ 1.51179291e-01 -3.04524930e-02 9.88037179e-01 1.50922321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864860624 meters Centerline goodness : 0.828596 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64326368e-01 -2.15382418e-01 -1.53899548e-01 -6.18217065e+00] [ 2.17452293e-01 9.76064824e-01 -3.45824184e-03 -9.13699603e-01] [ 1.50960780e-01 -3.01309358e-02 9.88080447e-01 1.50962855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894860624 meters Centerline goodness : 0.827086 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64195600e-01 -2.16157648e-01 -1.53631758e-01 -6.18321133e+00] [ 2.18158105e-01 9.75905563e-01 -3.92084426e-03 -9.13986455e-01] [ 1.50777607e-01 -2.97355524e-02 9.88120392e-01 1.51015146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924860624 meters Centerline goodness : 0.829717 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.91, Z:1.51 [[ 9.64097421e-01 -2.16861364e-01 -1.53255705e-01 -6.18415577e+00] [ 2.18818227e-01 9.75756652e-01 -4.18796891e-03 -9.14306528e-01] [ 1.50448483e-01 -2.94975317e-02 9.88177691e-01 1.51018179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954860624 meters Centerline goodness : 0.825329 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 9.63762821e-01 -2.18577699e-01 -1.52921593e-01 -6.18567684e+00] [ 2.20414941e-01 9.75393153e-01 -5.04484383e-03 -9.14895065e-01] [ 1.50261365e-01 -2.88441709e-02 9.88225448e-01 1.51085244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984860624 meters Centerline goodness : 0.824847 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 9.63621928e-01 -2.19358397e-01 -1.52691432e-01 -6.18664341e+00] [ 2.21131734e-01 9.75228535e-01 -5.48282464e-03 -9.14955213e-01] [ 1.50111745e-01 -2.84815511e-02 9.88258704e-01 1.51129503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014860624 meters Centerline goodness : 0.827025 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 9.63486795e-01 -2.20157043e-01 -1.52394465e-01 -6.18759883e+00] [ 2.21853113e-01 9.75061646e-01 -5.99853523e-03 -9.14771678e-01] [ 1.49914618e-01 -2.80296771e-02 9.88301545e-01 1.51162504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.044860624 meters Centerline goodness : 0.823195 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 0.96323467 -0.22165692 -0.15181299 -6.189792 ] [ 0.22322559 0.97474275 -0.00684953 -0.91446215] [ 0.14949685 -0.02729084 0.9883855 1.5123223 ] [ 0. 0. 0. 1. ]] SLAMing on 146.074860624 meters Centerline goodness : 0.824059 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 0.96311829 -0.22228468 -0.15163338 -6.1906571 ] [ 0.22377432 0.97461298 -0.0073888 -0.91403421] [ 0.14942628 -0.02681536 0.98840919 1.51287652] [ 0. 0. 0. 1. ]] SLAMing on 146.104860624 meters Centerline goodness : 0.824853 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 0.96301976 -0.22288234 -0.15138167 -6.19170562] [ 0.224292 0.9744898 -0.00792 -0.91337631] [ 0.14928512 -0.02632658 0.98844366 1.51336163] [ 0. 0. 0. 1. ]] SLAMing on 146.134860624 meters Centerline goodness : 0.825350 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 0.96293914 -0.22336403 -0.1511844 -6.19254431] [ 0.22470737 0.97439041 -0.00836225 -0.91297013] [ 0.14918045 -0.02591991 0.98847021 1.51383295] [ 0. 0. 0. 1. ]] SLAMing on 146.164860624 meters Centerline goodness : 0.827707 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 0.96286804 -0.22390031 -0.15084359 -6.19399143] [ 0.22512706 0.97428674 -0.00911841 -0.91145064] [ 0.14900653 -0.02517915 0.98851559 1.5145945 ] [ 0. 0. 0. 1. ]] SLAMing on 146.194860624 meters Centerline goodness : 0.827986 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.51 [[ 0.96284132 -0.22407377 -0.15075653 -6.19449077] [ 0.22524197 0.97425648 -0.00950573 -0.91021067] [ 0.14900551 -0.02480419 0.98852522 1.51489915] [ 0. 0. 0. 1. ]] SLAMing on 146.224860624 meters Centerline goodness : 0.828486 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96280896 -0.22426226 -0.15068292 -6.19494374] [ 0.22537304 0.97422235 -0.00988914 -0.9091729 ] [ 0.14901643 -0.02443851 0.98853268 1.51524581] [ 0. 0. 0. 1. ]] SLAMing on 146.254860624 meters Centerline goodness : 0.772942 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96276937 -0.22446693 -0.15063112 -6.1953765 ] [ 0.22554565 0.97418015 -0.01010934 -0.90874945] [ 0.14901106 -0.02424123 0.98853835 1.51553159] [ 0. 0. 0. 1. ]] SLAMing on 146.284860624 meters Centerline goodness : 0.828692 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96279211 -0.22435389 -0.15065418 -6.19516501] [ 0.22542858 0.97420702 -0.010131 -0.90828322] [ 0.14904129 -0.02420771 0.98853461 1.51541076] [ 0. 0. 0. 1. ]] SLAMing on 146.314860624 meters Centerline goodness : 0.827032 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96276618 -0.22451268 -0.15058335 -6.19540648] [ 0.22557213 0.97417273 -0.01023299 -0.90813672] [ 0.14899163 -0.02411543 0.98854435 1.51546106] [ 0. 0. 0. 1. ]] SLAMing on 146.344860624 meters Centerline goodness : 0.826225 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96276461 -0.22450902 -0.1505988 -6.19521336] [ 0.22556586 0.97417397 -0.01025256 -0.90812885] [ 0.14901122 -0.02409914 0.9885418 1.51537487] [ 0. 0. 0. 1. ]] SLAMing on 146.374860624 meters Centerline goodness : 0.826500 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96278078 -0.22439623 -0.15066352 -6.19477091] [ 0.2254757 0.97419639 -0.01010413 -0.90854073] [ 0.14904319 -0.0242429 0.98853346 1.51515253] [ 0. 0. 0. 1. ]] SLAMing on 146.404860624 meters Centerline goodness : 0.829372 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.962746 -0.22460107 -0.15058057 -6.19505808] [ 0.22565491 0.9741531 -0.01027667 -0.90859424] [ 0.14899668 -0.02408542 0.98854433 1.5153765 ] [ 0. 0. 0. 1. ]] SLAMing on 146.434860624 meters Centerline goodness : 0.771252 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96274395 -0.22448795 -0.15076224 -6.19456766] [ 0.22554478 0.97417859 -0.01027766 -0.90868365] [ 0.14917656 -0.02410888 0.98851662 1.5154456 ] [ 0. 0. 0. 1. ]] SLAMing on 146.464860624 meters Centerline goodness : 0.827066 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96275238 -0.22437743 -0.15087289 -6.19415768] [ 0.22543248 0.97420436 -0.01029881 -0.90844119] [ 0.14929185 -0.02409644 0.98849952 1.51538608] [ 0. 0. 0. 1. ]] SLAMing on 146.49486062399998 meters Centerline goodness : 0.828871 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96278518 -0.22408596 -0.15109663 -6.19344703] [ 0.22513702 0.97427226 -0.01033869 -0.90763665] [ 0.14952601 -0.02406351 0.98846493 1.51522537] [ 0. 0. 0. 1. ]] SLAMing on 146.52486062399998 meters Centerline goodness : 0.828961 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96279399 -0.22396854 -0.15121448 -6.19310825] [ 0.22500983 0.97430085 -0.01041326 -0.90689497] [ 0.14966064 -0.02399892 0.98844613 1.51511615] [ 0. 0. 0. 1. ]] SLAMing on 146.55486062399999 meters Centerline goodness : 0.832375 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96280873 -0.22386908 -0.15126795 -6.19294722] [ 0.2248923 0.97432669 -0.01053326 -0.90598103] [ 0.14974247 -0.02387748 0.98843667 1.5150661 ] [ 0. 0. 0. 1. ]] SLAMing on 146.584860624 meters Centerline goodness : 0.832120 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.91, Z:1.52 [[ 0.96281758 -0.22381756 -0.15128783 -6.19288074] [ 0.22480874 0.97434368 -0.01074386 -0.90512271] [ 0.14981101 -0.02366645 0.98843136 1.5151182 ] [ 0. 0. 0. 1. ]] SLAMing on 146.614860624 meters Centerline goodness : 0.772131 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.90, Z:1.52 [[ 0.96279683 -0.2239482 -0.15122653 -6.19347875] [ 0.22485436 0.9743268 -0.01130531 -0.90332648] [ 0.14987586 -0.02311923 0.98843448 1.51565951] [ 0. 0. 0. 1. ]] SLAMing on 146.644860624 meters Centerline goodness : 0.773753 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.90, Z:1.52 [[ 0.96272658 -0.22434322 -0.15108822 -6.19434356] [ 0.22516917 0.97424769 -0.01184419 -0.90233414] [ 0.14985451 -0.02261769 0.98844932 1.51629485] [ 0. 0. 0. 1. ]] SLAMing on 146.674860624 meters Centerline goodness : 0.771274 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96265192 -0.22488224 -0.15076227 -6.19553433] [ 0.2256182 0.97413648 -0.01243155 -0.90109536] [ 0.14965866 -0.02204745 0.98849188 1.51672932] [ 0. 0. 0. 1. ]] SLAMing on 146.704860624 meters Centerline goodness : 0.833079 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96255709 -0.22543547 -0.15054134 -6.19646169] [ 0.22610391 0.97401792 -0.01288854 -0.90063601] [ 0.14953549 -0.02163203 0.9885197 1.51717356] [ 0. 0. 0. 1. ]] SLAMing on 146.734860624 meters Centerline goodness : 0.773360 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96246234 -0.22599541 -0.15030739 -6.1972876 ] [ 0.22659584 0.9738974 -0.01334849 -0.90037553] [ 0.14940068 -0.02121161 0.98854919 1.51757285] [ 0. 0. 0. 1. ]] SLAMing on 146.764860624 meters Centerline goodness : 0.829896 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96238425 -0.22649191 -0.15005992 -6.19793037] [ 0.22705271 0.9737873 -0.01361453 -0.90028038] [ 0.14921002 -0.0209691 0.98858316 1.51764231] [ 0. 0. 0. 1. ]] SLAMing on 146.794860624 meters Centerline goodness : 0.831096 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96227262 -0.22718249 -0.1497315 -6.19879264] [ 0.22768582 0.97363395 -0.01400345 -0.9002395 ] [ 0.14896501 -0.0206166 0.98862752 1.5177595 ] [ 0. 0. 0. 1. ]] SLAMing on 146.824860624 meters Centerline goodness : 0.774967 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96223226 -0.22749226 -0.14952042 -6.19915922] [ 0.22796658 0.97356554 -0.01419088 -0.90017788] [ 0.14879624 -0.02043073 0.9886568 1.51771979] [ 0. 0. 0. 1. ]] SLAMing on 146.854860624 meters Centerline goodness : 0.773790 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96220404 -0.22765402 -0.14945576 -6.19911213] [ 0.22810837 0.97353033 -0.01432729 -0.90001096] [ 0.14876138 -0.02030633 0.98866461 1.51759093] [ 0. 0. 0. 1. ]] SLAMing on 146.884860624 meters Centerline goodness : 0.774213 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.9621778 -0.22784539 -0.14933308 -6.1991908 ] [ 0.22827915 0.9734883 -0.01446223 -0.89966832] [ 0.14866915 -0.02017439 0.98868118 1.51738987] [ 0. 0. 0. 1. ]] SLAMing on 146.914860624 meters Centerline goodness : 0.831846 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.9621651 -0.22790632 -0.14932191 -6.19936145] [ 0.22830684 0.97347845 -0.01468649 -0.89846019] [ 0.1487088 -0.01996038 0.98867956 1.51745511] [ 0. 0. 0. 1. ]] SLAMing on 146.944860624 meters Centerline goodness : 0.829757 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96214096 -0.22797356 -0.14937482 -6.19942409] [ 0.22834608 0.97346623 -0.01488502 -0.89798814] [ 0.14880473 -0.01978767 0.9886686 1.5177039 ] [ 0. 0. 0. 1. ]] SLAMing on 146.974860624 meters Centerline goodness : 0.832363 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96210982 -0.2281099 -0.1493672 -6.19951292] [ 0.22845609 0.97343758 -0.01506956 -0.89784326] [ 0.14883716 -0.01962527 0.98866696 1.51786226] [ 0. 0. 0. 1. ]] SLAMing on 147.004860624 meters Centerline goodness : 0.774532 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96204114 -0.22859048 -0.1490746 -6.20039022] [ 0.22889793 0.97332978 -0.01532588 -0.89851555] [ 0.1486021 -0.01937874 0.98870718 1.51824908] [ 0. 0. 0. 1. ]] SLAMing on 147.034860624 meters Centerline goodness : 0.773566 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96195783 -0.22910685 -0.14881927 -6.20120432] [ 0.22937994 0.97321256 -0.01556134 -0.89875668] [ 0.14839799 -0.0191668 0.98874196 1.51850647] [ 0. 0. 0. 1. ]] SLAMing on 147.064860624 meters Centerline goodness : 0.828099 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96188942 -0.2295398 -0.14859419 -6.20190022] [ 0.22978242 0.97311427 -0.01576898 -0.89910324] [ 0.14821873 -0.01897631 0.98877253 1.51878629] [ 0. 0. 0. 1. ]] SLAMing on 147.094860624 meters Centerline goodness : 0.827046 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96184083 -0.22980761 -0.14849474 -6.20203596] [ 0.23004778 0.97305118 -0.01579328 -0.89975107] [ 0.14812239 -0.01897027 0.98878708 1.51878356] [ 0. 0. 0. 1. ]] SLAMing on 147.124860624 meters Centerline goodness : 0.828985 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96176464 -0.23026661 -0.14827701 -6.20245502] [ 0.23047801 0.9729461 -0.01599304 -0.9004363 ] [ 0.1479482 -0.01879305 0.98881654 1.51889634] [ 0. 0. 0. 1. ]] SLAMing on 147.154860624 meters Centerline goodness : 0.774640 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96168979 -0.23069536 -0.14809588 -6.20258137] [ 0.23090951 0.97284392 -0.01598467 -0.90175514] [ 0.14776176 -0.01882446 0.98884382 1.51872801] [ 0. 0. 0. 1. ]] SLAMing on 147.184860624 meters Centerline goodness : 0.828424 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96166418 -0.23082366 -0.1480623 -6.20255043] [ 0.23102587 0.97281488 -0.01607012 -0.90218332] [ 0.14774657 -0.01875216 0.98884746 1.51880732] [ 0. 0. 0. 1. ]] SLAMing on 147.214860624 meters Centerline goodness : 0.773409 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96161353 -0.23111301 -0.14793983 -6.20309738] [ 0.23129033 0.97274916 -0.01624361 -0.90240002] [ 0.14766246 -0.01859698 0.98886296 1.51916409] [ 0. 0. 0. 1. ]] SLAMing on 147.24486062399998 meters Centerline goodness : 0.773409 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96161353 -0.23111301 -0.14793983 -6.20309738] [ 0.23129033 0.97274916 -0.01624361 -0.90240002] [ 0.14766246 -0.01859698 0.98886296 1.51916409] [ 0. 0. 0. 1. ]] SLAMing on 147.27486062399998 meters Centerline goodness : 0.826798 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96160703 -0.23113339 -0.14795026 -6.20361769] [ 0.23128058 0.97274804 -0.01644824 -0.90189061] [ 0.14772006 -0.01840128 0.98885802 1.51977813] [ 0. 0. 0. 1. ]] SLAMing on 147.30486062399999 meters Centerline goodness : 0.825483 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96160225 -0.23108841 -0.14805152 -6.20340425] [ 0.23122849 0.97275946 -0.01650508 -0.90189616] [ 0.14783265 -0.01836241 0.98884191 1.51991756] [ 0. 0. 0. 1. ]] SLAMing on 147.334860624 meters Centerline goodness : 0.828249 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96159584 -0.23116059 -0.14798049 -6.20346699] [ 0.23129025 0.97274365 -0.01657145 -0.90217921] [ 0.14777775 -0.01829141 0.98885144 1.51996903] [ 0. 0. 0. 1. ]] SLAMing on 147.364860624 meters Centerline goodness : 0.827918 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96163713 -0.23091209 -0.14810005 -6.20261809] [ 0.23108019 0.97279799 -0.01631012 -0.9031128 ] [ 0.14783764 -0.01853857 0.98883788 1.51953388] [ 0. 0. 0. 1. ]] SLAMing on 147.394860624 meters Centerline goodness : 0.826979 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96164821 -0.23081995 -0.14817174 -6.20221377] [ 0.23099726 0.97281868 -0.01625047 -0.90331993] [ 0.14789517 -0.01860003 0.98882812 1.51936276] [ 0. 0. 0. 1. ]] SLAMing on 147.424860624 meters Centerline goodness : 0.828254 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96163 -0.23089008 -0.14818071 -6.20224007] [ 0.23105402 0.9728036 -0.01634647 -0.90349679] [ 0.14792496 -0.01851849 0.9888252 1.51954107] [ 0. 0. 0. 1. ]] SLAMing on 147.454860624 meters Centerline goodness : 0.776554 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96162721 -0.23085371 -0.14825543 -6.20210897] [ 0.2310025 0.97281401 -0.0164543 -0.90340508] [ 0.14802349 -0.01842447 0.98881221 1.51975211] [ 0. 0. 0. 1. ]] SLAMing on 147.484860624 meters Centerline goodness : 0.778455 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96168165 -0.23050234 -0.14844889 -6.20178672] [ 0.2306573 0.97289666 -0.01641012 -0.90326973] [ 0.148208 -0.01845951 0.98878392 1.52004912] [ 0. 0. 0. 1. ]] SLAMing on 147.514860624 meters Centerline goodness : 0.775099 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96168942 -0.2304698 -0.1484491 -6.2017871 ] [ 0.23062048 0.97290495 -0.01643621 -0.90364698] [ 0.14821492 -0.01842887 0.98878345 1.5202639 ] [ 0. 0. 0. 1. ]] SLAMing on 147.544860624 meters Centerline goodness : 0.830069 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96169489 -0.23041708 -0.1484955 -6.20173961] [ 0.2305645 0.97291782 -0.01645963 -0.90413682] [ 0.1482665 -0.01840864 0.9887761 1.52055165] [ 0. 0. 0. 1. ]] SLAMing on 147.574860624 meters Centerline goodness : 0.831953 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.90, Z:1.52 [[ 0.96171356 -0.2303196 -0.14852577 -6.2020222 ] [ 0.23047029 0.97294058 -0.01643407 -0.90491281] [ 0.14829184 -0.01842591 0.98877197 1.52115226] [ 0. 0. 0. 1. ]] SLAMing on 147.604860624 meters Centerline goodness : 0.833346 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96171134 -0.230344 -0.14850231 -6.2022506 ] [ 0.2304903 0.97293536 -0.01646224 -0.90509998] [ 0.14827513 -0.01839642 0.98877503 1.52141803] [ 0. 0. 0. 1. ]] SLAMing on 147.634860624 meters Centerline goodness : 0.832809 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96170239 -0.23039601 -0.14847962 -6.20240743] [ 0.23053703 0.97292367 -0.01649868 -0.90536911] [ 0.14826057 -0.01836323 0.98877783 1.52162051] [ 0. 0. 0. 1. ]] SLAMing on 147.664860624 meters Centerline goodness : 0.831282 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96168732 -0.23045735 -0.14848198 -6.20268169] [ 0.23061463 0.97290703 -0.0163953 -0.90712217] [ 0.14823758 -0.01847496 0.98877919 1.52222479] [ 0. 0. 0. 1. ]] SLAMing on 147.694860624 meters Centerline goodness : 0.777358 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96168567 -0.2304966 -0.14843176 -6.20259605] [ 0.23067987 0.97289452 -0.01621858 -0.90823963] [ 0.14814677 -0.01864304 0.98878965 1.52218573] [ 0. 0. 0. 1. ]] SLAMing on 147.724860624 meters Centerline goodness : 0.775483 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96167073 -0.23063245 -0.1483175 -6.20264374] [ 0.23083656 0.97285974 -0.01607541 -0.9094723 ] [ 0.14799963 -0.01877784 0.98880913 1.52212974] [ 0. 0. 0. 1. ]] SLAMing on 147.754860624 meters Centerline goodness : 0.775483 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96167073 -0.23063245 -0.1483175 -6.20264374] [ 0.23083656 0.97285974 -0.01607541 -0.9094723 ] [ 0.14799963 -0.01877784 0.98880913 1.52212974] [ 0. 0. 0. 1. ]] SLAMing on 147.784860624 meters Centerline goodness : 0.777783 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96164043 -0.23082687 -0.14821147 -6.20271651] [ 0.23105585 0.97281039 -0.01591059 -0.91086785] [ 0.14785425 -0.01894486 0.9888277 1.52208082] [ 0. 0. 0. 1. ]] SLAMing on 147.814860624 meters Centerline goodness : 0.776026 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96146683 -0.23169884 -0.14797694 -6.2034043 ] [ 0.23191941 0.97260334 -0.01600415 -0.91340651] [ 0.14763101 -0.01893127 0.98886131 1.52247572] [ 0. 0. 0. 1. ]] SLAMing on 147.844860624 meters Centerline goodness : 0.776690 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.91, Z:1.52 [[ 0.96140057 -0.23202665 -0.14789379 -6.2037451 ] [ 0.2322477 0.97252481 -0.01601557 -0.91452297] [ 0.14754642 -0.01895061 0.98887357 1.5227777 ] [ 0. 0. 0. 1. ]] SLAMing on 147.874860624 meters Centerline goodness : 0.833933 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96138059 -0.23215144 -0.14782783 -6.2036033 ] [ 0.23239076 0.97249263 -0.01589412 -0.91563215] [ 0.14745131 -0.01907352 0.98888539 1.52260507] [ 0. 0. 0. 1. ]] SLAMing on 147.904860624 meters Centerline goodness : 0.777654 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96134506 -0.23225002 -0.14790402 -6.20332622] [ 0.23250333 0.97246696 -0.015818 -0.91666927] [ 0.1475055 -0.01918162 0.98887522 1.52265609] [ 0. 0. 0. 1. ]] SLAMing on 147.934860624 meters Centerline goodness : 0.779503 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.9613224 -0.23244789 -0.1477404 -6.20355447] [ 0.2327126 0.97241825 -0.01573523 -0.91803384] [ 0.14732308 -0.01925443 0.98890099 1.52272237] [ 0. 0. 0. 1. ]] SLAMing on 147.964860624 meters Centerline goodness : 0.778581 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.9613282 -0.23237094 -0.14782368 -6.20330717] [ 0.23263216 0.97243703 -0.01576374 -0.91809234] [ 0.14741225 -0.01923442 0.9888881 1.52282662] [ 0. 0. 0. 1. ]] SLAMing on 147.99486062399998 meters Centerline goodness : 0.834445 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96132111 -0.23243705 -0.14776584 -6.20360384] [ 0.23268508 0.97242297 -0.01584976 -0.91806683] [ 0.14737496 -0.0191462 0.98889537 1.52304269] [ 0. 0. 0. 1. ]] SLAMing on 148.02486062399998 meters Centerline goodness : 0.778471 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.9613388 -0.23234973 -0.14778807 -6.20386915] [ 0.23259332 0.9724445 -0.01587569 -0.91852453] [ 0.14740441 -0.0191126 0.98889163 1.5236097 ] [ 0. 0. 0. 1. ]] SLAMing on 148.05486062399999 meters Centerline goodness : 0.833718 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96134018 -0.23231383 -0.14783549 -6.20382036] [ 0.23255271 0.97245364 -0.0159107 -0.91857709] [ 0.14745944 -0.01908395 0.98888398 1.52373834] [ 0. 0. 0. 1. ]] SLAMing on 148.084860624 meters Centerline goodness : 0.829177 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96136005 -0.23215791 -0.14795117 -6.20345947] [ 0.23240031 0.97249041 -0.01589018 -0.91855977] [ 0.14757013 -0.01910771 0.988867 1.523739 ] [ 0. 0. 0. 1. ]] SLAMing on 148.114860624 meters Centerline goodness : 0.835017 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96139024 -0.2319291 -0.14811382 -6.20306162] [ 0.23219489 0.97254197 -0.01573708 -0.9189733 ] [ 0.14769679 -0.0192618 0.9888451 1.52379121] [ 0. 0. 0. 1. ]] SLAMing on 148.144860624 meters Centerline goodness : 0.832862 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96137427 -0.2319742 -0.14814682 -6.20310073] [ 0.23222494 0.97253303 -0.01584575 -0.91916838] [ 0.14775348 -0.01916969 0.98883843 1.52409235] [ 0. 0. 0. 1. ]] SLAMing on 148.174860624 meters Centerline goodness : 0.833783 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96135335 -0.23203016 -0.14819492 -6.20324233] [ 0.2322689 0.97252104 -0.01593663 -0.91940402] [ 0.14782046 -0.01910034 0.98882976 1.5244747 ] [ 0. 0. 0. 1. ]] SLAMing on 148.204860624 meters Centerline goodness : 0.834047 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96136759 -0.23202046 -0.14811774 -6.20335382] [ 0.23226567 0.9725227 -0.01588246 -0.9198234 ] [ 0.14773292 -0.01913379 0.98884219 1.52453169] [ 0. 0. 0. 1. ]] SLAMing on 148.234860624 meters Centerline goodness : 0.836000 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96135129 -0.23207783 -0.14813363 -6.20329515] [ 0.23234874 0.97250555 -0.01571699 -0.92123274] [ 0.14770834 -0.01930911 0.98884246 1.52470554] [ 0. 0. 0. 1. ]] SLAMing on 148.264860624 meters Centerline goodness : 0.833682 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96134033 -0.23219846 -0.14801567 -6.20342964] [ 0.23248204 0.97247516 -0.01562589 -0.92193018] [ 0.14756987 -0.01938918 0.98886156 1.52462806] [ 0. 0. 0. 1. ]] SLAMing on 148.294860624 meters Centerline goodness : 0.834798 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96135108 -0.2321302 -0.14805293 -6.20303066] [ 0.2324488 0.97248685 -0.01539084 -0.92286917] [ 0.1475522 -0.01961873 0.98885967 1.524418 ] [ 0. 0. 0. 1. ]] SLAMing on 148.324860624 meters Centerline goodness : 0.834382 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.9613494 -0.23214804 -0.14803587 -6.20286569] [ 0.23249594 0.97247869 -0.01519358 -0.92353235] [ 0.14748888 -0.0198114 0.98886528 1.52419655] [ 0. 0. 0. 1. ]] SLAMing on 148.354860624 meters Centerline goodness : 0.779125 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.92, Z:1.52 [[ 0.96126682 -0.23253991 -0.14795709 -6.20347276] [ 0.23286727 0.97238736 -0.01535101 -0.92442252] [ 0.14744132 -0.01969795 0.98887464 1.52481951] [ 0. 0. 0. 1. ]] SLAMing on 148.384860624 meters Centerline goodness : 0.779706 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.93, Z:1.53 [[ 0.96120276 -0.23284255 -0.14789728 -6.20394557] [ 0.23315618 0.97231642 -0.01545854 -0.92513422] [ 0.14740236 -0.01962437 0.98888191 1.52528168] [ 0. 0. 0. 1. ]] SLAMing on 148.414860624 meters Centerline goodness : 0.780322 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.93, Z:1.53 [[ 0.96108738 -0.23348141 -0.14763966 -6.20487245] [ 0.23378265 0.97216442 -0.01555658 -0.92670304] [ 0.1471622 -0.01956436 0.98891887 1.52578275] [ 0. 0. 0. 1. ]] SLAMing on 148.444860624 meters Centerline goodness : 0.781716 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96093988 -0.2342288 -0.14741577 -6.20533294] [ 0.23452654 0.97198441 -0.01560778 -0.92824054] [ 0.14694162 -0.01957478 0.98895146 1.52576058] [ 0. 0. 0. 1. ]] SLAMing on 148.474860624 meters Centerline goodness : 0.782372 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96074543 -0.23516575 -0.14719136 -6.20601601] [ 0.23542373 0.97176246 -0.01591788 -0.92990067] [ 0.14677838 -0.01935931 0.98897994 1.52614686] [ 0. 0. 0. 1. ]] SLAMing on 148.504860624 meters Centerline goodness : 0.782372 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96074543 -0.23516575 -0.14719136 -6.20601601] [ 0.23542373 0.97176246 -0.01591788 -0.92990067] [ 0.14677838 -0.01935931 0.98897994 1.52614686] [ 0. 0. 0. 1. ]] SLAMing on 148.534860624 meters Centerline goodness : 0.782372 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96074543 -0.23516575 -0.14719136 -6.20601601] [ 0.23542373 0.97176246 -0.01591788 -0.92990067] [ 0.14677838 -0.01935931 0.98897994 1.52614686] [ 0. 0. 0. 1. ]] SLAMing on 148.564860624 meters Centerline goodness : 0.783080 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96069221 -0.23550902 -0.14698972 -6.206359 ] [ 0.23576103 0.97168003 -0.01595777 -0.93046958] [ 0.14658518 -0.01932394 0.98900929 1.52607281] [ 0. 0. 0. 1. ]] SLAMing on 148.594860624 meters Centerline goodness : 0.781027 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.9606323 -0.23586522 -0.14681003 -6.20678683] [ 0.23609355 0.9715966 -0.01612121 -0.93085011] [ 0.14644256 -0.01917435 0.98903333 1.52624044] [ 0. 0. 0. 1. ]] SLAMing on 148.624860624 meters Centerline goodness : 0.784101 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96054942 -0.23627066 -0.14670034 -6.20722861] [ 0.23646342 0.97150234 -0.01637822 -0.93107026] [ 0.14638942 -0.01895717 0.98904538 1.52654694] [ 0. 0. 0. 1. ]] SLAMing on 148.654860624 meters Centerline goodness : 0.782987 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96051587 -0.23643344 -0.14665773 -6.20736788] [ 0.2366083 0.9714649 -0.01650621 -0.93118189] [ 0.14637546 -0.01884596 0.98904957 1.52668531] [ 0. 0. 0. 1. ]] SLAMing on 148.684860624 meters Centerline goodness : 0.782154 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.960485 -0.23662192 -0.1465559 -6.20772635] [ 0.2367553 0.97142426 -0.01678781 -0.93062403] [ 0.14634032 -0.01857344 0.98905993 1.52689337] [ 0. 0. 0. 1. ]] SLAMing on 148.714860624 meters Centerline goodness : 0.780702 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96047271 -0.23669023 -0.14652616 -6.2079463 ] [ 0.23679278 0.97141148 -0.0169977 -0.92998121] [ 0.14636038 -0.01837051 0.98906075 1.52708078] [ 0. 0. 0. 1. ]] SLAMing on 148.74486062399998 meters Centerline goodness : 0.782607 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96046256 -0.23670801 -0.14656395 -6.2080087 ] [ 0.23677687 0.97141124 -0.01723138 -0.92926107] [ 0.14645268 -0.01815286 0.9890511 1.52728842] [ 0. 0. 0. 1. ]] SLAMing on 148.77486062399998 meters Centerline goodness : 0.825680 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96049643 -0.23656466 -0.14657343 -6.20799681] [ 0.23659745 0.97145078 -0.01746507 -0.92803449] [ 0.14652049 -0.01790376 0.9890456 1.52732532] [ 0. 0. 0. 1. ]] SLAMing on 148.80486062399999 meters Centerline goodness : 0.778730 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96050802 -0.23649826 -0.14660463 -6.20777501] [ 0.2365105 0.97146947 -0.01760252 -0.92717878] [ 0.14658489 -0.01776617 0.98903854 1.52718311] [ 0. 0. 0. 1. ]] SLAMing on 148.834860624 meters Centerline goodness : 0.779568 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96051354 -0.23642857 -0.14668085 -6.20757828] [ 0.23642051 0.97148881 -0.0177434 -0.92643513] [ 0.14669386 -0.01763559 0.98902472 1.5271614 ] [ 0. 0. 0. 1. ]] SLAMing on 148.864860624 meters Centerline goodness : 0.780153 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:1.53 [[ 0.96051311 -0.23638495 -0.14675397 -6.20742228] [ 0.23635286 0.9715022 -0.01791076 -0.92561742] [ 0.14680564 -0.0174822 0.98901086 1.52717775] [ 0. 0. 0. 1. ]] SLAMing on 148.894860624 meters Centerline goodness : 0.780708 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.92, Z:1.53 [[ 0.96060656 -0.23594941 -0.14684315 -6.20694587] [ 0.23589794 0.97161078 -0.0180184 -0.92398273] [ 0.14692582 -0.0173314 0.98899567 1.52693941] [ 0. 0. 0. 1. ]] SLAMing on 148.924860624 meters Centerline goodness : 0.781171 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.92, Z:1.53 [[ 0.96060131 -0.23595888 -0.14686228 -6.20691406] [ 0.23587035 0.97161276 -0.01827078 -0.92255835] [ 0.14700442 -0.01708952 0.98898819 1.52685067] [ 0. 0. 0. 1. ]] SLAMing on 148.954860624 meters Centerline goodness : 0.779128 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.92, Z:1.53 [[ 0.96061218 -0.23587123 -0.14693194 -6.20675979] [ 0.23574218 0.97163868 -0.01854462 -0.92099585] [ 0.1471389 -0.01682387 0.98897275 1.52682176] [ 0. 0. 0. 1. ]] SLAMing on 148.984860624 meters Centerline goodness : 0.779697 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.92, Z:1.53 [[ 0.96060398 -0.23587869 -0.1469736 -6.2066907 ] [ 0.2357035 0.97164199 -0.01885999 -0.91953123] [ 0.14725439 -0.01652521 0.9889606 1.52679687] [ 0. 0. 0. 1. ]] SLAMing on 149.014860624 meters Centerline goodness : 0.778908 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.92, Z:1.53 [[ 0.96073415 -0.23539752 -0.14689417 -6.20637217] [ 0.2351739 0.97176485 -0.0191392 -0.91618083] [ 0.14725191 -0.01615799 0.98896703 1.52612689] [ 0. 0. 0. 1. ]] SLAMing on 149.044860624 meters Centerline goodness : 0.778188 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.91, Z:1.53 [[ 0.96074162 -0.23533837 -0.1469401 -6.206096 ] [ 0.23504838 0.97178633 -0.01958517 -0.91381797] [ 0.14740353 -0.01572174 0.98895148 1.52587626] [ 0. 0. 0. 1. ]] SLAMing on 149.074860624 meters Centerline goodness : 0.776808 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.91, Z:1.53 [[ 0.96071304 -0.23547508 -0.14690793 -6.20612862] [ 0.23509707 0.97176233 -0.02018265 -0.91136375] [ 0.14751211 -0.01514789 0.98894424 1.52577866] [ 0. 0. 0. 1. ]] SLAMing on 149.104860624 meters Centerline goodness : 0.782774 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.91, Z:1.53 [[ 0.96040657 -0.23727396 -0.14601469 -6.20950134] [ 0.23663684 0.97134967 -0.0219732 -0.90702174] [ 0.14704499 -0.01344925 0.98903837 1.5267952 ] [ 0. 0. 0. 1. ]] SLAMing on 149.134860624 meters Centerline goodness : 0.779611 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.91, Z:1.53 [[ 0.96013516 -0.23878639 -0.14533248 -6.21186954] [ 0.23802186 0.97099013 -0.02288596 -0.90583779] [ 0.14658126 -0.0126187 0.98911814 1.52735644] [ 0. 0. 0. 1. ]] SLAMing on 149.164860624 meters Centerline goodness : 0.779967 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.90, Z:1.53 [[ 0.9594322 -0.24214037 -0.14442264 -6.21486056] [ 0.2411592 0.9701755 -0.02453046 -0.90461782] [ 0.14605512 -0.01129354 0.98921199 1.52748302] [ 0. 0. 0. 1. ]] SLAMing on 149.194860624 meters Centerline goodness : 0.779006 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.90, Z:1.53 [[ 0.95910927 -0.24384915 -0.14369062 -6.21674555] [ 0.24276945 0.96975476 -0.02527262 -0.90452732] [ 0.14550737 -0.01064449 0.9892999 1.52741883] [ 0. 0. 0. 1. ]] SLAMing on 149.224860624 meters Centerline goodness : 0.780936 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.90, Z:1.53 [[ 0.95875262 -0.24566434 -0.14297711 -6.2189536 ] [ 0.24447203 0.96930434 -0.02612528 -0.90454206] [ 0.14500638 -0.00990622 0.98938113 1.52778106] [ 0. 0. 0. 1. ]] SLAMing on 149.254860624 meters Centerline goodness : 0.780126 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.90, Z:1.53 [[ 9.57297314e-01 -2.52288846e-01 -1.41181411e-01 -6.22194086e+00] [ 2.50354794e-01 9.67638527e-01 -3.15936429e-02 -9.01791082e-01] [ 1.44583296e-01 -5.10093364e-03 9.89479485e-01 1.52862212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284860624 meters Centerline goodness : 0.780867 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.90, Z:1.53 [[ 9.57018619e-01 -2.53653377e-01 -1.40624777e-01 -6.22372202e+00] [ 2.51603607e-01 9.67285584e-01 -3.24688033e-02 -9.00836509e-01] [ 1.44260141e-01 -4.30845184e-03 9.89530418e-01 1.52900139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314860624 meters Centerline goodness : 0.780045 Centerline is valid? [False, False] Translation: X:-6.24, Y:-0.90, Z:1.53 [[ 9.58073717e-01 -2.51982987e-01 -1.36379351e-01 -6.24088793e+00] [ 2.49068742e-01 9.67727796e-01 -3.83102370e-02 -9.01871978e-01] [ 1.41631617e-01 2.73619763e-03 9.89915652e-01 1.52714473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344860624 meters Centerline goodness : 0.781353 Centerline is valid? [False, False] Translation: X:-6.24, Y:-0.90, Z:1.53 [[ 9.57962817e-01 -2.52500536e-01 -1.36201032e-01 -6.24141673e+00] [ 2.49519783e-01 9.67591467e-01 -3.88153448e-02 -9.00329533e-01] [ 1.41587851e-01 3.19880526e-03 9.89920526e-01 1.52712676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374860624 meters Centerline goodness : 0.782841 Centerline is valid? [False, False] Translation: X:-6.24, Y:-0.90, Z:1.53 [[ 9.57768228e-01 -2.53492600e-01 -1.35725913e-01 -6.24333002e+00] [ 2.50342273e-01 9.67327259e-01 -4.00839201e-02 -8.96898819e-01] [ 1.41452353e-01 4.41317156e-03 9.89935228e-01 1.52784831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404860624 meters Centerline goodness : 0.782234 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.90, Z:1.53 [[ 9.58579391e-01 -2.51550619e-01 -1.33595794e-01 -6.24968851e+00] [ 2.48671809e-01 9.67838548e-01 -3.80903769e-02 -8.95490827e-01] [ 1.38880817e-01 3.29114245e-03 9.90303634e-01 1.52785146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434860624 meters Centerline goodness : 0.783626 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 9.59338430e-01 -2.48514000e-01 -1.33830374e-01 -6.25222986e+00] [ 2.46014321e-01 9.68627962e-01 -3.51685230e-02 -8.94370989e-01] [ 1.38371713e-01 8.14327123e-04 9.90380031e-01 1.52849249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464860624 meters Centerline goodness : 0.783766 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 9.60289161e-01 -2.44410387e-01 -1.34567049e-01 -6.25295931e+00] [ 2.42338533e-01 9.69669713e-01 -3.18226703e-02 -8.91632770e-01] [ 1.38263383e-01 -2.05181591e-03 9.90393370e-01 1.52829815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49486062399998 meters Centerline goodness : 0.782491 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 9.61269970e-01 -2.40073519e-01 -1.35368941e-01 -6.25283594e+00] [ 2.38499831e-01 9.70739693e-01 -2.79692611e-02 -8.90962517e-01] [ 1.38122683e-01 -5.39945884e-03 9.90400409e-01 1.52759259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52486062399998 meters Centerline goodness : 0.782604 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96213823 -0.23619994 -0.13601327 -6.25322497] [ 0.23513319 0.97166459 -0.02408945 -0.89169442] [ 0.1378492 -0.00880385 0.9904141 1.52707348] [ 0. 0. 0. 1. ]] SLAMing on 149.55486062399999 meters Centerline goodness : 0.782604 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96213823 -0.23619994 -0.13601327 -6.25322497] [ 0.23513319 0.97166459 -0.02408945 -0.89169442] [ 0.1378492 -0.00880385 0.9904141 1.52707348] [ 0. 0. 0. 1. ]] SLAMing on 149.584860624 meters Centerline goodness : 0.782604 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96213823 -0.23619994 -0.13601327 -6.25322497] [ 0.23513319 0.97166459 -0.02408945 -0.89169442] [ 0.1378492 -0.00880385 0.9904141 1.52707348] [ 0. 0. 0. 1. ]] SLAMing on 149.614860624 meters Centerline goodness : 0.782469 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96297814 -0.23242624 -0.13656921 -6.25395831] [ 0.23184938 0.97253904 -0.02033923 -0.89191904] [ 0.13754626 -0.01207725 0.99042171 1.52664176] [ 0. 0. 0. 1. ]] SLAMing on 149.644860624 meters Centerline goodness : 0.782469 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96297814 -0.23242624 -0.13656921 -6.25395831] [ 0.23184938 0.97253904 -0.02033923 -0.89191904] [ 0.13754626 -0.01207725 0.99042171 1.52664176] [ 0. 0. 0. 1. ]] SLAMing on 149.674860624 meters Centerline goodness : 0.782469 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96297814 -0.23242624 -0.13656921 -6.25395831] [ 0.23184938 0.97253904 -0.02033923 -0.89191904] [ 0.13754626 -0.01207725 0.99042171 1.52664176] [ 0. 0. 0. 1. ]] SLAMing on 149.704860624 meters Centerline goodness : 0.783168 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96394817 -0.22789535 -0.13735949 -6.25399126] [ 0.2278016 0.97356581 -0.01661471 -0.88995709] [ 0.13751492 -0.01527499 0.99038191 1.52609956] [ 0. 0. 0. 1. ]] SLAMing on 149.734860624 meters Centerline goodness : 0.781625 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.89, Z:1.53 [[ 0.96475595 -0.22413137 -0.13788066 -6.25484924] [ 0.22450355 0.97438589 -0.01304977 -0.88982133] [ 0.13727384 -0.01836485 0.99036288 1.52589642] [ 0. 0. 0. 1. ]] SLAMing on 149.764860624 meters Centerline goodness : 0.782361 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.89, Z:1.53 [[ 0.9655439 -0.22044408 -0.13830901 -6.25593397] [ 0.22128093 0.97516392 -0.00949078 -0.88950426] [ 0.13696614 -0.02144139 0.99034365 1.52564092] [ 0. 0. 0. 1. ]] SLAMing on 149.794860624 meters Centerline goodness : 0.781220 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.89, Z:1.53 [[ 9.66327784e-01 -2.16735634e-01 -1.38694913e-01 -6.25697824e+00] [ 2.18024299e-01 9.75924783e-01 -6.01852894e-03 -8.88938799e-01] [ 1.36660233e-01 -2.44229895e-02 9.90316868e-01 1.52535865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.824860624 meters Centerline goodness : 0.781504 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.89, Z:1.52 [[ 9.67199659e-01 -2.12352096e-01 -1.39396580e-01 -6.25690071e+00] [ 2.14075441e-01 9.76813432e-01 -2.68791676e-03 -8.85305595e-01] [ 1.36735237e-01 -2.72416322e-02 9.90232987e-01 1.52454012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.854860624 meters Centerline goodness : 0.782645 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.88, Z:1.52 [[ 9.67236593e-01 -2.12086863e-01 -1.39544026e-01 -6.25636934e+00] [ 2.13741202e-01 9.76885088e-01 -3.19742121e-03 -8.82388207e-01] [ 1.36996609e-01 -2.67336451e-02 9.90210706e-01 1.52440352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.884860624 meters Centerline goodness : 0.781035 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.88, Z:1.52 [[ 9.67259352e-01 -2.11934275e-01 -1.39618082e-01 -6.25630494e+00] [ 2.13500280e-01 9.76935460e-01 -3.83879729e-03 -8.79406484e-01] [ 1.37211428e-01 -2.60953870e-02 9.90197988e-01 1.52465884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914860624 meters Centerline goodness : 0.783161 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.88, Z:1.52 [[ 9.68020468e-01 -2.08289360e-01 -1.39828166e-01 -6.25791761e+00] [ 2.10221935e-01 9.77653209e-01 -9.69938385e-04 -8.75766111e-01] [ 1.36905483e-01 -2.84560275e-02 9.90175309e-01 1.52446804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944860624 meters Centerline goodness : 0.783012 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.87, Z:1.52 [[ 9.68031099e-01 -2.08156971e-01 -1.39951663e-01 -6.25773442e+00] [ 2.09992411e-01 9.77701559e-01 -1.68779670e-03 -8.72781104e-01] [ 1.37182285e-01 -2.77549474e-02 9.90156898e-01 1.52479509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974860624 meters Centerline goodness : 0.783984 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.87, Z:1.53 [[ 9.68029843e-01 -2.08147561e-01 -1.39974338e-01 -6.25774843e+00] [ 2.09875498e-01 9.77725007e-01 -2.46709284e-03 -8.69630717e-01] [ 1.37369930e-01 -2.69889645e-02 9.90152058e-01 1.52501167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004860624 meters Centerline goodness : 0.783727 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.87, Z:1.52 [[ 9.68789554e-01 -2.04473680e-01 -1.40133204e-01 -6.25922806e+00] [ 2.06565589e-01 9.78432677e-01 3.91448371e-04 -8.65774175e-01] [ 1.37030865e-01 -2.93259290e-02 9.90132583e-01 1.52460215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034860624 meters Centerline goodness : 0.785197 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.87, Z:1.52 [[ 9.69541761e-01 -2.00606509e-01 -1.40519755e-01 -6.25989969e+00] [ 2.03190833e-01 9.79130393e-01 4.14224592e-03 -8.65149830e-01] [ 1.36756202e-01 -3.25684065e-02 9.90069210e-01 1.52380330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064860624 meters Centerline goodness : 0.784888 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.86, Z:1.52 [[ 0.97027909 -0.19678292 -0.14083669 -6.26068423] [ 0.19983943 0.97979795 0.00775736 -0.86438636] [ 0.13646498 -0.03567152 0.99000245 1.52309781] [ 0. 0. 0. 1. ]] SLAMing on 150.094860624 meters Centerline goodness : 0.784509 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.86, Z:1.52 [[ 0.97036392 -0.19615385 -0.14112947 -6.25945473] [ 0.19916777 0.97993734 0.0074169 -0.8611527 ] [ 0.13684319 -0.03530553 0.98996336 1.52268809] [ 0. 0. 0. 1. ]] SLAMing on 150.124860624 meters Centerline goodness : 0.785029 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.86, Z:1.52 [[ 0.97107018 -0.1924047 -0.14143245 -6.26056922] [ 0.19587364 0.98056861 0.01089596 -0.8602512 ] [ 0.13658779 -0.03828363 0.98988794 1.52236858] [ 0. 0. 0. 1. ]] SLAMing on 150.154860624 meters Centerline goodness : 0.784693 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.86, Z:1.52 [[ 0.97178146 -0.18862209 -0.14164217 -6.26218521] [ 0.19244666 0.98121206 0.01368118 -0.85611362] [ 0.13640043 -0.04055368 0.98982338 1.52238479] [ 0. 0. 0. 1. ]] SLAMing on 150.184860624 meters Centerline goodness : 0.786009 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.85, Z:1.52 [[ 0.97173461 -0.18887454 -0.14162719 -6.26285509] [ 0.1925699 0.98120068 0.01273062 -0.85335562] [ 0.1365602 -0.03964392 0.9898382 1.52329203] [ 0. 0. 0. 1. ]] SLAMing on 150.214860624 meters Centerline goodness : 0.786986 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.85, Z:1.52 [[ 0.97161658 -0.18973872 -0.14128141 -6.26472246] [ 0.1933002 0.98106871 0.01179885 -0.85153331] [ 0.13636808 -0.03877368 0.98989916 1.52425538] [ 0. 0. 0. 1. ]] SLAMing on 150.24486062399998 meters Centerline goodness : 0.786553 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.85, Z:1.52 [[ 0.97146586 -0.19086633 -0.14079817 -6.26680532] [ 0.19433754 0.98087076 0.01120107 -0.85120725] [ 0.1359669 -0.03824382 0.98997495 1.52489233] [ 0. 0. 0. 1. ]] SLAMing on 150.27486062399998 meters Centerline goodness : 0.784146 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.85, Z:1.52 [[ 0.97041405 -0.19682765 -0.1398408 -6.2674962 ] [ 0.19976029 0.97981898 0.00711331 -0.85237502] [ 0.13561857 -0.03483749 0.99014845 1.5243707 ] [ 0. 0. 0. 1. ]] SLAMing on 150.30486062399999 meters Centerline goodness : 0.784082 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.85, Z:1.52 [[ 9.69558220e-01 -2.01388230e-01 -1.39282589e-01 -6.26670132e+00] [ 2.03817295e-01 9.79003542e-01 3.25197562e-03 -8.52665533e-01] [ 1.35703238e-01 -3.15411802e-02 9.90247335e-01 1.52414645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334860624 meters Centerline goodness : 0.783436 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.86, Z:1.52 [[ 9.69324054e-01 -2.06894578e-01 -1.32685766e-01 -6.28652306e+00] [ 2.08028105e-01 9.78107857e-01 -5.41554497e-03 -8.58304399e-01] [ 1.30901437e-01 -2.23529505e-02 9.91143360e-01 1.52103760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364860624 meters Centerline goodness : 0.782082 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.86, Z:1.52 [[ 0.96839895 -0.21166819 -0.13190924 -6.28668333] [ 0.21228845 0.97716081 -0.00950612 -0.858754 ] [ 0.13090869 -0.01879709 0.99121622 1.52143342] [ 0. 0. 0. 1. ]] SLAMing on 150.394860624 meters Centerline goodness : 0.783420 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.86, Z:1.52 [[ 0.96788767 -0.21414807 -0.13165888 -6.28815153] [ 0.21457923 0.97664382 -0.01107252 -0.86058052] [ 0.13095499 -0.0175343 0.99123324 1.52268515] [ 0. 0. 0. 1. ]] SLAMing on 150.424860624 meters Centerline goodness : 0.782553 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.86, Z:1.52 [[ 0.96767472 -0.21547299 -0.13106116 -6.29027986] [ 0.2158573 0.97635792 -0.01143821 -0.86220388] [ 0.13042723 -0.01722205 0.9913083 1.52324504] [ 0. 0. 0. 1. ]] SLAMing on 150.454860624 meters Centerline goodness : 0.782035 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.86, Z:1.52 [[ 0.96749809 -0.21653006 -0.13062226 -6.29210652] [ 0.21685616 0.97613109 -0.01189539 -0.86299699] [ 0.13008016 -0.01681748 0.99136085 1.52399482] [ 0. 0. 0. 1. ]] SLAMing on 150.484860624 meters Centerline goodness : 0.784085 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.86, Z:1.53 [[ 0.96732074 -0.21755008 -0.13024032 -6.29417908] [ 0.21781988 0.97591091 -0.012345 -0.86411009] [ 0.12978861 -0.01642736 0.9914056 1.52515922] [ 0. 0. 0. 1. ]] SLAMing on 150.514860624 meters Centerline goodness : 0.782336 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.87, Z:1.53 [[ 0.96728697 -0.21781001 -0.1300566 -6.29484715] [ 0.21807715 0.97585327 -0.01235943 -0.86504721] [ 0.12960817 -0.01640726 0.99142954 1.52549766] [ 0. 0. 0. 1. ]] SLAMing on 150.544860624 meters Centerline goodness : 0.782614 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.87, Z:1.53 [[ 0.96723089 -0.21812855 -0.12993972 -6.2954966 ] [ 0.21838775 0.97578295 -0.01242686 -0.8661089 ] [ 0.12950362 -0.0163576 0.99144402 1.52597008] [ 0. 0. 0. 1. ]] SLAMing on 150.574860624 meters Centerline goodness : 0.782816 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.87, Z:1.53 [[ 0.96718321 -0.21845305 -0.12974941 -6.29627857] [ 0.21871198 0.97571033 -0.01242666 -0.86754638] [ 0.12931248 -0.0163589 0.99146894 1.52643149] [ 0. 0. 0. 1. ]] SLAMing on 150.604860624 meters Centerline goodness : 0.782927 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.87, Z:1.53 [[ 0.9671506 -0.21944875 -0.12830421 -6.29922629] [ 0.2196259 0.97549831 -0.01294246 -0.8707076 ] [ 0.12800075 -0.01566162 0.9916504 1.52718989] [ 0. 0. 0. 1. ]] SLAMing on 150.634860624 meters Centerline goodness : 0.783392 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.87, Z:1.53 [[ 0.96717253 -0.21931794 -0.12836254 -6.29891933] [ 0.21953952 0.97552228 -0.01259671 -0.87224502] [ 0.1279832 -0.01599746 0.99164731 1.52712054] [ 0. 0. 0. 1. ]] SLAMing on 150.664860624 meters Centerline goodness : 0.779362 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.88, Z:1.53 [[ 0.96730158 -0.21856297 -0.1286774 -6.29756247] [ 0.21889212 0.97567827 -0.01175377 -0.87517393] [ 0.12811668 -0.01679703 0.99161685 1.52686481] [ 0. 0. 0. 1. ]] SLAMing on 150.694860624 meters Centerline goodness : 0.780429 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.88, Z:1.53 [[ 0.96737872 -0.21805214 -0.12896383 -6.29662795] [ 0.21842879 0.97578641 -0.01139036 -0.87664987] [ 0.12832485 -0.01715062 0.99158388 1.52696236] [ 0. 0. 0. 1. ]] SLAMing on 150.724860624 meters Centerline goodness : 0.781144 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.88, Z:1.53 [[ 0.96745414 -0.21755875 -0.12923112 -6.29585672] [ 0.21797188 0.97589179 -0.01111191 -0.87779032] [ 0.12853308 -0.01741849 0.99155224 1.52717993] [ 0. 0. 0. 1. ]] SLAMing on 150.754860624 meters Centerline goodness : 0.780438 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.88, Z:1.53 [[ 0.96756854 -0.21684697 -0.12957046 -6.29481075] [ 0.21732148 0.97604212 -0.01063787 -0.87881421] [ 0.12877302 -0.01786558 0.99151315 1.52717798] [ 0. 0. 0. 1. ]] SLAMing on 150.784860624 meters Centerline goodness : 0.782358 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.88, Z:1.53 [[ 0.96847813 -0.21235578 -0.13021189 -6.29425106] [ 0.21332337 0.97695912 -0.0066346 -0.88257683] [ 0.12862059 -0.02135177 0.99146399 1.52730032] [ 0. 0. 0. 1. ]] SLAMing on 150.814860624 meters Centerline goodness : 0.782944 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.88, Z:1.53 [[ 9.68621608e-01 -2.11345860e-01 -1.30786499e-01 -6.29255240e+00] [ 2.12385698e-01 9.77166830e-01 -6.10757446e-03 -8.83370523e-01] [ 1.29091040e-01 -2.18612534e-02 9.91391744e-01 1.52729950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844860624 meters Centerline goodness : 0.780428 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.88, Z:1.53 [[ 9.68768889e-01 -2.10341527e-01 -1.31313678e-01 -6.29085996e+00] [ 2.11443657e-01 9.77373842e-01 -5.65264347e-03 -8.84137914e-01] [ 1.29531539e-01 -2.22893391e-02 9.91324753e-01 1.52733294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874860624 meters Centerline goodness : 0.781272 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.88, Z:1.53 [[ 9.68923364e-01 -2.09288420e-01 -1.31855496e-01 -6.28892735e+00] [ 2.10463031e-01 9.77588398e-01 -5.12214363e-03 -8.84863224e-01] [ 1.29972409e-01 -2.27877428e-02 9.91255715e-01 1.52709282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904860624 meters Centerline goodness : 0.777911 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.89, Z:1.53 [[ 9.69809001e-01 -2.04989707e-01 -1.32097397e-01 -6.28635194e+00] [ 2.06566227e-01 9.78430955e-01 -1.80539838e-03 -8.88394888e-01] [ 1.29618271e-01 -2.55359693e-02 9.91235097e-01 1.52555442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934860624 meters Centerline goodness : 0.779388 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.53 [[ 9.69943019e-01 -2.04047852e-01 -1.32570787e-01 -6.28468336e+00] [ 2.05693301e-01 9.78615630e-01 -1.30975764e-03 -8.88980402e-01] [ 1.30003097e-01 -2.59985325e-02 9.91172675e-01 1.52530006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964860624 meters Centerline goodness : 0.778287 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.53 [[ 9.70046321e-01 -2.03269426e-01 -1.33010061e-01 -6.28327800e+00] [ 2.04963400e-01 9.78769151e-01 -9.76256766e-04 -8.89252197e-01] [ 1.30384588e-01 -2.63151800e-02 9.91114207e-01 1.52521579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99486062399998 meters Centerline goodness : 0.779527 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.52 [[ 9.70304279e-01 -2.01576373e-01 -1.33703301e-01 -6.28073814e+00] [ 2.03400927e-01 9.79095533e-01 -1.29904541e-05 -8.90387058e-01] [ 1.30910923e-01 -2.71827706e-02 9.91021406e-01 1.52484816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02486062399998 meters Centerline goodness : 0.779803 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.52 [[ 9.70395417e-01 -2.00898618e-01 -1.34061480e-01 -6.27962317e+00] [ 2.02774485e-01 9.79225402e-01 3.46116096e-04 -8.90734809e-01] [ 1.31206873e-01 -2.75201170e-02 9.90972956e-01 1.52477759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05486062399999 meters Centerline goodness : 0.778209 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.52 [[ 9.70459478e-01 -2.00392441e-01 -1.34355022e-01 -6.27869459e+00] [ 2.02308371e-01 9.79321672e-01 6.20858290e-04 -8.91242472e-01] [ 1.31452369e-01 -2.77836634e-02 9.90933067e-01 1.52474713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084860624 meters Centerline goodness : 0.777381 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.52 [[ 9.70494388e-01 -2.00121910e-01 -1.34506001e-01 -6.27817668e+00] [ 2.02050720e-01 9.79374806e-01 7.04308783e-04 -8.91721875e-01] [ 1.31590841e-01 -2.78605621e-02 9.90912529e-01 1.52486808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114860624 meters Centerline goodness : 0.776118 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.52 [[ 9.70584022e-01 -1.99523458e-01 -1.34748081e-01 -6.27716200e+00] [ 2.01524814e-01 9.79482625e-01 1.23937994e-03 -8.93443856e-01] [ 1.31736119e-01 -2.83580042e-02 9.90879114e-01 1.52471540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144860624 meters Centerline goodness : 0.775743 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.89, Z:1.52 [[ 9.70604032e-01 -1.99428976e-01 -1.34743821e-01 -6.27680467e+00] [ 2.01442163e-01 9.79499500e-01 1.33581789e-03 -8.94204018e-01] [ 1.31715105e-01 -2.84396370e-02 9.90879568e-01 1.52457373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174860624 meters Centerline goodness : 0.775474 Centerline is valid? [False, False] Translation: X:-6.85, Y:-1.02, Z:1.46 [[ 0.96406709 -0.12410487 -0.23488854 -6.84883573] [ 0.16628701 0.97144704 0.16923143 -1.01933158] [ 0.20717933 -0.20220937 0.95717715 1.45648992] [ 0. 0. 0. 1. ]] SLAMing on 151.204860624 meters Centerline goodness : 0.773538 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.85, Z:1.58 [[ 0.93858177 -0.26605732 -0.21972201 -6.57683613] [ 0.27080263 0.96259461 -0.00880627 -0.84820427] [ 0.2138462 -0.05123589 0.97552278 1.57692582] [ 0. 0. 0. 1. ]] SLAMing on 151.234860624 meters Centerline goodness : 0.775347 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.85, Z:1.58 [[ 0.93850102 -0.2664018 -0.21964953 -6.57651416] [ 0.27118326 0.96248874 -0.00866366 -0.84991201] [ 0.21371822 -0.05143442 0.97554038 1.57665733] [ 0. 0. 0. 1. ]] SLAMing on 151.264860624 meters Centerline goodness : 0.774759 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.85, Z:1.58 [[ 0.93846707 -0.2666279 -0.21952023 -6.57656929] [ 0.27142243 0.96242191 -0.00859838 -0.85046178] [ 0.21356365 -0.05151342 0.97557006 1.57640596] [ 0. 0. 0. 1. ]] SLAMing on 151.294860624 meters Centerline goodness : 0.776426 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.85, Z:1.58 [[ 0.93840377 -0.2669748 -0.21936912 -6.57704334] [ 0.27173608 0.962332 -0.00875341 -0.85109994] [ 0.21344287 -0.05139628 0.97560267 1.57669428] [ 0. 0. 0. 1. ]] SLAMing on 151.324860624 meters Centerline goodness : 0.775140 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.85, Z:1.58 [[ 0.93828521 -0.26773212 -0.21895292 -6.57845134] [ 0.27244401 0.96212987 -0.00896488 -0.85232269] [ 0.21306133 -0.0512408 0.97569424 1.57712992] [ 0. 0. 0. 1. ]] SLAMing on 151.354860624 meters Centerline goodness : 0.776609 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.85, Z:1.58 [[ 0.93823053 -0.26810973 -0.21872504 -6.57913384] [ 0.27275278 0.96203951 -0.00926814 -0.85229295] [ 0.21290701 -0.05096221 0.97574252 1.57737307] [ 0. 0. 0. 1. ]] SLAMing on 151.384860624 meters Centerline goodness : 0.776622 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.85, Z:1.58 [[ 0.93817491 -0.26843375 -0.21856614 -6.57980476] [ 0.27301322 0.9619628 -0.00955833 -0.85222187] [ 0.21281827 -0.05070406 0.97577532 1.57774408] [ 0. 0. 0. 1. ]] SLAMing on 151.414860624 meters Centerline goodness : 0.778754 Centerline is valid? [False, False] Translation: X:-6.59, Y:-0.85, Z:1.57 [[ 0.93996533 -0.26672628 -0.21289026 -6.58654389] [ 0.27084984 0.96256849 -0.01011251 -0.8541209 ] [ 0.20761873 -0.04815589 0.97702378 1.57336197] [ 0. 0. 0. 1. ]] SLAMing on 151.444860624 meters Centerline goodness : 0.778100 Centerline is valid? [False, False] Translation: X:-6.59, Y:-0.85, Z:1.57 [[ 0.93996115 -0.26675867 -0.21286816 -6.58653565] [ 0.27086528 0.96256332 -0.01019067 -0.8539247 ] [ 0.20761753 -0.04807975 0.97702779 1.57335251] [ 0. 0. 0. 1. ]] SLAMing on 151.474860624 meters Centerline goodness : 0.778458 Centerline is valid? [False, False] Translation: X:-6.59, Y:-0.86, Z:1.57 [[ 0.94243797 -0.26351876 -0.20583619 -6.59424515] [ 0.2670106 0.96362918 -0.01114204 -0.85661423] [ 0.2012859 -0.04445976 0.97852303 1.56725404] [ 0. 0. 0. 1. ]] SLAMing on 151.504860624 meters Centerline goodness : 0.778311 Centerline is valid? [False, False] Translation: X:-6.59, Y:-0.86, Z:1.57 [[ 0.94244217 -0.26361718 -0.20569088 -6.59446793] [ 0.26707807 0.96360899 -0.01127055 -0.85565671] [ 0.20117669 -0.04431368 0.97855211 1.56698102] [ 0. 0. 0. 1. ]] SLAMing on 151.534860624 meters Centerline goodness : 0.781959 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.85, Z:1.56 [[ 0.94336496 -0.2621978 -0.20326057 -6.59795769] [ 0.26574872 0.96398917 -0.01012401 -0.85434967] [ 0.19859548 -0.0444656 0.97907234 1.56471572] [ 0. 0. 0. 1. ]] SLAMing on 151.564860624 meters Centerline goodness : 0.780906 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.85, Z:1.56 [[ 0.94336193 -0.26227023 -0.20318116 -6.59802732] [ 0.26575111 0.96398494 -0.010459 -0.85223711] [ 0.19860667 -0.04412899 0.9790853 1.56440398] [ 0. 0. 0. 1. ]] SLAMing on 151.594860624 meters Centerline goodness : 0.780906 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.85, Z:1.56 [[ 0.94336193 -0.26227023 -0.20318116 -6.59802732] [ 0.26575111 0.96398494 -0.010459 -0.85223711] [ 0.19860667 -0.04412899 0.9790853 1.56440398] [ 0. 0. 0. 1. ]] SLAMing on 151.624860624 meters Centerline goodness : 0.781355 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.85, Z:1.56 [[ 0.94331908 -0.26250379 -0.20307846 -6.59833175] [ 0.26588716 0.96394206 -0.01094165 -0.8501136 ] [ 0.1986281 -0.04367449 0.97910133 1.56429406] [ 0. 0. 0. 1. ]] SLAMing on 151.654860624 meters Centerline goodness : 0.783954 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.85, Z:1.56 [[ 0.94329155 -0.26271305 -0.20293571 -6.59851494] [ 0.26601417 0.96390244 -0.01133775 -0.84794231] [ 0.1985888 -0.04328897 0.97912642 1.56388805] [ 0. 0. 0. 1. ]] SLAMing on 151.684860624 meters Centerline goodness : 0.782047 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.84, Z:1.56 [[ 0.94335843 -0.26281337 -0.20249446 -6.59910868] [ 0.26596775 0.96390754 -0.011975 -0.84261932] [ 0.19833313 -0.04256028 0.97921019 1.56275861] [ 0. 0. 0. 1. ]] SLAMing on 151.714860624 meters Centerline goodness : 0.783678 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.84, Z:1.56 [[ 0.94335282 -0.26293581 -0.2023616 -6.59913274] [ 0.26595685 0.96390236 -0.01261754 -0.83923999] [ 0.19837442 -0.04191666 0.97922959 1.56232093] [ 0. 0. 0. 1. ]] SLAMing on 151.74486062399998 meters Centerline goodness : 0.784388 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.84, Z:1.56 [[ 0.94335025 -0.26310837 -0.2021492 -6.5993248 ] [ 0.26596928 0.96388863 -0.01338111 -0.83511763] [ 0.19837 -0.04114241 0.97926332 1.56178669] [ 0. 0. 0. 1. ]] SLAMing on 151.77486062399998 meters Centerline goodness : 0.786169 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.83, Z:1.56 [[ 0.944157 -0.26031392 -0.20200054 -6.60185247] [ 0.26350913 0.96458958 -0.01139654 -0.82781152] [ 0.19781429 -0.04246886 0.9793191 1.56048412] [ 0. 0. 0. 1. ]] SLAMing on 151.80486062399999 meters Centerline goodness : 0.789138 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.82, Z:1.56 [[ 0.94501823 -0.25702739 -0.20218174 -6.60384514] [ 0.26074605 0.96537008 -0.0084913 -0.82479437] [ 0.1973627 -0.04469366 0.97931121 1.55973536] [ 0. 0. 0. 1. ]] SLAMing on 151.834860624 meters Centerline goodness : 0.790560 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.82, Z:1.56 [[ 9.45863913e-01 -2.53815925e-01 -2.02284293e-01 -6.60581996e+00] [ 2.58020249e-01 9.66122338e-01 -5.76017323e-03 -8.21375091e-01] [ 1.96893397e-01 -4.67451036e-02 9.79309903e-01 1.55891883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864860624 meters Centerline goodness : 0.791921 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.82, Z:1.56 [[ 9.46690093e-01 -2.50630730e-01 -2.02390970e-01 -6.60793606e+00] [ 2.55337388e-01 9.66847525e-01 -2.94640348e-03 -8.18227963e-01] [ 1.96419668e-01 -4.88886507e-02 9.79300370e-01 1.55815056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894860624 meters Centerline goodness : 0.793329 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.81, Z:1.56 [[ 9.47438057e-01 -2.48093103e-01 -2.02017178e-01 -6.61160092e+00] [ 2.52957340e-01 9.67475768e-01 -1.79516538e-03 -8.08481003e-01] [ 1.95892093e-01 -4.94009201e-02 9.79380333e-01 1.55759034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924860624 meters Centerline goodness : 0.793871 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.80, Z:1.56 [[ 9.48244606e-01 -2.44975553e-01 -2.02037487e-01 -6.61386319e+00] [ 2.50326261e-01 9.68161058e-01 9.63860783e-04 -8.04903785e-01] [ 1.95368705e-01 -5.14892647e-02 9.79377315e-01 1.55669656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954860624 meters Centerline goodness : 0.794267 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.80, Z:1.56 [[ 9.48246771e-01 -2.45140859e-01 -2.01826708e-01 -6.61429759e+00] [ 2.50296598e-01 9.68169206e-01 2.53167687e-05 -7.99140421e-01] [ 1.95396197e-01 -5.05405449e-02 9.79421247e-01 1.55611819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984860624 meters Centerline goodness : 0.792578 Centerline is valid? [False, False] Translation: X:-6.62, Y:-0.79, Z:1.56 [[ 9.48190788e-01 -2.45579724e-01 -2.01556020e-01 -6.61510570e+00] [ 2.50463791e-01 9.68125079e-01 -1.31194400e-03 -7.93109135e-01] [ 1.95453625e-01 -4.92385116e-02 9.79476110e-01 1.55600431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014860624 meters Centerline goodness : 0.793847 Centerline is valid? [False, False] Translation: X:-6.62, Y:-0.78, Z:1.55 [[ 9.48780259e-01 -2.43940004e-01 -2.00771748e-01 -6.61942405e+00] [ 2.48956874e-01 9.68514534e-01 -2.69319781e-04 -7.82947035e-01] [ 1.94516053e-01 -4.97279814e-02 9.79638011e-01 1.55452161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.044860624 meters Centerline goodness : 0.792083 Centerline is valid? [False, False] Translation: X:-6.62, Y:-0.78, Z:1.55 [[ 9.48731213e-01 -2.44348922e-01 -2.00506086e-01 -6.62014429e+00] [ 2.49143008e-01 9.68465744e-01 -1.36560737e-03 -7.76842799e-01] [ 1.94516960e-01 -4.86590950e-02 9.79691505e-01 1.55402088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.074860624 meters Centerline goodness : 0.791269 Centerline is valid? [False, False] Translation: X:-6.62, Y:-0.77, Z:1.55 [[ 9.49318082e-01 -2.42692021e-01 -1.99739234e-01 -6.62387962e+00] [ 2.47625576e-01 9.68855763e-01 -2.91010849e-04 -7.66586334e-01] [ 1.93589134e-01 -4.91842809e-02 9.79849046e-01 1.55212520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.104860624 meters Centerline goodness : 0.790278 Centerline is valid? [False, False] Translation: X:-6.62, Y:-0.76, Z:1.55 [[ 9.49238329e-01 -2.43196276e-01 -1.99504804e-01 -6.62449331e+00] [ 2.47864954e-01 9.68793232e-01 -1.62397883e-03 -7.60060496e-01] [ 1.93673849e-01 -4.79087060e-02 9.79895503e-01 1.55177832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.134860624 meters Centerline goodness : 0.791745 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.76, Z:1.55 [[ 9.49965449e-01 -2.40332583e-01 -1.99514150e-01 -6.62702357e+00] [ 2.45476683e-01 9.69401894e-01 1.08015716e-03 -7.56148571e-01] [ 1.93149798e-01 -5.00021837e-02 9.79894350e-01 1.55078997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164860624 meters Centerline goodness : 0.789881 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.75, Z:1.55 [[ 9.50729716e-01 -2.37262849e-01 -1.99547858e-01 -6.62909893e+00] [ 2.42894599e-01 9.70044982e-01 3.86612522e-03 -7.52055456e-01] [ 1.92653110e-01 -5.21447370e-02 9.79880455e-01 1.54958479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194860624 meters Centerline goodness : 0.786920 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.74, Z:1.55 [[ 9.51369716e-01 -2.35067598e-01 -1.99095171e-01 -6.63289643e+00] [ 2.40821616e-01 9.70557321e-01 4.84097203e-03 -7.40064240e-01] [ 1.92095320e-01 -5.25519751e-02 9.79968203e-01 1.54838677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224860624 meters Centerline goodness : 0.788266 Centerline is valid? [False, False] Translation: X:-6.64, Y:-0.74, Z:1.55 [[ 0.95212628 -0.23191292 -0.19917817 -6.63504389] [ 0.23813442 0.97120303 0.00752848 -0.73555309] [ 0.19169649 -0.05459924 0.97993437 1.54743867] [ 0. 0. 0. 1. ]] SLAMing on 152.254860624 meters Centerline goodness : 0.788298 Centerline is valid? [False, False] Translation: X:-6.64, Y:-0.73, Z:1.55 [[ 0.95288859 -0.22863075 -0.19932717 -6.63712602] [ 0.23533067 0.97186113 0.01026739 -0.7307513 ] [ 0.19137089 -0.05669148 0.97987921 1.54650485] [ 0. 0. 0. 1. ]] SLAMing on 152.284860624 meters Centerline goodness : 0.786704 Centerline is valid? [False, False] Translation: X:-6.64, Y:-0.73, Z:1.55 [[ 0.95368946 -0.22497665 -0.19965452 -6.63917987] [ 0.23214044 0.97259655 0.01291419 -0.72586714] [ 0.1912779 -0.05866401 0.97978125 1.54648872] [ 0. 0. 0. 1. ]] SLAMing on 152.314860624 meters Centerline goodness : 0.787836 Centerline is valid? [False, False] Translation: X:-6.64, Y:-0.72, Z:1.55 [[ 0.95520398 -0.21779076 -0.20038101 -6.64498925] [ 0.22597016 0.97395646 0.01860894 -0.71890328] [ 0.19110953 -0.06305547 0.9795413 1.54817312] [ 0. 0. 0. 1. ]] SLAMing on 152.344860624 meters Centerline goodness : 0.789162 Centerline is valid? [False, False] Translation: X:-6.64, Y:-0.72, Z:1.55 [[ 0.9551957 -0.21774238 -0.20047302 -6.6447597 ] [ 0.22581356 0.9740037 0.01802864 -0.71634558] [ 0.19133586 -0.06249041 0.97953333 1.54840945] [ 0. 0. 0. 1. ]] SLAMing on 152.374860624 meters Centerline goodness : 0.786341 Centerline is valid? [False, False] Translation: X:-6.64, Y:-0.72, Z:1.55 [[ 0.95525454 -0.21733666 -0.20063285 -6.64334952] [ 0.22543409 0.97408933 0.01815066 -0.71606232] [ 0.19148951 -0.06256799 0.97949835 1.54779122] [ 0. 0. 0. 1. ]] SLAMing on 152.404860624 meters Centerline goodness : 0.782881 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95697956 -0.21659873 -0.19306763 -6.64710863] [ 0.22347246 0.97460538 0.01429701 -0.71979461] [ 0.18506804 -0.05682725 0.98108128 1.54094515] [ 0. 0. 0. 1. ]] SLAMing on 152.434860624 meters Centerline goodness : 0.782765 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95704122 -0.2166295 -0.19272718 -6.64666709] [ 0.22346485 0.9746086 0.01419672 -0.72125998] [ 0.18475813 -0.05665459 0.98114968 1.54067734] [ 0. 0. 0. 1. ]] SLAMing on 152.464860624 meters Centerline goodness : 0.782431 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95708797 -0.21635063 -0.19280824 -6.64557277] [ 0.22321553 0.9746634 0.0143555 -0.72196047] [ 0.18481731 -0.05677726 0.98113144 1.54020154] [ 0. 0. 0. 1. ]] SLAMing on 152.49486062399998 meters Centerline goodness : 0.779223 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95879376 -0.21328329 -0.18768261 -6.64984643] [ 0.21985508 0.97542214 0.01467604 -0.72323554] [ 0.17993962 -0.05533427 0.98212008 1.53573364] [ 0. 0. 0. 1. ]] SLAMing on 152.52486062399998 meters Centerline goodness : 0.779600 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95877702 -0.21306305 -0.188018 -6.649187 ] [ 0.21953825 0.97550249 0.01406615 -0.72122917] [ 0.18041505 -0.05476344 0.98206485 1.53650877] [ 0. 0. 0. 1. ]] SLAMing on 152.55486062399999 meters Centerline goodness : 0.780705 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95876368 -0.2128757 -0.18829799 -6.64876181] [ 0.21925159 0.97557553 0.0134581 -0.71932658] [ 0.18083401 -0.05418777 0.98201973 1.53736514] [ 0. 0. 0. 1. ]] SLAMing on 152.584860624 meters Centerline goodness : 0.779544 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95875668 -0.21268119 -0.18855326 -6.64819659] [ 0.2189875 0.97564077 0.01302174 -0.71773348] [ 0.18119077 -0.05377549 0.98197663 1.53787776] [ 0. 0. 0. 1. ]] SLAMing on 152.614860624 meters Centerline goodness : 0.778695 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95872783 -0.21270635 -0.18867155 -6.64818028] [ 0.21890859 0.97566632 0.01242022 -0.71604547] [ 0.18143862 -0.05320944 0.9819617 1.53858384] [ 0. 0. 0. 1. ]] SLAMing on 152.644860624 meters Centerline goodness : 0.775822 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95873302 -0.21284739 -0.18848604 -6.64864838] [ 0.21900549 0.97564706 0.01222298 -0.71571384] [ 0.18129423 -0.05299806 0.9819998 1.53871584] [ 0. 0. 0. 1. ]] SLAMing on 152.674860624 meters Centerline goodness : 0.776770 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.72, Z:1.54 [[ 0.95868751 -0.21327648 -0.18823231 -6.64952372] [ 0.21935964 0.97557209 0.01185113 -0.71551813] [ 0.18110662 -0.0526521 0.98205303 1.53906363] [ 0. 0. 0. 1. ]] SLAMing on 152.704860624 meters Centerline goodness : 0.778096 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.71, Z:1.54 [[ 0.95869074 -0.21311635 -0.18839716 -6.64919985] [ 0.21912043 0.97563134 0.01138942 -0.7143179 ] [ 0.18137891 -0.05220059 0.98202688 1.5397628 ] [ 0. 0. 0. 1. ]] SLAMing on 152.734860624 meters Centerline goodness : 0.775012 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.71, Z:1.54 [[ 0.95866662 -0.21303199 -0.18861516 -6.64902919] [ 0.21894366 0.97567735 0.01083419 -0.71294832] [ 0.18171951 -0.05168247 0.98199132 1.54069157] [ 0. 0. 0. 1. ]] SLAMing on 152.764860624 meters Centerline goodness : 0.775030 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.71, Z:1.54 [[ 0.95866419 -0.21298425 -0.18868142 -6.64897323] [ 0.21882129 0.97570935 0.01041656 -0.71160278] [ 0.18187967 -0.0512735 0.9819831 1.54113503] [ 0. 0. 0. 1. ]] SLAMing on 152.794860624 meters Centerline goodness : 0.777020 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.71, Z:1.54 [[ 0.96095313 -0.2082315 -0.18223262 -6.65568448] [ 0.21377725 0.97681921 0.01111428 -0.71399845] [ 0.17569398 -0.04963749 0.98319263 1.53598116] [ 0. 0. 0. 1. ]] SLAMing on 152.824860624 meters Centerline goodness : 0.779973 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.71, Z:1.54 [[ 0.96096064 -0.20831569 -0.18209675 -6.65625009] [ 0.21379273 0.97681978 0.0107608 -0.71338621] [ 0.17563406 -0.04927167 0.98322173 1.536548 ] [ 0. 0. 0. 1. ]] SLAMing on 152.854860624 meters Centerline goodness : 0.780438 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.71, Z:1.54 [[ 0.96097731 -0.20814933 -0.18219897 -6.65590798] [ 0.21361095 0.97686064 0.01066082 -0.71301389] [ 0.17576396 -0.0491645 0.98320389 1.53671981] [ 0. 0. 0. 1. ]] SLAMing on 152.884860624 meters Centerline goodness : 0.779096 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.71, Z:1.54 [[ 0.96102053 -0.20782466 -0.1823416 -6.65513091] [ 0.21328195 0.9769329 0.01062612 -0.71294534] [ 0.17592714 -0.04910209 0.98317782 1.53681308] [ 0. 0. 0. 1. ]] SLAMing on 152.914860624 meters Centerline goodness : 0.776092 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.71, Z:1.54 [[ 0.96104735 -0.20765477 -0.18239376 -6.65469408] [ 0.21311445 0.9769693 0.0106404 -0.71311303] [ 0.17598357 -0.04909668 0.98316799 1.53679092] [ 0. 0. 0. 1. ]] SLAMing on 152.944860624 meters Centerline goodness : 0.777439 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.71, Z:1.54 [[ 0.96164231 -0.20723214 -0.17971898 -6.65800154] [ 0.21256489 0.9770881 0.01072417 -0.71492532] [ 0.17337888 -0.04851476 0.98365954 1.53559226] [ 0. 0. 0. 1. ]] SLAMing on 152.974860624 meters Centerline goodness : 0.778670 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.71, Z:1.54 [[ 0.96162512 -0.20739911 -0.17961831 -6.65830195] [ 0.21271675 0.97705584 0.01065182 -0.71496261] [ 0.17328794 -0.04845088 0.98367871 1.53561226] [ 0. 0. 0. 1. ]] SLAMing on 153.004860624 meters Centerline goodness : 0.777551 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.54 [[ 0.96162685 -0.20737943 -0.17963179 -6.65822839] [ 0.21269954 0.97705946 0.01066382 -0.71516492] [ 0.17329948 -0.04846221 0.98367612 1.53566485] [ 0. 0. 0. 1. ]] SLAMing on 153.034860624 meters Centerline goodness : 0.780539 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96299659 -0.2052317 -0.17469265 -6.66408868] [ 0.21032097 0.97757126 0.01093216 -0.71791027] [ 0.16853089 -0.04726916 0.98456232 1.53275309] [ 0. 0. 0. 1. ]] SLAMing on 153.064860624 meters Centerline goodness : 0.781604 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96297185 -0.20536008 -0.17467816 -6.66432137] [ 0.21044086 0.9775461 0.01087534 -0.71785027] [ 0.16852259 -0.04723207 0.98456552 1.5329077 ] [ 0. 0. 0. 1. ]] SLAMing on 153.094860624 meters Centerline goodness : 0.781500 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96296446 -0.2053514 -0.1747291 -6.66433181] [ 0.2104521 0.97754253 0.0109779 -0.71812057] [ 0.1685508 -0.04734343 0.98455534 1.53296852] [ 0. 0. 0. 1. ]] SLAMing on 153.124860624 meters Centerline goodness : 0.784376 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96299405 -0.20512345 -0.17483371 -6.6639003 ] [ 0.21025447 0.97758316 0.01114532 -0.71877475] [ 0.16862833 -0.04749245 0.98453489 1.53306193] [ 0. 0. 0. 1. ]] SLAMing on 153.154860624 meters Centerline goodness : 0.780921 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.9629928 -0.20495916 -0.17503317 -6.66333422] [ 0.21007377 0.97762358 0.01100714 -0.71870868] [ 0.16886054 -0.04736967 0.98450101 1.53338345] [ 0. 0. 0. 1. ]] SLAMing on 153.184860624 meters Centerline goodness : 0.779674 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96303631 -0.20459492 -0.17521979 -6.66249017] [ 0.20971403 0.97770075 0.01101257 -0.71881694] [ 0.1690594 -0.04735156 0.98446775 1.53351322] [ 0. 0. 0. 1. ]] SLAMing on 153.214860624 meters Centerline goodness : 0.781514 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96308766 -0.20408763 -0.1755289 -6.66124888] [ 0.20921886 0.97780651 0.01104033 -0.71885219] [ 0.16938011 -0.04735676 0.98441237 1.53363437] [ 0. 0. 0. 1. ]] SLAMing on 153.24486062399998 meters Centerline goodness : 0.780284 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96330208 -0.20301582 -0.17559521 -6.66000804] [ 0.20819976 0.97801962 0.01142292 -0.71969738] [ 0.16941653 -0.0475626 0.98439618 1.53366372] [ 0. 0. 0. 1. ]] SLAMing on 153.27486062399998 meters Centerline goodness : 0.782667 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96333687 -0.20271494 -0.17575191 -6.6593752 ] [ 0.20789215 0.97808572 0.01136591 -0.72003442] [ 0.16959639 -0.04748664 0.98436887 1.53403161] [ 0. 0. 0. 1. ]] SLAMing on 153.30486062399999 meters Centerline goodness : 0.780634 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.53 [[ 0.96334612 -0.20266242 -0.17576179 -6.65937804] [ 0.2078286 0.97809994 0.01130379 -0.72059516] [ 0.16962174 -0.04741779 0.98436783 1.53443777] [ 0. 0. 0. 1. ]] SLAMing on 153.334860624 meters Centerline goodness : 0.782096 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.54 [[ 0.96335697 -0.20260852 -0.17576445 -6.6596799 ] [ 0.20781868 0.97809902 0.01156309 -0.72342616] [ 0.16957226 -0.04766652 0.98436434 1.53524026] [ 0. 0. 0. 1. ]] SLAMing on 153.364860624 meters Centerline goodness : 0.782835 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.72, Z:1.54 [[ 0.96336275 -0.2024703 -0.17589201 -6.65958756] [ 0.20768826 0.97812647 0.01158427 -0.72430804] [ 0.16969916 -0.04769056 0.98434131 1.53587141] [ 0. 0. 0. 1. ]] SLAMing on 153.394860624 meters Centerline goodness : 0.783565 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.73, Z:1.54 [[ 0.96411261 -0.19843262 -0.17638415 -6.66100245] [ 0.20434763 0.97877019 0.01584151 -0.72687908] [ 0.16949608 -0.05131668 0.98419392 1.53603844] [ 0. 0. 0. 1. ]] SLAMing on 153.424860624 meters Centerline goodness : 0.782722 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.73, Z:1.54 [[ 0.96420618 -0.19749651 -0.17692249 -6.65988762] [ 0.20352472 0.9789322 0.01641451 -0.72918095] [ 0.16995331 -0.05183508 0.9840879 1.53704186] [ 0. 0. 0. 1. ]] SLAMing on 153.454860624 meters Centerline goodness : 0.782722 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.73, Z:1.54 [[ 0.96420618 -0.19749651 -0.17692249 -6.65988762] [ 0.20352472 0.9789322 0.01641451 -0.72918095] [ 0.16995331 -0.05183508 0.9840879 1.53704186] [ 0. 0. 0. 1. ]] SLAMing on 153.484860624 meters Centerline goodness : 0.783300 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.73, Z:1.54 [[ 0.96428206 -0.19688752 -0.17718751 -6.6582772 ] [ 0.20307516 0.97901016 0.01730848 -0.73202947] [ 0.17006055 -0.05267264 0.9840249 1.53630273] [ 0. 0. 0. 1. ]] SLAMing on 153.514860624 meters Centerline goodness : 0.782867 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.74, Z:1.54 [[ 0.96435727 -0.19623996 -0.17749629 -6.65637895] [ 0.20261102 0.97908776 0.01832867 -0.73521302] [ 0.17018763 -0.05363809 0.98395077 1.53532104] [ 0. 0. 0. 1. ]] SLAMing on 153.544860624 meters Centerline goodness : 0.781900 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.74, Z:1.53 [[ 0.96441414 -0.19576275 -0.17771416 -6.65481499] [ 0.20230197 0.97913354 0.01927256 -0.73826531] [ 0.17023304 -0.05453866 0.98389341 1.53433045] [ 0. 0. 0. 1. ]] SLAMing on 153.574860624 meters Centerline goodness : 0.782648 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.74, Z:1.53 [[ 0.96394405 -0.19849113 -0.17723753 -6.6525613 ] [ 0.20463453 0.97869263 0.01689504 -0.7414396 ] [ 0.17010755 -0.05255479 0.98402308 1.53368521] [ 0. 0. 0. 1. ]] SLAMing on 153.604860624 meters Centerline goodness : 0.783707 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.74, Z:1.53 [[ 0.96393185 -0.19854094 -0.17724808 -6.65258742] [ 0.20472632 0.97866935 0.01713021 -0.74320574] [ 0.17006621 -0.0527997 0.98401711 1.53385805] [ 0. 0. 0. 1. ]] SLAMing on 153.634860624 meters Centerline goodness : 0.781673 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.53 [[ 0.9638836 -0.19876149 -0.17726332 -6.65319716] [ 0.20497882 0.97861367 0.0172907 -0.74544311] [ 0.17003558 -0.05300145 0.98401156 1.53469705] [ 0. 0. 0. 1. ]] SLAMing on 153.664860624 meters Centerline goodness : 0.782558 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96387383 -0.19871037 -0.17737369 -6.65314968] [ 0.20493368 0.97862305 0.01729495 -0.74598237] [ 0.1701453 -0.05301999 0.98399159 1.53513248] [ 0. 0. 0. 1. ]] SLAMing on 153.694860624 meters Centerline goodness : 0.785489 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96386241 -0.19866589 -0.17748554 -6.6529959 ] [ 0.20489276 0.97863181 0.01728406 -0.74651638] [ 0.17025924 -0.05302496 0.98397162 1.53549817] [ 0. 0. 0. 1. ]] SLAMing on 153.724860624 meters Centerline goodness : 0.785547 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96386928 -0.19856338 -0.17756295 -6.65271801] [ 0.20479693 0.97865146 0.01730725 -0.74714723] [ 0.17033566 -0.05304627 0.98395724 1.53573806] [ 0. 0. 0. 1. ]] SLAMing on 153.754860624 meters Centerline goodness : 0.784771 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96389351 -0.19830756 -0.17771722 -6.65223844] [ 0.20456857 0.97869687 0.01743968 -0.74816497] [ 0.17047287 -0.05316535 0.98392705 1.53606112] [ 0. 0. 0. 1. ]] SLAMing on 153.784860624 meters Centerline goodness : 0.785029 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96390344 -0.1981539 -0.17783472 -6.65192706] [ 0.20439878 0.97873441 0.0173231 -0.7479283 ] [ 0.17062032 -0.053047 0.98390788 1.53636663] [ 0. 0. 0. 1. ]] SLAMing on 153.814860624 meters Centerline goodness : 0.785368 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96472185 -0.1933851 -0.17864477 -6.65162824] [ 0.20032376 0.97949428 0.02147897 -0.7487957 ] [ 0.17082782 -0.05650802 0.98367917 1.53623812] [ 0. 0. 0. 1. ]] SLAMing on 153.844860624 meters Centerline goodness : 0.788084 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96550457 -0.18900613 -0.17910221 -6.6523799 ] [ 0.19659946 0.98015286 0.02547581 -0.749519 ] [ 0.17073246 -0.05980841 0.98350057 1.53614729] [ 0. 0. 0. 1. ]] SLAMing on 153.874860624 meters Centerline goodness : 0.788084 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96550457 -0.18900613 -0.17910221 -6.6523799 ] [ 0.19659946 0.98015286 0.02547581 -0.749519 ] [ 0.17073246 -0.05980841 0.98350057 1.53614729] [ 0. 0. 0. 1. ]] SLAMing on 153.904860624 meters Centerline goodness : 0.787925 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96629405 -0.18420377 -0.17984653 -6.65211434] [ 0.1925174 0.98084195 0.02976782 -0.75096355] [ 0.17091768 -0.06338805 0.98324417 1.53599379] [ 0. 0. 0. 1. ]] SLAMing on 153.934860624 meters Centerline goodness : 0.785750 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96630709 -0.18387841 -0.18010922 -6.65098556] [ 0.19221044 0.98090108 0.02980293 -0.75112568] [ 0.17118921 -0.06341765 0.98319502 1.53591657] [ 0. 0. 0. 1. ]] SLAMing on 153.964860624 meters Centerline goodness : 0.786410 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96645855 -0.18275408 -0.18044064 -6.64846418] [ 0.19115914 0.98109452 0.03019476 -0.75097186] [ 0.17151111 -0.06367487 0.9831223 1.53506421] [ 0. 0. 0. 1. ]] SLAMing on 153.99486062399998 meters Centerline goodness : 0.784987 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96648252 -0.18244332 -0.18062663 -6.64762051] [ 0.19082327 0.98116563 0.03000795 -0.75007335] [ 0.17174989 -0.06346993 0.98309386 1.53511367] [ 0. 0. 0. 1. ]] SLAMing on 154.02486062399998 meters Centerline goodness : 0.788467 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96647996 -0.18234315 -0.1807414 -6.64740053] [ 0.19066751 0.98120662 0.02965573 -0.74910978] [ 0.17193714 -0.06312318 0.98308346 1.53556437] [ 0. 0. 0. 1. ]] SLAMing on 154.05486062399999 meters Centerline goodness : 0.786772 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.75, Z:1.54 [[ 0.96646012 -0.1824127 -0.1807773 -6.64761759] [ 0.1906665 0.9812195 0.02923304 -0.74824062] [ 0.17204974 -0.06272074 0.98308952 1.53621763] [ 0. 0. 0. 1. ]] SLAMing on 154.084860624 meters Centerline goodness : 0.784758 Centerline is valid? [False, False] Translation: X:-7.81, Y:-1.23, Z:1.19 [[ 0.86570642 0.32037022 0.38459761 -7.81221007] [-0.46700766 0.79348911 0.39022927 -1.23072492] [-0.18015618 -0.51743402 0.83654396 1.19343051] [ 0. 0. 0. 1. ]] SLAMing on 154.114860624 meters Centerline goodness : 0.787713 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.65, Z:1.77 [[ 9.99738264e-01 1.01716227e-02 2.04924923e-02 -6.98297817e+00] [ 4.69163313e-04 8.86424594e-01 -4.62872789e-01 -6.51676025e-01] [-2.28732165e-02 4.62761253e-01 8.86187812e-01 1.76750880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144860624 meters Centerline goodness : 0.788390 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.65, Z:1.75 [[ 9.99780496e-01 1.02448694e-02 1.82757143e-02 -7.01469755e+00] [-1.19960415e-03 8.98853329e-01 -4.38247937e-01 -6.52357910e-01] [-2.09169795e-02 4.38129817e-01 8.98668317e-01 1.75385125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174860624 meters Centerline goodness : 0.787259 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.65, Z:1.74 [[ 9.99817782e-01 1.06051268e-02 1.58724009e-02 -7.04415602e+00] [-3.08693104e-03 9.10359451e-01 -4.13806889e-01 -6.53070326e-01] [-1.88380647e-02 4.13682489e-01 9.10226305e-01 1.74010314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204860624 meters Centerline goodness : 0.788825 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.65, Z:1.73 [[ 9.99836358e-01 1.19820108e-02 1.35531724e-02 -7.07307572e+00] [-5.76495096e-03 9.21177220e-01 -3.89100623e-01 -6.53073649e-01] [-1.71470815e-02 3.88958816e-01 9.21095552e-01 1.72732171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234860624 meters Centerline goodness : 0.789622 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.65, Z:1.71 [[ 0.99984901 0.0129918 0.01154022 -7.10024321] [-0.00788794 0.93106611 -0.36476523 -0.65353042] [-0.01548366 0.36461913 0.93102801 1.71408255] [ 0. 0. 0. 1. ]] SLAMing on 154.264860624 meters Centerline goodness : 0.819945 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.65, Z:1.70 [[ 0.99985137 0.0139348 0.0101515 -7.12688186] [-0.00962514 0.93969084 -0.34188959 -0.65355535] [-0.01430343 0.34174107 0.9396853 1.7019096 ] [ 0. 0. 0. 1. ]] SLAMing on 154.294860624 meters Centerline goodness : 0.788839 Centerline is valid? [False, False] Translation: X:-7.15, Y:-0.65, Z:1.69 [[ 0.99978817 0.01794537 0.01007822 -7.14945272] [-0.01379932 0.94776566 -0.31866884 -0.65242217] [-0.01527042 0.31846226 0.94781253 1.68964644] [ 0. 0. 0. 1. ]] SLAMing on 154.324860624 meters Centerline goodness : 0.788849 Centerline is valid? [False, False] Translation: X:-7.17, Y:-0.65, Z:1.68 [[ 0.99974997 0.02020382 0.00958099 -7.17113609] [-0.01644293 0.95463902 -0.29731124 -0.65280272] [-0.01515321 0.29707936 0.95473255 1.67793786] [ 0. 0. 0. 1. ]] SLAMing on 154.354860624 meters Centerline goodness : 0.789331 Centerline is valid? [False, False] Translation: X:-7.19, Y:-0.65, Z:1.67 [[ 0.99970033 0.02260495 0.00939459 -7.1902448 ] [-0.01910748 0.96046119 -0.27775747 -0.6532201 ] [-0.01530184 0.27749473 0.96060529 1.66709649] [ 0. 0. 0. 1. ]] SLAMing on 154.384860624 meters Centerline goodness : 0.791916 Centerline is valid? [False, False] Translation: X:-7.20, Y:-0.65, Z:1.66 [[ 0.99960726 0.02695182 0.00767638 -7.19898471] [-0.02401332 0.96500109 -0.26114414 -0.6549994 ] [-0.01444603 0.26085724 0.9652693 1.65836935] [ 0. 0. 0. 1. ]] SLAMing on 154.414860624 meters Centerline goodness : 0.792165 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.66, Z:1.65 [[ 0.99937918 0.03437686 0.00771322 -7.20535782] [-0.03144564 0.96907824 -0.24474176 -0.65667925] [-0.01588817 0.24434727 0.96955762 1.64978294] [ 0. 0. 0. 1. ]] SLAMing on 154.444860624 meters Centerline goodness : 0.790915 Centerline is valid? [False, False] Translation: X:-7.20, Y:-0.66, Z:1.64 [[ 9.99362610e-01 3.56848295e-02 9.82796164e-04 -7.20338509e+00] [-3.45353871e-02 9.73409008e-01 -2.26455757e-01 -6.60319009e-01] [-9.03769773e-03 2.26277475e-01 9.74020957e-01 1.64459368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474860624 meters Centerline goodness : 0.792589 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.66, Z:1.64 [[ 9.99199258e-01 3.99718750e-02 1.75841325e-03 -7.20898836e+00] [-3.86632587e-02 9.75929055e-01 -2.14633718e-01 -6.63096184e-01] [-1.02953987e-02 2.14393865e-01 9.76693030e-01 1.63682515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504860624 meters Centerline goodness : 0.790247 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.67, Z:1.63 [[ 9.98945087e-01 4.58926722e-02 1.60500001e-03 -7.20904167e+00] [-4.46015408e-02 9.77972481e-01 -2.03913043e-01 -6.66206990e-01] [-1.09277603e-02 2.03626347e-01 9.78987689e-01 1.62956389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534860624 meters Centerline goodness : 0.791503 Centerline is valid? [False, False] Translation: X:-7.20, Y:-0.67, Z:1.62 [[ 9.98927773e-01 4.60610677e-02 4.65646964e-03 -7.20236913e+00] [-4.44094700e-02 9.81784827e-01 -1.84733193e-01 -6.70365206e-01] [-1.30806593e-02 1.84328325e-01 9.82777678e-01 1.61893781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564860624 meters Centerline goodness : 0.790311 Centerline is valid? [False, False] Translation: X:-7.19, Y:-0.67, Z:1.62 [[ 9.98943735e-01 4.59015467e-02 -2.11222213e-03 -7.19419405e+00] [-4.55654558e-02 9.83598671e-01 -1.74520609e-01 -6.73286702e-01] [-5.93318700e-03 1.74432513e-01 9.84651256e-01 1.61735571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594860624 meters Centerline goodness : 0.790425 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.68, Z:1.62 [[ 9.98938966e-01 4.50895212e-02 -9.37432618e-03 -7.18488417e+00] [-4.60157785e-02 9.85478318e-01 -1.63447338e-01 -6.76358047e-01] [ 1.86843301e-03 1.63705281e-01 9.86507521e-01 1.61625124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624860624 meters Centerline goodness : 0.790423 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.68, Z:1.62 [[ 0.99885649 0.04524139 -0.01545757 -7.17693054] [-0.04710279 0.98661655 -0.1561061 -0.67935408] [ 0.00818824 0.15665568 0.98761933 1.61595258] [ 0. 0. 0. 1. ]] SLAMing on 154.654860624 meters Centerline goodness : 0.789260 Centerline is valid? [False, False] Translation: X:-7.17, Y:-0.68, Z:1.61 [[ 9.98922368e-01 4.53408895e-02 -9.91492181e-03 -7.16814863e+00] [-4.62832309e-02 9.89069644e-01 -1.39996795e-01 -6.84198663e-01] [ 3.45896896e-03 1.40304825e-01 9.90102314e-01 1.60573182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684860624 meters Centerline goodness : 0.785902 Centerline is valid? [False, False] Translation: X:-7.16, Y:-0.69, Z:1.60 [[ 9.98980903e-01 4.49233252e-02 -4.36471720e-03 -7.15760170e+00] [-4.51154216e-02 9.91032488e-01 -1.25774428e-01 -6.88848227e-01] [-1.32462899e-03 1.25843168e-01 9.92049264e-01 1.59607251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714860624 meters Centerline goodness : 0.788886 Centerline is valid? [False, False] Translation: X:-7.15, Y:-0.69, Z:1.59 [[ 9.99036420e-01 4.38642797e-02 1.46828695e-03 -7.14797250e+00] [-4.34285491e-02 9.92837863e-01 -1.11296629e-01 -6.94818966e-01] [-6.33971733e-03 1.11125620e-01 9.93786146e-01 1.58593384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74486062399998 meters Centerline goodness : 0.786868 Centerline is valid? [False, False] Translation: X:-7.14, Y:-0.70, Z:1.58 [[ 0.99905976 0.04272688 0.00734977 -7.13825118] [-0.04181109 0.99437908 -0.0972732 -0.6998741 ] [-0.01146464 0.09687444 0.99523058 1.5763513 ] [ 0. 0. 0. 1. ]] SLAMing on 154.77486062399998 meters Centerline goodness : 0.785134 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.70, Z:1.57 [[ 0.99905108 0.04147071 0.01330856 -7.1285253 ] [-0.04021887 0.99569464 -0.08351426 -0.70488451] [-0.01671466 0.08289976 0.99641771 1.56691308] [ 0. 0. 0. 1. ]] SLAMing on 154.80486062399999 meters Centerline goodness : 0.787976 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.71, Z:1.56 [[ 0.99909974 0.03810172 0.01865417 -7.12097298] [-0.03670449 0.99685411 -0.0702471 -0.71000963] [-0.02127202 0.06949917 0.99735519 1.55844875] [ 0. 0. 0. 1. ]] SLAMing on 154.834860624 meters Centerline goodness : 0.785864 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.71, Z:1.56 [[ 0.99910928 0.03778085 0.01879487 -7.12144006] [-0.03638377 0.99689601 -0.06981806 -0.71115904] [-0.02137432 0.06907204 0.99738267 1.55776438] [ 0. 0. 0. 1. ]] SLAMing on 154.864860624 meters Centerline goodness : 0.789004 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.71, Z:1.56 [[ 0.99912566 0.03731043 0.01886403 -7.12186191] [-0.03591411 0.99692773 -0.06960803 -0.71231798] [-0.02140318 0.06886969 0.99739604 1.55727077] [ 0. 0. 0. 1. ]] SLAMing on 154.894860624 meters Centerline goodness : 0.787726 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.71, Z:1.56 [[ 0.99928902 0.03294665 0.01832979 -7.1216796 ] [-0.03150738 0.99676564 -0.07392934 -0.71164467] [-0.02070622 0.07329925 0.99709502 1.55804694] [ 0. 0. 0. 1. ]] SLAMing on 154.924860624 meters Centerline goodness : 0.788240 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.71, Z:1.56 [[ 0.99934503 0.0315761 0.01767684 -7.12170675] [-0.03017604 0.99676161 -0.0745365 -0.71171862] [-0.01997317 0.07395426 0.9970616 1.5585883 ] [ 0. 0. 0. 1. ]] SLAMing on 154.954860624 meters Centerline goodness : 0.787843 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.71, Z:1.56 [[ 0.99937731 0.03043173 0.01785792 -7.12324957] [-0.0290178 0.99678327 -0.07470662 -0.71231085] [-0.02007393 0.0741419 0.99704564 1.55875739] [ 0. 0. 0. 1. ]] SLAMing on 154.984860624 meters Centerline goodness : 0.786366 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.72, Z:1.55 [[ 0.999353 0.02710615 0.02363991 -7.11545301] [-0.02559348 0.99774179 -0.06209906 -0.71645216] [-0.02526979 0.06145386 0.99778999 1.55042668] [ 0. 0. 0. 1. ]] SLAMing on 155.014860624 meters Centerline goodness : 0.785136 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.72, Z:1.55 [[ 0.99938344 0.02588063 0.02372627 -7.11675013] [-0.02436511 0.99777374 -0.06207976 -0.71735202] [-0.02528011 0.06146339 0.99778914 1.55016538] [ 0. 0. 0. 1. ]] SLAMing on 155.044860624 meters Centerline goodness : 0.785504 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.55 [[ 0.99965744 0.01855215 0.01846132 -7.11213512] [-0.01730697 0.99770493 -0.06546252 -0.71652575] [-0.01963342 0.06512059 0.99768424 1.55425372] [ 0. 0. 0. 1. ]] SLAMing on 155.074860624 meters Centerline goodness : 0.785910 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.55 [[ 0.99968004 0.0170659 0.01867036 -7.11391708] [-0.01580767 0.99772209 -0.06558011 -0.71753874] [-0.01974702 0.06526399 0.99767262 1.55412505] [ 0. 0. 0. 1. ]] SLAMing on 155.104860624 meters Centerline goodness : 0.785067 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.56 [[ 0.99975008 0.01299408 0.01819168 -7.11325748] [-0.01168722 0.99746529 -0.07018838 -0.7159136 ] [-0.0190576 0.06995822 0.99736786 1.55508664] [ 0. 0. 0. 1. ]] SLAMing on 155.134860624 meters Centerline goodness : 0.785415 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.55 [[ 9.99690775e-01 7.11417416e-03 2.38273358e-02 -7.10569186e+00] [-5.66543871e-03 9.98162630e-01 -6.03263406e-02 -7.18198621e-01] [-2.42127283e-02 6.01726939e-02 9.97894278e-01 1.54754500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164860624 meters Centerline goodness : 0.785367 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.55 [[ 9.99691277e-01 6.14622106e-03 2.40743390e-02 -7.10687660e+00] [-4.67982475e-03 9.98157183e-01 -6.05007151e-02 -7.18173954e-01] [-2.44018252e-02 6.03693734e-02 9.97877793e-01 1.54734872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194860624 meters Centerline goodness : 0.785946 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.55 [[ 9.99695151e-01 5.04148648e-03 2.41699747e-02 -7.10811139e+00] [-3.56040664e-03 9.98135468e-01 -6.09336677e-02 -7.17984308e-01] [-2.44321053e-02 6.08290372e-02 9.97849137e-01 1.54774557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224860624 meters Centerline goodness : 0.787635 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99543892e-01 -1.52553053e-04 3.01990808e-02 -7.10342611e+00] [ 1.63436581e-03 9.98795010e-01 -4.90495437e-02 -7.20390464e-01] [-3.01552085e-02 4.90765282e-02 9.98339701e-01 1.54093842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254860624 meters Centerline goodness : 0.785933 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99537775e-01 -1.09761664e-03 3.03814266e-02 -7.10479435e+00] [ 2.60270596e-03 9.98768517e-01 -4.95446774e-02 -7.20133891e-01] [-3.02896314e-02 4.96008505e-02 9.98309718e-01 1.54160846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284860624 meters Centerline goodness : 0.784588 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99529788e-01 -1.92596534e-03 3.06021871e-02 -7.10590382e+00] [ 3.44912980e-03 9.98753328e-01 -4.97985219e-02 -7.20192498e-01] [-3.04681260e-02 4.98806570e-02 9.98290345e-01 1.54170410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314860624 meters Centerline goodness : 0.784119 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99513719e-01 -4.35992213e-03 3.08758332e-02 -7.10905348e+00] [ 5.93520328e-03 9.98675216e-01 -5.11134685e-02 -7.19725452e-01] [-3.06120787e-02 5.12718673e-02 9.98215456e-01 1.54337430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344860624 meters Centerline goodness : 0.785519 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99504285e-01 -5.02599615e-03 3.10793045e-02 -7.10994131e+00] [ 6.61105211e-03 9.98671157e-01 -5.11098154e-02 -7.19942130e-01] [-3.07811272e-02 5.12899464e-02 9.98209329e-01 1.54310528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374860624 meters Centerline goodness : 0.788099 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99502518e-01 -5.46001158e-03 3.10629138e-02 -7.11037031e+00] [ 7.04585424e-03 9.98664875e-01 -5.11744418e-02 -7.20330240e-01] [-3.07420278e-02 5.13678482e-02 9.98206528e-01 1.54326414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404860624 meters Centerline goodness : 0.788099 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99502518e-01 -5.46001158e-03 3.10629138e-02 -7.11037031e+00] [ 7.04585424e-03 9.98664875e-01 -5.11744418e-02 -7.20330240e-01] [-3.07420278e-02 5.13678482e-02 9.98206528e-01 1.54326414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434860624 meters Centerline goodness : 0.782585 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99510717e-01 -5.35676670e-03 3.08160896e-02 -7.10980781e+00] [ 6.93605047e-03 9.98655487e-01 -5.13722653e-02 -7.19326071e-01] [-3.04994677e-02 5.15608716e-02 9.98204017e-01 1.54357457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464860624 meters Centerline goodness : 0.784167 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99516342e-01 -2.15621308e-03 3.10230898e-02 -7.11067457e+00] [ 3.62086089e-03 9.98877331e-01 -4.72331180e-02 -7.19815406e-01] [-3.08864165e-02 4.73226036e-02 9.98402023e-01 1.54285117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49486062399998 meters Centerline goodness : 0.785455 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99527794e-01 -1.58377432e-03 3.06868301e-02 -7.10911186e+00] [ 3.02255402e-03 9.98895185e-01 -4.68964114e-02 -7.19554078e-01] [-3.05786535e-02 4.69670192e-02 9.98428287e-01 1.54205990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52486062399998 meters Centerline goodness : 0.784265 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99537062e-01 -1.07352881e-03 3.04057347e-02 -7.10769876e+00] [ 2.49466849e-03 9.98903978e-01 -4.67399136e-02 -7.19139292e-01] [-3.03222327e-02 4.67941281e-02 9.98444226e-01 1.54148078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55486062399999 meters Centerline goodness : 0.782655 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.72, Z:1.54 [[ 9.99551828e-01 -1.44794382e-04 2.99352973e-02 -7.10544821e+00] [ 1.53150436e-03 9.98926135e-01 -4.63058401e-02 -7.18748730e-01] [-2.98964460e-02 4.63309331e-02 9.98478666e-01 1.54048892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584860624 meters Centerline goodness : 0.783350 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99556972e-01 1.60803520e-04 2.97629654e-02 -7.10458824e+00] [ 1.20628467e-03 9.98944904e-01 -4.59088700e-02 -7.18688574e-01] [-2.97389449e-02 4.59244337e-02 9.98502149e-01 1.53974193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614860624 meters Centerline goodness : 0.780045 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99564147e-01 4.43674302e-04 2.95181280e-02 -7.10388331e+00] [ 9.08484472e-04 9.98951199e-01 -4.57785630e-02 -7.18588243e-01] [-2.95074801e-02 4.57854270e-02 9.98515400e-01 1.53972214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644860624 meters Centerline goodness : 0.784216 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99568592e-01 6.06890241e-04 2.93642749e-02 -7.10343464e+00] [ 7.32634725e-04 9.98960183e-01 -4.55852511e-02 -7.18448436e-01] [-2.93614067e-02 4.55870986e-02 9.98528780e-01 1.53952236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674860624 meters Centerline goodness : 0.782340 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99573765e-01 7.70539517e-04 2.91838047e-02 -7.10303187e+00] [ 5.49664874e-04 9.98977691e-01 -4.52025494e-02 -7.19042644e-01] [-2.91888002e-02 4.51993238e-02 9.98551468e-01 1.53927620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704860624 meters Centerline goodness : 0.784485 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99578399e-01 9.24064450e-04 2.90201748e-02 -7.10269033e+00] [ 3.78599788e-04 9.98993630e-01 -4.48506833e-02 -7.19892100e-01] [-2.90324147e-02 4.48427612e-02 9.98572103e-01 1.53908688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734860624 meters Centerline goodness : 0.783193 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99584994e-01 1.24465087e-03 2.87800337e-02 -7.10209176e+00] [ 3.28194082e-05 9.99016304e-01 -4.43443643e-02 -7.21436592e-01] [-2.88069161e-02 4.43269056e-02 9.98601666e-01 1.53882327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764860624 meters Centerline goodness : 0.784006 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99590053e-01 1.52277513e-03 2.85903171e-02 -7.10151254e+00] [-2.65118945e-04 9.99034082e-01 -4.39412403e-02 -7.22238197e-01] [-2.86296139e-02 4.39156469e-02 9.98624935e-01 1.53849355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.794860624 meters Centerline goodness : 0.784094 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99593933e-01 1.76174123e-03 2.84405597e-02 -7.10102138e+00] [-5.23122838e-04 9.99053292e-01 -4.34999513e-02 -7.23274415e-01] [-2.84902705e-02 4.34674095e-02 9.98648531e-01 1.53808153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.824860624 meters Centerline goodness : 0.781469 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.72, Z:1.54 [[ 9.99596230e-01 2.12989683e-03 2.83344281e-02 -7.10032165e+00] [-9.13861850e-04 9.99080621e-01 -4.28611364e-02 -7.24662029e-01] [-2.83996678e-02 4.28179367e-02 9.98679169e-01 1.53723522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.854860624 meters Centerline goodness : 0.786057 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.73, Z:1.54 [[ 9.99602138e-01 2.54557847e-03 2.80906828e-02 -7.09940168e+00] [-1.35517651e-03 9.99103398e-01 -4.23150541e-02 -7.25932902e-01] [-2.81732129e-02 4.22601507e-02 9.98709342e-01 1.53663577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.884860624 meters Centerline goodness : 0.783955 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.73, Z:1.54 [[ 9.99606831e-01 3.06557468e-03 2.78708615e-02 -7.09836504e+00] [-1.90337412e-03 9.99131250e-01 -4.16307795e-02 -7.27130646e-01] [-2.79742709e-02 4.15613629e-02 9.98744258e-01 1.53578946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914860624 meters Centerline goodness : 0.785087 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.73, Z:1.53 [[ 9.99610988e-01 3.72469580e-03 2.76405348e-02 -7.09725219e+00] [-2.60163971e-03 9.99173878e-01 -4.05560571e-02 -7.29499574e-01] [-2.77687593e-02 4.04683696e-02 9.98794877e-01 1.53463927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944860624 meters Centerline goodness : 0.785510 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.73, Z:1.53 [[ 9.99615642e-01 4.17888768e-03 2.74062853e-02 -7.09629776e+00] [-3.08343700e-03 9.99199243e-01 -3.98919277e-02 -7.30922976e-01] [-2.75510434e-02 3.97920894e-02 9.98828078e-01 1.53391650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974860624 meters Centerline goodness : 0.784879 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.73, Z:1.53 [[ 9.99618131e-01 4.48901513e-03 2.72661129e-02 -7.09559956e+00] [-3.41683842e-03 9.99223864e-01 -3.92427559e-02 -7.32526534e-01] [-2.74211120e-02 3.91346064e-02 9.98857630e-01 1.53311259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004860624 meters Centerline goodness : 0.785459 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.74, Z:1.53 [[ 9.99622189e-01 4.87867728e-03 2.70495451e-02 -7.09488328e+00] [-3.84787743e-03 9.99269198e-01 -3.80297810e-02 -7.35898309e-01] [-2.72153123e-02 3.79113296e-02 9.98910435e-01 1.53197594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034860624 meters Centerline goodness : 0.783968 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.74, Z:1.53 [[ 9.99625489e-01 5.20701311e-03 2.68657427e-02 -7.09434182e+00] [-4.20290506e-03 9.99295384e-01 -3.72970573e-02 -7.37636358e-01] [-2.70410189e-02 3.71701749e-02 9.98943022e-01 1.53140509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064860624 meters Centerline goodness : 0.782506 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.74, Z:1.53 [[ 9.99628263e-01 5.56218628e-03 2.66907829e-02 -7.09369227e+00] [-4.58155253e-03 9.99317218e-01 -3.66620617e-02 -7.39345137e-01] [-2.68764801e-02 3.65261478e-02 9.98971218e-01 1.53085298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094860624 meters Centerline goodness : 0.781880 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.74, Z:1.53 [[ 9.99631506e-01 5.92905874e-03 2.64895866e-02 -7.09290328e+00] [-4.97376582e-03 9.99339974e-01 -3.59844193e-02 -7.40854282e-01] [-2.66854565e-02 3.58394063e-02 9.99001213e-01 1.53011279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124860624 meters Centerline goodness : 0.786142 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.74, Z:1.53 [[ 9.99636001e-01 6.88254028e-03 2.60863166e-02 -7.09141955e+00] [-5.96730118e-03 9.99369430e-01 -3.50019237e-02 -7.43101401e-01] [-2.63107695e-02 3.48335182e-02 9.99046730e-01 1.52947223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154860624 meters Centerline goodness : 0.785767 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.74, Z:1.53 [[ 9.99641024e-01 7.50048811e-03 2.57209038e-02 -7.09011130e+00] [-6.61009876e-03 9.99381825e-01 -3.45293310e-02 -7.43961678e-01] [-2.59639906e-02 3.43469181e-02 9.99072650e-01 1.52906785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184860624 meters Centerline goodness : 0.787842 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.74, Z:1.53 [[ 0.99964483 0.00807085 0.02539832 -7.08880742] [-0.0072033 0.99939363 -0.03406579 -0.74457345] [-0.02565786 0.03387074 0.99909682 1.52852168] [ 0. 0. 0. 1. ]] SLAMing on 156.214860624 meters Centerline goodness : 0.787436 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.75, Z:1.53 [[ 0.99964992 0.00919466 0.02480917 -7.08653839] [-0.00836191 0.99940496 -0.03346346 -0.74548226] [-0.02510209 0.03324429 0.99913197 1.52801798] [ 0. 0. 0. 1. ]] SLAMing on 156.24486062399998 meters Centerline goodness : 0.785802 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.75, Z:1.53 [[ 0.99965267 0.00984336 0.02444696 -7.08500521] [-0.00903461 0.99941535 -0.03297473 -0.74587134] [-0.02475725 0.03274241 0.99915715 1.52734062] [ 0. 0. 0. 1. ]] SLAMing on 156.27486062399998 meters Centerline goodness : 0.787713 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.75, Z:1.53 [[ 0.99964839 0.01112502 0.02406948 -7.08275599] [-0.01034059 0.99941913 -0.03247276 -0.74553025] [-0.02441675 0.03221245 0.99918276 1.52662971] [ 0. 0. 0. 1. ]] SLAMing on 156.30486062399999 meters Centerline goodness : 0.789147 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.75, Z:1.53 [[ 0.99964979 0.01196544 0.02360332 -7.08069312] [-0.01120669 0.99942439 -0.03202043 -0.74516593] [-0.02397288 0.03174471 0.99920847 1.5257599 ] [ 0. 0. 0. 1. ]] SLAMing on 156.334860624 meters Centerline goodness : 0.790927 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.74, Z:1.53 [[ 0.99965255 0.01276647 0.02306084 -7.07863965] [-0.01203022 0.99942223 -0.03178812 -0.74464249] [-0.02345334 0.03149964 0.99922856 1.52535173] [ 0. 0. 0. 1. ]] SLAMing on 156.364860624 meters Centerline goodness : 0.788572 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.74, Z:1.52 [[ 0.99965395 0.01331273 0.0226882 -7.07715852] [-0.01259399 0.99942337 -0.03153272 -0.74417079] [-0.0230949 0.03123607 0.99924518 1.52486013] [ 0. 0. 0. 1. ]] SLAMing on 156.394860624 meters Centerline goodness : 0.789683 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.74, Z:1.52 [[ 0.99965307 0.01414715 0.02221698 -7.07511249] [-0.01345225 0.99942506 -0.03112212 -0.74387305] [-0.02264449 0.03081245 0.99926864 1.52412536] [ 0. 0. 0. 1. ]] SLAMing on 156.424860624 meters Centerline goodness : 0.791631 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.74, Z:1.52 [[ 0.9996542 0.0148845 0.02167814 -7.07300694] [-0.01421386 0.99942547 -0.03076858 -0.74318607] [-0.02212366 0.03044981 0.99929143 1.52337845] [ 0. 0. 0. 1. ]] SLAMing on 156.454860624 meters Centerline goodness : 0.794086 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.74, Z:1.52 [[ 0.99964007 0.0162617 0.02133755 -7.070556 ] [-0.01560895 0.99941565 -0.03040922 -0.74162533] [-0.02181958 0.03006522 0.99930976 1.52260053] [ 0. 0. 0. 1. ]] SLAMing on 156.484860624 meters Centerline goodness : 0.791514 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.74, Z:1.52 [[ 0.99964036 0.01674643 0.02094546 -7.06896664] [-0.01610887 0.99941268 -0.0302457 -0.74066959] [-0.02143966 0.02989742 0.99932301 1.52203042] [ 0. 0. 0. 1. ]] SLAMing on 156.514860624 meters Centerline goodness : 0.793416 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.74, Z:1.52 [[ 0.9996424 0.01705109 0.02059934 -7.06789336] [-0.016422 0.99940497 -0.03033178 -0.7397518 ] [-0.02110428 0.02998265 0.9993276 1.52206004] [ 0. 0. 0. 1. ]] SLAMing on 156.544860624 meters Centerline goodness : 0.793885 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.74, Z:1.52 [[ 0.99964347 0.01732677 0.02031549 -7.06685213] [-0.01670305 0.99939581 -0.03047973 -0.73807787] [-0.02083133 0.03012953 0.99932891 1.52201191] [ 0. 0. 0. 1. ]] SLAMing on 156.574860624 meters Centerline goodness : 0.793368 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.74, Z:1.52 [[ 0.99964342 0.0175672 0.0201104 -7.06599158] [-0.0169543 0.9993985 -0.03025199 -0.73787518] [-0.02062974 0.02990024 0.99933998 1.5215207 ] [ 0. 0. 0. 1. ]] SLAMing on 156.604860624 meters Centerline goodness : 0.793863 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.74, Z:1.52 [[ 0.99964459 0.0178301 0.01981851 -7.06499523] [-0.01722487 0.99939239 -0.03030095 -0.73712713] [-0.02034674 0.02994881 0.99934432 1.52145855] [ 0. 0. 0. 1. ]] SLAMing on 156.634860624 meters Centerline goodness : 0.794322 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.74, Z:1.52 [[ 0.99964346 0.01842533 0.01932534 -7.0633722 ] [-0.01782942 0.99937368 -0.03056727 -0.73526199] [-0.01987645 0.03021181 0.99934587 1.52178523] [ 0. 0. 0. 1. ]] SLAMing on 156.664860624 meters Centerline goodness : 0.796555 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.73, Z:1.52 [[ 0.99962757 0.01967516 0.01891083 -7.06081718] [-0.01909272 0.99935236 -0.03050121 -0.73331288] [-0.0194987 0.03012879 0.99935582 1.52124467] [ 0. 0. 0. 1. ]] SLAMing on 156.694860624 meters Centerline goodness : 0.794268 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.73, Z:1.52 [[ 0.99962139 0.02036996 0.01849694 -7.05883296] [-0.01980346 0.99934435 -0.03031001 -0.73241932] [-0.01910223 0.02993223 0.99936938 1.52047221] [ 0. 0. 0. 1. ]] SLAMing on 156.724860624 meters Centerline goodness : 0.794326 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.73, Z:1.52 [[ 0.99961534 0.02109703 0.01800242 -7.05669227] [-0.02054655 0.99933166 -0.03023374 -0.7311722 ] [-0.01862823 0.02985222 0.99938073 1.51990837] [ 0. 0. 0. 1. ]] SLAMing on 156.754860624 meters Centerline goodness : 0.798228 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.99958543 0.02267005 0.01774942 -7.05414381] [-0.02213241 0.99930717 -0.02992233 -0.72941471] [-0.01841546 0.02951709 0.99939462 1.51916386] [ 0. 0. 0. 1. ]] SLAMing on 156.784860624 meters Centerline goodness : 0.798604 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.99958329 0.02301889 0.01741781 -7.05290156] [-0.02249244 0.99930158 -0.02984039 -0.72865989] [-0.01809254 0.02943619 0.99940291 1.51882604] [ 0. 0. 0. 1. ]] SLAMing on 156.814860624 meters Centerline goodness : 0.796809 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.99957915 0.02344114 0.01708886 -7.0517524 ] [-0.02292853 0.99929884 -0.02959924 -0.72845715] [-0.01777072 0.02919496 0.99941576 1.51855531] [ 0. 0. 0. 1. ]] SLAMing on 156.844860624 meters Centerline goodness : 0.799868 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.99957671 0.02373229 0.01682787 -7.05095184] [-0.02322995 0.99929648 -0.02944341 -0.72830038] [-0.01751479 0.02904003 0.99942479 1.51844088] [ 0. 0. 0. 1. ]] SLAMing on 156.874860624 meters Centerline goodness : 0.799946 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.99957608 0.02388385 0.01664981 -7.05065929] [-0.02338825 0.9992955 -0.02935137 -0.72817256] [-0.01733911 0.02894952 0.99943048 1.51871515] [ 0. 0. 0. 1. ]] SLAMing on 156.904860624 meters Centerline goodness : 0.802355 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.99957454 0.02413007 0.01638516 -7.04983136] [-0.02364481 0.99929418 -0.02919014 -0.72826646] [-0.01707796 0.0287903 0.99943957 1.51855833] [ 0. 0. 0. 1. ]] SLAMing on 156.934860624 meters Centerline goodness : 0.803038 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.9995684 0.0246205 0.01602617 -7.04844787] [-0.0241525 0.99929426 -0.02876887 -0.7287604 ] [-0.01672316 0.02836938 0.99945761 1.518004 ] [ 0. 0. 0. 1. ]] SLAMing on 156.964860624 meters Centerline goodness : 0.805076 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.99956085 0.02504845 0.01583301 -7.04726086] [-0.02459602 0.99930102 -0.02815154 -0.72942401] [-0.01652709 0.02774975 0.99947827 1.51692596] [ 0. 0. 0. 1. ]] SLAMing on 156.99486062399998 meters Centerline goodness : 0.806131 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.73, Z:1.52 [[ 0.9995497 0.02566144 0.01555283 -7.04562206] [-0.0252286 0.99930572 -0.02741539 -0.73031705] [-0.01624555 0.02701067 0.99950313 1.51555468] [ 0. 0. 0. 1. ]] SLAMing on 157.02486062399998 meters Centerline goodness : 0.801858 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.52 [[ 0.99954387 0.02607901 0.01522972 -7.04441647] [-0.02565994 0.99930354 -0.02709237 -0.73064672] [-0.01592566 0.02668922 0.99951691 1.51511846] [ 0. 0. 0. 1. ]] SLAMing on 157.05486062399999 meters Centerline goodness : 0.805543 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.99953836 0.02640872 0.01502176 -7.04349922] [-0.02599991 0.99930295 -0.0267884 -0.73045382] [-0.01571874 0.02638547 0.99952825 1.51461536] [ 0. 0. 0. 1. ]] SLAMing on 157.084860624 meters Centerline goodness : 0.800915 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.99952288 0.02708454 0.01484746 -7.04226503] [-0.02667997 0.99928469 -0.026801 -0.729264 ] [-0.01556273 0.02639208 0.99953052 1.51447689] [ 0. 0. 0. 1. ]] SLAMing on 157.114860624 meters Centerline goodness : 0.803760 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.99951278 0.02765707 0.01446691 -7.04067966] [-0.02726458 0.99927272 -0.0266583 -0.72864629] [-0.01519368 0.02625087 0.99953992 1.5141244 ] [ 0. 0. 0. 1. ]] SLAMing on 157.144860624 meters Centerline goodness : 0.805507 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.99950086 0.02831265 0.01401523 -7.03884152] [-0.02793619 0.99926197 -0.02636454 -0.7281145 ] [-0.01475134 0.02595985 0.99955414 1.51352753] [ 0. 0. 0. 1. ]] SLAMing on 157.174860624 meters Centerline goodness : 0.805439 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.9993771 0.03223399 0.01436573 -7.03859618] [-0.03191909 0.99925626 -0.02163562 -0.72927088] [-0.01505245 0.0211636 0.99966271 1.51164732] [ 0. 0. 0. 1. ]] SLAMing on 157.204860624 meters Centerline goodness : 0.807189 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.99936439 0.03280002 0.0139633 -7.03695893] [-0.03249853 0.99924486 -0.02129702 -0.72935841] [-0.0146513 0.0208297 0.99967568 1.51105791] [ 0. 0. 0. 1. ]] SLAMing on 157.234860624 meters Centerline goodness : 0.853653 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.9993536 0.03322557 0.01372726 -7.03581597] [-0.03293511 0.99923958 -0.02086964 -0.72945484] [-0.01441023 0.02040405 0.99968796 1.51036561] [ 0. 0. 0. 1. ]] SLAMing on 157.264860624 meters Centerline goodness : 0.853653 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.73, Z:1.51 [[ 0.9993536 0.03322557 0.01372726 -7.03581597] [-0.03293511 0.99923958 -0.02086964 -0.72945484] [-0.01441023 0.02040405 0.99968796 1.51036561] [ 0. 0. 0. 1. ]] SLAMing on 157.294860624 meters Centerline goodness : 0.804989 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.73, Z:1.51 [[ 0.99934119 0.03368304 0.01351435 -7.03466494] [-0.03340335 0.99923346 -0.02041359 -0.72976566] [-0.01419159 0.01994871 0.99970028 1.50962739] [ 0. 0. 0. 1. ]] SLAMing on 157.324860624 meters Centerline goodness : 0.803920 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.73, Z:1.51 [[ 0.99932786 0.034178 0.01325474 -7.03314513] [-0.03391281 0.99922982 -0.01974043 -0.73080366] [-0.01391922 0.01927766 0.99971727 1.50835064] [ 0. 0. 0. 1. ]] SLAMing on 157.354860624 meters Centerline goodness : 0.800229 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.73, Z:1.51 [[ 0.99932518 0.03431502 0.01310172 -7.03246799] [-0.03405686 0.99923074 -0.0194439 -0.73157369] [-0.01375886 0.01898458 0.9997251 1.50778169] [ 0. 0. 0. 1. ]] SLAMing on 157.384860624 meters Centerline goodness : 0.803927 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.73, Z:1.51 [[ 0.99932035 0.03446276 0.01308277 -7.03195188] [-0.03421313 0.99923682 -0.01884775 -0.73268157] [-0.01372233 0.01838734 0.99973677 1.50673868] [ 0. 0. 0. 1. ]] SLAMing on 157.414860624 meters Centerline goodness : 0.801616 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.73, Z:1.51 [[ 0.9993195 0.03454423 0.01293199 -7.03135779] [-0.03430289 0.99924134 -0.01844063 -0.73376659] [-0.0135592 0.01798448 0.99974632 1.50607586] [ 0. 0. 0. 1. ]] SLAMing on 157.444860624 meters Centerline goodness : 0.801173 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.74, Z:1.50 [[ 0.99932041 0.03456479 0.012806 -7.03072629] [-0.03433363 0.99925099 -0.01785131 -0.73507288] [-0.01341343 0.0173995 0.99975864 1.504966 ] [ 0. 0. 0. 1. ]] SLAMing on 157.474860624 meters Centerline goodness : 0.803963 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.74, Z:1.50 [[ 0.99931979 0.03463181 0.01267281 -7.03028434] [-0.03440486 0.99925107 -0.0177091 -0.7355115 ] [-0.01327662 0.01726104 0.99976287 1.50475557] [ 0. 0. 0. 1. ]] SLAMing on 157.504860624 meters Centerline goodness : 0.803781 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.74, Z:1.50 [[ 0.9993247 0.03451255 0.01261039 -7.03026307] [-0.03428661 0.99925504 -0.01771413 -0.73588779] [-0.01321236 0.0172698 0.99976357 1.50484178] [ 0. 0. 0. 1. ]] SLAMing on 157.534860624 meters Centerline goodness : 0.804870 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.74, Z:1.51 [[ 0.99933528 0.03419746 0.01263059 -7.03063973] [-0.03396916 0.99926314 -0.01786819 -0.73614951] [-0.01323233 0.01742726 0.99976057 1.50511275] [ 0. 0. 0. 1. ]] SLAMing on 157.564860624 meters Centerline goodness : 0.803696 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.74, Z:1.51 [[ 0.99934492 0.03393136 0.01258557 -7.03100299] [-0.03370578 0.99927466 -0.01772241 -0.73680751] [-0.01317779 0.0172866 0.99976373 1.5051956 ] [ 0. 0. 0. 1. ]] SLAMing on 157.594860624 meters Centerline goodness : 0.803674 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.74, Z:1.51 [[ 0.99935634 0.03356473 0.01266135 -7.03149865] [-0.0333398 0.99928951 -0.01757662 -0.73769593] [-0.01324231 0.01714318 0.99976535 1.50505172] [ 0. 0. 0. 1. ]] SLAMing on 157.624860624 meters Centerline goodness : 0.794036 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.77, Z:1.45 [[ 9.95355978e-01 9.62245882e-02 2.70303154e-03 -7.88587762e+00] [-9.50331838e-02 9.77783576e-01 1.86836755e-01 -7.72918516e-01] [ 1.53353100e-02 -1.86225959e-01 9.82387256e-01 1.44920536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654860624 meters Centerline goodness : 0.803654 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.55, Z:1.61 [[ 0.98904418 -0.13713225 -0.05464748 -7.43785963] [ 0.13389365 0.98923263 -0.05908724 -0.54612963] [ 0.06216183 0.05112294 0.99675591 1.61482762] [ 0. 0. 0. 1. ]] SLAMing on 157.684860624 meters Centerline goodness : 0.804341 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.55, Z:1.61 [[ 0.98893306 -0.13804642 -0.05435611 -7.43907415] [ 0.13484312 0.98912303 -0.05876199 -0.547697 ] [ 0.06187676 0.05078213 0.99679107 1.6141225 ] [ 0. 0. 0. 1. ]] SLAMing on 157.714860624 meters Centerline goodness : 0.803228 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.55, Z:1.61 [[ 0.98880798 -0.13904948 -0.0540743 -7.44043677] [ 0.13587389 0.98899459 -0.05854894 -0.54908067] [ 0.06162039 0.05054637 0.99681894 1.61366193] [ 0. 0. 0. 1. ]] SLAMing on 157.74486062399998 meters Centerline goodness : 0.799692 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.55, Z:1.61 [[ 0.98846054 -0.14157042 -0.05388479 -7.4427999 ] [ 0.13842839 0.98866273 -0.05816855 -0.55143747] [ 0.06150883 0.05003814 0.99685147 1.61221476] [ 0. 0. 0. 1. ]] SLAMing on 157.77486062399998 meters Centerline goodness : 0.845865 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.55, Z:1.61 [[ 0.98836404 -0.14231852 -0.05368391 -7.44369071] [ 0.13921641 0.98858036 -0.05768584 -0.55277221] [ 0.06128063 0.04954093 0.99689036 1.61129185] [ 0. 0. 0. 1. ]] SLAMing on 157.80486062399999 meters Centerline goodness : 0.801235 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.55, Z:1.61 [[ 0.98800217 -0.14499101 -0.05319134 -7.44730456] [ 0.14188694 0.98817477 -0.05812683 -0.55346471] [ 0.06099021 0.04988228 0.99689114 1.61147194] [ 0. 0. 0. 1. ]] SLAMing on 157.834860624 meters Centerline goodness : 0.801277 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.55, Z:1.61 [[ 0.98788835 -0.145835 -0.05299771 -7.44852639] [ 0.14274063 0.98805167 -0.05812924 -0.55372054] [ 0.06084175 0.04986027 0.99690132 1.61136328] [ 0. 0. 0. 1. ]] SLAMing on 157.864860624 meters Centerline goodness : 0.799234 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.55, Z:1.61 [[ 0.98781174 -0.14640356 -0.05285799 -7.44927783] [ 0.14332499 0.98797549 -0.057986 -0.55405329] [ 0.06071176 0.04970338 0.99691708 1.61101489] [ 0. 0. 0. 1. ]] SLAMing on 157.894860624 meters Centerline goodness : 0.799727 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.55, Z:1.61 [[ 0.98772148 -0.14706233 -0.05271566 -7.45022284] [ 0.14398204 0.98787133 -0.05813273 -0.55397253] [ 0.06062542 0.04982884 0.99691607 1.6111354 ] [ 0. 0. 0. 1. ]] SLAMing on 157.924860624 meters Centerline goodness : 0.797689 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.55, Z:1.61 [[ 0.98741797 -0.14926435 -0.05221025 -7.45336471] [ 0.14619103 0.9875287 -0.05844016 -0.5544901 ] [ 0.06028215 0.0500722 0.99692469 1.61107595] [ 0. 0. 0. 1. ]] SLAMing on 157.954860624 meters Centerline goodness : 0.796966 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.56, Z:1.61 [[ 0.98773294 -0.14706995 -0.05247919 -7.45540948] [ 0.14425674 0.9880714 -0.05389709 -0.55668689] [ 0.05977982 0.04566545 0.99716651 1.60935955] [ 0. 0. 0. 1. ]] SLAMing on 157.984860624 meters Centerline goodness : 0.797287 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.56, Z:1.61 [[ 0.98811175 -0.14448939 -0.05251644 -7.45756578] [ 0.14194787 0.9886462 -0.04928985 -0.55851551] [ 0.05904204 0.04124928 0.99740289 1.60761954] [ 0. 0. 0. 1. ]] SLAMing on 158.014860624 meters Centerline goodness : 0.797148 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.56, Z:1.61 [[ 0.98848115 -0.14191515 -0.05258421 -7.45978396] [ 0.13962914 0.98918646 -0.044876 -0.55964104] [ 0.05838417 0.0370168 0.99760766 1.60618224] [ 0. 0. 0. 1. ]] SLAMing on 158.044860624 meters Centerline goodness : 0.798582 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.56, Z:1.60 [[ 0.98886485 -0.13922607 -0.05255872 -7.46203738] [ 0.13719784 0.98971857 -0.04042145 -0.56095621] [ 0.05764606 0.03276041 0.99779942 1.60478475] [ 0. 0. 0. 1. ]] SLAMing on 158.074860624 meters Centerline goodness : 0.799634 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.56, Z:1.60 [[ 0.98917342 -0.13709629 -0.0523502 -7.46532667] [ 0.13530054 0.99013402 -0.03644702 -0.5604578 ] [ 0.05683046 0.02896941 0.99796346 1.60369735] [ 0. 0. 0. 1. ]] SLAMing on 158.104860624 meters Centerline goodness : 0.798111 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.56, Z:1.60 [[ 0.989465 -0.13496305 -0.05238316 -7.46805994] [ 0.13340416 0.99053813 -0.03221079 -0.56193637] [ 0.05623478 0.02488332 0.99810744 1.60260952] [ 0. 0. 0. 1. ]] SLAMing on 158.134860624 meters Centerline goodness : 0.796949 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.56, Z:1.60 [[ 0.98980367 -0.13245676 -0.05238231 -7.4703336 ] [ 0.13114529 0.9909749 -0.02774271 -0.56373772] [ 0.05558426 0.02059014 0.99824167 1.60116514] [ 0. 0. 0. 1. ]] SLAMing on 158.164860624 meters Centerline goodness : 0.797457 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.56, Z:1.60 [[ 0.98976116 -0.13282567 -0.05225115 -7.47087617] [ 0.13150805 0.99092212 -0.02791019 -0.5631307 ] [ 0.05548401 0.02075298 0.99824388 1.60112698] [ 0. 0. 0. 1. ]] SLAMing on 158.194860624 meters Centerline goodness : 0.795925 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98994683 -0.13138348 -0.05237989 -7.47427864] [ 0.13027398 0.99118567 -0.02407616 -0.56516726] [ 0.0550814 0.01701038 0.99833696 1.60076288] [ 0. 0. 0. 1. ]] SLAMing on 158.224860624 meters Centerline goodness : 0.797794 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98994263 -0.13138942 -0.05244442 -7.47429777] [ 0.13028435 0.99118673 -0.02397617 -0.5653388 ] [ 0.05513242 0.01690235 0.99833598 1.60081456] [ 0. 0. 0. 1. ]] SLAMing on 158.254860624 meters Centerline goodness : 0.795734 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98995554 -0.13125715 -0.05253175 -7.47401545] [ 0.13016835 0.99120975 -0.02365216 -0.56581743] [ 0.0551745 0.01657662 0.99833912 1.60048601] [ 0. 0. 0. 1. ]] SLAMing on 158.284860624 meters Centerline goodness : 0.797152 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98995948 -0.13123731 -0.05250707 -7.47394234] [ 0.13016042 0.99121575 -0.02344339 -0.56603511] [ 0.05512249 0.01637366 0.99834534 1.60010772] [ 0. 0. 0. 1. ]] SLAMing on 158.314860624 meters Centerline goodness : 0.792152 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98996752 -0.13111064 -0.05267174 -7.47367441] [ 0.13003214 0.99123313 -0.02342066 -0.56641723] [ 0.05528067 0.01633668 0.9983372 1.60036704] [ 0. 0. 0. 1. ]] SLAMing on 158.344860624 meters Centerline goodness : 0.793277 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98998393 -0.13093445 -0.0528014 -7.47326769] [ 0.12986073 0.99125862 -0.02329227 -0.56651674] [ 0.05538961 0.01620214 0.99833335 1.60028846] [ 0. 0. 0. 1. ]] SLAMing on 158.374860624 meters Centerline goodness : 0.793793 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98999407 -0.13084754 -0.05282678 -7.47322947] [ 0.12978908 0.99127465 -0.02300797 -0.5669688 ] [ 0.05537639 0.01592142 0.9983386 1.60006781] [ 0. 0. 0. 1. ]] SLAMing on 158.404860624 meters Centerline goodness : 0.792830 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98999084 -0.13082892 -0.05293323 -7.47321341] [ 0.12977402 0.99127883 -0.02291272 -0.56751679] [ 0.05546924 0.01581402 0.99833515 1.60029331] [ 0. 0. 0. 1. ]] SLAMing on 158.434860624 meters Centerline goodness : 0.789947 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.98998117 -0.1308518 -0.05305751 -7.47333852] [ 0.12980186 0.99127804 -0.02278869 -0.56826945] [ 0.05557668 0.01567341 0.9983314 1.60066658] [ 0. 0. 0. 1. ]] SLAMing on 158.464860624 meters Centerline goodness : 0.791760 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 0.9903999 -0.12756018 -0.05325828 -7.47480616] [ 0.12673759 0.99176261 -0.01856096 -0.57079506] [ 0.05518721 0.01163295 0.99840826 1.60049286] [ 0. 0. 0. 1. ]] SLAMing on 158.49486062399998 meters Centerline goodness : 0.791536 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.57, Z:1.60 [[ 9.90892283e-01 -1.23623058e-01 -5.33837343e-02 -7.47575502e+00] [ 1.23039989e-01 9.92301732e-01 -1.40866753e-02 -5.72509575e-01] [ 5.47142099e-02 7.39004374e-03 9.98474708e-01 1.59989755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52486062399998 meters Centerline goodness : 0.792111 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.57, Z:1.60 [[ 9.91513801e-01 -1.18138466e-01 -5.42557317e-02 -7.47400220e+00] [ 1.17791318e-01 9.92992319e-01 -9.56345277e-03 -5.73146271e-01] [ 5.50053365e-02 3.09144129e-03 9.98481275e-01 1.59974304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55486062399999 meters Centerline goodness : 0.791484 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.58, Z:1.60 [[ 9.92061045e-01 -1.13134751e-01 -5.49127633e-02 -7.47231364e+00] [ 1.13063476e-01 9.93577967e-01 -4.41290761e-03 -5.75896047e-01] [ 5.50593650e-02 -1.83075418e-03 9.98481404e-01 1.59806892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584860624 meters Centerline goodness : 0.789883 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.58, Z:1.60 [[ 9.92196790e-01 -1.11558102e-01 -5.56805101e-02 -7.46882809e+00] [ 1.11529869e-01 9.93754474e-01 -3.62397116e-03 -5.76380317e-01] [ 5.57370394e-02 -2.61434747e-03 9.98442060e-01 1.59690130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614860624 meters Centerline goodness : 0.788102 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.58, Z:1.60 [[ 9.92326278e-01 -1.10054207e-01 -5.63616002e-02 -7.46540882e+00] [ 1.10076386e-01 9.93919408e-01 -2.72032985e-03 -5.77298939e-01] [ 5.63182721e-02 -3.50462647e-03 9.98406716e-01 1.59544589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644860624 meters Centerline goodness : 0.786760 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.58, Z:1.59 [[ 9.92493860e-01 -1.08065263e-01 -5.72524003e-02 -7.46104979e+00] [ 1.08158190e-01 9.94132591e-01 -1.48223001e-03 -5.79070308e-01] [ 5.70766546e-02 -4.72121179e-03 9.98358636e-01 1.59369890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674860624 meters Centerline goodness : 0.787335 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.58, Z:1.59 [[ 9.92525713e-01 -1.07602502e-01 -5.75709192e-02 -7.46004155e+00] [ 1.07715074e-01 9.94181137e-01 -1.15331737e-03 -5.79685742e-01] [ 5.73600217e-02 -5.05655868e-03 9.98340753e-01 1.59356961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704860624 meters Centerline goodness : 0.787768 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.58, Z:1.59 [[ 9.92528517e-01 -1.07525596e-01 -5.76661878e-02 -7.46015471e+00] [ 1.07645463e-01 9.94188809e-01 -1.03270196e-03 -5.80491353e-01] [ 5.74421204e-02 -5.18251734e-03 9.98335387e-01 1.59406932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734860624 meters Centerline goodness : 0.788681 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.58, Z:1.60 [[ 9.92494211e-01 -1.07864419e-01 -5.76238586e-02 -7.46150013e+00] [ 1.07988110e-01 9.94151710e-01 -9.72217738e-04 -5.82503295e-01] [ 5.73917253e-02 -5.25777110e-03 9.98337892e-01 1.59548061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764860624 meters Centerline goodness : 0.787598 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.58, Z:1.60 [[ 9.92468875e-01 -1.08125065e-01 -5.75717181e-02 -7.46221105e+00] [ 1.08257418e-01 9.94122554e-01 -8.24145217e-04 -5.84156109e-01] [ 5.73224542e-02 -5.41462710e-03 9.98341033e-01 1.59598869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.794860624 meters Centerline goodness : 0.788968 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.59, Z:1.60 [[ 9.92449468e-01 -1.08365254e-01 -5.74545450e-02 -7.46290462e+00] [ 1.08511528e-01 9.94095023e-01 -5.76993318e-04 -5.86088062e-01] [ 5.71778033e-02 -5.66184378e-03 9.98347957e-01 1.59628137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.824860624 meters Centerline goodness : 0.787453 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.59, Z:1.60 [[ 9.92449323e-01 -1.08444547e-01 -5.73072627e-02 -7.46321561e+00] [ 1.08616549e-01 9.94083715e-01 -1.14071741e-04 -5.88243612e-01] [ 5.69805871e-02 -6.11130669e-03 9.98356582e-01 1.59597245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.854860624 meters Centerline goodness : 0.790199 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.59, Z:1.60 [[ 9.92441292e-01 -1.08500519e-01 -5.73403764e-02 -7.46294698e+00] [ 1.08718158e-01 9.94072381e-01 6.80506427e-04 -5.92108149e-01] [ 5.69266492e-02 -6.90930279e-03 9.98354455e-01 1.59527753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.884860624 meters Centerline goodness : 0.791217 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.59, Z:1.60 [[ 9.92443633e-01 -1.08409360e-01 -5.74721375e-02 -7.46253476e+00] [ 1.08649088e-01 9.94079607e-01 1.05375422e-03 -5.93536913e-01] [ 5.70176431e-02 -7.29008698e-03 9.98346555e-01 1.59500516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914860624 meters Centerline goodness : 0.791330 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.59, Z:1.60 [[ 9.92436246e-01 -1.08469078e-01 -5.74870207e-02 -7.46268538e+00] [ 1.08718894e-01 9.94071777e-01 1.22675139e-03 -5.94474736e-01] [ 5.70131602e-02 -7.46739786e-03 9.98345500e-01 1.59513958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944860624 meters Centerline goodness : 0.783323 Centerline is valid? [False, False] Translation: X:-8.75, Y:-0.98, Z:1.34 [[ 0.86352161 0.29227993 0.41097794 -8.74580328] [-0.45271064 0.80835321 0.3763219 -0.97963562] [-0.222224 -0.51101618 0.8303487 1.33803474] [ 0. 0. 0. 1. ]] SLAMing on 158.974860624 meters Centerline goodness : 0.792761 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.39, Z:2.09 [[ 9.99656084e-01 1.18095668e-02 2.34147072e-02 -7.90527452e+00] [ 5.44371215e-03 7.79965546e-01 -6.25798779e-01 -3.88682133e-01] [-2.56530773e-02 6.25711020e-01 7.79633016e-01 2.09043766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004860624 meters Centerline goodness : 0.793450 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.39, Z:2.07 [[ 9.99680658e-01 1.25295252e-02 2.19452282e-02 -7.95882791e+00] [ 2.92110724e-03 8.05306008e-01 -5.92852175e-01 -3.87881546e-01] [-2.51007804e-02 5.92726956e-01 8.05012240e-01 2.06890476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034860624 meters Centerline goodness : 0.793121 Centerline is valid? [False, False] Translation: X:-8.01, Y:-0.39, Z:2.05 [[ 9.99681026e-01 1.36421611e-02 2.12541238e-02 -8.00529579e+00] [ 6.34117997e-04 8.27736769e-01 -5.61116244e-01 -3.87800098e-01] [-2.52476580e-02 5.60950740e-01 8.27464092e-01 2.04758784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064860624 meters Centerline goodness : 0.797388 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.39, Z:2.03 [[ 9.99694784e-01 1.43755030e-02 2.00918581e-02 -8.05011078e+00] [-1.53980699e-03 8.47945710e-01 -5.30080845e-01 -3.88253479e-01] [-2.46569837e-02 5.29888118e-01 8.47709039e-01 2.02774056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094860624 meters Centerline goodness : 0.796519 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.39, Z:2.01 [[ 9.99707517e-01 1.54068030e-02 1.86416321e-02 -8.09158214e+00] [-4.02444246e-03 8.66048398e-01 -4.99943974e-01 -3.89375238e-01] [-2.38470939e-02 4.99722726e-01 8.65857097e-01 2.00888961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124860624 meters Centerline goodness : 0.794460 Centerline is valid? [False, False] Translation: X:-8.13, Y:-0.39, Z:1.99 [[ 9.99689876e-01 1.79762489e-02 1.72338444e-02 -8.12799386e+00] [-7.75218737e-03 8.82299871e-01 -4.70623886e-01 -3.90554880e-01] [-2.36654708e-02 4.70344334e-01 8.82165604e-01 1.99146936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154860624 meters Centerline goodness : 0.798685 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.39, Z:1.97 [[ 0.99965977 0.0205892 0.01601336 -8.16149147] [-0.01139064 0.89689266 -0.44210158 -0.39182955] [-0.02346478 0.44176876 0.89682204 1.97491127] [ 0. 0. 0. 1. ]] SLAMing on 159.184860624 meters Centerline goodness : 0.794673 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.39, Z:1.96 [[ 0.99970954 0.02086562 0.01206115 -8.18604442] [-0.01400914 0.91031974 -0.41366861 -0.39380939] [-0.01961095 0.41337949 0.91034763 1.96064399] [ 0. 0. 0. 1. ]] SLAMing on 159.214860624 meters Centerline goodness : 0.794673 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.40, Z:1.95 [[ 0.99976215 0.02015417 0.00833329 -8.21009022] [-0.01536889 0.9221778 -0.38646074 -0.39611603] [-0.01547357 0.38624075 0.92226821 1.9464605 ] [ 0. 0. 0. 1. ]] SLAMing on 159.24486062399998 meters Centerline goodness : 0.796341 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.40, Z:1.93 [[ 9.99702071e-01 2.32909417e-02 7.30070969e-03 -8.23624155e+00] [-1.90898197e-02 9.32463013e-01 -3.60760735e-01 -3.97994737e-01] [-1.52100990e-02 3.60513885e-01 9.32629826e-01 1.93191566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27486062399998 meters Centerline goodness : 0.794482 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.40, Z:1.92 [[ 9.99701524e-01 2.41200846e-02 3.88382921e-03 -8.25855926e+00] [-2.14383552e-02 9.42331929e-01 -3.33992413e-01 -4.00981227e-01] [-1.17157815e-02 3.33809461e-01 9.42567761e-01 1.91760489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30486062399999 meters Centerline goodness : 0.795193 Centerline is valid? [False, False] Translation: X:-8.27, Y:-0.41, Z:1.91 [[ 9.99714794e-01 2.38392560e-02 -1.42168005e-03 -8.27281149e+00] [-2.31192035e-02 9.51161301e-01 -3.07827358e-01 -4.05122785e-01] [-5.98612814e-03 3.07772432e-01 9.51441168e-01 1.90526055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334860624 meters Centerline goodness : 0.797010 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.41, Z:1.89 [[ 9.99694469e-01 2.40880168e-02 -5.54399968e-03 -8.29000164e+00] [-2.46725736e-02 9.58884164e-01 -2.82723227e-01 -4.09030046e-01] [-1.49418837e-03 2.82773632e-01 9.59185509e-01 1.89237185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364860624 meters Centerline goodness : 0.796891 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.42, Z:1.88 [[ 9.99678056e-01 2.49605027e-02 -4.55600543e-03 -8.29348345e+00] [-2.52962775e-02 9.66516372e-01 -2.55355050e-01 -4.15953685e-01] [-1.97033658e-03 2.55388090e-01 9.66836615e-01 1.87768782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394860624 meters Centerline goodness : 0.798354 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.42, Z:1.86 [[ 9.99685969e-01 2.48373084e-02 -3.32727613e-03 -8.29839474e+00] [-2.49417485e-02 9.73352069e-01 -2.27955389e-01 -4.22354091e-01] [-2.42318719e-03 2.27966792e-01 9.73665892e-01 1.86310562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424860624 meters Centerline goodness : 0.797486 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.43, Z:1.85 [[ 9.99640534e-01 2.66888863e-02 2.55088103e-03 -8.29395843e+00] [-2.55909629e-02 9.78209957e-01 -2.06034904e-01 -4.28832068e-01] [-7.99413935e-03 2.05895562e-01 9.78541318e-01 1.84930618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454860624 meters Centerline goodness : 0.799600 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.44, Z:1.84 [[ 0.99954539 0.02881821 0.0088611 -8.28972054] [-0.02669808 0.98257235 -0.1839532 -0.43530069] [-0.01400788 0.183633 0.98289506 1.83590263] [ 0. 0. 0. 1. ]] SLAMing on 159.484860624 meters Centerline goodness : 0.799859 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.44, Z:1.82 [[ 0.99941833 0.03052899 0.01519815 -8.283462 ] [-0.02763717 0.98615313 -0.16351817 -0.44156167] [-0.01997975 0.16300303 0.98642325 1.82288511] [ 0. 0. 0. 1. ]] SLAMing on 159.514860624 meters Centerline goodness : 0.798173 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.45, Z:1.81 [[ 0.99921747 0.03311408 0.02163098 -8.27687139] [-0.02970119 0.98934348 -0.14253882 -0.44808873] [-0.02612051 0.14178481 0.98955282 1.810234 ] [ 0. 0. 0. 1. ]] SLAMing on 159.544860624 meters Centerline goodness : 0.796771 Centerline is valid? [False, False] Translation: X:-8.27, Y:-0.45, Z:1.80 [[ 0.99901203 0.0345523 0.02794832 -8.26809249] [-0.03081082 0.99171391 -0.12471653 -0.4538521 ] [-0.03202598 0.1237322 0.99179871 1.79908336] [ 0. 0. 0. 1. ]] SLAMing on 159.574860624 meters Centerline goodness : 0.799641 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.79 [[ 0.99879712 0.03524921 0.03408535 -8.25906603] [-0.03139581 0.99369426 -0.1076384 -0.4593887 ] [-0.03766458 0.10643879 0.99360564 1.78808759] [ 0. 0. 0. 1. ]] SLAMing on 159.604860624 meters Centerline goodness : 0.800807 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.79 [[ 0.9986461 0.03883114 0.03461386 -8.25950265] [-0.03509787 0.99410216 -0.10261111 -0.46142196] [-0.03839422 0.10125732 0.99411913 1.7857265 ] [ 0. 0. 0. 1. ]] SLAMing on 159.634860624 meters Centerline goodness : 0.800218 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.79 [[ 0.99863852 0.03940831 0.03417727 -8.25780223] [-0.03572639 0.99410595 -0.10235719 -0.4607791 ] [-0.03800955 0.10099681 0.99416041 1.78525697] [ 0. 0. 0. 1. ]] SLAMing on 159.664860624 meters Centerline goodness : 0.800544 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.78 [[ 0.99847262 0.04293357 0.03477252 -8.25844713] [-0.03936134 0.99444668 -0.09760368 -0.46203338] [-0.03876989 0.09608591 0.99461771 1.78345297] [ 0. 0. 0. 1. ]] SLAMing on 159.694860624 meters Centerline goodness : 0.803489 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.78 [[ 0.99826911 0.04721632 0.03506285 -8.25768007] [-0.04376729 0.99467077 -0.09335135 -0.46052508] [-0.0392837 0.09165516 0.99501564 1.78242223] [ 0. 0. 0. 1. ]] SLAMing on 159.724860624 meters Centerline goodness : 0.802650 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.78 [[ 0.99806754 0.05103959 0.03544214 -8.2574778 ] [-0.04771932 0.99489408 -0.08893048 -0.46066106] [-0.03980015 0.08706735 0.99540706 1.78104545] [ 0. 0. 0. 1. ]] SLAMing on 159.754860624 meters Centerline goodness : 0.801219 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.78 [[ 0.99783987 0.05504737 0.03585225 -8.25702926] [-0.05186467 0.99508535 -0.08435161 -0.46046013] [-0.04031939 0.08230993 0.99579085 1.77937055] [ 0. 0. 0. 1. ]] SLAMing on 159.784860624 meters Centerline goodness : 0.802482 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.78 [[ 0.99759206 0.05915762 0.03620022 -8.25634076] [-0.0561241 0.99523418 -0.07974346 -0.46021162] [-0.04074513 0.07751974 0.99615788 1.7777232 ] [ 0. 0. 0. 1. ]] SLAMing on 159.814860624 meters Centerline goodness : 0.801308 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.46, Z:1.78 [[ 0.99732343 0.06333533 0.03653243 -8.25540354] [-0.06046197 0.99534762 -0.07501643 -0.46022652] [-0.04111366 0.07260682 0.99651288 1.77578339] [ 0. 0. 0. 1. ]] SLAMing on 159.844860624 meters Centerline goodness : 0.803100 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.99692983 0.06912243 0.03678324 -8.25201814] [-0.06642315 0.99532329 -0.07013922 -0.45794092] [-0.04145941 0.06748062 0.99685881 1.77315333] [ 0. 0. 0. 1. ]] SLAMing on 159.874860624 meters Centerline goodness : 0.802808 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.99662692 0.07320245 0.03709689 -8.25130917] [-0.07067444 0.99535301 -0.06540259 -0.45894784] [-0.04171213 0.06256018 0.99716915 1.77148081] [ 0. 0. 0. 1. ]] SLAMing on 159.904860624 meters Centerline goodness : 0.803633 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.99661148 0.07359019 0.03674302 -8.25012458] [-0.07109119 0.99533494 -0.06522571 -0.45854745] [-0.04137158 0.06239259 0.99719384 1.77135236] [ 0. 0. 0. 1. ]] SLAMing on 159.934860624 meters Centerline goodness : 0.801499 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.9965925 0.0739841 0.03646568 -8.24897803] [-0.07152408 0.99533901 -0.06468823 -0.45911483] [-0.04108161 0.06185963 0.99723903 1.77059009] [ 0. 0. 0. 1. ]] SLAMing on 159.964860624 meters Centerline goodness : 0.805540 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.99656441 0.07444823 0.0362883 -8.24791199] [-0.0720359 0.99536078 -0.06377891 -0.46090435] [-0.04086818 0.06094573 0.99730407 1.76918826] [ 0. 0. 0. 1. ]] SLAMing on 159.99486062399998 meters Centerline goodness : 0.804013 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.99655137 0.07471139 0.03610514 -8.24725962] [-0.07233041 0.99537148 -0.06327657 -0.46195108] [-0.04066551 0.06044685 0.99734272 1.76863544] [ 0. 0. 0. 1. ]] SLAMing on 160.02486062399998 meters Centerline goodness : 0.806810 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.99653901 0.07492733 0.03599857 -8.24668633] [-0.07257302 0.99538568 -0.06277338 -0.46285999] [-0.0405359 0.0599436 0.99737837 1.76787264] [ 0. 0. 0. 1. ]] SLAMing on 160.05486062399999 meters Centerline goodness : 0.806206 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.77 [[ 0.99654253 0.07485738 0.03604658 -8.24698251] [-0.07251759 0.9954165 -0.06234741 -0.46428291] [-0.04054852 0.05951784 0.99740335 1.7675427 ] [ 0. 0. 0. 1. ]] SLAMing on 160.084860624 meters Centerline goodness : 0.808474 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.77 [[ 0.9965551 0.07474472 0.0359328 -8.24690858] [-0.07242823 0.99544826 -0.0619429 -0.46550259] [-0.04039915 0.05912696 0.99743266 1.76717949] [ 0. 0. 0. 1. ]] SLAMing on 160.114860624 meters Centerline goodness : 0.809159 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.77 [[ 0.99657422 0.07451809 0.03587322 -8.24707791] [-0.07221503 0.99547857 -0.0617042 -0.46652894] [-0.0403091 0.05890223 0.9974496 1.76700083] [ 0. 0. 0. 1. ]] SLAMing on 160.144860624 meters Centerline goodness : 0.809558 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.77 [[ 0.99661066 0.07403245 0.03586614 -8.24763361] [-0.07173611 0.99552204 -0.06156137 -0.4675313 ] [-0.04026307 0.05877982 0.99745868 1.766962 ] [ 0. 0. 0. 1. ]] SLAMing on 160.174860624 meters Centerline goodness : 0.807818 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.77 [[ 0.99669712 0.07264901 0.03629001 -8.25006456] [-0.07034764 0.99564901 -0.06110856 -0.46963952] [-0.04057159 0.05835381 0.99747119 1.76641587] [ 0. 0. 0. 1. ]] SLAMing on 160.204860624 meters Centerline goodness : 0.854834 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.77 [[ 0.99675036 0.07195958 0.03620147 -8.25046809] [-0.0696806 0.99572081 -0.06070165 -0.47127666] [-0.04041462 0.05798185 0.99749925 1.76570249] [ 0. 0. 0. 1. ]] SLAMing on 160.234860624 meters Centerline goodness : 0.807015 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99680679 0.0712092 0.03613145 -8.25084554] [-0.06895705 0.99580422 -0.06015711 -0.47308203] [-0.04026359 0.0574735 0.99753478 1.76461095] [ 0. 0. 0. 1. ]] SLAMing on 160.264860624 meters Centerline goodness : 0.806979 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99708292 0.06774327 0.03516399 -8.24899456] [-0.06538852 0.99578771 -0.06427428 -0.47261009] [-0.03937002 0.06178747 0.99731254 1.76496634] [ 0. 0. 0. 1. ]] SLAMing on 160.294860624 meters Centerline goodness : 0.853777 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99740081 0.06315743 0.03468081 -8.24918435] [-0.06069339 0.99583643 -0.06801551 -0.47409823] [-0.0388321 0.06573383 0.99708131 1.76455806] [ 0. 0. 0. 1. ]] SLAMing on 160.324860624 meters Centerline goodness : 0.806264 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.77 [[ 0.99765633 0.05945449 0.0338676 -8.24794552] [-0.05688461 0.99575477 -0.07236424 -0.47313232] [-0.0380262 0.07026809 0.99680309 1.76536754] [ 0. 0. 0. 1. ]] SLAMing on 160.354860624 meters Centerline goodness : 0.806510 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.77 [[ 0.99772944 0.05825684 0.03379507 -8.24916199] [-0.05568112 0.99579743 -0.07271241 -0.47378871] [-0.03788904 0.07066556 0.99678022 1.7659392 ] [ 0. 0. 0. 1. ]] SLAMing on 160.384860624 meters Centerline goodness : 0.808804 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.48, Z:1.76 [[ 0.99776001 0.0531595 0.04060835 -8.24469145] [-0.05064746 0.99687833 -0.06056764 -0.47799367] [-0.04370133 0.05837526 0.99733772 1.75824124] [ 0. 0. 0. 1. ]] SLAMing on 160.414860624 meters Centerline goodness : 0.807785 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.48, Z:1.76 [[ 0.99782143 0.05191208 0.0407127 -8.24627587] [-0.04936849 0.99690555 -0.0611725 -0.47765843] [-0.0437623 0.0590293 0.99729655 1.75906805] [ 0. 0. 0. 1. ]] SLAMing on 160.444860624 meters Centerline goodness : 0.804954 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.48, Z:1.76 [[ 0.99789083 0.05059486 0.04067009 -8.24772443] [-0.04802962 0.9969352 -0.06175249 -0.47755671] [-0.0436698 0.05966887 0.99726254 1.7599375 ] [ 0. 0. 0. 1. ]] SLAMing on 160.474860624 meters Centerline goodness : 0.795796 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.48, Z:1.76 [[ 0.99793344 0.04969592 0.04073288 -8.24864592] [-0.04712027 0.99696795 -0.0619241 -0.47773634] [-0.04368675 0.05987679 0.99724934 1.759916 ] [ 0. 0. 0. 1. ]] SLAMing on 160.504860624 meters Centerline goodness : 0.153426 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.48, Z:1.76 [[ 0.99816779 0.04505682 0.04038509 -8.24914043] [-0.04229031 0.99686167 -0.06692043 -0.47551864] [-0.04327357 0.06508992 0.99694067 1.76130432] [ 0. 0. 0. 1. ]] SLAMing on 160.534860624 meters Centerline goodness : 0.811344 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99821084 0.0441642 0.04030697 -8.24967397] [-0.04138412 0.99686882 -0.0673788 -0.47494742] [-0.04315649 0.06559018 0.99691296 1.76160965] [ 0. 0. 0. 1. ]] SLAMing on 160.564860624 meters Centerline goodness : 0.811573 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.48, Z:1.76 [[ 0.998256 0.04321809 0.04021379 -8.25034658] [-0.04044355 0.99690452 -0.06742175 -0.4750909 ] [-0.04300314 0.06567778 0.99691382 1.76153251] [ 0. 0. 0. 1. ]] SLAMing on 160.594860624 meters Centerline goodness : 0.811367 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99837734 0.04097816 0.03954089 -8.25135405] [-0.03819123 0.99689688 -0.06883349 -0.47412654] [-0.04223886 0.06721168 0.99684426 1.763319 ] [ 0. 0. 0. 1. ]] SLAMing on 160.624860624 meters Centerline goodness : 0.820263 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99846342 0.03890943 0.039457 -8.2529003 ] [-0.03607322 0.99687983 -0.07020912 -0.47147725] [-0.04206569 0.0686779 0.99675164 1.76459771] [ 0. 0. 0. 1. ]] SLAMing on 160.654860624 meters Centerline goodness : 0.822989 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99848996 0.03818376 0.03949443 -8.25340198] [-0.03533213 0.99688297 -0.07054069 -0.47055805] [-0.04206483 0.06903875 0.99672674 1.76472213] [ 0. 0. 0. 1. ]] SLAMing on 160.684860624 meters Centerline goodness : 0.823517 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99850853 0.03764603 0.03954103 -8.25374078] [-0.03478934 0.99689753 -0.07060463 -0.47009301] [-0.04207634 0.06912372 0.99672037 1.76453453] [ 0. 0. 0. 1. ]] SLAMing on 160.714860624 meters Centerline goodness : 0.828339 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99852385 0.03723763 0.03954092 -8.25359436] [-0.03438917 0.9969241 -0.07042525 -0.47003861] [-0.04204176 0.06896151 0.99673306 1.76366542] [ 0. 0. 0. 1. ]] SLAMing on 160.74486062399998 meters Centerline goodness : 0.833782 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99869528 0.032943 0.0390192 -8.25258484] [-0.02995674 0.99674922 -0.07479031 -0.46795432] [-0.04135617 0.07352384 0.9964356 1.76365465] [ 0. 0. 0. 1. ]] SLAMing on 160.77486062399998 meters Centerline goodness : 0.835290 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99871192 0.03225579 0.03916714 -8.2530566 ] [-0.02926761 0.99678346 -0.07460655 -0.46846749] [-0.04144765 0.07336412 0.99644358 1.7628097 ] [ 0. 0. 0. 1. ]] SLAMing on 160.80486062399999 meters Centerline goodness : 0.840227 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99871805 0.03230365 0.03897101 -8.25238103] [-0.02931802 0.99676066 -0.07489088 -0.46704343] [-0.04126402 0.07365232 0.99642994 1.7630391 ] [ 0. 0. 0. 1. ]] SLAMing on 160.834860624 meters Centerline goodness : 0.840782 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.47, Z:1.76 [[ 0.99871684 0.03245188 0.03887856 -8.2515402 ] [-0.02946874 0.99674886 -0.07498872 -0.46614565] [-0.04118568 0.07374679 0.99642619 1.7627041 ] [ 0. 0. 0. 1. ]] SLAMing on 160.864860624 meters Centerline goodness : 0.849306 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.76 [[ 0.99872375 0.03246309 0.03869123 -8.2503872 ] [-0.02947167 0.99670824 -0.07552549 -0.46387099] [-0.04101566 0.07428881 0.99639294 1.76265941] [ 0. 0. 0. 1. ]] SLAMing on 160.894860624 meters Centerline goodness : 0.851182 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.76 [[ 0.9987251 0.03256855 0.03856765 -8.24957151] [-0.02958334 0.99669982 -0.07559295 -0.46321353] [-0.04090232 0.07435561 0.99639261 1.76231527] [ 0. 0. 0. 1. ]] SLAMing on 160.924860624 meters Centerline goodness : 0.793271 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.76 [[ 0.99872942 0.03266621 0.03837263 -8.2486045 ] [-0.02968886 0.99668466 -0.07575128 -0.46214163] [-0.04071992 0.07451579 0.99638812 1.76206782] [ 0. 0. 0. 1. ]] SLAMing on 160.954860624 meters Centerline goodness : 0.861687 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.46, Z:1.76 [[ 0.99873082 0.03273323 0.03827906 -8.24800645] [-0.02975462 0.99666758 -0.07594995 -0.46136138] [-0.04063759 0.07471457 0.99637659 1.76207565] [ 0. 0. 0. 1. ]] Total time of SLAM: 16184.50 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%| | 0/5364 [00:00